Left to Right: Michael Kelton, Ethan Hall, Greg Wegman, Vashisht Lakhmani

 Project overview  Project-specific success criteria  Block diagram  Component selection rationale  Packaging design  Schematic and theory of operation  PCB layout  Software design/development status  Project completion timeline  Questions / discussion

 The goal of this project is to design and build a miniature replica of the Curiosity, a Mars Science Exploration Lab.  The replica will ultimately be part of an exhibit in Science Central, a children’s museum in Fort Wayne, Indiana.  The rover will keep track of its location in the exhibit.

 An ability to receive and reply to commands from a wireless interface.  An ability to drive and steer the vehicle using a user interface.  An ability to automatically diagnose and report errors.  An ability to autonomously navigate to a predetermined location.  An ability to track and manage battery life.

Block Diagram

 Microcontroller ◦ LPC1768  ARM Cortex-M3  Availability in lab  Development Board functionality  mbed Programming Environment ◦ Atmel ATMega328P Not more than one SPI, UART

 Motors ◦ 298:1 Micro Metal Gear Motor  Same amount of current but faster  Less torque but able to stall without damaging gearbox  Long Life ◦ 1000:1 Micro Metal Gear Motor Gearbox would damage if motor stalled

 Wireless Communication ◦ WiFly GSX Breakout ◦ UART/SPI with Wifi b/g compliant  Sensors ◦ Ultra sonic sensors  Easy to use  Accurate ◦ RF sensors  Hash map for distance  Scalable

 Size specification  Rectangular body  Six wheels with four motors  Charging mechanism in the rear  Wireless camera

 Microcontroller  Power Regulation Circuit  Motor Control Circuit  Sensor Circuit  Wireless Communication

 LPC1768 ◦ 32 bit ARM Cortex M3 ◦ 512 kB Flash; 32kB SRAM ◦ I2C; UART; USB; PWM ◦ Run at 3.3V  FT232RL ◦ USB to UART ◦ Device interfacing

Microcontroller

 Volt Battery with charger  Fuel Gauge (MAX17040)  Utilize 5V and 3.3V Linear Regulator (AP1117-Y50G & AP1117-Y33G)

Power Regulation

 5 volt operation  4 H-Bridges (BD6211F-E2)  4 MOSFETs ◦ Acts as enable signal to the H-Bridge

Motor Control Circuit

Servo Connections

 3.3V Operation  4 Sonar Sensors (MB1240) ◦ ATD  Accelerometer (LIS331) ◦ I2C  Compass (HMC5883LSMD) ◦ I2C  ADC to Serial Chip (MAX1238)

Sensor Circuit

 WiFly GSX (RN-131G) ◦ 3.3V Operation ◦ G ◦ UART

 Peripherals ◦ Control  Motor Control via H-Bridge (PWM)  Servo’s for steering control (PWM) ◦ Data I/O  Digital Compass (I2C)  Accelerometer (I2C)  WiFly wireless adapter (UART) ◦ Status LED’s  Displaying status for peripherals (enabled, ready, connection status, etc…)

 Control GUI ◦ Controls for directional movement (Forward, Reverse, Left, Right) ◦ Battery Display ◦ Rover Video Display  Wireless Video Feed ◦ Connect to IP camera feed ◦ Capture MJPEG Stream for display in GUI

Week NumberMilestones Week 9Complete and order PCB design, Build chassis Week 10Algorithm finalization, packaging Week 11Finish soldering the board, and software design Week 12Populating and testing of PCB Week 13Testing and debugging Week 14Testing and finishing the project Week 15Finalize design and packaging Week 16Demonstrate final PSSCs