Team Ocho Cinco Raymond Chen Zhuo Jing Brian Pentz Kjell Peterson Steven Pham

The Ocho Cinco Mobile (OCM)

Purpose Touch-screen interface Analog path controlled navigation Obstacle avoidance Remote terrain mapping Bluetooth communication

Minimum: Design a vehicle controlled remotely by drawing a path on a handheld touch-screen computer. Target: Include obstacle avoidance feature with minimal path deviation. Utilize Bluetooth to provide real-time stats to touch-screen Optimal: Implement terrain and obstacle mapping capabilities updating the map in real- time. Objectives

Overall Block Diagram

Benefits –Low Power –Desired Range (30ft) –Built into TSC Easily Realizable –Built in UART –Reliable Link –2000kbps+ transmission speeds Subsystem: Bluetooth Link

Subsystem: Touch-screen Controller (TSC)

Hewlett Packard iPaq h2200 Intel PXA255 XScale 400 MHz, 64 MB of SDRAM, and 32 MB of ROM x 3.0 x 0.61 inches, 5.1 ounces. Runs Microsoft Windows Pocket PC 2003

TSC: Graphical User Interface Predefined Obstacles (Defined on the initial map) are shown in blue. Draw the desired path using the touch-screen. The currently completed path is shown in green, and new obstacles are shown in red.

Keys to Success –Omni-directional –Accurate and live Method 1 - RF Chirps –Power drop-off analysis –RF transceivers for beacons and the vehicle –Pros: Straight-forward setup –Cons: Poor accuracy and sensitivity Subsystem: Regional Positioning System

RF Chirps Subsystem: Regional Positioning System

Method 2 - Cameras –Two camera beacons –LED tracking on vehicle –Pros: Better accuracy and sensitivity –Cons: Complicated setup Subsystem: Regional Positioning System

Camera Beacons Subsystem: Regional Positioning System

Subsystem: Power

Subsystem: Battery Sealed Lead Acid Battery 12V, 3.2AH Weight: 1300g (2.87lb) Dimension: L134mm x W67mm x H60mm

Subsystem: Motor

S23HT140-S Stepper Motor Step Angle: 1.8 Deg/Step 4 Wires Phase Current: 2.8A/PH Step Accuracy: +/- 5%

Subsystem: Motor Layout

Subsystem: Collision Detection System Infrared Proximity Sensor –Sharp GP2Y0A21YK Detection Features –Distance: 10 to 80 cm –12 cm detection diameter Feasibility –A/D converter to FPGA –More economical than sonar

Subsystem: Collision Detection System Map Updates –Simple Uniform obstacle detection –Advanced Variable shape and size

Responsibilities Touchscreen Controller – Kjell Peterson Bluetooth – Brian Pentz Regional Positioning System – Raymond Chen Motor/Power – Zhuo Jing Collision Detection System – Steven Pham

Project Timeline

Risks / Contingency Plans Unfamiliarity of RPS technology –Motor step approximation Complex integration –Integrate fundamental components first Radio frequency interference –Use adaptable technology Windows Mobile 2003 –Scale down GUI Overheating –Add fan or heat-sinks

Questions?