Mid-Semester Presentation Design II March 4, 2014

Team Leader: Joseph Ratliff Obstacle Detection Subsystem Ryan True Motion System Controls Tyler Ross Motion Detection System Robert Jones Power System Design Team Advisor: Dr. Raymond Winton

»Problem »Solution »System Overview »Constraints Technical Practical »Hardware »Testing »Future Work »Questions

»Currently, cooler transportation is time consuming, cumbersome, and exhausting, and the source of these difficulties has gone unchanged for years: human involvement.

»The Kooler Kart will reduce the need for human involvement in a cooler transportation process. Hands free Designed to be user friendly. Incorporates an easy way to charge.

User Kooler Kart

NameDescription Beacon and Obstacle Distance Detection The Kooler Kart must detect a beacon at a distance of 3m and ambiguous obstacles at a distance of 1m. Field of Vision The Kooler Kart must be able to detect the beacon and collision objects at a 180 ⁰ field of view from the front of the unit. Refresh Rate The Kooler Kart must refresh all sensor information in no more than 100ms. Power Requirements Unit must charge internal batteries via 120VAC power source at 10A or less. Notifications User must be notified by alarm if beacon is out of range or when the battery reaches 50% and 10% charge.

»The Kooler Kart must satisfy the following requirements: Hold the weight of a 25qt cooler (~60lbs loaded) Travel at a max speed of 6mph

»The Kooler Kart must be simple enough that someone can operate and charge it, regardless of their knowledge of motion technology. 120VAC Charging Battery Charge Display Motor Disengage Option

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Verify RF receiver correctly decodes correct ASCII text messages Verify digital potentiometer produces proper resistances to control servos Verify beacon distance and angle measurements from RF/Ultrasonic sensor array are accurate Verify battery alarm is triggered at 50% and 10% power levels Verify objects placed between the unit and the beacon are located and avoidance subroutine is called Test complete functionality of stationary unit with driving wheel elevated from the ground

RF signal interference on common 434MHz band Unknown capacitance issues on sensor PCBs 100ms refresh rate may not be met to accomplish 180 degrees field of view for unknown objects Any of our 3 PCB designs do not function correctly

Begin testing of sensor and beacon PCBs Finalize microcontroller baseboard PCB design Debug all PCBs for possible problems found in testing Revise and reprint PCBs which are found to have errors Develop final packaging for beacon, microcontroller baseboard, and sensors

[1] Eric. Infrared vs. Ultrasonic - What you should know Online: [2] “Arduino Due,” in Arduino Oct. 2. Available: [3] “Ultrasonic Module HC-SR04,” in Hobby King Oct. 2. Available: _hc_sr04_arduino.html _hc_sr04_arduino.html [4] Hashizume, H.; Kaneko, A.; Sugano, Y.; Yatani, K.; Sugimoto, M., "Fast and Accurate Positioning Technique Using Ultrasonic Phase Accordance Method," TENCON IEEE Region 10, vol., no., pp.1,6, Nov doi: /TENCON

Mid-Semester Presentation Design II March 4, 2014