1. Greg Beau SerajAnanya

2. Outline  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

3. Project Overview  Autonomous robot  Simulates behavior of dog fetching  Tracks a thrown object, picks it up, and returns it to thrower  Able to avoid obstacles  Computer vision  Able to recognize an object using a camera  Follows object using computer vision algorithms (SIFT)

4. Project-Specific Success Criteria  An ability to identify a target object within a captured image  An ability to control vehicle direction and speed  An ability to recognize nearby objects in anticipation of avoiding said objects  An ability to pick up an object autonomously  An ability to record a GPS location in order to verify that DOG has returned to this location

5. Block Diagram

6. Component Selection Rationale  Microcontroller  Freescale MC9S12A  8-channel PWM  Dual SCI  Familiar architecture  Chassis  Self-designed and built  Cheapest  Greatest flexibility for designing neck/arm

7. Component Selection Rationale  Vision processor  Intel Atom board  Available for free  Ability to use high- level languages  H-bridges  VNH3SP30  30A capable  PWM drive

8. Component Selection Rationale  Motors  Planetary gear motor  High torque  Stall torque 152 oz-in (x4)  Ample speed  No load 1023 RPM  GPS  PMB-248  Accuracy of ±2m  1 second refresh rate

9. Component Selection Rationale  Sonar Sensors  LV-MaxSonar-EZ3  6” to 254” range with 1” resolution  3 ¼” diameter dowel

10. Packaging Design  Chassis  House electrical components  Neck  Extends to reach out and grab object  Head  Top mounted camera for maximum field of view  Tail  Aesthetics (possible GPS mounting position)

11. Packaging Design

12. Camera GPS (tail?) Servos (TBA) Ultrasonic Sensors Motors Batteries Atom Head Neck Body

13. Schematic/Theory of Operation

14.  LM2675  Input: 14.4V  Output: 5.0V  Drives: Micro, Servos, Sensors, GPS, Level Translator  AP1509  Input: 14.4V  Output: 12.0V (2.0A)  Drives: Atom board

15. Schematic- H-Bridge PWM Pin Enable and direction pins µC Test Points 8.4V @ 30A GND Battery  VNH3SP30  Power Input: 8.4V @ 30 A  Logic Input: PWM, Direction and Enabling I/O @ 5.0V  Drives: Motor(x2)

16. Schematic-Level Translators  MAX3232  Input: TTL Rx/Tx  Output: RS-232 Rx/Tx  Allows for serial communication

17. Schematic - Microcontroller H-Bridges  MC9S12A  8-Ch PWM  Motor Drivers (x2)  Servos (x6)  8-Ch ATD  Sonar Sensors (x3)  24-Ch I/O  Motor Drivers (x8)  LEDs (x4)  Push Buttons (x3)  2-Ch Serial  Atom Board (x1)  GPS (x1)

18. Schematic-Oscillator and BDM  6 MHz quartz crystal  Pierce oscillator  BDM connector  Used for debugging  Reset  BKGND (signal)  Power / Ground

19. PCB Layout

20. PCB Layout – H Bridge  Wide traces/ multiple traces for power rails  Drill holes for soldering  Heat sink drill holes  Output headers connected through thick traces to the motor

21. PCB Layout – Oscillator  Very close to microcontroller  No traces allowed underneath

22. PCB Considerations-1  High power circuitry, digital and analog subsystems are separated and placed in different sections  Bypass capacitors placed close to the microcontroller  Peripherals and connectors are oriented on the edges for easy accessibility High current partDigital Part Bypass Capacitors

23. PCB Considerations-2  One main Power and Ground system  Bulk capacitors between the power terminals  Ground and power traces run parallel  8.4v power supply runs on 150 mils power and ground traces  14.4v power supply runs on 22 mils power and ground traces Bulk Capacitors Power Ground

24. Software Design/Development Status  Complete  Tested functionality of GPS, Servos, Sonar, Atom, Motors, Micro  Tested Vision tracking and the use of SIFT  Prototype interfaces with Servos, Sonar, Micro  Layout of all chassis parts  Incomplete  Machining of all chassis parts  Chassis assembly  Software development  Integration

25. Project Completion Timeline Task Week 9Week 10Week 11Week 12Week 13Week 14Week 15Week 16 Final PCB Assemble chassis Mount components Write vision software Write drive software Write sonar software Write GPS software Write Servo control software Integration Algorithm expansion System testing

27. Appendix A: System Flow Chart

28. Appendix B: Software Gantt Chart