1. R.F.N.T. ( Radio Frequency Navigational Tracker ) Josh Bingaman Ryan Hitchler John Maitin Fabien Nervais Matt Sharp Capstone Fall 2004

2. Main Objectives  Create a vehicle that will remotely track a high frequency RF transmitter, which may or may not be stationary.  Detect the signal strength of the target in order to determine which direction to go.  The practical application is a golf caddy that will follow a golfer when requested.

3. Possible Project Extensions  Add proximity sensors in order to circumnavigate obstacles.  Cell phone used to control vehicle.  GPS navigation.  Signal Acquisition Improvement  Additional RF controlled functions.

4. Basic Layout Base of vehicle Antenna Unit Processor (Inside Base)

5. Processor/ Main Board RSSI Motor Digital Compass Motor (Left) Motor (Right) Digital Compass Motor Control GPIO? GPIO RS/232 Base of Vehicle Antenna Unit Hardware Block Diagram

6. Software Implementation  One basic algorithm, two variations Initial design Antenna stops spinning Unit stops to turn Desired design Antenna continuously spins Unit turns dynamically

7. Algorithm For Operation (Initial)

8. Algorithm For Operation (Desired)

9. Mechanical & Control Systems

10. Potential Concerns / Unknowns  Rotating Antenna & Motor Mount  Antenna Construction & Actuator Torque  Ground Wheel Control  Sensor Resolution  Terrain  Tower Height Control

11. Addressing Anticipated Difficulties  Rotating Antenna & Mounting Motor Wheel vs. chain How to attach, depends on dimensions  Antenna Weight / Shape & Actuator Torque dependant upon antenna implementation wind resistance, etc…  Ground Wheel Control motor specs unknown, researching new motors possible substitutes – how to mount??

12. Difficulties Part Deux  Sensor Resolution Compass magnetic distortion maybe present  hard-iron calibration should be performed Data acquisition issues Frames of reference  Terrain too rough considering additional functionality, safe mode / shutdown vehicle durability  Tower Height Control motor specs unknown, may not be necessary Automate signal query

13. Power Specifications  12V car Battery, AA/AAA Battery, Dry Cell  Two 12V wheel motors  One 5V antenna motor  Base and antenna Circuitry  Low-powered transmitter

14. Transmitter  Low power transmitter ideally a remote (key-fob)

15. Overview of Power Concerns  Power transformation on navigational unit  Power noise due to rotation  Power cable routing to rotating mount

16. Power Concerns Addressed  Power transformation on navigational unit Voltage regulators  Noise due to antenna rotation Decoupling caps  Power cable routing to rotating mount Rotating contact plates

17. Rotating Mount Transmitters Grooved Plates Software

18. Antenna  Rotating Mount  Shielded Unidirectional Antenna  Digital Compass mounted with Antenna  Synchronization of Compass and Antenna

19. Transmitter/Receiver 916 MHz RF 16 Bits Transferable RSSI (Relative Signal Strength Indicator)

20. Schedule

21. Thank You Questions ?