1. Capstone Spring 2009 Critical Design Review Erich Hanke Electrical Engineering Cole Bendixen Electrical and Computer Engineering Erik Larson Electrical Engineering Quang Than Electrical Engineering HAMSter

2. 2 HAMSter Project Overview Mobile Servo Powered Cart Stereo-Vision Obstacle Detection Autonomous Navigation FPGA Hardware / Software Control IR Sensor “Failsafe” Collision Avoidance

3. Cart Control Systems

4. GPS 12 Channel Lassen IQ GPS Receiver with DGPS RS-232 communication interface. Uses NMEA 0183 communication protocol. Programmable output.

5. IR Sensors Sharp GP2Y0A21YK0F Analog Distance Sensor Analog voltage output.

6. Servos HSR-8498HB HMI Robot Servo 180 degrees or continuous rotation operation. Controlled via 340Hz PWM signal. 1.456 ms1.497 ms1.539 ms Max. CCW Stopped Max. CW

7. Compass Honywell HMC6352 IIC Controlled SDA, SCL, +3.3V, Gnd 0.5 Degree Heading Resolution Write 'A' → Read Direction

8. Xilinx Virtex 5 FPGA 550 MHz Integrated Block Memory (5MB) 6 Clock Management Tiles CMT Dedicated cascade routing to form 64K x1 Block Memorys 1.0 V Core Voltage 7 Stage PPC Pipeline Multiple IOB Voltage Support: 3.3V, 2.5V, 1.8V

9. PowerPC 440 1,100 DMIPS Up to 550MHz Out of Order Processing Branch Prediction 256MB DDR2 200MHz

10. Cameras Videology 20K145DIG Digital 8 bit YUV 4:2:2 Output 510x494 Active Pixels Software Controllable by IIC Internal Sychronization 5V < 0.8 W

11. Camera Controller IIC Interface to Micro 28.6 MHz Clock Data on Each Clock Hsync / Vsync Pins

12. Camera Board Timing Specs

13. 13 Stereo Vision Based upon the phenomena of parallax, where an observation at two locations along a baseline of a common object appears to cause an offset of the object. This offset can be used to determine relative distance to the object. Camera OneCamera Two d1d2

14. Point Spread Function Simple PSF is applied to the image to enhance edges. Parameterized sweeper size and intensity. Post convolution threshold filter applied.

15. HDL IMAGE CO-PROCESSOR PPC HARDCORE PROCESSOR DVI CONTROLLER IMAGE PROCESSING PPC REG INTERFACE PLL DATA BUILDER DVI SIGNAL GENERATOR RAM BLOCK BRAM CONTROL REGISTERS DATA BREAKER CONV IMAGE

16. Code Flow Diagram Process Frame Position Evaluation Orientation Process Objects Determine Path Move and Wait Process Frame Position Evaluation Orientation Process Objects Determine Path Move and Wait IR Sensor ISR Movement Stopped ISR Frame Ready ISR

17. Servo Controller System Memory Mapped Control Registers PWM Generators Timers Frequency Register Control Register For Each Servo: Duty Cycle Register Timer Timer Control Register PWM Generator

18. FPG A ADC Camera x2 IR Sensor x5 GPS Battery 2 Opto- Isolator Servo Motors x6+ Battery 1 Power Systems Logic Power System Servo Power System Logic Power System Compass

19. Opto-Isolator Regulators

20. IR Comparators GPS

21. Board to Board Connectors

23. Budget Item Name / DescriptionUnit PriceQuantitySub-TotalAfter Donations Xilinx ML507 Virtex 5-FX $1,406.001 DONATION Agilent 1692A Logic Analyzer Mictor Probe$1,150.001 DONATION Servo-Continuous Rotation Robot Servo CNT $79.998$639.92DONATION Servo- Positional Robot Servo$59.992$119.98DONATION Lithium Ion Battery Pack: Powerizer 7.4V$49.992$99.98 Powerizer Battery Charger$20.001 12 Channel Lassen IQ GPS$59.951 Antenna GPS Ultra-Compact Embedded$18.951 Sharp GP2Y0A21YK0F Distance Sensor$9.956$59.70 Color Board Camera 20K145DIG $113.872$227.74 3.00mm Lens M-12$16.002$32.00 HMC6352 Digital Compass$59.951 Cart Frame Aluminum / wheels / screws$80.001 Miscellaneous wires and parts$60.001 PCB Layout$40.003$120.00 Sub-Total $$4,154.17$838.27 Donations$3,315.90 Total $$838.27

24. Mobile Tethered Bot IR Obstacle Avoidance Direction Awareness PCB Testing Rev-1 First Cart Frame Revision Mobile Autonomous Bot IR + Image Obstacle Avoidance Avoidance Pathing GPS Navigation Various Operating Modes Mobile Untethered Bot IR Obstacle Avoidance + Camera Obstical Detection Fully Battery Powered Cart GPS Direction and Position Awareness Milestone 1ExpoMilestone 2

25. Hardware PCB Software Documentation Division of Labor HDL

26. RISKS Wheels operating at same speeds Inaccurate calculation of cart speed to judge distance traveled Interrupt Controller

27. Questions???