1. Mars Rover By: Colin Shea Dan Dunn Eric Spiller Advisors: Dr. Huggins, Dr. Malinowski

2. Outline Project Summary Review of Previous Work Division of Labor Project Description Data Sheet Equipment and Parts Design Changes Schedule Progress Update Results Future Revisions

3. Project Summary The main objective is to design the Rover for long battery life that must last 7 days without recharging. The Rover will use a PC104 computer to control the interface between the user and the Rover. It will also use the MicroPac 535 microprocessor to control low level software such as the motors, the sonar system, and the battery level. The user will be able to enter a specific distance, move the Rover using the keypad, or rotate the Rover to get a preferred direction.

4. Previous Work 2002 Rob Shockency and Randall Satterthwaite Robotic Platform Design EMAC 8051 and a CPLD Design Goals 1. Create Cheaper version of Telerobotics 2001 2. Upgradeable and expandable in the future

5. Division of Labor Dan DunnColin SheaEric Spiller Assembly CodeJava/ServerHardware - Motor Control - Image Capture- DC Motors - Wheel Sensors- Rover Controls- Platform Construction - Battery Charge Level- Serial Communication- H-bridge/Motor Driver - Serial Communication- Battery Charger - Acoustic Sensors

6. Functional Description

7. Wait mode – All systems are powered, except the motors. The CPU monitors the wireless card for network activity The last image captured from the camera is displayed to the user. Web page accessible to user Battery Status is monitored Sleep mode – The sub-systems are powered down except for the CPU and the wireless network card. CPU runs in a reduced power mode. Web page accessible Battery Status is monitored. Rover remains in sleep mode until signaled by the user.

8. Functional Description Low battery mode – Battery drops below 10% of charge Distance and Direction Control Email sent to Dr. Malinowski requesting a charge Rover shuts down all components, except Micropac 535. User mode – All Systems powered Distance and Direction Control Web Page accessible to user Image capture and display Charge mode – Rover continues to charge until power button is pressed Stays in this mode until battery level reaches 100%

9. Functional Description

10. System Block Diagram

11. Software Flow Chart High Level Software Rover Control

12. Software Flow Chart High Level Software Image Retrieval/Display

13. Software Flow Chart Low Level Software Motor Control

14. Software Flow Chart Low Level Software Object Detection

15. Software Flow Chart Low Level Software Battery Voltage Level

16. Data Sheet Specifications Turning accuracy - ± 5° for an individual turn command Turning resolution - 15° Driving accuracy - ± 5cm and ± 2° for a 100cm command Camera capture speed – 5 frames/sec @ 324x288 resolution for a 10BaseT connection Weight – ~33lbs Battery life – 7 days without a recharge Top speed – 10cm/s Battery charge level accuracy - ± 5% Acoustic sensors – Time between transmit signals – 1 second Farthest object detection – 200cm Closest object detection – 5cm

17. Data Sheet PC104 – Max Current, during boot – 1.5A Normal operating current –.8A Sleep mode current –.026A Processor – National Semiconductor Geode Processor @ 300MHz RAM – 128MB Video – Onboard Video card PCMCIA module – Current -.07A Wireless Card – Linksys WPC11 Max Current -.3A Current in Sleep mode -.02A Hard Drive – IBM Travelstar 2.5 inch IDE hard drive, 10GB Max Current -.94A (Spin-up Current) Current in Sleep Mode -.02A Camera – Logitech USB Webcam Max Current -.1A Motors – Model number – GM9236 Gearing – 1:65.5 Voltage – 12V

18. Power Calculations Power Consumption for Sleep Mode: PC104 computer.026A PC104 PCMCIA module.07A IDE Laptop Hard drive.015A PCMCIA Wireless Card.009A EMAC.045A + _____ Total.165A 24hrs * 7days = 168hrs 168hrs *.165A = 27.72 Ah @ 5V 27.72Ah * 5V = 138.6Wh Using 3 - 12 Volt, 7.2Ah batteries: 12V * 7.2Ah * 3 = 259.2 Wh available

19. Power Calculations Power Consumption for User Mode: PC104 computer.800A PC104 PCMCIA module.070A IDE Laptop Hard drive.400A PCMCIA Wireless Card.285A EMAC.045A Camera.100A 2 DevanTech SRF04.060A + ______ Total1.760A

20. Power Calculations Motors with a load draw 0.5 - 0.8 A. Total Amps with motors: 1.76A + (0.4A * 2) = 2.56A [(0.8A * 12V + 1.76A * 5V) * 4.1% + (.165A * 5V) * 95.9%] * 168hrs = 259.2Wh If the Rover is in User Mode for 4.1%, then 168 hrs * 4.1% = 6.88hrs of battery life dedicated to User Mode

21. Parts and Price List Part ManufacturerPrice 10 Gb IBM$80.00 128 Mb RAM Infineon$14.20 PC/MCIA Wireless Card Logictech$69.00 USB Webcam Logictech$16.00 PC104 300MHz w/ USB National Semi$399.00 Dual PC/MCIA Adapter National Semi $94.00 Pittman DC Motor #9236 Pittman Total$672.20

22. Design Changes Replaced Linux based operating system with Windows based operating system Video Card was incompatible with Linux although manufacturer stated the card was compatible Linux operating system was not stable on PC-104 board

23. Design Changes Flash Memory Card and PCMCIA Hard drive replaced by Laptop Hard drive Flash Memory Card was not capable of booting the PC-104 at start-up PCMCIA Hard drive was not visible by computer until system completed start-up sequence Laptop Hard drive booted easier and still remained low power Flash Memory Card was used as secondary drive to limit usage of Laptop Hard drive Contained component software for Web Server (Apache and Java)

24. Schedule Time FrameAccomplishment 1/19/03 – 2/8/03Operating System 2/9/03 – 2/22/03Serial Comm, H-Bridge, Camera 2/23/03 – 3/1/03PWM, Java Program, Wheel Sensor Program 3/2/03 – 3/8/03Movement Routines, Command Coding 3/9/03 – 3/15/03User Interface 3/23/03 – 4/12/03Tested Mobility 4/13/03 – 4/22/03Acoustic Sensors, Battery Voltage Testing

25. Progress Flow Chart Green = Developed

26. Results H-bridges introduced noise to the system

27. Future Revisions Replace H-Bridge with Power Amp / Switching Circuit

28. Mars Rover

30. Questions and Answers