1. ECE 477 Design Review Team 8  Spring 2008 Mike Cianciarulo, Josh Wildey, Robert Toepfer, Trent Nelson

2. Outline Project overviewProject overview Project-specific success criteriaProject-specific success criteria Block diagramBlock diagram Component selection rationaleComponent selection rationale Packaging designPackaging design Schematic and theory of operationSchematic and theory of operation PCB layoutPCB layout Software design/development statusSoftware design/development status Project completion timelineProject completion timeline Questions/discussionQuestions/discussion

3. Project Overview Part of solution for Purdue IEEE Aerial Robotics team that competes in I.A.R.C.Part of solution for Purdue IEEE Aerial Robotics team that competes in I.A.R.C. Autonomously navigated roverAutonomously navigated rover –Control vehicle motion (Direction and Speed) –Static sensors interfacing and filtering using μC –Structural detection/avoidance –Room mapping algorithms (SLAM) Image capturingImage capturing –Compressed image relay to base station –Simple Logo identification Wireless (bi-directional) data relay in urban settingWireless (bi-directional) data relay in urban setting –802.11b/g (TCP/IP)

4. Project-Specific Success Criteria 1.An ability to control vehicle direction and speed. 2.An ability to detect and avoid obstacles. 3.An ability to autonomously map room and determine vehicle path. 4.An ability to capture still images. 5.An ability to identify a logo within a captured image.

5. Block Diagram

6. Component Selection Rationale Embedded ComputerEmbedded Computer –Requirements Enough computational power for image recognition and room mapping algorithmsEnough computational power for image recognition and room mapping algorithms Small size and robustSmall size and robust Interface with μC (UART), Camera (USB), wireless communicationsInterface with μC (UART), Camera (USB), wireless communications MicrocontrollerMicrocontroller –6 ADCs, 3 PWMs, UART, I 2 C

7. Component Selection Rationale Embedded ComputerEmbedded Computer –Gumstix XL6P Adequate computation power (600 MHz)Adequate computation power (600 MHz) Very small form factor 80mm x 20mmVery small form factor 80mm x 20mm 128 MB of RAM128 MB of RAM RS232 serial to sensors uCRS232 serial to sensors uC Host mode USB to cameraHost mode USB to camera Low power (5 V, common to other devices)Low power (5 V, common to other devices) Ethernet connectivityEthernet connectivity –Triton 320 Maximum of 800 MHzMaximum of 800 MHz DIMM200 SlotDIMM200 Slot Hard to find small wireless card to connect via PCMCIAHard to find small wireless card to connect via PCMCIA Uncommon power requirements (1.8 V)Uncommon power requirements (1.8 V) Poor documentationPoor documentation

8. Component Selection Rationale MicrocontrollerMicrocontroller –ATmega32 Satisfies all on-chip peripheral requirementsSatisfies all on-chip peripheral requirements Development board already on-handDevelopment board already on-hand Familiarity with Atmel microcontrollersFamiliarity with Atmel microcontrollers Already have DIP and QFP packages of ATmega32Already have DIP and QFP packages of ATmega32 –Motorola HCS12 Satisfies all on-chip peripheral requirementsSatisfies all on-chip peripheral requirements

9. Packaging Design Very few packaging constraintsVery few packaging constraints –Size and weight –IR minimum range –Wide enough for motors

10. Packaging Design

11. Schematic/Theory of Operation

14. PartVoltage RailMax CurrentUnitsQuantityTotal Current Gumstix5 V0.5A1 ATmega325 V0.015A1 IR(long)5 V0.33A20. 66 IR(short)5 V0.05A20.1 Sonar (I2C)5 V0.5A41 H-Bridge5 V0.01A20.02 Accelerometer3.3 V0.0008A1 Magenetometer3.3 V0.001A1 MotorV batt 2.05A48.20 Total Current Draw 5 V Rail2.301 Total Current Draw 3.3 V Rail 0.0018 Total Current Draw from V batt 10.5

15. PCB Layout MajorMajor –Current Draw Gumstix, camera, wirelessGumstix, camera, wireless Micro, sensors, motorsMicro, sensors, motors –Size and weight Needs to fit on helicopterNeeds to fit on helicopter –Data Accurate and preciseAccurate and precise ReliableReliable

16. PCB Layout Use headers to interfaceUse headers to interface –Components pre-packaged –Sensors go on top –Motor Controller on bottom –Gumstix, camera, wireless too big

17. PCB Layout SectionsSections –Power 1 - 3.3 Volt regulator1 - 3.3 Volt regulator 2 - 5.0 Volt regulator2 - 5.0 Volt regulator BatteryBattery –Analog ADC lines for IR and Motor ControllerADC lines for IR and Motor Controller –Digital

18. PCB Layout MicrocontrollerMicrocontroller –Bypass Capacitors –LC for ADC PowerPower –Regulators have bypass capacitors –2 – 5.0 Volt at 1A each GumstixGumstix Everything elseEverything else

19. PCB Layout

20. IR Sonar Power Level Trans

21. PCB Layout ADC Lines

22. PCB Layout 3.3 V and 5.0 V for Gumstix

23. PCB Layout Arrangement

24. ` Capacitors and LC PCB Layout

25. Copper Pour

26. PCB Layout 3.5” x 2”3.5” x 2” Copper PourCopper Pour ChangesChanges –Headers smaller –Route 5 V to sensors –Less white space

27. Software Design/Development Status

29. Project Completion Timeline

30. Questions / Discussion