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P09204 – 1kg Robotic Platform R I T This project is Sponsored by the Kate Gleason Foundation. Team Members: Nandini Vemuri Jason Jack John Corleto Emily Phillips Ryan Schmitt Jeffrey Howe → Team Lead, System Testing, Motor Expert → GUI Design, Microcontroller Expert, Website Administrator → PIC Expert, Software Designer → Power Systems Design, Financial Management → Wireless Systems Design, Software Designer, Website Administrator → PCB Layout Design, Voltage Regulation Expert Project Description R I T • Provide a product line of off-the-shelf motor modules and platforms for diverse applications • Scalable, modular, robust wheeled platform to carry payloads of 1kg mass • Open architecture, Open source development • Target audience is educational and outreach programs Customer Needs •Support 2 motor modules •Battery Life R I T •Graphical User Interface •Robust •Scalable, Modular •Use open source, open architecture components •Wired and wireless communication interface •Multiple levels of complexity •Thorough Documentation System Level Block Diagram R I T Software Layer Diagram R I T In House Power Distribution R I T •By using two separate batteries, the system will be more modular, by allowing the motor battery to be adjusted based on the type of motor being used. •These boards have safety factors built in, including fuses to protect the rest of the circuit, and abundant reservoir capacitors to weed out power fluctuations and current spikes. In House DC Motor Driver R I T • The DC motor driver is controlled via a programmable PWM signal, and two discrete inputs. • One discrete input is reserved for enabling or disabling the driver entirely while the other is used to drive the motor in forward or reverse directions. Electrical Interconnect Diagram R I T 9V POWER DISTRIBUTION 9V battery GND CROSSBOW MICROCONTROLLER RS232 5V DC MICROCONTROLLER GND 5V GND GND PIC FEEDBACK PIC 5V Enable 1 12V battery Relay STEER MOTOR Enable 2 Relay DRIVE MOTOR 12V Sequence Diagram R I T • User communicates with the robotic platform through a wired or wireless communication link (using a Desktop or Laptop PC) • Microcontroller interprets commands and converts them to logic and timing signals used by the motor drivers Risk Analysis of Electrical Components R I T • Control System – Loss of communication via I2C bus – Cost in space for multiple PICs • Power System Failure – Thermal Damage – Current overdraw • Cabling Issues – User Error – Dense cabling inside control system – Non-twisted pair susceptible to noise Risk Analysis of Computer Components R I T • Microcontroller System – Multiple access mitigation – Communication bus latencies • Remote Control System – Wireless Communication – Communication with Microcontroller • Navigation System – Accounting for acceleration – Steering motor feedback (if not servos) – System complexity of flexible choice of motors for drive and steer Total BOM Cost R I T Mechanical Cost Breakdown $???.?? Electrical Cost Breakdown $700.00 Total: Lot of One – $700.00 Lot of Ten – $7000.00 Senior Design – Next Steps R I T • Test plan • Receive parts • Navigation code development on microcontroller • Wireless code development on microcontroller • GUI development R I T Questions?