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The Minerva Project

The Minerva Project. Jeremiah F. Cowden Carolin L. Karim Jason H. Kummerl Rachel A. Schaefer Matthew P. Spahr. Final Presentation December 12, 2003 CSE 480 Senior Design Dr. Richard E. Haskell. The Minerva Project Outline – Part I. Part I – Overview Introduction

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The Minerva Project

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  1. The Minerva Project Jeremiah F. Cowden Carolin L. Karim Jason H. Kummerl Rachel A. Schaefer Matthew P. Spahr Final Presentation December 12, 2003 CSE 480 Senior Design Dr. Richard E. Haskell

  2. The Minerva Project Outline – Part I • Part I – Overview • Introduction • Automated Highway Systems • Top-Level Design • Cost Analysis • Part II – Components • Part III – Design • Part IV – Conclusion

  3. The Minerva Project Introduction • Minerva • “Roman goddess of education and science” • Project definition • Create a sophomore design class • Students from all engineering disciplines • Prerequisites • CSE 141 – “Computer Problem Solving in Engineering and Computer Science” using Visual Basic • CSE 171 – “Introduction to Digital Logic and Microprocessors” • A sample project—design a car • Path detection • Collision avoidance

  4. The Minerva Project Top-Level Design • Pre-built car from Radio Shack • OOPic Board • MagnevationH-Bridge • Original Motor • Futaba S3003 • Sharp GP2D12 • Fairchild QRB1114

  5. 1 R/C car $20 1 OOPic board $79 1 Magnevation Dual PWM 3 Amp LT H-Bridge $75 1 Futaba S3003 servo $10 5 Fairchild QRB1114 sensors @ 89¢ $4.45 1 Sharp GP2D12 sensor $8.25 2 rods @ $2 $4 1 set of springs $2 1 Breadboard $1 3 Battery holders @ $1.66 $5 3 9V batteries @ $1.33 $4 16 AA batteries @ 37¢ $6 Miscellaneous $5 Total $222.70 Over-Budget $22.70 The Minerva Project Cost Analysis

  6. The Minerva Project Outline – Part II • Part I – Overview • Part II – Components • OOPic • oServoX Object • oDCMotor Object • Part III – Design • Part IV – Conclusion

  7. The Minerva Project OOPic

  8. The Minerva Project OOPic (cont.) • Language Options—objects are the same between them • Visual Basic • Java • C

  9. The Minerva Project OOPic (cont.) • 96 Bytes for firmware objects

  10. The Minerva Project oServoX Object • Included in the board firmware • Uses one digital I/O line • Capable of positioning an RC servo anywhere within its 180º rotational span • Range -64 to +63 where 0 is center • Sends an RC servo repeated PWM signals until it reaches the specified position

  11. The Minerva Project oServoX Object (cont.) • IOLine property • Specifies which of 31 I/O lines is to be used • Must be set before the Operate property is set to 1 • Operate property • Set to 1 to continuously output PWM control pulse to servo • Results in servo holding position specified by the Value property • Set to 0, the object sets I/O line to 0 volts • Results in servo not holding a position, allowing it to be changed manually

  12. The Minerva Project oServoX Object (cont.) • Offset property • Sets the value of the center of the servo • An offset of 0 allows positioning at values -64 to +63 • An offset of 64 allows positioning at values 0 to +127 • An offset of -64 allows positioning at values -128 to -1 • Value property • Range -128 to +127 • Specifies position of the servo • InvertOut property • Specifies if output pulse is reversed

  13. The Minerva Project oDCMotor Object • Included in the board firmware • Uses three digital I/O lines to control a DC motor • Speed – IOLineP • Braking – IOLineB • Direction – IOLineD

  14. The Minerva Project oDCMotor Object (cont.) • Value property • Range of -128 to + 127 or 0 to 255 • When Unsigned bit is 0, Value has range of -128 to + 127, • When Unsigned bit is 1, Value has range of 0 to 255 • Direction property • Value of 0 or 1, setting the direction to forward or reverse • If the InvertOutD property is 1, direction is opposite • Brake property • Value of 0 or 1, turning the brake off and on • If the InvertOutB property is 1, direction is opposite

  15. The Minerva Project Outline – Part III • Part I – Overview • Part II – Components • Part III – Design • Hardware Design • Software Design • Virtual Circuits • Virtual Circuits – Code • Part IV – Conclusion

  16. The Minerva Project Overview

  17. The Minerva Project Hardware Design

  18. H-Bridge Sensor Breadboard OOPic Controller Board The Minerva Project Controller Boards

  19. OOPic Controller Board H-Bridge The Minerva Project Controller Boards (cont.) Sensor Breadboard

  20. Extra 8AA Batteries Distance Sensor Line Sensor Assembly The Minerva Project Sensor Rack

  21. 9V holders for OOPic Extra 8AA Batteries The Minerva Project Under Body

  22. The Minerva Project Software Design • Rapid prototyping • Servo • Motor • Distance sensor • Line sensors • Sluggish response with looping • Quick response with virtual circuits

  23. The Minerva Project Virtual Circuits

  24. The Minerva Project Virtual Circuit – Code • mSensor_C.Input.Link( C ) • mSensor_C.Output.Link( Sensor_Value ) • gSensor_C.Input1.Link( Sensor_C ) • gSensor_C.Output.Link( mSensor_C.Operate ) • gSensor_C.Operate = cvTrue • Index_Servo.Array.Link( Buff_Servo ) • Index_Servo.Index.Link( Sensor_Value ) • Index_Servo.Unit.Link( Servo.Value ) • Index_Servo.Operate = cvTrue

  25. The Minerva Project Outline – Part IV • Part I – Overview • Part II – Components • Part III – Design • Part IV – Conclusion • Overall Performance • Picture of car • Lessons learned • References

  26. The Minerva Project Overall Performance • Follows a straight line • Follows a curved line • Follows a 90º turn • Slows down while turning • Stops to avoid objects

  27. The Minerva Project Picture of Car

  28. The Minerva Project Real Picture of Car

  29. Jason has zero short term memory and is insane Carolin likes Corona Rachel is growing Don’t let other groups see your project Rachel's attendance to class 1% - Rest of group 99% Great group dynamic Class should have been held at Mongolian Barbeque with Stacia or Diana Matt never wears a coat Jeremiah learned to be a player! (3) Loudest & funniest group Home Depot is the best place for RC car building? Our car eats batteries up “Yummy Style” OOPic is easier than the rest of the boards KISS – Keep It Simple, Stupid SEB 133 – Great for meeting guys & gals CSE 480 – BEST CLASS EVER! The Minerva Project Lessons Learned

  30. The Minerva Project Real Lessons Learned • Rechargeable batteries are cheaper in the long run • Single distance sensor is not adequate • The more line sensors the more accurate the response • 0.2” is almost impossible to achieve after running into a wall

  31. The Minerva Project References http://www.wikipedia.org/wiki/Automated_highway_systems http://www.aaroads.com/high-priority/corr16.html http://www.path.berkeley.edu/PATH/Publications/Media/FactSheet/pprogram.pdf http://www.berkeley.edu/news/media/releases/97legacy/DEMO_97.html http://future.newsday.com/10/fmon1011.htm http://www.itsonline.com/ahsra1.html http://www.ivsource.net/archivep/2000/aug/a000831_chauffeur.html http://faculty.washington.edu/jbs/itrans/bishopahs.htm http://www.cert.ucr.edu/research/project.asp?project=97 http://electronickits.com/kit/complete/remote/ck1900.htm http://www.oopic.com http://www.oopic.com/servo.htm http://www.dprg.org/tutorials/1998-04a/ http://www.magnevation.com/descriptionpwmx2a.htm

  32. The Minerva Project HAPPY HOLIDAYS!!!

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