Wireless Ethernet AT-Rover
Group 1
Beau Cook, Barry Greenwood, Danny Martin, Matt Patella, Ian Petrie
PDR Overview
Project IdeasSpecificationDesignAnalysis of DesignRequirements
Project Ideas
Wireless Ethernet Communication
Audio/Video Transmission
Independent MotionReal Time Control via
Remote TerminalAll Terrain
Project Ideas
Sensors– Collision, Altimeter, Temperature, Humidity, Compass, Barometer
GPSAutomatic Recharge CapabilityAutomatic Homing NavigationLCD Battery MeterFollow Moving TargetAuto Focus
Specifications Overview
FunctionalityPhysical CharacteristicsCostReturn on InvestmentPerformanceLimitations
Functionality
On-Board Processor (MC68030)
Ethernet Communication– Audio/Visual Transmission– Sensor Data– Navigation Control
Independent Rover Control– Return Home– Preloaded Instructions– Collision/Roll Detection and
Avoidance System I/O Processing
– Sensors
Functionality (cont’d)
Terminal Software– Drive Control
• Real Time Control• Executable Navigational Programs
– Video/Audio Display– Real Time Motion Control
• Joystick/Pistol-Grip
Physical Characteristics
All-Terrain Vehicle– Rugged Design
• Large Wheels
• Wide Wheel Base
• Durable Body Materials
– Automatic Collision/Roll Detection
– Torque to climb 45º incline
Battery Powered Motors– Quiet and Rechargeable
Cost
Embedded System– ~$150.00
Rover Body + Drive– ~$150.00
Battery Pack– ~$60.00
Wireless Ethernet– ~$200.00
Cost (cont’d)
Video Camera– ~$50.00
Microphone– ~$5.00
Sensors– ~$60.00
Miscellaneous– ~$50.00
TOTAL: ~$725
Financial Breakdown
Embedded System
Rover Body + Drive
Battery Pack
Wireless Ethernet
Video Camera
Microphone
Perpheral Sensors
Misc.
Return on Investment
Target Market– Military– Search and Rescue– Bomb Squad– Home Security
Price: ~$1125 Expected Sales
– ~1000 units Net Income:
– $1.125 million Profit: $400k
Performance/Limits
Ethernet Range – Inside 100ft– Outside 300ft
Bus Speed– Max 12MHz– Limits Video Resolution
Video– MPEG Format– 640x480/30fps
Audio– Sample 30kHz/16 bits
Performance/Limits
Top Speed– ~5 mph
Climbing– 45º slope
Design Analysis Overview
Hardware/Software ImplementationTechnical DecisionsBuild or Buy DecisionsScheduleFall Back PositionsEquipmentTest Requirements
Hardware/Software Implementations
Terminal Assembly– Manual Control
• Choose from Joystick, Keyboard, or a Custom Controller
– Terminal Software• G.U.I. with Real Time Control Interface,
Programmed Control Routines, Audio/Video/Sensor Output
– Wireless Ethernet Interface• “ad-hoc” Mode (DHCP)
Hardware/Software Implementations (cont’d)
Rover Assembly– Chassis and Drive Train at ~1:25 Scale– System Board:
• Processor, Memory, I/O Interfaces
– Wireless Ethernet and PCI Interface– Camera and USB Interface– Microphone with A to D Conversion– Additional Sensor Inputs and Connecting
Hardware
System Board Schematic (Rover)
I/O Hardware
Terminal Schematic
Technical Decisions
Motorola 68000 family of processors– M68030: 32bit, 16+ MHz
802.11b ‘Ad-Hoc’ Wireless Ethernet communication with AT-Rover, 2-way data transmission for Rover’s control and sensory information
Four Servos– Two 150 ounce*inch torque motors for rear wheel– Two smaller servos for steering and camera direction
Build or Buy Decisions
Custom Built Rover Chassis and Drive Train. Designed for:– System Board Size– Sensor Mounts
System board – Wire wrapped
Possible use ofMicrocontroller
for Rover control
Schedule
Fall Back Positions
Ethernet Communications Failure– Use of a wired Ethernet tether
Independent Control Programs Failure– Manual control only
Terminal Software Integration Failure– Be able to prove the rover would work– Typed commands at the very least
Equipment
Overall– Rover chassis, drive train, suspension, shock
suppression mounting for components
Rover system board– processor, memory, system bus, FPGA’s,
micro-controller(?).
Sensors– video camera, microphone, proximity sensors,
thermometer, battery gauge, etc.
Equipment
Wireless Ethernet Cards for both terminal and rover (‘ad hoc’ mode)
Manual control stick for real-time controlSoftware
– terminal/rover real-time interactive control
Test Requirements
Micro-processor operation.System-board operation. I/O interface operation.
– Audio/Video operation– Servo/Motion control
Wireless ethernet operation.Terminal control operation.Full H.U.D. type display.Added sensor capability and integration.
Conclusion
Wireless Ethernet AT-Rover
Project IdeasAbove Par Physical
CharacteristicsAnalysis of DesignThank You!