PRAlpha Inc.

Rick Wong (CEO), Jessica Sun (CFO), Ye Feng (CTO)Simon Fraser University, ENSC 305/440, May 2008

Our Team

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Team Roles Rick Wong (CEO)

High level design, Hardware/firmware design

Feng Ye (CTO)PC design, Marketing

  Jessica Sun (CFO)

Hardware/firmware design, Budgeting

  Common Role

R&D, Software design, Documentation, Q/A

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Outline Our Team Motivation & Marketability System Overview & High Level Design Implementation & Functionality Sub-module Highlights System Review Financial & Scheduling Future Development Final Thoughts

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Motivation Worry about your house, pets and plants when

you are away?

Want to use the device in your house remotely?

Want to protect your privacy?

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Our Solution is :

Marketability

Potential Market Families having trip for a long period Old and Handicaps Doctors and nurses

Marketing Skill Rentable On-site checking as backup Potentially decrease insurance fee

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System Overview

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Internet

Wireless Network

Control ICR protocol device

Monitor house temperature

Monitor house situation

Functionality Mobility Real time video Sensor feedback Remote control

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Design Consideration Major focus on Extension Ability

Reliability (reset modules remotely)

Safety (safe power and distance sensor)

User friendly (cross-platform, no install)

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Overall System

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I2C BUS

Web GUI

CMM

SCM ACM

DistanceTemperatureIR

Off Board

ACK

Results

Motors

UDM

Daemon Camera

Browser

Internet

UART

PWMUltrasonic

ADCCTC

LCD

DBM

SPI

On Board

Remote

Pico

User

Communication UART

Communicate between PC and CMM with 9600 bps rate Not good for a multi-master system

I2C Use to build our BUS to communicate between modules Use only two bi-direction BUS line: SDA and SCL Multi-masters with BUS conflict solution Support up to 127 devices

SPI Communicate between DBM and LCD

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Sub-Module Highlights On Board Sub-Module

CMM (Center Manager Module) UDM (User Define Module) SCM (Sensor Control Module) ACM (Action Control Module)

Off Board Sub-Module DBM (Debug Module)

PC Daemon GUI (Graphic User Interface)

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CMM Interface with PC via UART

Communicate with sub-modules via I2C

Reset sub-modules upon request

DTAC: Dynamitic TWI Address Configuration (with pre-defined priority)

Plug-In-Play support

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UDM Response user input commands and

transmit them via infrared protocol

Support up to 32 bit codec protocol

User modifiable

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UDM The IR LED we use to broadcast a series

of beam bursts is: LNA2603F-ND High-power output: Po=6mW Operating range: 160 degree

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Implementation Use Output Comparator and Interrupt to generate CTC wave Wave diagram

ACM Receive commands from I2C BUS

Control motor Use Output Comparator to generate PWM wave

Including: Motors Power supply (battery)

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Motor Servo motor Stepper motor DC

motor Why we choose DC motor

Motor drive, we choose TB6549PG Output current is high enough: 3.5A With Full-Bridge Four function modes

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DBM

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Plug-In-Play

Control LCD with SPI

Display ERR and extra information

SCM When received request, periodically

collect required data from sensors and report them to CMM

Available Sensors: Temperature Sensor Distance Sensor

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Temperature Sensor The temperature sensor we use is :

LM335AZ Temperature range: -40oC~100oC Accuracy: ±1oC Output: Analog Output voltage temperature coefficient: 10mV/oC

Implementation Use Analog-to-Digital Converter (ADC) on Atmega168 ADC = VIN*1024/VREF

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Block Sensor The block sensor we choose is: SRF05

ultrasonic sensor Detection Range: 2cm~3m Accuracy: ±1cm How it works

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Implementation Use Input Capture

and Timer/Counter Interrupt features of Atmega168

Wave diagram

Power Supply Power supply considerations

Stable Last long Safety Charge

Li-ion Eneloop (Sanyo) Similar long storage capacity and high output current No memory effect Very safe to handle Very Small self-discharge rate (15% over a year) Recyclable and environmental friendly Economic

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PC Main board

X86 PC system on 10cmx7.2cm Pico-ITX board

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PC Control Daemon

Management interface between GUI and robot hardware Tool of debugging and testing Tool of logging

Video Stream Sever - FFServer Live web cam video feeding Fast streaming in Flash video format

HTTP server for web start Simple way to run the GUI client anywhere

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GUI Communicate with robot via Internet

Web start without installation

Cross-Platform

User defined buttons

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GUI

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PCB

We made PCB by own hands !

Why we choose PCB:

Breadboard: connection is unreliable, waste space, high weight

Prototype: waste time and space PCB: minimal space, less weight, more reliable, mass-

producible

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Main Board PCB

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Chassis Design

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Modify tank toy base significantly

Tank belts: overcome tough surface

Budgeting

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Items Estimated Cost Actual Cost Revenues

PC $646.06 $1078.53 ESSEF:$680

School of Engineering Science:$50 per group

Chips $90.90 $143.97

Sensors $250.00 $152.33

Chassis & Motor $113.22 $92.48

Power Supply $200.00 $374.02

PCB -- $152.86

Development Fee -- $244.97

Miscellaneous $50.00 $316.99

Shipping & Handling Fee -- $129.74

Unpredictable %15 --

Total $1553.86 $2685.71 $730

Unit Cost

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Category Items Sub Cost Category Cost

PCPico-ITX Mainboard $258.72

$340.44RAM, USB drive, Wireless adapter, etc $81.72

Sensors

Ultrasonic Sensor $41.84

$94.11Temperature Sensor $1.88

USB Camera $50.39

ChassisTank base,Project box & Servo motor, etc

$73.88 $73.88

Chips Microcontroller, Motor driver, etc $26.71 $26.71

PCB Presensitized PCB, Components,etc $45.80 $45.80

Power Supply

Eneloop Batteries $50.80

$115.74Battery Charger $39.95

PC Power Supply $24.99

Total $696.69 $696.69

Scheduling

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Final Thoughts

Delay Reasons Problems and Solutions What We Learned Team Organization

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Delay Reasons

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The First Extension Scheduled Deadline: Mid April, 2008 Delay Reason: Gear Improvements: added DBM, change power supply

solution

The Second Extension Scheduled Deadline: May 20, 2008 Delay Reason: Mainboard Improvements: use USB instead of hard drive, found

better charger solution, improved video quality

Problems and Solutions

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I2C Bus IR Control DBM SCM – Reference Voltage USB port and Wireless Adapter Video Stream

What We Learned Software

AVR Studio, ICCAVR, Protus, Altium Designer, Eclipse, Codeblocks

We wrote totally around 10,000 commands including C, C++, Java, HTML and Assembly !

HardwareReal time embedded system, Sensors, Motors, Power supply, PCB, Remote controller, PC, Wireless solution

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What We Learned Our improvement is obviously (PCB for

example)

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Team Organization

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We use CVS version control system: RapidSVN

Team Organization

We have team webpage and BBS: http://PRAlpha.info

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Conclusion Met functional and design requirements

Gain various experience

Performed excellent teamwork

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Future Development IR commands self-learning Audio Stream Step motor with feedback Smaller IC packaging Microcontroller wireless controlling Self positioning Charging base

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Information Sources

Atmel Corporation (Microcontrollers) http://atmel.com/

Mini-Box (PC power supply)http://www.mini-box.com/

Digi-Key Corporation (electronics parts)http://digikey.ca/

Lee’s Electronic (electronics parts)http://www.leeselectronic.com/

RP Electronics (electronics parts)http://www.rpelectronics.com/

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Acknowledgements

Patrick Leung Steve Whitmore Brad Oldham Jason Lee ESSEF All the people who concerned about our

project

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Low Level System Details

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Main board Schematics (1)

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Main board Schematics (2)

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DBM Schematics

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DBM PCB

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ACM Schematics

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ACM PCB

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IR LED Viewing Angle

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Detailed Product Cost

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Items UnitCurren

cyUnit

PriceCost(with

tax)Cost Type

Purchase From

Purchase Date

Category

PX10000G/VIA EPIA PX10000G Pico-ITX Mainboard

1 USD$231.00

0$258.72 Price Logic Supply 2008-5-26 PC

DDR2 SO-DIMM 1GB RAM 1 CAD $24.990 $27.99 Price NCIX PCUSB flash drive 2 GB 1 CAD $12.990 $14.55 Price NCIX PCUSB weeirless adapter 1 CAD $14.990 $16.79 Price Ebay PCUSB Hub 1 CAD $19.990 $22.39 Price Ebay PCDevantech Ultrasonic Range Finder SRF05 1 CAD $37.360 $41.84 Price Robot Shop 2008-5-19 SensorLM335AZNS-ND/IC SENSOR PRECISION TEMP TO-92

1 CAD $1.680 $1.88 Price Digi-Key 2008-5-10 Sensor

USB Camera 1 CAD $44.990 $50.39 Price SensorTank base 1 USD $34.990 $39.19 Price Ebay ChassisProject box 1 CAD $9.100 $10.19 Price Active123 Chassis900-00008/Servo-Continuous Rotation-S35 1 USD $12.950 $14.50 Price Parallax 2007-7-24 Chassis

Miscellaneous 1 CAD $10.000 $10.00 Compon

entsTB6549PG-ND/IC DRIVER FULL BRIDGE 16DIP

2 CAD $4.060 $9.09 Price Digi-Key 2008-5-19 MCU

ATMEGA168-20PU-ND/IC AVR MCU 16K 20MHZ 28DIP

5 CAD $2.951 $16.52 Price Digi-Key 2008-1-14 MCU

296-6940-5-ND/IC DUAL EIA-232 DRVR/RCVR 16-DIP

1 CAD $0.970 $1.09 Price Digi-Key 2008-4-27 MCU

Presensitized PCB Single Sided 1/16" 1 CAD $7.990 $8.95 Price Active123 2008-5-2 PCBPresensitized PCB Double Sided 100x150x1.6mm

1 CAD $10.300 $11.54 Price Active123 2008-5-2 PCB

STPBRD2/Stripboard - Small 5 USD $0.950 $5.32 Price Futurlec 2008-4-16 PCB

Miscellaneous 1 CAD $20.000 $20.00 Compon

entsEneloop Batteries 22 CAD $2.062 $50.80 Price Costco 2008-3-24 PowerPicoPSU-80 80W DC-DC Mini ITX 12V Tiny Power Supply

1 USD $39.950 $39.95 Price short-

circuit.com2006-11-23 Power

Smart Universal Battery Pack Charger:12V - 16.8V

1 USA $24.990 $24.99 Price all-battery 2008-5-X Power

Questions

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