ece 477 final presentation group 1 spring 2005 zeeshan nathan nakul andrew fire bot
TRANSCRIPT
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ECE 477 Final Presentation ECE 477 Final Presentation Group 1 Group 1 Spring 2005 Spring 2005
Zeeshan NathanNakul Andrew
FIRE Bot
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OutlineOutline
• Project overviewProject overview• Block diagramBlock diagram• Professional componentsProfessional components• Design componentsDesign components• Success criteria demonstrationsSuccess criteria demonstrations• Individual contributionsIndividual contributions• Project summaryProject summary• Questions / discussionQuestions / discussion
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Project OverviewProject Overview• FIREbot is a fully autonomous robot intended to FIREbot is a fully autonomous robot intended to
protect a home or small building from fires.protect a home or small building from fires.• Patrols an indoor area or waits passively while Patrols an indoor area or waits passively while
searching for flamessearching for flames• Capable of locating, approaching, and extinguishing Capable of locating, approaching, and extinguishing
flamesflames• Uses a standard household fire extinguisher and an Uses a standard household fire extinguisher and an
easily rechargeable batteryeasily rechargeable battery• Features an easy and convenient user interface to let Features an easy and convenient user interface to let
you select its mode of operation and see what its you select its mode of operation and see what its currently doingcurrently doing
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Block DiagramBlock DiagramPower Supply
Universal Flame Detector
Wide Angle Flame Detectors
Narrow Angle Flame Detectors
Distance Sensors
ModeSwitch
Siren
Sensor Platform Servo
Microcontroller
Motor Drivers
LCD Output
Debug Port
Extinguisher Trigger Servo
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Professional ComponentsProfessional Components
• Constraint analysis and component selection Constraint analysis and component selection rationalerationale
• Patent liability analysisPatent liability analysis• Reliability and safety analysisReliability and safety analysis• Ethical and environmental impact analysisEthical and environmental impact analysis
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Constraint AnalysisConstraint Analysis
• Mechanical/Structural ConstraintsMechanical/Structural Constraints– Capable of carrying and triggering fire Capable of carrying and triggering fire
extinguisherextinguisher– Capable of positioning all sensors to Capable of positioning all sensors to
receive necessary datareceive necessary data– Capable of being driven by small DC Capable of being driven by small DC
motorsmotors– Capable of carrying and Capable of carrying and
protecting electronicsprotecting electronics
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Constraint AnalysisConstraint Analysis
• Electrical ConstraintsElectrical Constraints– Powered by On-board batteryPowered by On-board battery– 4 Supply Rails4 Supply Rails– Must be robust and power-efficientMust be robust and power-efficient– Microcontroller receives all inputs and Microcontroller receives all inputs and
drives all outputsdrives all outputs– Electronics to interface to each input Electronics to interface to each input
sensor and each output devicesensor and each output device
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Constraint AnalysisConstraint Analysis
• Software ConstraintsSoftware Constraints– Software is interrupt-driven to allow real-Software is interrupt-driven to allow real-
time responsestime responses– Control state machines to handle high-Control state machines to handle high-
level intelligencelevel intelligence– Low-level state machines to control all Low-level state machines to control all
hardware moduleshardware modules
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Patent Liability AnalysisPatent Liability Analysis
• Patents exist forPatents exist for– IR Fire detection systemIR Fire detection system– IR Obstacle avoidance systemIR Obstacle avoidance system– ““Automated Fire Protection SystemAutomated Fire Protection System””
“Designed for the protection of naval “Designed for the protection of naval vessels from the danger exhibited by vessels from the danger exhibited by ordnances exposed to heat in the event of ordnances exposed to heat in the event of a fire.”a fire.”
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Reliability/Safety AnalysisReliability/Safety Analysis
• Microcontroller analysisMicrocontroller analysis– MTTF = 1.23MTTF = 1.23
• MBR160 Switching supply schotkey diodesMBR160 Switching supply schotkey diodes– MTTF = 2.2MTTF = 2.2
• 5v linear regulator5v linear regulator– MTTF = 1.88MTTF = 1.88– Reduced by adding large heat sink to Reduced by adding large heat sink to
dissipate extra heatdissipate extra heat
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Ethical/Environmental AnalysisEthical/Environmental Analysis
• In the current version of production, there are no warning labels anywhere on the robot.
• No safeties mechanisms present on the robot other than fuses.
• If the fire is particularly large, the robot may not be capable of putting it out.
• All rechargeable batteries pose a potential environmental hazard due to the presence of lead-acid.
• All printed PCBs have lead as well.
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Design ComponentsDesign Components
• Packaging design considerationsPackaging design considerations• Schematic design considerationsSchematic design considerations• PCB layout design considerationsPCB layout design considerations• Software design considerationsSoftware design considerations
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Packaging DesignPackaging Design
Level 2 bolt holes Extinguisher strap mounting holes
Motor mounting holes
User interface mounting holes
Servo mounting holes
Siren mounting holesBase – top view
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Packaging DesignPackaging DesignLevel 2 mounting holes
Tower mounting holes
UVtron mounting holesLevel 2 – top view
Tower – sweeping turntable
Tower – narrow angle sensor
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Packaging DesignPackaging Design
Angular bracket
RS232 debug interface
Mode selection switch
Power switch
4x20 LCD display
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Schematic DesignSchematic Design• Power supplyPower supply
– Noise isolation accomplished with four power rails and two Noise isolation accomplished with four power rails and two ground railsground rails
• Sensor interface circuitsSensor interface circuits– Signal amplification required for low current-output Signal amplification required for low current-output
photodiodesphotodiodes– Low noise requirements for most A/D inputsLow noise requirements for most A/D inputs
• Shift registersShift registers– Reduce microcontroller I/O pinsReduce microcontroller I/O pins– Used for LCD and DC motor control outputsUsed for LCD and DC motor control outputs
• Motor interface circuitsMotor interface circuits– H-bridges for PWM motor controlH-bridges for PWM motor control– Dedicated power rail for servosDedicated power rail for servos
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PCB Layout DesignPCB Layout Design
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PCB Layout DesignPCB Layout Design
AT
Mega32
Digital Switching
Power Supply
Servo Switching
Power Supply
Serial Debug
Port Siren
Analog Flame &
Proximity Sensors`
Servo Motor Drivers
12V
Switch
5V Linear
Regulator
DC Motor
H-Bridges
LCD
DisplayTurntable
Mounted
PCB
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Software DesignSoftware Design
• Code size: 14KBCode size: 14KB• Software is heavily modularizedSoftware is heavily modularized• All modules are interrupt driven state All modules are interrupt driven state
machinesmachines• Software hierarchically organized into master Software hierarchically organized into master
control, mode control, and hardware control, mode control, and hardware interface control modulesinterface control modules
• Organized development Organized development environment with a revisionenvironment with a revisioncontrol systemcontrol system
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Software DesignSoftware DesignMaster Software
Mode Control Software
Hardware-Interface Software
Hardware
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Software DesignSoftware Design
• Master software - top level state machineMaster software - top level state machine• Mode control softwareMode control software
– One Eye Open ModeOne Eye Open Mode– Patrol ModePatrol Mode– Find-the-Fire Find-the-Fire – ApproachApproach– ExtinguishExtinguish– Debug interfaceDebug interface
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Software DesignSoftware Design
• Hardware-Interface softwareHardware-Interface software– Universal flame detectorUniversal flame detector– Drive motorsDrive motors– Obstacle/Proximity sensorsObstacle/Proximity sensors– Narrow angle flame detectorNarrow angle flame detector– Scanner & trigger servosScanner & trigger servos– Wide angle flame detectorWide angle flame detector– ADC controllerADC controller– LCD interfaceLCD interface– UART (debug) interfaceUART (debug) interface
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Success Criteria DemonstrationsSuccess Criteria Demonstrations
• Ability for the software to maneuver the Ability for the software to maneuver the robot on an arbitrary indoor surface, robot on an arbitrary indoor surface, avoiding walls or other objects while avoiding walls or other objects while maneuvering.maneuvering.
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Success Criteria DemonstrationsSuccess Criteria Demonstrations
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Success Criteria DemonstrationsSuccess Criteria Demonstrations
• Ability to interface the microcontroller with Ability to interface the microcontroller with an LCD and display state information on the an LCD and display state information on the screen.screen.
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Success Criteria DemonstrationsSuccess Criteria Demonstrations
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Success Criteria DemonstrationsSuccess Criteria Demonstrations
• Ability to detect a nearby fire with minimal Ability to detect a nearby fire with minimal false positives (from non-flame heat false positives (from non-flame heat sources) and determine the fire’s position sources) and determine the fire’s position relative to the robot.relative to the robot.
• Ability to maneuver the robot into position Ability to maneuver the robot into position to extinguish a fire based on data from the to extinguish a fire based on data from the sensors.sensors.
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Success Criteria DemonstrationsSuccess Criteria Demonstrations
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Success Criteria DemonstrationsSuccess Criteria Demonstrations
• Ability to activate a fire extinguisher to Ability to activate a fire extinguisher to extinguish a fire when the robot is already extinguish a fire when the robot is already in the correct position.in the correct position.
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Success Criteria DemonstrationsSuccess Criteria Demonstrations
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Individual ContributionsIndividual Contributions
• Team Leader – Nathan AinsworthTeam Leader – Nathan Ainsworth• Team Member 2 – Nakul JeirathTeam Member 2 – Nakul Jeirath• Team Member 3 – M. Zeeshan KhanTeam Member 3 – M. Zeeshan Khan• Team Member 4 – Andrew PennerTeam Member 4 – Andrew Penner
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Team Leader – Nathan AinsworthTeam Leader – Nathan Ainsworth
• Coordinated Efforts of all team members Coordinated Efforts of all team members (“Supervised”)(“Supervised”)
• Performed overall Systems Engineering of Performed overall Systems Engineering of Fire-Finding ProcessesFire-Finding Processes
• Developed many blocks of the schematicsDeveloped many blocks of the schematics• Developed overall software structureDeveloped overall software structure• Developed many software blocksDeveloped many software blocks
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Member 2 – Nakul JeirathMember 2 – Nakul Jeirath
• Designed LCD circuitryDesigned LCD circuitry• Wrote software for modules:Wrote software for modules:
– Wide angle flame detectorWide angle flame detector– Patrol modePatrol mode– Find the fire stateFind the fire state
• PCB layoutPCB layout• PCB PopulationPCB Population• Mechanical structure designMechanical structure design
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Member 3 – Zeeshan KhanMember 3 – Zeeshan Khan
• Wrote software for modules:Wrote software for modules:– UART interfaceUART interface– Obstacle detectionObstacle detection– ADCADC
• Software debuggingSoftware debugging• Populated PCBPopulated PCB• Team webmasterTeam webmaster• Managed CVS archivesManaged CVS archives
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Member 4 – Andrew PennerMember 4 – Andrew Penner
• Designed power suppliesDesigned power supplies• PCB LayoutPCB Layout• PCB PopulationPCB Population• Mechanical structure designMechanical structure design• Hardware testingHardware testing• Software debuggingSoftware debugging
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Project SummaryProject Summary
We learned the importance of…We learned the importance of…• modularized softwaremodularized software• capable debug interfacecapable debug interface• planning top-down & implementing bottom-upplanning top-down & implementing bottom-up• maintaining a well organized development maintaining a well organized development
environmentenvironment– revision control systemrevision control system– standards in software & standards in software &
schematic designschematic design• strong teamwork skillsstrong teamwork skills
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Project SummaryProject Summary
Suggestions for version 2Suggestions for version 2• Choose a different narrow-angle sensorChoose a different narrow-angle sensor• Use more than one universal flame detectorUse more than one universal flame detector• Add self-charging capabilityAdd self-charging capability• Choose distance sensors with digital output to Choose distance sensors with digital output to
reduce noisereduce noise• Use a more sophisticated approach algorithmUse a more sophisticated approach algorithm• Upgrade microcontroller for increased flexibilityUpgrade microcontroller for increased flexibility• Correctly implement power shutdown featuresCorrectly implement power shutdown features• Upgrade packaging to better protect electronicsUpgrade packaging to better protect electronics• Use a COUse a CO22 fire extinguisher fire extinguisher• Integrate fly wires into PCB layoutIntegrate fly wires into PCB layout
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Questions / DiscussionQuestions / Discussion