Multidisciplinary Engineering Senior Design

Project 06010: Unmanned Surveillance VehiclePreliminary Design Review11.7.05

Team Members: Randy Cicale, Laurence DeWitt, Stephen Ray, Ian Shelley, Christopher Stilson, Stephen VisalliTeam Mentor: Dr. Mercin LukowiakAcknowledgements: Dr. Alan NyeKate Gleason College of Engineering

Rochester Institute of Technology

Overview

Project Overview Process System Diagram Analysis/Synthesis of Design Challenges/Risks Future Planning

Project Overview

Original Proposal Sponsor Unmanned ground vehicle GPS guided Photographic surveillance Wireless data transfer 3 Preliminary concepts

Process

Needs assessment Concept development Feasibility assessment Project schedule/Gantt Chart

Needs Assessment

Communication Vehicle <–> Remote Computer

Operation GPS <–> Vehicle

Graphical User Interface Constant Photographic Feedback Navigate through GPS waypoints

Key Requirements & Critical Parameters Navigate through waypoints Reliable data transfer Provide photographic feedback Graphic User Interface Package for < $2000 One-hour battery life Use on dry asphalt

Overall System Diagram/Block Diagram

Analysis & Synthesis of Design Detailed Design Feasibility of Components Bill of Materials

Detailed Design

Base-plate

Material Cost Material Availability Strength Manufacturability Conductivity Finish Aesthetics

Finite Element Analysis-Stress

FEA - Deflection

FEA – Shear Stress

Drive-Train

Simplicity Low mechanical energy loss Low Cost Easy to Assemble Good Performance

User Interface

Data processing GPS and Visual Surveillance

User Friendly Ability to adapt to users requests

Transceiver

Transmit/Receive Wireless Data Selection Parameters:

Outdoor transmission distance Baud Rate Power consumption Ease of Use

I/O protocol Impedance matching FCC Govt. regulations

Cost

Transceiver Comparison

Wi232 Zigbee WiFi

Freq 902-928 MHz 902 MHz or 2.4 GHz

2.4 GHz

Outdoor Range 4000 ft 500 ft 300-500 ft

Indoor Range 400 ft 30-60 ft 50-75 ft

Data Rate (Baud)

.3-152.34 kbps

40 kbps 1 Mbps

Cost <$10 ~$15 >$20

Transceiver

Radiotronix Wi.232 Developmental Kit Govt. Regs. Impedance match Power performance

3 AAA’s I/O ports

RS232 & USB

GPS Background

Cost Effective/Simplistic compared to INS Module v. Handheld Easy to process data

Selection parameters Cost Feasibility Power consumption Accuracy Acquisition time

GPS Polstar Technologies PMB-248

Cheap - $26 Low power – 80mA at 5V Quick access time – 2-40sec 12 parallel satellite-tracking channels

for fast acquisition and reacquisition

FPGA Background

Easy to Modify Lots of I/O ports Chip v. Evaluation Board

Selection parameters Cost Power consumption Amount of available logic Speed

FPGA Xilinx Virtex-4 ML403 Evaluation

Board Cost - $495

Donated to the team from Kodak Low power 450 MHz PowerPC Core RS-232 Serial Port, 3 USB Ports (2

Peripheral/1 Host), 64 General Purpose I/O

Servo Motors

Background Importance 4 Motors “Tank Drive”

Selection Parameters Required Voltage RPM Stall Torque Cost

Servo Motors cont’d

12V .38 amp Stall Torque: 225.64 oz-in 263 RPM $23.70/ea

Wheels

Selection Parameters Size (diameter and width) Compatibility w/ Motors Tread pattern Cost

Wheels cont’d 5”D x 2.25”W Neoprene “Off-road Tread” design $25/ pair

Camera

Background Importance Color Not restrict performance

Selection Parameters Size Range Battery life Cost

Camera cont’d

9V@150mA Range of 1000’ (LoS) 0.8”x0.8”x0.75” Includes base station 60 deg. Viewing angle $99.00

BOM & CostsBILL OF MATERIALS   P06010 Unmanned Surveillance Vehicle      

PARTNUMBER(Assy/PN)

PART NAMEQTY

MFR MODEL # SUPPLIERCOST

$OUR

$Sub $

  10 BASE PLATE 1 (IN-HOUSE) 06010-001-A Metal Source 48 25 25

A20 20 SERVO MOTOR 4 Lynxmotion PGHM-13 Lynxmotion 23.7 23.7 94.8

A20 21SERVO CONTROL

BOARD 2 Lynxmotion HB-04 Lynxmotion 88.95 88.95 177.9

A20 22SERVO FASTENER

(pair) 2 Lynxmotion MMT-02 Lynxmotion 7.95 7.95 15.9

A20 23 9V BATTERY 2 N/A N/A N/A 1 1 2

  30FPGA

1 XILINX

HW-V4-ML403-USA Eastman Kodak 495 0 0

A40 40 TRANSCEIVER 1 RADIOTRONIX RK-Wi232DTS RADIOTRONIX 249 0 0

A40 41 AAA BATTERY 6 N/A N/A N/A 0.5 0.5 3

  50CAMERA

1 Unknown CM-1202Spy Camera

Specialist 99 99 99

  60GPS BOARD

1 POLSTAR TECH PBM-248globalsources.co

m 26 26 26

  70 WHEEL (pair) 2 Lynxmotion TRC-02 Lynxmotion 25 25 50

  80 COMPUTER 1 DELL INSPIRON TEAM 1000 0 0

  90LM317 V

REGULATOR 1 N/A LM317 mouser.com 1 1 1

              Grand Total: 494.6

Anticipated Design Challenges/Risk Prototype safety

Roll-cage Extended Wheel Base Use of parking lot

Over-budget Power consumption

SD II Project Plan

11.14.05 - Begin Ordering Parts Work throughout winter quarter 4.2.06 - Prototype Complete 4.3.06 to 4.30.06 - Test and

Debug 5.15.06 - Prepared for

Comprehensive Design Review

Summary/Questions

Process Needs Feasibility Preliminary design concept Risks/challenges Project planning

Backup Slides and References Pugh’s Method for Feasibility

GPS Servo Motors Wheels Camera FPGA Transceiver Base Plate Drive-Train

GPS FeasibilityEvaluate each additional concept

against the baseline, score each attribute as: 1 = much

worse than baseline concept 2 = worse than baseline 3 = same

as baseline 4 = better than baseline 5= much better than

baselinePMB-248PMB-248 PMB-238PMB-238 EM-401EM-401 PGM-102PGM-102

Sufficient Student Skills?Sufficient Student Skills? 3.0 3 3 3

Sufficient Lab Equipment?Sufficient Lab Equipment? 3.0 3 3 3

Ease of UseEase of Use 3.0 2 2 2

Cost of Materials?Cost of Materials? 3.0 3 3 3

Cost of Device?Cost of Device? 3.0 3 2 2

SizeSize 3.0 3 2 3

Technology Feasibility Technology Feasibility 3.0 2 1 2

AccuracyAccuracy 3.0 3 1 1

Acquisition TimeAcquisition Time 3.0 3 1 2

Power SupplyPower Supply 3.0 3 2 3

         

Mean ScoreMean Score 3.0 2.8 2.0 2.4

Normalized ScoreNormalized Score 100.0% 93.3% 66.7% 80.0%

Servo Motor Feasibility

Wheel Feasibility

Camera Pugh’s Method

FPGAEvaluate each additional

concept against the baseline, score each attribute as: 1 = much worse than baseline

concept 2 = worse than baseline 3 = same as baseline

4 = better than baseline 5= much better than baseline

Virtex 4ML401

Evual Kit

HC12 Micro-

controller

Virtex 4 ML402

Evual Kit

Virtex 4

ML403 Evual

Kit

68000 Mirco-

Controller

Relative Weight

Sufficient Student Skills? 3.0 2 3 3 3 11%

Processing Power 3.0 2 2.5 5 2 3%

Memory 3.0 1 3 5 1 5%

Aviable Logic 3.0 2 2.5 2.7 1 14%

I/O Ports 3.0 1 3 3 1 16%

Interfacing with extra memory 3.0 1 3 3 1 16%

Simulation of Models 3.0 1 3 3 1 14%

Sufficient Lab Equipment 3.0 2.5 3 3.0 2.5 3%

Cost 3.0 2 3 3 2 3%

Cost of components 3.0 1 3 3 1 16%

Weighted Score 3.0 1.3 2.9 3.1 1.3

Normalized Score 100.0% 43.2% 97.3% 105.0%

42.3%

Transceiver Feasibility

Base-Plate FeasibilityEvaluate each additional concept

against the baseline, score each attribute as: 1 = much

worse than baseline concept 2 = worse than baseline 3 =

same as baseline 4 = better than baseline 5= much better

than baselineAluminuAluminu

mm SteelSteelCarbonCarbonFiberFiber WoodWood   

Material Availability?Material Availability? 3.0 3 1 4  

Strength?Strength? 3.0 3 4 1  

Finish?Finish? 3.0 2 4 2  

Easy to process?Easy to process? 3.0 3 2 4  

Time to process?Time to process? 3.0 3 2 3  

Aesthetic appeal?Aesthetic appeal? 3.0 2 5 1  

Cost of material?Cost of material? 3.0 4 1 5  

Mean ScoreMean Score 3.0 2.9 2.7 2.9

Normalized ScoreNormalized Score 100.0% 95.2% 90.5% 95.2%

Drive-Train FeasibilityEvaluate each additional concept

against the baseline, score each attribute as: 1 = much

worse than baseline concept 2 = worse than baseline 3 =

same as baseline 4 = better than baseline 5= much better

than baseline 4 servos4 servos

Servos In2

Corners

ChainChainDriveDrive

nn

BeltBelt DrDrivivenen

22CasteCaste

rsrs   

Skill to manufacture?Skill to manufacture? 3.0 3 1 1 3  

Access to necessary tooling?Access to necessary tooling? 3.0 3 2 2 3  

Cost of Materials?Cost of Materials? 3.0 2 2 2 3  

Cost of Purchased Components?Cost of Purchased Components? 3.0 4 3 3 3  

Time to assemble?Time to assemble? 3.0 4 2 2 3  

Time to order parts?Time to order parts? 3.0 3 2 2 3  

Time to manufacture parts?Time to manufacture parts? 3.0 2 2 2 3  

Multiple Technologies Needed?Multiple Technologies Needed? 3.0 3 3 3 3  

Back-up with engineering Back-up with engineering calculations?calculations? 3.0 2 1 2 3  

Performance?Performance? 3.0 2 2 2 1  

Ability to be used on various Ability to be used on various surfaces?surfaces? 3.0 2 3 3 1  

Mean ScoreMean Score 3.0 2.7 2.1 2.2 2.6

Normalized ScoreNormalized Score 100.0%90.9

% 69%72.7

%87.9

%