The Rat PackThe Rat Pack

Kirk AcklinKirk AcklinScott CarpenterScott CarpenterDouglas JohnsonDouglas Johnson

Mike LiMike Li

The motorized, super-cool lab rat

OverviewOverview

► The Project/ObjectivesThe Project/Objectives► Component LayoutComponent Layout► CostCost► MarketabilityMarketability► Play by Play progressPlay by Play progress► Division of LaborDivision of Labor► Risk/Contingency PlansRisk/Contingency Plans► Wrap upWrap up

Project/ObjectivesProject/ObjectivesEssentialsEssentials

Description:Description:

The Lab Rat is a micro-controller motorized maze The Lab Rat is a micro-controller motorized maze navigating machine. The rat will be able to navigating machine. The rat will be able to traverse a maze either using an built-in algorithm traverse a maze either using an built-in algorithm or following IR checkpoints within the maze. The or following IR checkpoints within the maze. The Lab Rat will also follow a user.Lab Rat will also follow a user.

► Lab rat will traverse mazes using the following methodsLab rat will traverse mazes using the following methods ““Left hand” algorithmLeft hand” algorithm Infrared Tracking of checkpoints within mazeInfrared Tracking of checkpoints within maze

► Lab rat will store its path within onboard memoryLab rat will store its path within onboard memory► Lab rat will follow a user wearing IR TransmitterLab rat will follow a user wearing IR Transmitter

Project/ObjectivesProject/ObjectivesUpgradesUpgrades

► Possible “upgrades”Possible “upgrades” Audio TrackingAudio Tracking Return path stored in memory via RF TransmitterReturn path stored in memory via RF Transmitter Some sort of cool “gun-like” attachment for shooting Some sort of cool “gun-like” attachment for shooting

thingsthings Rat could return through maze and reactivate checkpointsRat could return through maze and reactivate checkpoints

Project/ObjectivesProject/ObjectivesApplicaitonsApplicaitons

As is:As is:► Educational ApplicationsEducational Applications

Future Generations:Future Generations:► Civilian ApplicationsCivilian Applications

Surveying / ExplorationSurveying / Exploration► Military ApplicationsMilitary Applications

Scouting / ReconnaissanceScouting / Reconnaissance Unmanned OperationsUnmanned Operations

Vehicle/Sensor ControlVehicle/Sensor Control

Left Motor Right Motor

FPGARAM

FrontProximitySensor

SideProximitySensor

IRSensor

IR Transmitter

Retrieving Maze LayoutRetrieving Maze Layout

RAM

M68HC11E1

SCI

RS-232

Overall System DiagramOverall System Diagram

MC68HC11E1

SCI

RS-232

Data Bus

Address Bus

RAM

FPGA EEPROM

StepperMotor

(LWheel) IR Sensor

BusDriver

StepperMotor

(RWheels)

+5V

FrontDistanceSensor

SideDistanceSensor

CostCost► Board Development► Prototype► Transmitters► Presentation/ExpoNOTE: total cost determined from low-end and high-end estimates. *Indicates possible costs contribute to

high-end cost.

 

CostCostBoard Development($22/$72):Circuit Board = $22Circuit Board = $22

    Circuit Components – chips, socket and wires ~ free from Circuit Components – chips, socket and wires ~ free from Capstone within reason (*contigent $50)Capstone within reason (*contigent $50)

CostCostPrototype($98/$278):    Manufactured Board – must buy in quantity 4 = 4 @ ~$40 = Manufactured Board – must buy in quantity 4 = 4 @ ~$40 =

~$160~$160    Sensors / Transimitters & Receivers($2/$53)Sensors / Transimitters & Receivers($2/$53) oo Collision / Object Detection Sensors ~ $1 - $52Collision / Object Detection Sensors ~ $1 - $52 Bumper sensor $1Bumper sensor $1 *IR rangefinder $23 - $26*IR rangefinder $23 - $26 *Flex - $18*Flex - $18 *Ultrasonic rangefinder $30 - $52*Ultrasonic rangefinder $30 - $52 http://www.http://www.robotstorehkrobotstorehk.com/sensor.html.com/sensor.html oo IR receivers ~ $1IR receivers ~ $1 IR receivers and transmitters are both $1IR receivers and transmitters are both $1 http://www.robotstorehk.com/sensor.htmlhttp://www.robotstorehk.com/sensor.html http://www.http://www.robotstorerobotstore.com/.com/ oo Serial RF Link ~ free from Capstone (*contingent $30)Serial RF Link ~ free from Capstone (*contingent $30)

CostCostPrototype($98/$278) contd.:Materials($68/$78)Materials($68/$78)

oo Lexan Sheet - (1/8”-1/4”) stock dependent on thickness Lexan Sheet - (1/8”-1/4”) stock dependent on thickness ~$5 - $10~$5 - $10

oo Stepper Motors ~ $50Stepper Motors ~ $50

Motor ~ ??, Controller implemented in logicMotor ~ ??, Controller implemented in logic

oo Wheel – 2 simple, 1 universal ~ 2@~$5 + 1@~$3 = ~$13 Wheel – 2 simple, 1 universal ~ 2@~$5 + 1@~$3 = ~$13 modelmodel

wheels 1wheels 13/83/8” to 2” to 23/43/4 $3.95 to $4.95 internet $3.95 to $4.95 internet

http://www.http://www.modelflightmodelflight.com.au/accessories_wheels..com.au/accessories_wheels.htmhtm

casters vary greatly small simple caster $2.10 on internetcasters vary greatly small simple caster $2.10 on internet

http://www.http://www.acecastersacecasters.com/products/.com/products/lightdutylightduty&small.html&small.html

http://www.http://www.servicecasterservicecaster.com/catalog_online..com/catalog_online.htmhtm

CostCostPrototype($98/$278) contd.: Power($8/$50)Power($8/$50)

oo Solar Panels ~ $20Solar Panels ~ $20

*3 flexible panels*3 flexible panels

http://www.http://www.robotstorerobotstore.com/.com/-AND/OR--AND/OR-

oo Batteries ~ $8 - $30Batteries ~ $8 - $30

battery packs starting at $7.99 to ~$30, phone battery battery packs starting at $7.99 to ~$30, phone battery $19.99 $19.99

http://www.http://www.megabatteriesmegabatteries.com/.com/

Fasteners / Hardware ~ $20Fasteners / Hardware ~ $20

*Specialty Tools ~ $20*Specialty Tools ~ $20

Googley Eyes ~ $1 Googley Eyes ~ $1

CostCostTransmitters ($48): Belt/Beacons ~ 6@$8 ~ $48 o IR transmitters ~ $1 o Power source ~ $2 o Hardware – wiring, fasteners, etc. $5 

Presentation/Expo ($55): Maze – foamboard ~ $15 User Manuel / Technical Data – printing and binding ~ $40

Cost Wrap-up Cost Wrap-up

Development Low HighBoard Development 22.00$ 72.00$

Circuit Board 22.00$ 22.00$ Components -$ 50.00$

Vehicle Prototype 30.00$ 303.00$ Manufactured Board -$ 160.00$ Sensors 2.00$ 53.00$ Materials ?? ??Power 8.00$ 50.00$ Hardware 20.00$ 20.00$ Tools -$ 20.00$ Googley Eyes 1.00$ 1.00$

Transmitters 48.00$ 48.00$

Presentation 55.00$ 55.00$ Maze 15.00$ 15.00$ Wtritten Materials 40.00$ 40.00$

TOTAL 155.00$ 478.00$ COST Per/Member 38.75$ 119.50$

Development Low HighBoard Development 22.00$ 72.00$

Circuit Board 22.00$ 22.00$ Components -$ 50.00$

Vehicle Prototype 98.00$ 278.00$ Manufactured Board -$ 160.00$ Sensors 2.00$ 53.00$ Materials 68.00$ 78.00$ Power 8.00$ 50.00$ Hardware 20.00$ 20.00$ Tools -$ 20.00$ Googley Eyes 1.00$ 1.00$

Transmitters 48.00$ 48.00$

Presentation/ Expo 55.00$ 55.00$ Maze 15.00$ 15.00$ Wtritten Materials 40.00$ 40.00$

TOTAL 223.00$ 453.00$ COST Per/Member 55.75$ 113.25$

MarketabilityMarketability

Current GenerationCurrent Generation►EducationalEducational

High SchoolHigh School CollegeCollege

Future GenerationsFuture Generations►Civilian UsesCivilian Uses►Military UsesMilitary Uses

►Price per unit -- $100.00Price per unit -- $100.00►Expect to sell -- 1000Expect to sell -- 1000►Selling price -- $350.00Selling price -- $350.00

►Net Profit -- Net Profit -- $250,000.00$250,000.00

► Money would be made with future Money would be made with future generationsgenerations

Return on InvestmentReturn on Investment

Play by PlayPlay by Play► CDRCDR

Thursday, 9 OctoberThursday, 9 October► Milestone 1Milestone 1

Thursday, 30 OctoberThursday, 30 October Each subsystem running independentlyEach subsystem running independently Processor fully running code beyond NOPProcessor fully running code beyond NOP

► Milestone 2Milestone 2 Thursday, 20 NovemberThursday, 20 November Layout finishedLayout finished Build mazeBuild maze Test final codeTest final code

► ExpoExpo Thursday, 4 DecemberThursday, 4 December All doneAll done

Play by Play (cont)Play by Play (cont)

Division of LaborDivision of Labor

►Kirk AcklinKirk Acklin Sensor Design and Floating ConstructionSensor Design and Floating Construction

►Scott CarpenterScott Carpenter Tech Writer and ProgrammerTech Writer and Programmer

►Douglas JohnsonDouglas Johnson Locomotion System and Floating Locomotion System and Floating

ConstructionConstruction

►Mike LiMike Li Processor ImplementationProcessor Implementation

Risk/Contingency PlansRisk/Contingency Plans► Fall behind on schedule

Descope non-critical project functions Keep all designs at simplest level and add difficulty only upon

completion► Much of the technology is unfamiliar

If we fall behind on one, keep pushing the rest ahead If we’re unable to figure it out one way, try other methods

► Issues with RF link Permanent tether

► Issues with recording the path Send data over RF link to store on laptop

► Unable to achieve battery power source Use tethered power source

► Fail PDR Staple a nice bribe to the user’s manual

Wrap UpWrap Up

► The Project/ObjectivesThe Project/Objectives► Component LayoutComponent Layout► CostCost► MarketabilityMarketability► Play by Play progressPlay by Play progress► Division of LaborDivision of Labor► Risk/Contingency PlansRisk/Contingency Plans

QUESTIONS???QUESTIONS???