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CALVIN ENGR 315 - Man’s Sixth Sense

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I. NomenclatureII. IntroductionIII. System OverviewIV. Proximity SensorsA. Proximity Sensor UsesB. Proximity Sensor TypesC. Proximity Sensor ComparisonsV. CamerasA. Camera UsesB. Camera TypesC. Camera ComparisonVI. ProcessorA. Processor UsesB. Processor TypesC. Processor ComparisonVII. System DecisionsVIII. ABS Braking System OverviewA. ABS IntroductionB. ABS ConceptC. ABS ComponentsD. ABS at WorkE. Types of ABS BrakingIX. ABS Control SystemX. Stability Control SystemA. Stability EnhancementsB. Implementation TodayXI. Social BenefitsAbstract-- A car that controls its self is a marvel. Naturally, oneof the best ways to control the car is with a control system. Thecar is driven by differential steering meaning that there is amotor on each of the two driving wheels. The first step toanalyze what the system needs to control the car; research wasdone on sensors, cameras, and power systems. Then researchwas done to determine how various sensors, cameras, and motorcontrollers worked and which combination would work best forthe requirements of the project. After thorough research and afew design matrixes the best setup turned out to be ultrasonicsensors and cameras combined with an expensive motorcontroller. This gave us the best response time limiting theamount of overshoot occurs during turning.Index Terms--The author shall provide up to 10 keywords (inalphabetical order) to help identify the major topics of thepaper. The thesaurus of IEEE indexing keywords should bereferenced prior to selecting the keywords to ensure that thewords selected are acceptable. The thesaurus is posted athttp://www.ieee.org/organizations/pubs/ani_prod/keywrd98.txt.It is also available by sending an e-mail (with no messagenecessary) to <mailto:[email protected]>. A large ASCII file ofthe keywords (220 kb, approximately 55 pages) will be returnedto you via e-mail. Before using this option, be sure your local e-mail has the capacity to receive a file as large as this one.I. NOMENCLATUREA.D.D. – Automated Designated DriverABS – Antilock Braking SystemII. INTRODUCTIONteam of four electrical engineers and one computerscience major are designing and building an automatedvehicle. The name of their group is A.D.D. (AutomatedDesignated Driver). In this paper they will be referred to aseither A.D.D. or “the design team.” The Team goal is toenter into the IGVC (Intelligent Ground Vehicle Competition)and win. The paper contains how the team determined thedesign and parts of their control system that would controltheir automated car. The team has a budget that is near to$4500 dollars. Fig. 1 shows the team budget and how muchmoney is available for some of the parts that are introduced inthis paper. However, some of the items on the budget will notbe talked about in this paper, but they give a general idea ofwhere the money for the team is going to go. The firstsection will consist of a general analysis of how the maincontrol system will work and what parts are necessary. Thesecond part will consist of research done on the various partsneeded and a comparison between the same groups of parts.The third section will be comparisons between the variouscombinations of parts from varying categories and thedetermination of the parts used. The fourth section will drawthe selected parts together and explain in detail how theyArelate and how the system will interact.III. SYSTEM OVERVIEWThe control system used to design the car is fairly simple. The loop that I am concerned with in this paper is how the camera, proximity sensor, and PC will be combined to determine the output to the motor controller. This control system has some hardware, but the output is essentially derived from software driven PC. Fig. 1 shows the basic control system for the project. This control system will be expanded later in order to provide a higher level of detail. Fig. 1. Original block diagram for the control system. IV. PROXIMITY SENSORSA. Proximity Sensor UsesProximity Sensors are needed for the automated car design because they will allow the car to detect obstacles. The price of these sensors are usually proportional to the distance they detect obstacles. Therefore, the sensors for this project will be quite expensive because moving at five mph the sensor must detect obstacles at a minimum of twenty feet in order forthe car to have an adequate amount of time to react or turn. B. Proximity Sensor TypesThe search for a proximity sensor turned up three majorresults. The first result was the laser proximity sensor. Thesesensors are very effective. Right now they are made so thatMan’s Sixth SenseM.E. Husson, Senior Student at Calvin Collegewhen someone buys them the software actually can show youa 3D image of what is all around it. This is very effective indetermining where obstacles are and what the best path isbetween them. The downfall of these sensors is they areextremely expensive. They are on the order of 10’s ofthousands of dollars. Due to the fact that the project does nothave that big of a budget this sensor is excluded. The next sensor that was researched was an infraredproximity sensor. These sensors are very good. Most of thesesensors can only detect obstacles at a maximum of five to tenfeet away. However, this is enough space to meet therequirements of our project. The cost of the PIR (ProximityInfrared) sensors is also within the allotted budget. Thismakes the PIR’s a competitor for the spot on the car.The last sensor that was researched was an ultrasonicsensor. These sensors are very good at longer distances.They reach maximum distances of 50 to 100 feet. Thesesensors are acceptable for the range specified in therequirements of our project. The cost of the ultrasonicsensors is also within the allotted budget. This makes theultrasonic sensors a viable alternative to the PIR sensors.C. Proximity Sensor ComparisonsThe laser sensors are not even going to be compared to thePIR and ultrasonic sensors because the laser


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CALVIN ENGR 315 - Man’s Sixth Sense

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