PowerPoint PresentationSlide 2PurposeFeaturesBlock DiagramMicrocontrollerFPGA or CPLDRover Assembly and MechanicsPeripheralsPower Distribution SystemInitial PMU ComponentsPMU (Power Management Unit)Slide 13H-Bridge ConverterUser InterfaceSlide 16Risks & Contingency PlanDivision of TasksTime ScheduleCost EstimationQuestions?Amr Aldaiel - Andrew KravitzKatie Noble - Zack Taylor - Alan YimOverview•Objectives and features•Block diagram•Microcontroller and FPGA •Rover assembly and mechanics•Peripherals•Power distribution system•User interface and communication link•Risks and contingency plan•Division of tasks•Time schedule•Cost estimationPurpose•Remotely operated rover to be used for purposes including:–Home/Business surveillance–Hazardous environment monitoring–Accessing low-light and small space environments–Non-intrusive monitoring of disabled and elderlyFeatures•Wireless real-time video with illumination capabilities•Remote manual operation via computer-based user interface•Temperature sensor•LCD display and keypad•Wireless network control•Automatic patrol mode•Smoke detector, CO detectorPreliminaryGoalsPotentialAdd-onsBlock DiagramMicrocontroller•PIC18F6527 Microcontroller (64 Pin)–Contains 5 on Board PWM•2 PWM to control vehicle movement•1 PWM to control camera servo for vertical aim–Onboard EEPROM, RAM and EnhFl memory–Internal Oscillator to sample wheel position–Max Operating Frequency 40MHz–Upward scalable for additional featuresFPGA or CPLD•Xilinx XCS10 FPGA–Uses•On Board Control Pad•On Board LCD display•LED information lights for debugging•On Board Switches and Buttons for debuggingRover Assembly and Mechanics•Two independent drive-trains•Each drive-train driven by a different DC motor•Options–Treads–Left/Right side wheels linked by belts–Front/Back wheels on axles•Optical encoder feedback for automated movement (optional)Peripherals•Wireless camera•High-intensity illumination LEDs•Temperature sensor•LCD display and keypad•Night vision camera capabilities•Smoke detector•Carbon Monoxide detectorPreliminaryGoalsPotentialAdd-onsPower Distribution SystemTasks:•Design and build a Power Management Unit (PMU)•Build switching power converters as needed for different parts of the eyeBOT•Ensure power is adequately distributed and efficiently managed•Ensure switching converters are adequately cooled down by heat-sinks and/or fansInitial PMU Components•1st Stage Step-Down Converter•2nd Stage Step-Up/Down Converters•Motor Controller and Gate Driver•H-bridge Inverter•Servo ControllerPMU (Power Management Unit)Step-Up/Step-Down DC-to-DC Converter•Non-inverting buck-boost Converter (Could also use a Flyback Converter):H-Bridge ConverterH-Bridge ConverterUser Interface•User will interface with the eyeBOT from a base computer.•User will control movement of wheels and camera•Programmed using Visual C#Communication Link•Camera will communicate wirelessly directly with the base computer•All other devices will communicate to the base computer through an RS-232 cable•Once working, we will upgrade to wireless communicationRisks & Contingency Plan•Errors on PCB–Wire wrap prototype•Power issues–Can use tethered AC power•Visual interface issues–LCD panel rover control•Wireless interfacing issues–Can use tethered RS-232 interfaceDivision of Tasks•Amr–Power distribution system, LCD/Keypad•Andrew–Microcontroller, FPGA•Katie–Motors & feedback, peripherals, FPGA•Zack–User interface, communication link•Alan–Rover assembly & mechanics, motorsTime ScheduleCost EstimationComponent Quantity Price Per PriceVariable speed DC motor/Gearbox 2 $65 $130Chassis 1 $200 $200Battery/Battery charger 1 $150 $150Digital thermometer 1 $5 $5Camera (CCD) 1 $100 $100High power LEDs 10 $1 $10FPGA 1 $120 $120Servo for camera rotation (vertically) 1 $40 $40Keypad/LCD 1 $25 $25PIC (Microchip 18F6527) 4 $5 $20PIC programmer 1 $160 $160Demo board 1 $60 $60Printed circuit board 2 $100 $200RS-232 cables 1 $25 $25RS-232/RF interface 1 $150 $150H-bridges 2 $25 $50Optical feedback encoders2$60 $120Quadrature decoder2$40 $80TOTAL