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Capstone Spring 2009Critical Design Review
Erich Hanke
Electrical Engineering
Cole Bendixen
Electrical and Computer Engineering
Erik Larson
Electrical Engineering
Quang Than
Electrical Engineering
HAMSter
2
HAMSter Project Overview
Mobile Servo Powered Cart Stereo-Vision Obstacle DetectionAutonomous NavigationFPGA Hardware / Software ControlIR Sensor “Failsafe” Collision Avoidance
Cart Control Systems
8-bit || I2C
ADC
IR
IR
IR
IR
IR
VIRTEX-5 FPGACam0
Cam1
Opto-ElectricIsolation
Servo
Servo
Servo
Servo
Servo
Servo
Right Wheels
Camera tilt/pan
Left Wheels
COM 1
GPSReceiver
Imageco-proc
DDR2256MB
HDR
COM 0
COMPASS
DEBUG
I2C
ServoControl
PLB
BUS
PowerPC440
Hardcore
BRAM16Mb
DMA
GPS
12 Channel Lassen IQ GPS Receiver with DGPS RS-232 communication interface.Uses NMEA 0183 communication protocol.Programmable output.
IR Sensors
Sharp GP2Y0A21YK0F Analog Distance SensorAnalog voltage output.
Vref
Servos
• HSR-8498HB HMI Robot Servo• 180 degrees or continuous rotation operation.• Controlled via 340Hz• PWM signal.
1.456 ms 1.497 ms 1.539 ms
Max. CCW Stopped Max. CW
Compass•Honywell HMC6352•IIC Controlled•SDA, SCL, +3.3V, Gnd• 0.5 Degree Heading Resolution•Write 'A' → Read Direction
Xilinx Virtex 5 FPGA
• 550 MHz Integrated Block Memory (5MB)
• 6 Clock Management Tiles CMT
• Dedicated cascade routing to form 64K x1 Block Memorys
• 1.0 V Core Voltage• 7 Stage PPC Pipeline• Multiple IOB Voltage
Support: 3.3V, 2.5V, 1.8V
PowerPC 440
1,100 DMIPSUp to 550MHzOut of Order ProcessingBranch Prediction256MB DDR2 200MHz
Cameras
• Videology 20K145DIG• Digital 8 bit YUV 4:2:2
Output• 510x494 Active Pixels• Software Controllable by IIC• Internal Sychronization• 5V • < 0.8 W
Camera Controller
• IIC Interface to Micro• 28.6 MHz Clock• Data on Each Clock• Hsync / Vsync Pins
Camera Board Timing Specs
13
Stereo Vision
Based upon the phenomena of parallax, where an observation at two locations along a baseline of a common object appears to cause an offset of the object. This offset can be used to determine relative distance to the object.
Camera One Camera Two
d1 d2
Point Spread FunctionSimple PSF is applied to the image to enhance edges.Parameterized sweeper size and intensity.Post convolution threshold filter applied.
HDL IMAGE CO-PROCESSOR
PPC HARDCORE PROCESSOR
DVI CONTROLLER
IMAGE PROCESSING
PPC REGINTERFACE
PLL
DATABUILDER
DVISIGNAL
GENERATOR
RAM BLOCK
BRAMCONTROL
CONTROLREGISTERS
DATABREAKER
CONVIMAGE
Code Flow Diagram
ProcessFrame
Position Evaluation Orientation
ProcessObjects
DeterminePath
Move andWait
ProcessFrame
Position Evaluation Orientation
ProcessObjects
DeterminePath
Move andWait
IR SensorISR
MovementStopped
ISR
FrameReady
ISR
Servo Controller System
• Memory Mapped Control Registers
• PWM Generators
• Timers
Frequency Register
Control Register
For Each Servo:
Duty Cycle Register
Timer
Timer Control Register
PWM Generator
FPGA
ADCCamera
x2 IR Sensor
x5
GPS
Battery 2
Opto-Isolator
Servo Motorsx6+
Battery 1
Power Systems
Logic Power SystemServo Power System
Logic Power SystemLogic Power System
Compass
Opto-IsolatorRegulators
IR Comparators GPS
Board to Board Connectors
BudgetItem Name / Description Unit Price Quantity Sub-Total After Donations
Xilinx ML507 Virtex 5-FX $1,406.00 1 $1,406.00 DONATION
Agilent 1692A Logic Analyzer Mictor Probe $1,150.00 1 $1,150.00 DONATION
Servo-Continuous Rotation Robot Servo CNT $79.99 8 $639.92 DONATION
Servo- Positional Robot Servo $59.99 2 $119.98 DONATION
Lithium Ion Battery Pack: Powerizer 7.4V $49.99 2 $99.98 $99.98
Powerizer Battery Charger $20.00 1 $20.00 $20.00
12 Channel Lassen IQ GPS $59.95 1 $59.95 $59.95
Antenna GPS Ultra-Compact Embedded $18.95 1 $18.95 $18.95
Sharp GP2Y0A21YK0F Distance Sensor $9.95 6 $59.70 $59.70
Color Board Camera 20K145DIG $113.87 2 $227.74 $227.74
3.00mm Lens M-12 $16.00 2 $32.00 $32.00
HMC6352 Digital Compass $59.95 1 $59.95 $59.95
Cart Frame Aluminum / wheels / screws $80.00 1 $80.00 $80.00
Miscellaneous wires and parts $60.00 1 $60.00 $60.00
PCB Layout $40.00 3 $120.00 $120.00
Sub-Total $ $4,154.17 $838.27
Donations $3,315.90
Total $ $838.27
• Mobile Tethered Bot
• IR Obstacle Avoidance
• Direction Awareness
• PCB Testing Rev-1
• First Cart Frame • Revision
•Mobile Autonomous Bot
•IR + Image Obstacle • Avoidance
• Avoidance Pathing
• GPS Navigation
• Various Operating Modes
• Mobile Untethered Bot
• IR Obstacle Avoidance• + Camera Obstical • Detection
• Fully Battery Powered • Cart
• GPS Direction and • Position Awareness
Milestone 1 ExpoMilestone 2
Erik
Cole
Quang
Erich
Hardware
Erik
Cole
Quang
Erich
PCB
Erik
Cole
Quang
Erich
Software
Erik
Cole
Quang
Erich
Documentation
Division of Labor
Erik
Cole
Quang
Erich
HDL
RISKS
Wheels operating at same speedsInaccurate calculation of cart speed to judge distance traveledInterrupt Controller
Questions???