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499 Senior Project

499 Senior Project. Search & Destroy Designs. Purpose. Design and develop a ground-based autonomous robot for mine detection and neutralization. Background. Worldwide Mine Use Anti-Personnel – Both Military and Civilian Preventing Land Cultivation Road Closures Community Isolation.

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499 Senior Project

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  1. 499 Senior Project Search & Destroy Designs

  2. Purpose Design and develop a ground-based autonomous robot for mine detection and neutralization.

  3. Background Worldwide Mine Use • Anti-Personnel – Both Military and Civilian • Preventing Land Cultivation • Road Closures • Community Isolation

  4. Benefits • Safe mine neutralization • Cost effective • Very reliable • Internationally marketable

  5. Project Parameters Robot • Must fit inside 16” x 16”x 16” • Autonomous Navigation • Line tracking • Obstacle avoidance • Mine detection/neutralization

  6. Team Members and Responsibilities Matthew Essenburg– Microcontroller / CPU Interface and Main Controller Implementation. Chris Figueroa – CPU Development / Main Controller Implementation and Microcontroller Interface. Jessica Hernandez – Power Supply Design and Ultra-Sonic (passive / active) Infrared Sensor Design. Ryan Jones – CPU / Main Controller Implementation and Motor Controller Development. Schuyler Lovoi – Power Supply Design and Motor Controller Development. Stefano Measho – Ultra-Sonic / Infrared Sensor Design and General Robot Layout.

  7. Power Supply 12 1.2v Batteries = 14.4v • NiMH (Nickel Metal Hydride) • Rechargeable • Cells: 3 Amp Hours

  8. Power Supply Multiple Power Needs • Motor: 12.0v • FPGA: 3.3v • Sensors: 5.0v or Higher

  9. Power Supply Linear Voltage Regulated Power Supply • Three or more Voltage Regulators • Motor: Unregulated • FPGA, Sensors: Regulated • Positive Fixed Regulator • Positive Adjustable Regulator

  10. Motor Control 4 12v DC Motors 4 LMD18200 Motor Controller Chips • Pulse width modulation from FPGA Infrared Wheel Encoder • QRB1134 infrared module • Reflectively taped wheels for encoding

  11. Motor Control 4 12v DC Motors • Generates motor controller pulse-width-modulation signal • Decodes IR wheel encoder data • Constant speed control (self adjusting) • Acceleration Control • Direction Control

  12. Motor Control

  13. Microcontroller • 5 Volt Power • PIC 12F675 (8-Pin) / 16F676 (17-Pin) • Main use analog/digital converter • Interfacing the sensors with FPGA • Controlling data flow (sampling rate)

  14. Printed Circuit Board Design • Circuitry Interfacing • Utilizing chassis space • Stable and reliable circuitry

  15. Central Processing • FPGA soft-core processor • Microcontroller / FPGA interfacing • Real-Time data analysis • Autonomous decision making

  16. Central Processing Digilent Pegasus Board • 50k-gate Xilinx Spartan 2 FPGA operating at 200MHz • Xilinx XCF01S Platform Flash ROM • 50MHz oscillator • PS/2 and VGA ports • 96 I/O signals routed to three 40-pin expansion connectors • I/O signal protection from ESD and short-circuit

  17. System Block Diagram

  18. Current Progress • Motor Compartment Fabrication • Motor Installation • Wheel Mounting • Motor Controller Development

  19. Future Development • Sensor interfacing • Microcontroller interfacing • Soft-core processor development • Power supply system development • Overall system development • Vehicle system test

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