Autonomous Rendezvous System Capstone Design Proposal Chase Davis Daniel Phifer Nimesh Patel ReNina Fields Larry Lybrook Rachael Green Matthew Wright Eric Kneynsberg Jimmy Simmons University of Alabama Department of Electrical and Computer Engineering 1
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Autonomous Rendezvous System Capstone Design Proposal
Autonomous Rendezvous System Capstone Design Proposal. Chase Davis Daniel Phifer Nimesh Patel ReNina Fields Larry Lybrook Rachael Green Matthew Wright Eric Kneynsberg Jimmy Simmons. University of Alabama Department of Electrical and Computer Engineering. Presentation Agenda. - PowerPoint PPT Presentation
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Simultaneously send data from control console and target to chase vehicle
Send data from chase vehicle to target and control console
Look for a proper transition on chase vehicle between control console channel and target channel
Group Members: Rachael Green, Daniel Phifer, ReNina Fields
Wireless Testing Plan
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Terasic TRDB_DC2◦ Not useable with
microcontroller CMUCam1 - $109
◦ Low resolution CMUCam3 - $239
◦ High price, unneeded functionality
CMUCam2 - $179◦ Compromise in price and
image resolution◦ Available for immediate
testing
Image Processing Possibilities
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Test for most effective beacon◦ Contrasting printed image◦ LEDs
Test color tracking function◦ Distance from beacons◦ Angle of incidence◦ Camera/beacons in motion
Test distance measurement◦ Assume 90° incident angle◦ Resolution◦ Repeatability
Group Members: Matt Wright, Jimmy Simmons, Rachael Green, Nimesh Patel
Image Processing Testing Plan
Camera – CMU Cam 2 IR sensors
◦ Infrared “ranger” sensors will help find the target◦ Operating supply voltage of 4.5 to 5.5 Volts◦ Long range IR - Sharp GP2Y0A02YK $12.50
8” to 60” range◦ Short range IR – Sharp GP2D120 $12.50
1.5” to 12” range Compass
◦ Devantech R117 $52.00◦ Dinsmore compass $14.00
Optical sensors◦ Still researching ~$1.08
Navigation
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Navigation Possibilities Altera Cyclone II FPGA
Starter Development Kit◦ Computation power◦ Learning curve◦ Price $150.00
Adapt9S12E128 Basic Module with 112-pin MCU◦ Equipment and language
familiarity◦ Size◦ Price $83.00◦ Limited memory
IR sensors◦ Test and validate ranges and detection surfaces
Compass◦ Compare readings from compass against an analog
compass to test accuracy and precision
Group Members: Eric Kneynsberg, Matt Wright, Jimmy Simmons, ReNina Fields, Chase Davis
Navigation Testing Plan
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C#◦ Better visuals◦ More elegant and
efficient design◦ Stand-alone program◦ Need .NET Framework
LabView◦ Very fast data acquisition
(DAQ)◦ Numerous powerful
functions◦ Learning curve◦ Expensive DAQ modules◦ Not stand-alone
MatLab◦ Excellent math and
graphing capabilities◦ Image processing
toolboxes◦ Slower processing◦ Not stand-alone
Control Console Possibilities
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Matlab ◦ Powerful math and
graphical functions which allows for future upgrades
◦ Slower processing is not detrimental
◦ Reduced learning curve
Control Console Solution
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MatLab simulation program Mimic movement of vehicle Include code to manipulate vehicle
Group Members: Chase Davis, Jimmy Simmons, Eric Kneynsberg, Larry Lybrook
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Control Console Testing Plan
The group will provide the user with:◦ User Manual◦ System Specification Document updated weekly
Each sub-system will be independently documented
Documentation responsibilities will be shared by all team members
The group guarantees to deliver a prototype rendezvous system suitable for use as a demonstration during departmental recruiting activities by December 2007
Documentation
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Validate each sub-system before integration◦ Check for desired behavior, performance, stability
Validate each sub-system after integration◦ Check for proper interactions with other sub-systems,
stability, performance Validate the system
◦ Check for completion of objective
Validation Plan
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Ad-hoc method of validation◦ Small scale◦ No plans for mass production◦ Limited access to specialized testing equipment◦ Limited time to implement and refine a systematic
validation procedure Acceptance will be defined by client’s acceptance
standards and the equipment’s rated tolerances
Validation Plan
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Compasses, $106.65
Short Range IR Sensors, $27.65
Long Range IR Sensors, $27.65
Wireless Modules, $38.00
Wireless Board, $60.00
Microcontrollers$199.91
CMUCam2, $179.00
Batteries (4500 mAh),
$70.00
Batteries (2300mAh),
$28.00
Platform, $80.00
Optical Sensors, $10.80
Misc ICs and Regulators,
$20.00
Unused, $152.34
Estimated Budget
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Compasses,$106.65
Short Range IR Sensors, $27.65
Long Range IR Sensors, $27.65
Wireless Modules, $38.00
Wireless Board, $60.00
Microcontrollers$199.91
Unused, $540.14
Current Budget
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Schedule
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Control system failure Collision with people
or other objects Possible hazardous
materials in system components
Possible hazardous payloads
Safety Problems
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Long range operation uses long range IR sensors◦ Line up yaw and Y axis from long range
Short range operation uses short range IR sensors and color camera◦ Stop movement if IR sensor and camera data don’t
match or are out of expected ranges◦ Variable speed based upon distance from target
Collision Avoidance
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Simulation of 3D rendezvous problem through 2D problem solving
Breakdown problem into sub-systems◦ Platform◦ Wireless communication◦ Image processing◦ Navigation◦ Control console
Safety concerns◦ Collision avoidance
Overall deliverable◦ Working prototype that can rendezvous autonomously