Easy on the Tini

Easy on the Tini

Bill Barker

Carey Davis

Ben Irwin

Travis Majors

Cell phone detector

Description and Goals

To create a robot that detects RF signals (cell phone signals) then moves toward the strongest signal.

Notifies cell phone user about use in that area.

Outline of Approach

Create a robot with two servo motors

Fashion RF detecting antenna(s) on the robot chassis

Mount IR sensors to aid robot movement

Use display, lighting, sounds, etc. to deter cell phone use

Design a microcontroller to interface the systems

MicrocontrollerMSP4301611

A/D Input

Tuned Yagi Antenna

Motor Drivers

Data/ Programming interface

Signal Disruption

Hardware Implementation

Low Noise Amplifier

Diode Rectification

Circuit

Sharp IR Detectors (3)

I2C Interface

Digital CompassModule

PWM Signal Outputs

ServoDiscMotors

JTAGInterface

Software Flow Diagram

System Ok

no

yesno

Move Forward

Turn 90o

Object?

yes

Timer Going?

Try to detect signal

Rotated 360o?

Read Compass and Antenna

Value

Find Strong Signal?

yes

2no

Turn to match degrees of

strongest signalyes

Forward

Reached Object?

no

Signal DisruptionRotate 180o

1

Count=2?

no

Signal still

there?Count + 13

2

1

23

yes

no

yes

no

yes

The Robot

Metal platform from previous project

Two 9FGHD Ferrite Series ServoDisc Motors

Robot Movement

Autonomous Object Detection

Infra-Red Home Base Detection

RF

Programmable Search Pattern Signal Detection Sweep

Identify and approach appropriate signal

Scenario#1

No Signal Found

Object Detected

No Signal Found

Signal Found

Wave Reflection

Signal waves reflect off of Metal Surfaces

Constructive Phase alignment creates false positives

Solution: Continue to monitor signal while approaching source.

Metal Surface

Reflected Waves

Constructive Phase

Destructive Phase

Signal Found

Signal Present

Signal LostFalse Positive!

Signal Found

Scenario#2

The Motor

9FGHD Ferrite Series ServoDisc Motor

Input voltage -12V to +12V

Capable of 1.5 N-m continuous torque

Motor Drivers

LMD18200t

Sign/Magnitude PWM Control

PWM Control Circuitry

Digital Compass Module

I2C 2-Wire Serial Interface

3.3v supply voltage

1/2 degree heading resolution

Firmware Included

I2C Module

I2C Communication

Compass Command Bytes

Getting compass data

Heading Mode: The heading output data will be the value in tenths of degrees from zero to 3599 and provided in binaryformat over the two bytes.

Signal Detection

Robot Signal Detection

Overview: This part of the robot will detect signals within the GSM frequency-band that will then be amplified by a Low Noise Amplifier, rectified into a DC voltage, then finally interpreted by our microcontrollers A/D converter.

This will be done by the following devices: Tuned directional antenna RF signal amplifier and diode rectifier MSP430 A/D Converter

Tuned Directional Antenna

This component will give directional ordination to the robot to pursue the signal. A Yagi antenna will be used to hone in on the signal.

Antennas Specifications:

GSM: Uplink 890-915MHz and Downlink 935-960Mhz

PCS band: 1.7-1.99 GHz

Antenna Capability

Reverse-Polarity BNC-Plug Adapter to Standard BNC-Plug

Signal Amplification

50 Ω Low Noise Amplifier High output Gain Low noise figure Operates in the frequency band we require

Non-rectified RF Signal

Data Message

Phone 65 ° out of line

Voice Call

*Volt scale is 100mV*Signal is being boosted by LNA

Did someone say this was impossible?

RF Signal Rectification Circuit

This simplified circuit will take the antenna’s RF signal as an input and will output a voltage that is proportional to the signal’s intensity. LNA will boost signal gain

to a readable voltage level. Diodes will rectify signal to

a DC voltage with minimumlosses.

Voltage Processing

Feed measured voltage into the micro-controller’s A/D converter.

Have the microcontroller will only sample this A/D at times of signal searching.

Store both RF intensity and robot degree of direction data for a full revolution in on-board RAM.

Find peak voltage within data and have robot return to this recorded direction.

Microcontroller

Microcontroller

Prototype Board for MSP430-F1611 Multiple A/D converters, UART, and I2C peripherals Expanded RAM to 10K bytes for greater storage capacity PWM capabilities for motor control Good tools and easy debugging Cost effective solution of our application

Functional Block Diagram

AD Converter

We will be using the 12 Bit AD converter peripheral.

The ADC will convert voltages into integers between 0 and 4095 relative to the voltage levels. We will be using a reference voltage of 1.5V as

it gives us more resolution and we will not be inputting anything higher than that.

ADC12 Module

IR Object Detection

Sharp GP2D12

Analog output voltage

distance from object

10cm to 80cm

Optimal Vcc 4.5-5.5 V

IR Sensor Voltage Output Curve

The IR sensors have a non-linear output voltage curve with respect to distance.

Range is from 10 to 80cm with higher voltages representing shorter distances.

10cm-2.6v

80cm-.4V

>80cm-.25V

Voltage vs Distance

0

0.5

1

1.5

2

2.5

3

0 10 20 30 40 50 60 70 80 90

Distance (cm)

Vo

ltag

e (V

)

Home Base

If time permits we will still implement a home base.

Home Base will generate a signal to call robot home to: Recharge Be reprogrammed

Signal will be made by a function generator in antenna frequency range.

More testing required to see what kind of information antenna will give us.

Power Distribution

Power Distribution

Voltage Variations 5 V

LCD Screen IR Detectors

3.3 V Microcontroller

12 V Motor Drivers LNA

Voltage Regulators LM1117 Regulate to 5 V, 3.3 V

The Battery

2 BP7-12 12 V 7Ah Batteries to power the robot

5.94” x 2.56” x 3.98”

6 lbs.

Opto-isolators

HPCL-3150

Will be used for isolation and level shifting for PWM, direction/brake signals

Disruption Handling

LCD Screen

Serial Enabled 16x2 LCD - Black on Green

10k Pot to adjust contrast

Schematic

P6.3/A3 2

P6.4/A4 3

P6.5/A5 4

P6.6/A6 5

P6.7/A7 6

P1.0/TACLK 12

P1.1/TA0 13

P1.2/TA1 14

P1.3/TA2 15

P1.4/SMCLK 16

P1.5/TA0 17

P1.6/TA1 18

P1.7/TA2 19

P2.0/ACLK 20

P2.1/TACLK 21

P2.2/CAOUT 22

P2.3/CA0 23

P2.4/CA1 24

P2.5/ROSC 25

P2.6/ADCLK 26

P2.7/TA0 27

P3.0/STE0 28

P3.1/SIMO0 29

P3.2/SOMI0 30

P3.3/UCLK0 31

P3.4/UTXD0 32

P3.5/URXD0 33

P3.6/UTXD1 34

P3.7/URXD1 35

P4.0/TB0 36

P4.1/TB1 37

P4.2/TB2 38

P4.3/TB3 39

P4.4/TB4 40

P4.5/TB5 41

P4.6/TB6 42

P4.7/TBCLK 43

P5.0/STE1 44

P5.1/SIMO1 45

P5.2/SOMI1 46

P5.3/UCLK1 47

P5.4/MCLK 48

P5.5/SMCLK 49

P5.6/ACLK 50

P5.7/TH 51

P6.0/A0 59

P6.1/A1 60

P6.2/A2 61

DVCC1

VREF+7

XIN8

XOUT/TCLK9

VEREF+10

VREF-11

X2TOUT52 X2TIN53

TDO/TDI54 TDI55

TMS56

TCK57

RST/NMI58

AVSS62

DVSS63

AVCC64

MS

P4

30

F1

61

1

U1

Component_1

12345678910

11121314

JTAG

JTAG

3.3V

100n

C13

100nC14

GNDRST

1 2

P_OUT

Header 2

1 2

P_INHeader 2

3.3V

3.3V

GND

GND

1 2Q2

XTAL

1 2Q1

XTAL

10p

C4

10p

C5GND

TXD0RXD0

10KR6

10KR7

C1+1

V+2

C1-3

C2+4

C2-5

V-6

T2out7

R2in8 R2out 9T2in 10T1in 11R1out 12R1in 13T1out 14GND 15Vcc 16S1

ST3232

1 23 45 67 89 10

P_3

Header 5X2

1 23 45 67 89 10

P_5

Header 5X2

1 23 45 67 89 10

P_6

Header 5X2

3.3V

3.3V

3.3V

V_3GND

GND

GND

GND

1234

Comp

Header 4

V_3GND3.3V_3

3.3V_3

100nC11

100nC12

100nC1

100nC6

100nC10

GND

GNDTXD0

RXD0

GND

3.3V

.1uC50

.1uC51

.1uC52

.1uC53

.1uC54

.1uC55

.1uC56

.1uC57

GND

3.3V

IR1IR2IR3

1 2 3

P1 Header 3

GND

IR1

4.5V

1 2 3

P2 Header 3

GND

IR2

4.5V

1 2 3

P3 Header 3

GND

IR3

4.5V

IR4IR5

1 2 3

P5 Header 3

GND

IR5

4.5V

1.5kR1

1uC31

GND

1 2

P6Header 2

1.5kR2

1uC32

1.5kR3

1uC33

1.5kR5

1uC35

GND GND GND

RF

RF

GND

1 2 3

P4 Header 3

4.5V

GND

1.5kR4

1uC34

GND

12

Batt_Pow

Header 2

12V

GND

D1

LED3

470u/16VDC

C38

123

5V reg

GND

1uC36

100pF

C40Cap Pol3

GND 123

3V reg

GND

3.3V

PCB

Scheduling, Costs, and Labor

Updated Schedule

Separation of Tasks

Programming of Microcontroller – Travis and Ben

PCB Design – Carey

Motor driver control – Bill and Ben

Antenna – Travis, Bill

LCD screen – Ben and Carey

Milestones

Milestone 1:Robot moves towards test signal

Milestone 2:Programmable search parameters, IR object detection integration, home base construction complete

Expo:Robot and home base fully functional

Cost Estimations

Item Price Quantity TotalYagi Antenna 59.64 1 59.64

Battery 29.6 1 29.6IR Sensors 12.5 3 48.99

Motor drivers 5 4 20Dev Board and Compass 114.77 1 114.77

LNA and connectors 160 1 160E store(perf board and headers) 20 1 20

Total so far     $453       

PCB 66 2 132MSP chip 20 1 20

LCD screen 25 1 25IR sensors 12.5 2 25

Miscellaneous 100 1 100       

Estimated Total     $755

Thank you!

??Questions??