Joseph Ratliff EE Software Research PCB Design Obstacle Detection Motion Detection Ryan Crownover EE Coding Logic Motion System Software Design Website.

Kooler Kart

ADTRAN Senior Design Show Case April 25, 2014

Team Members

Joseph Ratliff•EE•Software Research•PCB Design•Obstacle Detection•Motion Detection

Ryan Crownover• EE• Coding Logic• Motion System • Software Design• Website

Tyler Ross•EE•Hardware Design•Motion Detection•Power System Analysis

Team Advisor

Dr. Raymond Winton

Lee Jones• EE• Hardware Design• PCB Design• Power System

Design

Dr. Randy Follett

Class Professor

OutlineOverviewMarket RequirementsTechnical SpecificationFunctional DecompositionWork ScheduleDesign ImplementationCost AnalysisTestingIssuesSummaryQ&A

Senior Design

2 Semester Product Development

Involves the use of technical skills obtained through the Electrical and Computer Engineering Undergraduate Program

Currently, cooler transportation is time consuming, cumbersome, and exhausting, and the source of these difficulties has gone unchanged for years: human involvement.

Problem

The Kooler Kart will reduce the need for human involvement in a cooler transportation process.

• Hands free

• Designed to be user friendly.

Solution

Market RequirementsManufacturability

The Kooler Kart must satisfy the following requirements:

•Hold the weight of a 25qt cooler (~60lbs loaded)

•Travel at a max speed of 6 mph

The Kooler Kart must be simple enough that someone can operate and charge it, regardless of their knowledge of motion technology.

• Battery Charge Display

• Motor Disengage Option

Market RequirementsUsability

Technical Specification

Beacon

Drive System

Microcontroller

Object Sensors

Beacon Sensors

UserKooler Kart

Power

Power Supply

Functional DecompositionSystem Overview

Work ScheduleOriginal Timeline

Work ScheduleActual Timeline

Task Sept. Oct. Nov. Jan. Feb. Mar. Apr.

Project Plan

Hardware

Roles

Drive System / Testing

Beacon / Testing

Object Detection / Testing

Packaging

Full Integration

Design Implementation

• Kooler Kart Design

• Subsystems

• Packaging

Design ImplementationKooler Kart Design

Kooler Kart Object SensorsReceivers

Beacon

Subsystems

SubsystemsBeacon Detection

Uses Ultrasonic Rangefinder and an RF Link simultaneously

•Ultrasonic•Pulses to receivers to determine the angle of

the user from the kart

•RF Link•Pulses to the RF receiver calculating the

distance the user is from the kart

• Array of 6 Ultrasonic Rangefinders

• Fires consecutively detecting object up to 1m away

SubsystemsObject Detection

Beacon angle and distance found • Kooler Kart will move: Forward, Reverse, Port,

and Starboard

Object detected • Kooler Kart will avoid object while searching

for beacon signal

SubsystemsMotion Controls

Packaging

• Main Board PCB

• Kooler Kart Prototype

PackagingMain Board PCB

Main Board PCB PCB Schematic

PackagingKooler Kart Prototype

Cost AnalysisParts Lists Number Cost Production

Cost/One

Microprocessor 1 $70 $50

HC-SR04 7 $21 $21

Servos 1 Donation $120

PCB 2 $25 $80

RF (Rx,Tx) 2 $20 $5

40KHz Receiver Circuit 2 $15 $15

Cart Frame 1 Donation $40

Total 16 $151 $331

Testing• Beacon Detection

• Object Detection

• Best/Worst Case Scenario

TestingBeacon Detection

Beacon Signal Receivers

[4]

Max Variance: 5.83⁰Min Variance: 0.67⁰

Field of View: +/- 60⁰

Beacon Sensors

Distance: 2mDistance Expected

Avg % Error

100 cm 1.8%

200 cm 4.9%

300 cm 10%

TestingBeacon Detection

Beacon Sensors Object

ObjectCase – 50 cm

Distance % Error

1 14.8%

2 3.2%

3 5.4%

4 6.2%

5 4.9%

6 11.2 %

TestingObject Detection

Best Case Scenario

Kooler Kart UserCollision Object

Travel Direction

Best Case Scenario

Kooler Kart

UserCollision Object

Travel Direction

Best Case Scenario

Kooler Kart User

Collision Object

Travel Direction

Worst Case Scenario

Kooler Kart

Travel Direction

UserCollision Object

Worst Case Scenario

Kool

er K

art

Travel Direction

User

Collision Object

Out of Viewing Angle

IssuesRoad Blocks

• Receiver Noise

• Beacon Detection Method

• Object Detection Array

IssuesRoad Blocks

SummaryFuture Team Advice

• I: Motivation• Pick a project that will keep your interest

• II: Time Management• Allow yourself time for errors

• III: Research• Always do your research before ordering parts

• PCB Design

• Motion Control Systems

• Ultrasonic and RF communication

SummaryTechnical Skills

• Beacon Detection System

• Teamwork and Communication

SummarySatisfaction

References[1] Eric. Infrared vs. Ultrasonic - What you should know. 2008.

Online: http://societyofrobots.com/member_tutorials/node/71

[2] “Arduino Mega,” in Arduino. 2013 Oct. 2. Available:http://arduino.cc/en/Main/ArduinoBoardMega

[3] “Ultrasonic Module HC-SR04,” in Hobby King. 2013 Oct. 2. Available: http://www.hobbyking.com/hobbyking/store/__31136__ultrasonic_module_hc_sr04_arduino.html

[4] Hashizume, H.; Kaneko, A.; Sugano, Y.; Yatani, K.; Sugimoto, M., "Fast and Accurate Positioning Technique Using Ultrasonic Phase Accordance Method," TENCON 2005 2005 IEEE Region 10 , vol., no., pp.1,6, 21-24 Nov. 2005 doi: 10.1109/TENCON.2005.301009

Questions?