Spring 2016 3 DOT Goliath IR sensor Code

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By: Tae Lee (Systems Engineer)

IR Sensor Code

To implement the laser tag game we have to show an indication of when the Goliath gets hit by the enemy’s IR LED. This will be shown through the three LEDs we will be using to indicate the number of hits.

The following code shown below will be used to implement the three hit indicator:

IR code1

 

IR code 2

The general idea of how this code operates will be shown by the block diagram below:

 

IR code 3

The code will start by checking if a signal is received at the detector. If the detector detects the IR emitter it will light up one of the LEDs and increases the count. The count will be used to indicate the number of hits received by the enemy. As we get hit the count will increase to power each LED until it reaches 3 hits. The if statement will be used to check if the Goliath receives 3 hits, which will disable the Goliath. Otherwise, it will do nothing and it will repeat the program through a loop.

Spring 2016 3 DOT Goliath body dimensions

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By: Jerry Lui, Rickeisha Brown (Manufacturing Engineers):

Given the requirement of having the phone housed within the body of the rover the body must accommodate for the dimensions of the particular phone being used. In this case, a Samsung Galaxy S4 is being used as the camera for the rover and has the dimensions of 5.38”x2.75”x0.31” (1). Also, to be able to see through the horizontally placed camera a periscope will be used with a dimension of 13/16’’x13/16’’x1-1/16’’.

manufacturing 1

 

The top lid has a length of 5.5’’ which gives a clearance/play of 0.12’’. The top portion also has a slot to accommodate the periscope and is set to 1’’ (free space of 3/32’’ per side) to allow for movement and alignment of the scope.

 

Next, portions of the body was removed to reduce the weight of the rover with the sharp corners of the sections filleted with a conic rho profile. The conic rho profile (default solidworks value at 0.5) adds a smoother transition from the adjacent faces yet is able to keep close to the original shape of the cutout instead of having an extremely rounded corner.

manufacturing 2

Also, since we want to be able to access the phone quickly the top should be removable and to accomplish that without having seating issues both the top and the bottom has ledges that sit within each other. Tolerances will be given and set to 0.01574”or 0.4mm (2). The periscope gives a90°shift in the view so that we can see directly forward of the rover.

manufacturing 4

 

manufacturing 5

The side designs are simply easier to construct, since they are solely based on the top and bottom component configuration. The sides are also going to support the various housing of components such as: motors, batteries, 3dot board, and pcb.

 

As you can see by the figures above, the side components support the wheel axeling, from the motor to the wheel itself. The diameter of each hole measures 0.1” which is the diameter of our screws and our our rod components. This is the exact measure of the diameter of the rods and screws that are used for our rover.

 

The inner side features include ledges for the cellphone placement. The ledge is centered about the top measurement 5.50” and begins 0.53” from the top of the rover, consider the thickness of the cell phone, the periscope will sit just perfect outside of the body, with enough area to for viewfinder.

 

Sources

  1. http://www.gsmarena.com/samsung_i9505_galaxy_s4-5371.php
  2. http://makezine.com/2013/12/11/top-ten-tips-designing-models-for-3d-printing/

 

Spring 2016 3 DOT Goliath Laser Tag Game Safety Requirements for Children

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By:  Tae Min Lee (Missions, Systems, and Testing Engineer)

We have to make sure that the level 1 requirement for safety has been addressed before we start implementing the laser tag system we will be using for our product.

Problem:

The first design of implementing the laser tag game was to use a laser module with a photo resistor as the receiver.  However, it became a problem with making the product safe for children to play with due to the following:

  1. Laser was classified as level 2
    1. Class 2 – lasers emit radiation in the visible portion of the spectrum, and protection is normally afforded by the normal human aversion response (blink reflex) to bright radiant sources. They may be hazardous if viewed directly for extended periods of time.  Ex:  Laser Pointer
  2. Most laser module power rating are 5mW, but to be considered safe it must be 1mW to be classified as level 1.
    1. Class 1 – lasers are considered to be incapable of producing damaging radiation levels, and are therefore exempt from most control measures or other forms of surveillance.
  3. Lasers are concentrated beams (visible) that passes through the cornea and focuses on one point on the back of the retina (shown in figure 1).

Tae second post 1

 

  1. The concentrated laser beam cause damage to the cornea, retina, and the lens (figure 2).
    1. Visible (400 – 760 nm Wavelength)
      1. Most of the radiation is transmitted to the retina.
      2. Overexposure may cause flash blindness or retinal burns
    2. Quick Calculation of the magnification of the damage to the eye:

Conclusion:  Laser retinal injury can be severe because of the focal magnification making it dangerous to implement a laser module for the laser tag game.

Tae second post 2

 

Solution:

To make a product that is safe for children to play with we implemented the use of IR LED emitter for the laser tag game.  The safety requirements for the Goliath using IR emitter will be stated below:

  1. Emitter must not produce enough radiation that brings harm to the eyes
  2. Emitter will not produce a highly concentrated beams that will damage the retina (figure 1).
    1. IR LED is non-visible light that doesn’t pass the cornea making it safe

 

Tae second post 3

 

 

Sources

  1. https://web.stanford.edu/dept/EHS/prod/researchlab/radlaser/laser/procedures/classes.html
  2. http://www.fda.gov/ForConsumers/ConsumerUpdates/ucm363908.htm#lasers
  3. http://oregonstate.edu/ehs/laser/training/laser-biological-hazards-eyes

Spring 2016 3 DOT Goliath IR Emitter/Receiver Test

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By: :  Tae Min Lee (Missions, Systems, and Testing Engineer)

Tae 2

 

IR Mid-Range Proximity Sensor

Implementing a game of laser tag using IR emitter/receiver will be safe for to play for all ages.  This falls back to one of our level 1 requirements for safety standards for child safe toys.  The figure above shows the connections for the sensor for the following:

  1. Output
  2. Ground
  3. Vcc

 

Components Used:

  • Arudino Uno
  • IR LED (Remote Control)
  • x3 Red LED
  • BreadBoard
  • Wiring Kit
  • x2 220 ohm resistor

The affective distance of the detector and the IR LED was measured to be around 1.85 meters.    The distance was determined by using a remote control that has a IR LED emitter that was aimed at the sensor.  We had a red LED to detect when the IR sensor gets hit by the remote control.  The laser tag game will have a rule for the first 3 hits will declare the winner (figure seen below).

Tae pic

 

 

Sources:

  1. http://www.vishay.com/docs/82474/tssp4p38.pdf
  2. http://www.instructables.com/id/IR-Detector/

 

Spring 2016 3 DOT Goliath Bluetooth Module HC-06 Test

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Goliath Bluetooth Module HC-06 Test

By:  Tae Min Lee (Mission, Systems, and Testing Engineer)

One of the requirements of the Goliath was using the Arxterra Control Panel and the Arxterra application.  Since, the 3Dot board was not given at the time we had to find an alternative to test the Bluetooth module (HC-06).  Before we start using the Arxterra application we performed a basic test on the Bluetooth module.  The purpose of this test was to determine the communication between the Bluetooth module and the android device.

first

 

We used an android application called BlueStick Control on an android phone.  The following code shown above was uploaded to the Arduino Uno along with the Bluetooth module.  By pressing the up key the serial monitor returned a string value 8 corresponding to the key that was just pressed.  The next string value 4 corresponds to left, string value 2 corresponds to down and string value 6 corresponds to right.  The zero value shows the default string value it returns to as the user lets go of the key (shown above).

The tutorials to test the Bluetooth module came from instructables to test out the basic functions of a Bluetooth module.  We performed a test of the code to see the communication between the Arduino Uno with the HC-06 Bluetooth module.  We tested to determine the output interface for our lasers and motor control.

Components Used:

  • Bluetooth Module (HC-06)
  • Wiring Kit
  • Arduino Uno
  • Motor
  • Laser Module
  • Arduino IDE
  • Arduino Motor Shield

 

The following circuit shown below was used to test the laser shot control using an Arduino Uno, laser module, and the Bluetooth module.

seconed

 

Modifying the code shown earlier we can control the laser shots by pressing a button from our android device that will be communicating with the Arduino Uno through a Bluetooth Module. See the following code:

 

3rd

 

The code will set the laserPin HIGH (turn on laser) when the button with the string character ‘F’ is pressed.

The next test was performed to see if the android device was able to communicate with the Bluetooth Module that was connected with both the Arduino Uno and the Arduino Motor Shield (shown below).

4th

The following code will be used to implement the motor control that will be used on the Arduino Uno and the Arduino Motor Shield:

 

const int  //Declaring all the pins used for motor 1 and motor 2

//Motor 1

PWM_A = 3,

DIR_A = 12,

BRAKE_A = 9,

SNS_A = A0,

 

//Motor 2

PWM_B = 11,

DIR_B = 13,

BRAKE_B = 8,

SNS_B = A1,

laser = 6;

 

void setup()

{

// Intializes the output and input for the pins

pinMode(BRAKE_A, OUTPUT);

pinMode(DIR_A, OUTPUT);

pinMode(BRAKE_B, OUTPUT);

pinMode(DIR_B, OUTPUT);

Serial.begin(9600);

}

 

void move()

{

digitalWrite(BRAKE_A, LOW);   // settig the brake LOW to disable motor brake

digitalWrite(DIR_A, LOW);     // now change the direction to forward setting LOW the DIR_A pin

analogWrite(PWM_A, 250);

digitalWrite(BRAKE_B, LOW);   // now change the direction to forward setting LOW the DIR_B pin

digitalWrite(DIR_B, LOW);

analogWrite(PWM_B, 250);

}

 

void brake()

{

digitalWrite(BRAKE_A, HIGH); //Sets the brakes for both motor 1 and motor 2

digitalWrite(BRAKE_B, HIGH);

}

 

void backward()

{

digitalWrite(BRAKE_A, LOW);  // setting againg the brake LOW to disable motor brake

digitalWrite(DIR_A, HIGH);    // now change the direction to backward setting HIGH the DIR_A pin

analogWrite(PWM_A, 250);

 

digitalWrite(BRAKE_B, LOW);  // setting againg the brake LOW to disable motor brake

digitalWrite(DIR_B, HIGH);    // now change the direction to backward setting HIGH the DIR_A pin

analogWrite(PWM_B, 250);

}

 

void turnRight()

{

digitalWrite(BRAKE_A, LOW);  // setting againg the brake LOW to disable motor brake

digitalWrite(DIR_A, HIGH);    // now change the direction to backward setting HIGH the DIR_A pin

analogWrite(PWM_A, 250);

 

digitalWrite(BRAKE_B, LOW);  // setting againg the brake LOW to disable motor brake

digitalWrite(DIR_B, LOW);    // now change the direction to forward setting LOW the DIR_A pin

analogWrite(PWM_B, 250);

}

 

void turnLeft()

{

digitalWrite(BRAKE_A, LOW);  // setting againg the brake LOW to disable motor brake

digitalWrite(DIR_A, LOW);    // now change the direction to forward setting LOW the DIR_A pin

analogWrite(PWM_A, 250);

 

digitalWrite(BRAKE_B, LOW);  // setting againg the brake LOW to disable motor brake

digitalWrite(DIR_B, HIGH);    // now change the direction to backward setting HIGH the DIR_A pin

analogWrite(PWM_B, 250);

}

 

void stop()

{

digitalWrite(BRAKE_A, HIGH);

digitalWrite(BRAKE_B, HIGH);

}

 

void loop()

{

// put your main code here, to run repeatedly:

char ch = Serial.read();

Serial.print(“Received: “);

Serial.println(ch);

 

 

if (ch == ‘8’) //Move forward

{

move();

delay(1000);

stop();

}

}

 

 

 

The code shown above will only implement the move forward function by calling on the sub routine move.  By adding else if statements we can implement a turn right, turn left, or backwards.

The overall pins that we will be using on the Arduino Uno is shown below:

las

 

Sources:

  1. http://www.instructables.com/id/Add-bluetooth-to-your-Arduino-project-ArduinoHC-06/
  2. https://www.arduino.cc/en/Main/ArduinoMotorShieldR3
  3. https://www.arduino.cc/en/Reference/DigitalWrite

 

Spring 2016 3DOT Goliath Laser vs. IR LED Trade-Off Study

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By: Kevin Moran (Electronics and Control Engineer), Tae Lee ( Systems Engineer)

 

Screen Shot 2016-03-07 at 7.46.58 PM

 

Our team’s mission is to decide the better approach for a game of laser tag, either by using lasers and light detecting sensors, or by using IR Receivers and LEDs. From the research we concluded on proceeding to test Photo-resistors and lasers for our game of game tag. The reason being that the laser has a longer range to activate the resistor, over 14 meters more than the IR that was tested. The laser can hit targets further, because the light emitted is concentrated on a single focus and wavelength (for the most part) and then transmitted. The IR LED diffuses its wavelength, sending it in all directions. In order to achieve this game using IR receivers, the range will have to be too short and the IR LED must be able to concentrate its light on the target. The laser requires less operating voltage than the IR receiver, and that is an advantage since we are trying to keep our current dissipation to a minimum.

The laser and photo-resistor were tested using an Arduino circuit, and the Plot function in order to observe its behavior in the presence of the laser and of natural light.

Screen Shot 2016-03-07 at 7.47.58 PM

Laser test results:

When testing the laser and its receiver, it was necessary to ensure the photo-resistor would not activate under normal light conditions. When a laser light was not focused on the target, the graph showed a flat line very close to the zero value. When the laser was aimed, the graph peaked. It was noted that the peaks increased if the laser was aimed for a longer amount of time. 1 second provided us with the taller peaks in the graph. This analog signal we are obtaining must be converted to Digital in order for receiver to activate regardless of the amount of time the laser aims to it.

 

Recommendation:

If the laser is to be powered the 3DoT board, this board must be able to supply the 40 mA that the laser requires. When tested with and Arduino, it was noted that this board only provided an output of 20 mA. I recommend to either use a smaller laser that requires less than 20 mA to operate, or to build a PCB with a circuit regulator in order to ensure the laser works as it is intended.

 

Sources:

http://www.plaintree.com/pdf/DataSheets/Plaintree’s%20LED%20vs%20LaserNEW.pdf

http://www.farhop.com/product/farhop-5-volt-5mw-650nm-red-dot-laser-diode-module-5-pieces/

http://www.digikey.com/product-detail/en/350-00009/350-00009-ND/1774434

 

Spring 2016 3DOT Goliath DC Motor Trade-Off Study

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By: Kevin Moran (Electronics and Control Engineer)

Screen Shot 2016-03-07 at 7.41.15 PM

After carefully reviewing motors on the market, the two motors presented above were selected; the GM9-Gear and DG1D motors. These two motors are very easy to obtain and the price is within our cost margins. They require a voltage output that is within the capabilities of the 3DoT board to support. The preliminary design of the rover puts the mass at 680 grams. The specifications of motor DG1D is the best match for our level 1 and level 2 requirements. A level 1 requirement of having the rover be as small as an Android phone led to the selection of the Samsung Galaxy S4 size as the size of the body. This selection capped the mass of the rover at under 800 grams. Motor 2 has the torque required to power our rover, as opposed to Motor 1 whose torque is over 4 times the necessary amount. This torque forces Motor 2 to require 3 times more Wattage than Motor 1. With the Wattage that is being saved by selection Motor 2, we will be able to power the laser and receiver and consume less battery life. Motor 1 has a higher RPM value, and while our torque is sufficient to move our rover; this will give it a faster speed than Motor 2 will. The 3DoT board’s power is regulated and is stepped up from 3.7 V to 5.0 V (600 mA max) Voltage Booster (TI TPS61200) which will power the motors.

By the way, the 3DoT board uses Motor Driver – Dual TB6612FNG allowing us to independently control the two motors.

Sources:

https://www.sparkfun.com/products/13302

http://www.robotshop.com/blog/en/how-do-i-interpret-dc-motor-specifications-3657

https://docs.google.com/document/d/1uzrTbrNunatROhcL7kHwnHCf-x88XjqA9n1831kP274/edit#

Spring 2016 3DOT Goliath Preliminary Design Documentation

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By: Ayman Aljohani (Project Manager):

Table of Contents

MISSION OBJECTIVE:

Inspired by the German Goliath, 3DOT Goliath is designed utilizing 3DOT board, with the minimum 3-D printing time. The 3-DOT Goliath will battle 3DOT Spider, tag battle, utilizing optical transmission and receiving device. The 3DOT should be controlled via live camera, periscope, on an Android phone.

 

REQUIREMENTS & VERIFICATION:

1-  The 3DOT Goliath will be tested Monday, May 9, 2016, which is the final day of the class.

Verification:  Spring 2016 Final day

2-  Level 1 requirements stipulate that the total cost of 3DOT Goliath should not exceed $90.

Project vs Product’s budget: To document the difference between development cost and final product cost, the 3DoT Goliath must create a Project Budget and a Product Budget.”

3- When receiving 3 tags, the rover is disabled.

4- Inspired by German Goliath, robots with tracks.

5- Print time less than 6 hours.

Verification: level 1 requirements were updated during last week meeting with the customer.

6- The tag game should be safe.

Verification: http://www.futureelectronics.com/en/optoelectronics/infrared-detector.aspx

DESIGN INNOVATION:

In order to have a robot that meets all level 1 requirements, the 3DOT Goliath would use IR sensors and transmitters. A prototype version of the project will be built using legos and Arduino to test the sensors and transmitter functionality. For a wider field view angle, a fisheye periscope will be added to the phone camera.

 

Step 1. Brainstorm:

Sensors and transmitters : IR

periscope

Tamiya Tracks

Tamiya Motors,

Control : Android phone

Step 2. Lateral Thinking:

Forced Relationship:

  • Installing fisheye periscope – wider field view angle.
  • Neck- extended to provide a high vantage point on the top.

 

Step 3. Solution  :

The customer will be given two options:

1- Basic level 1  requirements design with the minimum basic attributes.

2-  In order to meet budget requirements, optional  attributes with additional costs will be provided to customer.

3- Development budget will allocated to test additional attributes that will be added to the project.

Mechanical Design

image1

By:  Jerry Lui (Manufacture)

Here you can see the base and the top portions that were designed on Solidworks. I removed a segments of the body to help reduce of the volume used () as determined through the Solidworks mass properties feature. The removed sections were also shaped in a triangular cross section to help increase the integrity. Also, the corners were filleted using Conic Rho of .1, which helps to maintain the triangular edge whereas a normal fillet would had changed the dimensions of the cutout to be too rounded. The mounting of the gears and wheel are still being designed.

Product Breakdown Structure:  

By: Tae Min Lee (Mission, Systems, and Testing Engineer)

The product breakdown structure will show the components we will using for the Goliath.  The Goliath will be broken into 5 major components mobility system, controller, 3Dot Micro Controller, vision, and a battery.  The mobility system will provide movement to the Goliath by using two motors  that will connect to the gears to turn the tracks.  The controller will be used to control the Goliath by using a Bluetooth module and an arxterra application.  Next, the 3DOt Micro controller will be used to control the motors, laser/LED, and the sensor.  Lastly, the vision of the Goliath will be using a periscope that will be attached to the android camera phone.  This will allow us to see in the robot’s perspective as we control it through the axterra application.

PBS (1)

Preliminary System Block Diagram :

By: Tae Min Lee (Mission, Systems, and Testing Engineer)

Before we start the design of the Goliath we have to breakdown the product. This will allow us to understand what kind of components that are needed to create the Goliath. In addition, this helps us map out the connections for each component of the miniature rover.

One of the customer’s requirement was to use Arxterra program and an android phone. This will allow us to see the view in the robot’s perspective using the phone’s camera. We will then communicate with the 3Dot Board via Bluetooth module to control the rover remotely.

The new 3Dot board contains a motor shield with a turbo booster to drive the DC motors. However, there is a limitation to the 3Dot board of adding various output components (laser, sensors). We will create a custom PCB to be able to add connections for the laser and the sensors to the 3Dot board.

verification: http://www.futureelectronics.com/en/optoelectronics/infrared-detector.aspx

Verification :https://acroname.com/articles/sharp-infrared-ranger-comparison

Lastly, the power supply will then be connected to the 3Dot board to power the motors, Bluetooth module, laser, and the sensors. These components will then be housed by the chassis, which will be designed and printed by the manufacturing engineer.

Tae blog 2 picture

 

 

 

Electronics Control block diagram / Interface Matrix :

By:Kevin Moran (Electronics & Control engineer)

Kevin blog post 2

The block diagram shown above will show the electronic components we will be using on the Goliath.  The blue tooth module will be able to send data to the Goliath to perform the basic operations in moving forward, backward, turning left, turning right, and shooting.  We will be using two DC motors for our Goliath and a android phone to provide a via live video feed.  All these components will be connected to the 3Dot Board and than powered by the battery.

Interface Matrix:

 Interface Matrix

The interface matrix is shown above to show the pins we will be using on the 3Dot board.

For the optical sensor it will be connected to power and ground.  The output of this signal will be sent to pin PD1 and sent to either a buzzer to indicate a sound that we got hit or an LED.

For the transmitter it will also be connected to power and ground.  The input of the transmitter will be sent to pin Pd0 and sent to a lazer/LED for the emitter.

We will be controlling two motors for our Goliath, which requires four pins with each motor connected to power and ground.  First motor will be assigned to pB6 and PB5 for power and ground.  Second motor will be assigned to PF6 and PF5 for power and ground.

Level 2 requirements – Subsystem

  • The rover will be controlled by two individual DC motors (3-5V)

Verification : http://www.ttelectricusa.com/

  • A single charge of battery must power two DC motors, the camera, and the laser & sensors
  • The rover will be controlled via Bluetooth using an Android Device.

Verification:http://arxterra.com/news-and-events/members/all-rovers/rover/

  • An LED (or otherwise specified) will be used for a game of laser tag
  • Laser receiver (on PCB) must be 3 inches off the ground, in order for successful game
  • The 3DoT board will be used to control the rover

 

Unique Tasks:

Kevin Moran

  • Define the requirements for motor once the definite rover specifications are provided by project manager and systems engineer.
  • Using the power budget (provided by systems engineer) choose the correct batteries to power the rover for the specified amount of time (depending on laser game length).
  • Provide the required integration for systems engineer to control rover via Bluetooth
  • Design and implement the laser (LED or otherwise specified)
  • Design and implement the laser sensors on PCB by
  1. Testing the circuit on PS SPICE
  2. Designing the circuit diagram on EAGLE CAD to provide manufacturing engineers with the codes for them to implement the PCB
  • Place the laser sensor 3 inches off the ground to provide a fair game of laser tag
  • Solder the 3DoT board in order to implement the rover along with its components such as the motor, laser, camera, and PCB receiver

 

3DoT Board Information (Digital Pins TBD):

o Micro-footprint 35 x 69 mm (1.38 x 1.73 inches)

o FREE Android and Apple iOS application software

o Pre-installed Arduino program – fully customized for your robot

o Integrated 3.7v Li-ion battery charger

o 5.0v Turbo Boost for driving DC motors

o TB6612FNG Dual DC Motor Driver

o Battery Level Sensor Circuit

o Both Android and iOS Bluetooth Modules available (purchased separately)

o Powered from a single CR123A 650mA rechargeable Li-ion battery (not included) with PTC protection, or bring-your-own Li-Ion battery (SparkFun compatible connector provided).

o 8 MIPS (Millions of Instructions Per Second) 2-Stage Pipelined AVR RISC Architecture   Input/output Soldering Ports

o I2C soldering port compatible with SparkFun 9DOF Sensor Stick

o Two 3.7v Micro and Ultra-Micro Servo ports

o 10 Digital I/O ports and 4 Analog ports (of the Digital I/O ports)

o All digital logic powered from Low Dropout (LDO) 3.3v regulator with power and ground output ports provided

Level 2 requirements – Subsystem

By: Rickeisha Brown and Jerry Lui (Manufacturing)

  1. No Pan-tilt: must mimic German Goliath Rover

Verification : it was decided at during the meeting with the president.

  1. Proper placement of the periscope (1”) to the android phone for visual accuracy.
  2. Skeletonized body for weight reduction (< 2.87 lbs)

By: Jerry Lui (manufacturing )

  • The camera on the phone must be able to see through the 1’’ periscope.

Verification: http://www.engadget.com/2013/04/24/samsung-galaxy-s-4-review/

  • The phone,the sensor,and the transmitter must fit within the 3’’ body of the rover.

Verification: http://www.gsmarena.com/samsung_i9500_galaxy_s4-5125.php

 

 

Unique Tasks : 

Rickeisha Brown:

  1. Design PCB Gerber file using Eagle CAD, while working alongside Control division in verifying we meet size requirements (≤ 1”) for our design, making sure we minimize costs.
  2. Solder IC components carefully on the PCB. If we get it right the first time, we do not need to order another PCB. Soldering IC components properly will be cost effective and time efficient.
  3. Locate a cost-efficient 3D printing company (contact manufacturing division manager) to print out 3D components.

Jerry Lui :

  1. Design and construct physical models or prototypes for dimensional references.
  2. 3D modeling of chassis using Solidworks, create a 3D model of the printable objects (chassis, LED housing).
  3. Assemble internal components, such as PCB, 3DoT, motors, etc. to be tested for fit, finish, and function.
  4. Test and verify that all moving objects on the rover are performing as expected.

 

rsz_jerry_sketch

Tasks Assignments:

Tae Min Lee – Systems

  • Will create the product breakdown structure of the product (3Dot Goliath).
  • Resource Report on the power and mass.
  • Validation of Level 2 Requirement.
  • Will learn C++ to program the Goliath using the Arudino IDE.
  • Will research on how to use the Arxterra control panel.
  • Verification and validation of level 1 and 2 requirements.
  • Provide a block diagram of the connections to each component.

 

Kevin – Electronics

  • Research on the type of sensors/lasers we will be using for the laser tag game.
  • Provide specifications of the sensors and lasers.
  • Perform trade off studies on the different type of sensors that can provide the maximum distance detection of the laser.
  • Perform a prototype of the laser detection system.
  • Provide a Fritzing diagram of the sensor and laser circuit.

Jerry Lui – Manufacture

  • Will create a 3D model of the 3Dot Goliath to provide an approximate dimensions for the robot.
  • Will perform a 3D model and simulation using CAD.

Keisha – Manufacture

  • Will layout where the components will be placed on the 3Dot Goliath.
  • Will be responsible for cable management when connecting the components to the 3Dot board.
  • Will purchase the PCB and perform the STM Stencil and re-flow of the board.

 

Preliminary Project Plan

Work Breakdown Structure(WBS):

By: Ayman Aljohani (Project Manager)

WBS

Action items, assigned tasks, would be based on WBS and PPS.

Project Schedule:

Top level schedule :

top level

Highlighted in yellow is the top level schedule with assigned tasks and completion percentage

Water fall diagram:

waterflow_1

waterflow_2

 

 

System/Subsystem Level Tasks:

subsystem

subsystem continues

 

 

Highlighted in orange is the subsystems schedule with assigned tasks and completion percentage.

 

Burn Down and Project percent completion :

Burn Down new

The Blue curve shows the planned tasks percent completion against the Orange curve which is the actual tasks percent completion.

 

System resource reports:

By: Tae Lee (System Engineer):

Power budget report:

Power Budget

The chart above shows the amount of power the Goliath will be using for the project.  We calculated the draw current of each component and took the total amount.  The total draw current will help us determine the type of battery to choose for our Goliath.  There will be a total power margin of + or – of 37mA.  To make sure we had enough current supplied to each component we added the contingency of about 100mA just in case a component draws extra current from the battery.

 

Mass report:

Mass Budget

This is the mass report of the different components that will be used for the preliminary design of the Goliath.  The allocation of the mass was determined based on the weight of each component. For the contingency, we set it to be roughly 1 pound to be safe (total 2.5 pounds) with an expected weight of around 1.5 pounds. The weight of the chassis was determined through Solidworks mass properties function with ABS as the base material (density of 1.06g/cm^3).

 

 

Cost estimate report:

budget report

The Cost Estimate Report shows the price breakdown for each component involved in building our Goliath Rover. Our customer is willing to pay up to $110.00 for the total cost of the design. It is our job as engineers to satisfy these financials limitations. Given that our Goliath design is “small” in size, including the 3Dot board, 3D printing & tracks and wheels, our overall cost will decrease. Please refer to our Cost Estimate Report for specific part costs.

 

 

Spring 2016 3-DoT Goliath Research and Intro

/in , , , /by

Ayman Aljohani (Project Manager)

Tae Lee (Mission Systems & Test)

Kevin Moran (Electronics & Controls)

Rickeisha Brown (Manufacturing Division)

Jerry Lui (Manufacturing Division)

By: Ayman Aljohani (Project Manager):

The 3-Dot Goliath is a new project that will be working with a new board referred to as the 3- Dot board.

As a project manager, I will be responsible of my team’s final product, and making sure it meets the customer’s requirements (level 1 requirements) which are:

  • low-cost ( $ 90 total)
  • less 3D- printing time ( 6 hr maximum),small size Goliath look.
  •  successfully compete in a laser-tag  (optical transmission device)battle with  3-DOT Spider project.
  • sensor placed horizontally on the rover with zero degree along x-axis,located at a height of 3 inches above the ground.
  • When getting tagged three times, the rover should be disabled.
  • the rover should be piloted via a live camera view only.
  • looks of the RoSco has to be cool

From researching past projects, we have our preliminary budget as follows:

Tracks and wheels  – $17.33
Motors  – $11.50
Chassis- $5.07
ABS plastic- $ 18 (1 Kg)
PCB  -$10
3DOT board-$30
Periscope- $6.89
Total cost: $ 98.79
I also conduct weekly meetings to followup on weekly actions.
Documentation is very important part of my assignment as PM.
2-minutes video for our project as a marketing tool, is also required from a project manager.

In order to meet those requirements,  I have developed a work breakdown structure (WBS) where the the work is broken down into tasks assigned to each division with a deadline.

A prototype version of the project is schedule to be tested on week 5 of the semester.

A research on sensors in terms of (field of view, cost, safety, and interference from outside source) will be assigned to Systems engineer .Based on the research results, the type of sensor will be determined to be one of the following:

IR – LED – Laser – Ultrasonic

The research should focus on four main aspects:
  1. cost
  2. field of view
  3. safety
  4. interference from another external source i.e lights of the room, distance

 

The research will be joined efforts with our opponent robot team (3DOT Spider).

One important decision should be made as soon as possible is the type of communication devise used in laser-tag battle.

Source materials:

  1. micro rover objective and requirements,April 16,2015 
  2. RoSco budget , October 11, 2015
  3. Rover

By: Tae Lee (Mission Systems & Test) :

Source Material:

  1. Battery Comparison,NiCd vs NiMH vs. LiPo Battery Packs, 12-04-13,https://www.arxterra.com/battery-comparisons/
  2. System and Subsystem Requirements, Level 2 and Level 3 Requirements, 10-31-2013 https://www.arxterra.com/system-and-subsystem-requirements/
  3. I.Y. Laser Tag Electronics, Head, 2003, Sensors, http://www.lasertagparts.com/mtsensors.htm
  4. Project Summary, Major Project Features, 12-20-2013, https://www.arxterra.com/project-summary/
  5. Robot Block Diagram, http://web.csulb.edu/~hill/ee400d/Technical%20Training%20Series/04%20Robot%20Block%20Diagram.pdf
  6. How to Make a Fritzing Diagram, 12-28-2014, http://web.csulb.edu/~hill/ee400d/Technical%20Training%20Series/08%20How%20To%20Make%20Fritzing%20Diagram.pdf
  7. What is Arduino?, Fall 2015, http://web.csulb.edu/~hill/ee400d/Technical%20Training%20Series/02%20Intro%20to%20Arduino.pdf

Introduction

The 3D Dot Rosco is a new project that will require a little bit of research.  We will be working with a new board referred to as the 3D Dot board.

Some of my responsibilities are performing

  • Verification and validation
  • Creating level 1 requirements
  • Creating the product breakdown structure.
  • Able to integrate everything together to create a product that meets the customer’s expectations.
  • Power Distribution
  • Testing of servos, motors, and sensors

From researching past projects I have noticed they used the Arduino board, Arduino motor shield, and a Bluetooth module that will be used to program a rover to do various tasks [7].  However, the new 3D dot board now incorporates all the hardware into a single board that will be used to control and perform various tasks on the rover.  The 3D dot has dimensions 1.38 x 1.73 inches making it portable and convenient when printing 3D parts for the RoSco.  Using the Arduino programming language (C++) we will then code and test the servo, motor, control panel, and the Bluetooth module[7].

Review of Literature:

Trade Off Studies of Batteries Review:

The blog post provided information on the research to determine which types of batteries will be suitable for the rover.

Notes for Requirements:

The research that was conducted on the type of batteries seemed unnecessary.  This section should be replaced with a tradeoff study on the uses of different batteries.  The group provided with informative information on the characteristics of the battery.  However, it is more important to provide calculations to determine which battery will last longer for the rover.  This requirement of comparing batteries does not contribute with moving the design forward.  It would be better to narrow down a few batteries and documenting the amount of current that can be produced by the battery.  Next step will to determine the milliampere-hour by adding up all the currents drained from each device to determine the total current.  By doing this we can than calculate an approximate value of how long the rover will last by multiplying the total current with the desired operation time [1].

Level 2 and Level Requirements Review:

The rover team provided a good understanding of the level 2 requirements before building the product.  They performed research on the terrain for obstacles and the distance that is needed to travel to fulfill the requirement.  This included simple calculations to approximate the distance that was needed to travel.  In addition, provided information and calculation of determining the required speed of .05 m/s. The next requirement was to determine a battery that will be used on the rover to last 20 minutes.  Performing a simple calculation, they were able to determine the type of battery needed (890mAh) [2].

Note on Level 2 Requirements:

A recommendation to improving the blog is to combine the level 2 and level 3 requirements.  An example of this is when they discussed the Power and the Power Storage.  These sections are closely related and should be combined to make it clear to the reader of choosing the battery that will be used on the rover [2].

I agree with most of the level 2 requirements; however, the power storage will be modified because of the various components that will be used on the rover.  The rover will be using a Bluetooth module, 3D Dot Board, laser, laser sensor, and two motors.  This will require different type of battery that will power these components.  In addition, the speed requirement will be changed by the customer needs.

Laser Communication Device:

We need to implement a sensor that is able to receive a certain wavelength from a laser.  Once the laser hits the sensor it will send a signal to an LED or a buzzer to indicate we got hit by the enemy.  The laser and the sensor will be connected to the 3D dot board and controlled by a wireless controller.  This field will be further researched to be implemented on our rover [3].

New Requirements:

  • Battle with spider bot
  • Control methods (ex. Bluetooth, Axterra, or Both)
  • Sound indicator (ex. Detect when hit or firing)
  • Have fun

System Block Diagram:

The systems engineer provided a satisfying block diagram that shows the electrical interface of the rover.  This includes the connections for the motor, illuminator, pan & tilt motor, and other components powered by the battery.  We will be able to apply a similar block diagram with a few changes to help us create the new rover [4].  These changes include the laser, laser sensor, and the 3D Dot board.

By : Kevin Moran (Electronics & Controls): 

Sources material :

Double Gearbox Motor

https://www.tamiyausa.com/items/geniuseries-educational-kits-50/educational-construction-38000/double-gearbox-70168

For more info on batteries

http://batteryuniversity.com/learn/article/understanding_lithium_ion

Level 2 Requirements: (Based on requirement to make a “low budget” and “cool” rover)

  • Motor selection

In this year’s project we will be using the 3DoT board which comes with a motor shield and a voltage booster from 3.5V to 5V to control the motor speed. I will be testing the board to ensure it meets the requirements to power the rover. The motors should not exceed a combined force of 5V since that is the board’s limitations

  • Battery Life

In order to meet the level one requirements for a game of laser tag, the length of the game must be decided in order to ensure the batteries chosen for the task of powering the rover last until the end of the game. The selection of the batteries will depend on their mAh, their discharge rate, and size. Since our rover is the next generation and because of level 1 requirements, we must ensure it fits in the overall design of rover.

  • Laser Tag Game

Level 1 requires that a game of laser tag be played between the Rosco team and the Spider bot. The length of the match is still to be determined. Lasers will not be allowed in this laser tag game. An LED will be used in its place. In order to be able to hit a target, the LED must be focused on the objective.

Rover from previous generations:

In order to build a next generation rover, I read the documentation on previous projects, trying to learn from their successes but also their mistakes. To demonstrate the effectiveness of the 3DoT board, our rover must exceed previous expectations and results. Below are a few of the experiments done by previous groups.

  • Waterproofing Servo Experiment

In order to ensure the survival of the rover through its respective test course, the team needed to waterproof their servos to ensure full functionality in wet conditions, and completion of the required task. They enclosed the PCB in waterproof box. They had to spray the servos with plastic dip and submerged them under water for thirty seconds in order to prove they were safe to work in wet conditions. The only problem I see with this way of waterproofing is in the long run of the project. For our specific project we will not be able to waterproof this way, for we are not using servos. However, since we are using a prototype 3DoT board we need to be extra careful to protect from any outside interference, such as a single drop of water. All of our circuitry must be inside the rover and protected by our 3D printed rover.

  • Field of Vision Experiment

In order to fully simulate a soldier crawling through a barbed wire course, the designed their rover to avoid obstacles, to match the speed of a soldier, and visualize what a soldier sees in the crawling position. They tried to find the information on the internet but were not successful, so they decided to perform an experiment on field of vision. They needed the field of vision of a HTC Evo phone.

  • Power Budget:

The majority of the power was used by 6 different servos and 4 different motors. They needed to know the current the rover uses in order to figure out if their batteries were enough to complete the task. They were given batteries with 700mAH capacity, 7.2V batteries were used on previous semesters. By building their prototype, they were able to determine the exact current their rover would use when it was operational. They discovered that their batteries allowed them to run their rover for 40 minutes. For our project I need to determine how much power the laser will use, and for how long our game of laser tag will last. I need to ensure sufficient battery life for the motors and the laser circuitry. Since it is our first time using the 3DoT board, I will also need to run experiments and seeing how it functions and if it uses up much battery life to function since it’s such a compact design

 

New Ideas to meet level 1 requirements

Since the rover has been done by previous teams before using the Arduino plus a motor shield along with other components, in order to make our project a new generation we must improve on previous models. However, we must be realistic, we will not be reinventing the motor or the batteries used for the rover. Our focus will be to improve on previously known data. We will choose a similar motor and batteries but according to our 3DoT board, to ensure full cooperation amongst the subsystems. Below are some ideas to meet the level 1 requirements

  • Motor
  • We will research if 2 separate motors, or a single double-gearbox motor with individual control for the sides works best with the 3DoT board. The location of where the motor is placed will also play an important role, as it will allow for maximum torque and efficiency
  • Battery Life
  • Since the 3DoT board has a place for a lithium battery, we will research and see if a battery that can fit there can meet all of our requirements. Such as the voltage, the amperage needed during a certain amount of time, and the discharge and charging rates. Since our goal is to reduce costs by reducing the size, it would be ideal to just have 1 set of batteries. We must also figure out a way to charge the battery once it is already in place. I have thought of creating a USB adaptor and placing it on the side of the rover to recharge the batteries as needed. We must also be able to determine the charge of the battery at any given moment.
  • Laser Tag Game
  • In order to ensure a successful game of laser tag, I have suggested adding the “laser” to the pen tilt that will be holding the phone and the periscope. The point of any game is to try and have a good time (usually by winning). If we are able to have the laser point in the direction of the center of the periscope, we can potentially be able to target the other team by moving the pen tilt until their sensors are in our sights. This will meet the level 1 requirements by reducing the amount of single moving parts, and allowing our team a successful game of laser tag.
  • Crazy Idea
  • Since our point is to demonstrate the ability of the 3DoT board to power a rover by itself, I have suggested trying to take that a step further. If we were to be able to have two android devices control the rover simultaneously, our rover will be very successful. Person 1 would control the movements of the rover and speed, while person 2 will be control the pen tilt and trying to hit the laser sensors. Both persons would have access to the camera on their devices.

 

By: Rickeisha Brown (Manufacturing Division): 

Source Material : 

Manufacturing our rover incorporates the actual publishing and printing of the PCB board, soldering IC components and other necessary components to the IC board, along with designing 3D structure components. We will use Eagle Cad to draft our design of circuit boards, create a Gerber file and place an order with a PCB manufacturing company of the Manufacturing Division Manager’s choice. It is vital that we confirm with systems and controls a final PCB board design before moving forward with Eagle Cad and Gerber files prior to printing. It is our goal to utilize production time effectively for adequate testing time.

As stated, we are responsible for the 3D design of rover components on a computer software that allows us to do so. For the sake of time ease and access, our manufacturing team will use SolidWorks. SolidWorks will allow us to draft all parts required to manufacture our rover including: the chassis, gears, battery holder and shell.

The customer requests that our manufacturing team design a rover which mimics the German Rover Goliath. The German Rover Goliath has a distinct height and length ratio, such as 1:3. However, the most recent rover designs are replicas of Mars Rover and/or NASA’s Curiosity Rover, which have a height/length ratio of 3:1. Goliaths requirements:

  • Lower Cost (comparison to recent RoSco specs)
  • Minimizing use of 3D-printing
  • Smaller/Compact design
  • Smaller PCB
  • 3D Printing Time: 6 hrs.
    • Chassis
      • Dimensions: 7.69×4.69×3.19
    • Miscellaneous bolts (prints provided by Division Manager: Kevin L.)
  • Goliath Replica
    • Tracks & wheel design
    • Chassis-body structure includes phone, PCB & 3 Dot wiring components
    • One level structure: no neck attached to pen tilt
    • Pen Tilt replaced Periscope
    • Range of view: Dependent on periscope specs-90 degree angle turns

Estimated total weight of Goliath Rover: 1.88-2.00 lbs

The manufacturing division will be responsible for the generation of an Eagle Cad design of the PCB Board, a 3D model of our Rover design using SolidWorks, & the calculation of material and supply needed to build the desired design.

cost estimate new   Goliath

By: Jerry Lui (Manufacturing Division):

Sources materials: 

http://www.toybuilderlabs.com/blogs/news/13053117-filament-volume-and-length

http://www.amazon.com/gp/product/B001VZJDY2?refRID=BT3DN2GHRMF7CEJ988CY&ref_=pd_ybh_a_4

Level 2 subsystem requirement

Chassis material has to be light weight (at least under 1.63lbs)

  • Based on the previous Rosco project, the prime material to use for 3D printing would be ABS.
  • The overall weight must at least be less than the previous teams Rosco chassis weight of 1.63lbs.

The overall cost has to be low (<$80)

  • As per customer suggestions 3D printing should be used. This will cut down on costs.
  • ABS is priced, on average, $20 per kg or $9.07 per pound which can significantly reduce weight compared to PLA.

A game has to be implemented in conjunction with the 3Dot Spider-bot team

  • A led has been suggested to replace the original laser tag system as per customer request.

The Rover must be similar to the german Goliath ROV

  • A prefabricated, commercial track has been proposed to meet the customer objective of having a wheel-tracked system.

rsz_jerry_sketch

Suggestions

  • The body of the old Rosco was fairly bulky which accounted for the majority of the 3.25lbs. A more skeletonized body was proposed to help minimize the weight, speed up printing time, reduce costs, and to make it look aesthetically pleasing as per customer objectives.
  • The reduced weight of the body will also minimize the strain on the motor(s), and tracks thus increasing product longevity.