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Military Surveillance Robotic Vehicle Military Surveillance Robot November 13, 2016 Page i of 138 Military Surveillance Robotic Vehicle The University of Central Florida Department of Computer Science and Electrical Engineering Dr. Lei Wei Senior Design I Group 23 Austin King CpE Kevin Plaza CpE Adam Baumgartner EE Ryan Hromada EE Military Surveillance Robot November 13, 2016 Page ii of 138 Table of Contents 1. Executive Introduction ............................................................................ 1 2 Project Description .................................................................................. 3 2.1 Project Motivation and goals ............................................................ 3 2.2 Objectives ........................................................................................ 4 2.2.1 Autonomous Operation with voice commands ........................... 4 2.2.2 Operation in different modes...................................................... 5 2.2.3 Integrating multiple components onto a Printed Control Board (PCB)............................................................................................................. 5 2.3 Specifications/Requirements ............................................................ 6 2.3.1 Physical/Electrical components ................................................. 6 2.3.2 Functional Requirements ........................................................... 7 2.3.3 Software requirements ............................................................... 7 2.3.4 Marketing requirements ............................................................. 7 2.3.5 Project Constraints .................................................................... 8 2.3.6 Project Standards ...................................................................... 8 2.4 House of Quality ............................................................................... 8 2.4.1 Dimensions ................................................................................ 9 2.4.2 Voice Control ............................................................................. 9 2.4.3 Battery Operated ....................................................................... 9 2.4.4 Wi-Fi enabled ............................................................................. 9 2.4.5 Range ........................................................................................ 9 2.4.6 Response Time ........................................................................ 10 2.4.7 Collision detection .................................................................... 10 3 Research related to Project Definition................................................... 11 3.1 Existing similar products ................................................................. 11 3.2 Relevant Technologies ................................................................... 12 3.3 Strategic Components and Part Selections .................................... 12 3.3.1 Ultrasonic detector ................................................................... 12 3.3.2 Camera Module ....................................................................... 16 3.3.3 Processing Unit ........................................................................ 17 3.3.5 Magnetometer .......................................................................... 24 3.3.6 Servo Control ........................................................................... 25 3.3.7 Optical Rotary Encoder ............................................................ 29 Military Surveillance Robot November 13, 2016 Page iii of 138 3.3.8 Battery Power .......................................................................... 33 3.3.9 Servos and Gearbox ................................................................ 35 3.4 Parts Selection Summary ............................................................... 38 4. Related Standards and Realistic Design Constraints .......................... 39 4.1 Standards ....................................................................................... 39 4.1.1 Design impact of relevant standards ........................................ 39 4.2 Realistic Design Constraints .......................................................... 40 4.2.1 Economic and Time constraints ............................................... 41 4.2.2 Environmental, Social, and Political constraints....................... 41 4.2.3 Ethical, Health, and Safety constraints .................................... 42 4.2.4 Manufacturability and Sustainability constraints ...................... 43 5 Project Hardware Design Details .......................................................... 44 5.1 Research of initial project design.................................................... 44 5.1.1 Interface for Microcontroller ..................................................... 44 5.1.2 GPIO ........................................................................................ 44 5.1.3 i2c Driver system ..................................................................... 45 5.1.4 Power system across board layout .......................................... 45 5.2 Raspberry Pi system ...................................................................... 46 5.2.1 User interface .......................................................................... 46 5.3 Sensor system for collision avoidance and relative positioning ...... 46 5.3.1 PWM for sensor detection for controller interface .................... 47 5.3.2 Sensor array ............................................................................ 49 5.4 Vehicle movement .......................................................................... 54 5.4.2 Testing of Servo functionality ................................................... 57 5.5 Summary of Design ........................................................................ 58 6. Software Design Details ....................................................................... 60 6.1 Firmware ........................................................................................ 61 6.1.1 Digital Compass ....................................................................... 61 6.1.2 Ultrasonic Sensors ................................................................... 63 6.1.3 Servo Controller ....................................................................... 65 6.1.4 Camera .................................................................................... 65 6.1.5 Collision Detection/Avoidance ................................................. 66 6.1.6 Wi-Fi Module ............................................................................ 68 6.2 Data Transmission over Wi-Fi ........................................................ 69 Military Surveillance Robot November 13, 2016 Page iv of 138 6.3 Mobile Application .......................................................................... 70 6.2.1 Voice Command Page ............................................................. 70 6.2.2 Video Feed Page ..................................................................... 72 6.2.3 Robot Data/Status Reports Page ............................................. 74 6.4 Computer Vision ............................................................................. 74 6.5 Software Summary ......................................................................... 77 7. Project Prototype Construction and Coding ......................................... 78 7.1 Integrated Schematics .................................................................... 78 7.2 PCB Vendor and Assembly ............................................................ 80 7.3 Senior Design 2 Alternate design concept ..................................... 81 7.4 Final Project Coding Construction .................................................. 85 8. Project Prototype Testing Plan ............................................................ 88 8.1 Hardware Test Environment ........................................................... 88 8.1.1 Breadboard component Testing............................................... 88 8.1.2 PCB testing in lab .................................................................... 90 8.1.3 Full component testing in field ................................................. 90 8.2 Hardware Specific Testing ............................................................. 90 8.2.1 Microcontroller ......................................................................... 90 8.2.2 Sensors ................................................................................... 92 8.2.3 Servos ..................................................................................... 96 8.2.4 Wi-Fi Control Interface ............................................................. 99 8.2.5 Rotary Encoders .................................................................... 100 8.3 Software Testing .......................................................................... 103 8.3.1 Communication Testing ......................................................... 103 8.3.2 Performance Testing ............................................................. 108 8.4 Software Test Environment .......................................................... 113 8.4.1 Desktop Environment ............................................................ 113 8.4.2 Mobile Application Environment ............................................. 113 8.4.3 Robotic Surveillance Vehicle Environment ............................ 113 9. Administrative Content ......................................................................
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