University of Central Florida College of Engineering & Computer Science Department of Electrical Engineering & Computer Science Senior Design II Autonomous TankBot Group 1 Anthony Speake Electrical Engineering Stephen Greene Electrical Engineering Emmanuel Sotomayor Electrical Engineering Conan Wilson Electrical Engineering University of Central Florida CECS Group 1 Table of Contents Table of Contents ................................................................................................................ ii List of Figures .................................................................................................................... vi List of Tables .................................................................................................................... vii Appendices ....................................................................................................................... viii List of Acronyms ............................................................................................................. viii 1. Executive Summary .....................................................................................................1 2. Project Description.......................................................................................................3 2.1. Project Motivation and Goals ............................................................................... 3 2.2. Objectives ............................................................................................................. 5 2.3. Requirements Specifications ................................................................................ 6 2.3.1. House of Quality ........................................................................................... 6 2.3.2. Hardware Requirements................................................................................ 7 2.3.3. Software Requirements ................................................................................. 7 2.4. House of Quality Analysis ................................................................................... 8 2.5. Overall System Design ......................................................................................... 9 3. Research Related to Project Definition ......................................................................11 3.1. Existing Similar Projects and Products .............................................................. 11 3.1.1. Samsung SGR-A1 ....................................................................................... 11 3.1.2. Autonomous Target Recognition System Fall 2016-Spring 2017 .............. 12 3.1.3. Self-Targeting Autonomous Turret System (STATS) 2014 ....................... 13 3.1.4. Autonomous Chasing Robot 2015 .............................................................. 14 3.1.5. S.H.A.S Bot................................................................................................. 14 3.1.6. DoDAMM’s Super aEgis 2 ......................................................................... 15 3.2. Relevant Technologies ....................................................................................... 16 3.2.1. Range Sensors ............................................................................................. 16 3.2.2. Processors and Microcontrollers ................................................................. 18 3.2.3. Wireless Modules........................................................................................ 19 3.2.4. Camera ........................................................................................................ 21 3.2.5. Servo Systems ............................................................................................. 22 3.2.6. Operating System ........................................................................................ 23 3.2.7. Power .......................................................................................................... 23 3.2.8. Software Tools ............................................................................................ 23 3.2.9. Autonomous Detection Processes ............................................................... 29 Page | ii University of Central Florida CECS Group 1 3.3. Standardized Communication Protocols .............................................................. 2 3.3.1. UART ............................................................................................................ 2 3.3.2. 푰ퟐ푪 ................................................................................................................ 4 3.3.3. SDIO ............................................................................................................. 4 3.3.4. SPI ................................................................................................................. 5 3.3.5. MIPI .............................................................................................................. 6 3.3.6. Networking ................................................................................................... 7 3.4. Components and Part Selections .......................................................................... 8 3.4.1. Battery Selection ........................................................................................... 8 3.4.2. Voltage Regulation IC’s ............................................................................... 9 3.4.3. MOSFET ..................................................................................................... 11 3.4.4. Voltage Supervisor IC................................................................................. 13 3.4.5. Motor Drivers.............................................................................................. 14 3.4.6. Rectifier Diodes: ......................................................................................... 17 3.4.7. Bipolar Junction Transistor ......................................................................... 18 3.4.8. Motors ......................................................................................................... 19 3.4.9. Wheels......................................................................................................... 22 3.4.10. Rotary Encoder ........................................................................................... 24 3.4.11. Robot Frame................................................................................................ 25 3.4.12. Turret Platform............................................................................................ 27 3.4.13. ADXL345 Digital Accelerometer ............................................................... 29 3.5. Parts Selection Summary ..................................................................................... 2 4. Related Standards and Realistic Design Constraints ...................................................4 4.1. Impactful Standards.............................................................................................. 4 4.1.1. List of Relevant Standards ............................................................................ 4 4.1.2. Design impact of relevant standards ............................................................. 6 4.2. Realistic Design Constraints ................................................................................ 6 4.2.1. Economic Constraints ................................................................................... 6 4.2.2. Parts Constraints ........................................................................................... 7 4.2.3. Thermal Constraints ...................................................................................... 7 4.2.4. Time Constraints ........................................................................................... 7 4.2.5. Environmental, Social, and Political constraints .......................................... 8 4.2.6. Ethical, Health, and Safety constraints ......................................................... 9 4.2.7. Manufacturability and Sustainability constraints........................................ 11 Page | iii University of Central Florida CECS Group 1 5. Hardware Design .......................................................................................................13 5.1. Overall System Design ....................................................................................... 13 5.2. Power Subsystem ............................................................................................... 13 5.2.1. Battery Protection Circuit ........................................................................... 14 5.2.2. 5V Power Distribution ................................................................................ 15 5.2.3. 3.3V and 1.8V Power Systems ................................................................... 17 5.3. Communication Subsystem ................................................................................ 17 5.3.1. Differential Pair Calculations ..................................................................... 18 5.3.2. Signal Routing ............................................................................................ 18 5.4. Thermal Design .................................................................................................. 18 5.4.1. Compute Module Heatsink ......................................................................... 18 5.4.2. MIC261201 Thermal Design .....................................................................