ECE 445 Spring 2015 Illinois Robotics in Space

ECE 445 Spring 2015 Illinois Robotics in Space (IRIS) Robot Localization System Group #42: Weipeng Dang William Tadekawa Rahul Talari

Introduction � develop the most effective and efficient localization system to support IRIS in winning NASA’s Sixth Annual Robotics Mining Competition.

Function Overview � This system includes two functions: point localization and direction orientation � Point localization: two parallel Lasers sending angle information � Direction orientation: one 360 degrees turning laser associate with RF unit and counter for angle counting.

Function Block Diagram Wire connection Signal transition

System Overview l Hardware Laser Signal Transmitter and Receiver, RF signal Transmitter and Receiver, Step Motors, Microcontroller Unit and Power supply. All of the hardware either on collection bin or Robot l Software Since the MCU that we are using is Arduino, so we use Arduino IDE for all of our code.

l Hardware Overview Laser Signal Transmitter Include two 635 mm lasers on collection bin and one 650 mm laser on robot. l Laser Signal Receiver unit Include two laser receiving & DSP unit on both collection bin & robot, l Step Motor Unit Include step motor drivers and step motors. Two of them are collection bin and one on robot. l RF Transmitter and Receiver Include RF Transmitter on collection bin and RF Receiver on Robot, l Microcontroller Unit Include three arduinos on Collection bin and one on Robot. l Power Supply Include one 12 V battery and one power convert unit that has 12 V input and 12 V, 5 V and 3 V output on collection bin.

Laser Signal Transmitter 650 nm red line lasers (2 x) 60 degree fan, Class II Laser Transmitters (Collection Bin) 635 nm red line laser 60 degree fan, Class II Laser Transmitter (Robot)

Laser Signal Receiver Unit Single Photodiode Design Photodiode Receiver (Collection Bin) Three Photodiode Design Photodiode Receiver (Robot)

Photodiode Receiver (Collection Bin) Schematic Transimpedance Amplifier Passive HPF Active BPF Comparator

Photodiode Receiver (Robot) Schematic Transimpedance Amplifier Passive HPF Summing Amplifier Active BPF Comparator

Step Motor Unit l Include two parts: a NEMA 17 Stepper Motors and a CNC Router Single 1 Axis TB 6560 3. 5 A Stepper Motor Driver

NEMA 17 Stepper Motor � Operation Voltage is 12 V � Operation Current is 350 m. A � 200 steps/rotation (1. 8 degrees/step) � Red & Yellow wire pair for Coil #1 � Green & Blue wire pair for Coil #2

TB 6560 Stepper Motor Driver � Operation voltage is 12 V. � Operation current is around 0. 7 A. 12 V Power supply Control signal enable Motor Direction control Motor Speed control Control signal 5 V power supply Connect to motor

Step Motor Function l Collection bin Two motors rotate 180 degrees in parallel and back and forth to turn the lasers for Localization system. l Robot One motor rotate 360 degrees and back and forth to turn the laser for orientation system.

RF Transmitter and Receiver � � RF Transmitter on Collection bin RF Receiver on Robot Receive Triggered signal from Photodiode and send this triggered signal back to receiver to stop orientation angle counter Use Link TXM 916 -es and Link RXM 916 -es module

RF Transmitter and Receiver (Schematic) Transmitter Receiver

Power Supply l Include one 12 V battery for all power supply on collection bin and one power box that convert the input 12 V to 12 V, 5 V and 3 V output. l Power of localization system on Robot will be provided by Robot. l Use CC 3 -1203 SF-E and CC 10 -1205 SF-E module for DC/DC converters.

DC Converter Box (Schematic)

DC Converter Box (Exterior Design) Output 5 V Output 3 V Output 5 V Output 12 V Positive Switch Input 12 V Output 12 V Negative

Microcontroller Unit � We use Arduino Mega 2560 and Arduino Uno R 3 for our microcontroller Unit � We have two Arduino Mega and one Uno on collection bin and one Mega on Robot

Software Function Overview � Use of Timer 1 and Timer 3 for frequency generation � Use of Freq. Period. Counter library to detect the frequency and calculate angles � Use of Stepper library to instantiate objects of Stepper to run the motors at desired speeds � Use of INPUT and OUTPUT pins to trigger RF transmitting and receiving signal

MCU – Stepper Motor Control � Trigger Stepper Motor driver at 350 Hz � Ensure that Stepper Motor completes one complete revolution in 2 s � Invert direction of motors on collection bin upon traversal of 180 degrees � Ensure complete 360 degree turning of motor on robot

MCU – Autonomous sub – system (IRIS) � Input x, y, θ every 2 seconds serially to the autonomous system � SLAM system enabling in the robot to avoid crashing in the test zone � Accurate estimate of location and direction of robot for navigation purposes

MCU: Overview – Localization System l l l Frequency generation – Laser A (1 – 5 KHz), Laser B (5 – 9. 6 KHz) Frequency detection – Detect both angles and generate x, y Generate x, y every 2 seconds

MCU: Overview – Orientation System � Generate constant frequency signal through laser on robot � Upon RF input == HIGH, stop the counter to generate the angle θ � Generate θ every 2 seconds

Localization System: Functionality � Frequency of Laser A are detected and stored until frequency of Laser B is detected. � Interrupt based approach to minimize time delays and error � Upon receiving both angles calculations are performed to generate x, y

Orientation System: Functionality � Frequency trigger � Polling � Due of Laser C detected upon RF method used to generate θ to lag of RF transmitting and receiving, θ – (θ – 5) to ensure that the previous angle is recorded via calculations

Calculations: Localization system & Orientation system � Trigonometric equation: x = (145 * tan(θ 1))/(tan(θ 1) + tan(180 – θ 2)); y = x * tan(180 - x); Θ = (Number of Steps/Revolution)/ 10;

Conclusion � We finished localization function and the Orientation function is still need some time to fix the code. But the hardware for the whole system is working. � What are we going to do is to fix the orientation code and combine the two function together. Also we will increase the accuracy of the calculation.

Question?