Mars Rover

By:
Colin Shea
Dan Dunn
Eric Spiller

Advisors: Dr. Huggins, Dr. Malinowski, Mr. Gutschlag

 Outline
Project Summary
Review of Previous Work
Patents
Project Description
Data Sheet
Equipment and Parts
Preliminary Research
Schedule
Division of Labor
 Project Summary
The main objective is to design the Rover for long
battery life that must last 7 days without recharging.
The Rover will use PC104 to control the interface among
the user and the Rover and high level software.
It will also use the MicroPac 535 microprocessor to
control low level software such as the motors for motion,
the sonar system, and the battery level.
The user will be able to enter a specific distance, move a
predetermined distance, or rotate the Rover to get a
preferred direction.
 Previous Work
2002
Rob Shockency and Randall Satterthwaite
Robotic Platform Design
EMAC 8051 and a CPLD
Design Goals
1. Create Cheaper version of Telerobotics 2001
2. Upgradeable and expandable in the future
 Patents
The following patents were collected from the United States Patent and
Trademark Office searchable on-line database using the keywords
wireless, network, 802.11, web, camera, USB camera, PCMCIA,
and hard disk

6,484,029 Apparatus and methods for adapting mobile unit

to wireless LAN
6,453,159 Multi-level encryption system for wireless
network
6,486,832 Direction-agile antenna system for wireless
communications
6,434,132 Wireless LAN for reestablishing wireless links
between hosts according to monitored
 Patents
5,982,807 High data rate spread spectrum transceiver and
associated methods
6,005,613 Multi-mode digital camera with computer
interface using data packets
6,484,308 System and method for ensuring data integrity
on a removable hard drive
6,292,863 PC card
6,336,142 Methods and apparatus for downloading data
between an information processing device and
an external device via a wireless
communications technique
5,619,396 Modular PCMCIA card
5,231,693 Telerobotics
 Standards
Internet Standards
Most internet standards are documented in Internet Request For
Comments which are indexed at Ohio State University. Java is
trademarked by Sun Computer Systems.
RFC 791 - Internet Protocol (IP)
RFC 793 - Transmission Control Protocol (TCP)
RFC 826 - An Ethernet Address Resolution Protocol (ARP)
RFC 893 - Internet Protocol on Ethernet Networks
RFC 1866 - Hypertext Markup Language (HTML/2.0)
RFC 1945 - Hypertext Transfer Protocol (HTTP/1.0)

USB Standard is found from USB.org, the document is part of a zip

file that also includes information on the newest standard USB 2.0.
 Functional Description
Wait mode
All systems are powered, except the motors.
The CPU monitors the wireless card for network activity
The last image captured from the camera is displayed to the
user.
Web page accessible to user
Battery Status is monitored
Sleep mode
The sub-systems are powered down except for the CPU and
the wireless network card.
CPU runs in a reduced power mode.
Web page accessible
Battery Status is monitored.
Rover remains in sleep mode until signaled by the user.
 Functional Description
Low battery mode
Battery drops below 10% of charge
Email sent to Dr. Malinowski requesting a charge
Rover shuts down all components.
Charge mode
Rover continues to charge until power button is pressed
Stays in this mode until battery level reaches 100%
User mode
All Systems powered
Distance and Direction Control
Web Page accessible to user
Image capture and display
Battery Status is Monitored
Functional Description

User Charge
Full Charge

Disconnect

Connect

Manual
Wait Low Battery

Timeout

Sleep Activity Low Battery

Low Battery

Low Battery
 System Block Diagram
Wireless
802.11b
Image Network
RF signal

digital bit stream

card

Mouse and User

Keyboard Computer
Java Applet Internet

Control TCP/IP

Upper level software

microprocessor

Monitor

Commands
Status
Photons Camera USB Protocol

Battery Charge
Level
ge
lta
Vo

Embedded System

M T TL
P W na l Sig
nal

Bit Stream
S ig
Acoustic
Sensors
Motor Control

Transmit pulse
Echo pulse
Wheel Sensors

Object
 Software Flow Chart
High Level Software Wait For
Control

Rover Control
Event

Press or
Enter
Hold Enter
Degree
arrow distance
Heading
key

Move
Turn by Forward
Degree or
Backward

Encode
signal -
binary/
ASCII

Send
Signal
through
Serial Port
 Software Flow Chart
Camera

High Level Software takes

Picture

Image Retrieval/Display
Image is
compresse
d to jpeg

Image is
read from
memory

Image
Displayed
in applet

Delay 5sec
 Software Flow Chart
Equal to Equal to
Stop Rover
Zero Zero

Low Level Software

Motor Control Distance Register
for Left Wheel
User input, store
in registers
Distance Register
for Right Wheel

Decrement Distance Decrement Distance

Traveled from Total Traveled from Total
Distance Distance

Compare Measured
Values

Left Wheel Right Wheel

Sensor Sensor
Register Increment or Increment or Register
Decrement Timer Decrement Timer
Registers to Registers to
regulate speed regulate speed
Retrieve Retrieve
count every count every
.1 secs .1 secs

Left Wheel Right Wheel

Left Motor Right Motor
Sensor Sensor
 Software Flow Chart
Low Level Software Transmit Pulse

Object Detection Transmit

Micropac 535 Acoustic Sensor

Object
Echo Pulse
Receive

Measure time Calculate distance

Too close Stop rover
between pulses away from object

Safe distance

Continue moving
 Software Flow Chart
Low Level Software Battery terminal

Battery Voltage Level

voltage

Compare to Data
Micropac 535 A/D converter
Table

rg e

User present
ha
n t, c
se
p re
n o t lo w
er
Us

User not present, charge good

Display to user
Stop rover and switch
Charge too low approximate battery
to low charge mode
charge level

Charge Good
Continue operating
rover
 Preliminary Research
Hard drives
Standard IDE
Large power consumption
Flash Card
Very small power consumption
Not large enough to run Linux
PCMCIA
Good power consumption
Large enough to run Linux
 Preliminary Research
Wireless Cards
Dell Truemobile
Lowest power consumption
Not compatible with Linux
Linksys
Good power consumption
Compatible with Linux
Cisco
Higher power consumption
Compatible with Linux
 Preliminary Research
Computer Platform
Format
PC/104
PC/104+
SBC
Processors
Intel PIII ULV
Transmeta Crusoe Processor
National Semiconductor Geode Processor
Boot Options
Disk-on-Chip
USB
Floppy
Expansion Options
PCMCIA
Serial
 Preliminary Research
Format Differences:
PC/104 Based on a ISA bus expansion supports 8bit and
16bit devices
PC/104+ Based on a PCI bus expansion supports 16bit and
32bit devices
SBC has no bus expansion, usually
 Preliminary Research
Processors:
Intel power
highest power in sleep mode >1.0watts
Transmeta Crusoe power
lowest power in sleep mode <.05 Watts
National Semiconductor power
second lowest >.05Watts

Speed:
Intel 450Mhz-1.0Ghz
Transmeta 300Mhz 700Mhz
National Semiconductor 200Mhz 333Mhz
 Preliminary Research
Battery Report:
A battery with the highest amp hours and lowest
weight must be selected
After a meeting with the project advisors, the decision
was made to use a 12V battery supply, primarily, the
batteries used in the Robotic Platform Design.
Trickle charge applies a continuous constant low
current to maintain charge
A deep discharge will shorten the life and partial
discharges will extend life.
 Preliminary Research
DC Motor Report:
Researched a 5V motor, but later the decision
was made to use a 12V motor .
Pittman motors will be used for the Mars
Rover.
major factor in determining which motor that
will be used is the value of the load current.
 Power Calculations
Power Consumption for Sleep Mode:
PC104 computer .026A
PC104 PCMCIA module .07A
PCMCIA Hard drive .015A
PCMCIA Wireless Card .009A
EMAC .045A
+ _____
Total .165A
24hrs * 7days = 168hrs
168hrs * .165A = 27.72 Ah @ 5V
27.72Ah * 5V = 138.6Wh
Using 2 - 12 Volt, 7.2Ah batteries:
12V * 7.2Ah * 2 = 172.8Wh available
 Power Calculations
Power Consumption for User Mode:
PC104 computer .8A
PC104 PCMCIA module .07A
PCMCIA Hard drive .4A
PCMCIA Wireless Card .285A
EMAC .045A
Camera .1A
2 Polaroid Ultrasonic 6500 .2066A

+ ______
Total 1.9066A
 Power Calculations
Pittman GM9236 motors:
Total with motors 1.9066A + 16.9A * 2 = 35.7A

User is connected 3% of the time (or 5 hrs out of a week), then power
consumption is as follows:
(1.9066A * 3% + .165A * 97%) * 168 * 5V= 182.48Wh without motors
((33.8A*12V+1.9066A*5V)*3% + .165A*97%*5V)*168hrs = 2226.7Wh

With Pittman GM9X12 motors which pull 4.56A @ 12V:

((9.12A*12V+1.9066A*5V)*3%+.165A*97%*5V)*168hrs =726.8Wh

To meet the requirements to run for 7 days without a recharge using 2

12V @ 7.2Ah batteries, the user would only be able to run the rover for
1.5hrs a week
((9.12A*12V+1.9066A*5V)*.9%+.165A*99.1%*5V)*168hrs =179.1Wh
 Data Sheet
Specifications
Turning accuracy - 5 for an individual turn command
Driving accuracy - 5cm and 2 for a 100cm command
Camera capture speed 5 frames/sec @ 324x288 resolution for a
10BaseT connection
Weight ~28lbs
Battery life 7 days without a recharge if user connects <= 1.5
hours a week
Top speed 10cm/s
Speed range 1 cm/s to 10 cm/s
Acoustic sensors
Time between transmit signals 10 seconds
Farthest object detection 200cm
Closest object detection 50cm
 Data Sheet
Motors
Model number GM9X12
Gearing 1:65.5
Max current 4.56A
Voltage 12V
Wheel Sensors
Output TTL
Pulses per revolution of shaft 512
Voltage required 5V
Battery charge level accuracy - 5%
Wireless protocol 802.11b
Dimensions 31.4cm x 46.4cm x 21cm (L x W x H)
Battery 2 - 12V @ 7.2Ah
Wheels 5cm x 16cm (Width x Diameter)
 Parts and Price List
Equipment List for Mars Rover

Part Qty. Website Manufacturer Location of Vendor Part # Price

5 Gb PC/MCIA HDD1232CZP41
Harddrive 1 www.pricewatch.com Toshiba www.legendmicro.com 002 $191.00
LG1064U/064/G
128 Mb RAM 1 www.pricewatch.com Infineon www.18004memory.com 3VAC $14.20
PC/MCIA Wireless
Card 1 www.pricewatch.com Logictech www.legendmicro.com DL1150 $69.00
USB Webcam 1 www.pricewatch.com Logictech www.enpc.com 961137-0403 $16.00
PC104+ 200MHz w/ www.square1industrie www.square1industries.co
USB 1 s.com National Semi m CM-589 $399.00
Dual PC/MCIA
Adaptor 1
Pittman DC Motor
#9236 2 Bradley Owned Pittman www.pittmannet.com
12V 35Ah Battery 1 www.batterymart.com www.batterymart.com SLA-12V35 $42.95
6V 42Ah Battery 1 www.batterymart.com www.batterymart.com SLA-6V42 $39.95
The Energy Conservation Laboratory and Acoustic Laboratory Room will be
used to construct the project. $772.10
Laboratory Week Project Milestones
19-Jan-03 Assemble PC104 and interface with previous Robotic Platform Design project.
26-Jan-03 Create boot software for Linux.
Install drivers for all components in Linux.
2-Feb-03 Develop and test motor control software on Micropac 535.
Develop software to interpret wheel sensor bit streams.
9-Feb-03 Continue working on software development for motor control and feedback loop.
16-Feb-03 Develop software to capture image from camera and send to user.
Continue working on software development for motor control and feedback loop.
Work on web server development.
23-Feb-03 Create Java applet for user interface.
2-Mar-03 Continue with Java applet
Work on software to estimate battery charge level.
9-Mar-03 Finish working on software to estimate battery charge level
16-Mar-03 Spring Break
23-Mar-03 Develop software to operate acoustic sensors
30-Mar-03 Finish Java applet.
6-Apr-03 Testing of individual components and overall system.
13-Apr-03 Testing of individual components and overall system.
20-Apr-03 Preparation for presentation and final report
27-Apr-03 Presentation
 Division of Labor
Dan Dunn Colin Shea Eric Spiller
Assembly Code Java Hardware
- Motor Speed - Image Capture - DC Motors
- Wheel Sensors - Rover Controls - Platform Construction
- Battery Charge Level - Serial Communication - H-bridge/Motor Driver
-Serial Connection
-Acoustics Sensors
Linux Linux Linux
Questions and Answers