Entry #287 SONORAN ULTRASONIC CAVE MAPPING PLATFORM PSOC DESIGN CONTEST entry #287. Page 1

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1 SONORAN ULTRASONIC CAVE MAPPING PLATFORM PSOC DESIGN CONTEST 2002 entry #287 Page 1

2 ABSTRACT Even though we associate someone who is "as blind as a bat" as a person with poor imaging capabilities, the bat (Chiroptera) arguably has the best "vision" of all mammals. The bat's high frequency "vocal" capabilities are so far advanced that its perception is orders of magnitude more precise that today's most sophisticated naval sonar. Based on advances in industrial-quality ultrasonic transducers and MEMS-based inertial measurement sensors, we can now mimic the bat's integrated sensory capabilities for echolocation in a model to probe the bat's native dwellings: caves and tunnels. Cave mapping has taking on many forms in the past (most of them manual, using a tape measure and compass). However, as the demand to probe and map the deepest crevasses of our world grows for industrial and tactical purposes, a faster and automated method is needed. A platform that can accurately measure cave and tunnel dimensions has industrial applications in mining, drilling, and drainage, as well as in geological studies and in military reconnaissance. The small, untethered, selfcontained nature of a platform could allow the device to travel further into the subterranean realm that current GPS-based systems allow and where the environment is too hazardous for human agents. This project presents such an ultrasonic cave mapping platform, which combines an ultrasonic ranging system, a scanning solar assembly, and a six degree-of-freedom inertial navigation system (INS) capable of taking precise measurements of cave and tunnel dimensions as the vehicle (drone) upon which it is mounted navigates the cave or tunnel. The INS is capable of measuring speeds up to 45 miles per hour, with rotational rates up to 300 degrees/second; the ultrasonic ranging system can probe up to 35 feet with 1% error. The serial output of the platform can be directed at a control computer to make navigation decisions as well as reconstructing the output data. The drop-in flexibility of the PSoC allows for such advanced applications as: configuring the platform to run as a slave and using the ultrasonic ranging data to continuously recalibrate the navigation system configuring the platform to run as a master to direct the vehicle down the center of a cave or tunnel, using controlled reverse and forward motion to further calibrate the navigation system coupling the INS with GPS and using the former in a "gap-filling" mode to interpolate between two points quickly adding gas, humidity, temperature, and PIR sensors to create a complete survey of the target environment Page 2

3 Figure 2. PWM-based comparative integrator flowchart for gyroscope. Page 5

4 V1 5V U5 LM317 IN OUT COM C2 0.1uF R1 5k 50% U4 + C1 1uF polaroid_6500 R2 240 U8 vector_magnet INIT ECHO U12A U11A p0[7] p0[5] p0[3] p0[1] p2[7] p2[5] p2[3] p2[1] SMP p1[7] Entry #287 U p0[6] p0[4] p0[2] p0[0] p2[6] p2[4] p2[2] p2[0] Xres V2 5V R3 400k U7 IDEAL U6 max233 R6 R5 R7 V3-5V R8 U3 ADG408 VDD VSS D EN A0 A1 A2 J1 S1 S2 S3 S4 S5 S6 S7 S8 x_pos y_pos z_pos roll pitch yaw p1[5] p1[6] SCLK SDO SDI!SS!P/C!CAL!RES!M/S V4 9.6V!RAW EOC Cl X_flip U10 74LS253 I3a OEa I2a I1a Ya I0a S1 S0 I3b I2b Yb I1b I0b OEb A B Y_flip!BCD/Bin p1[3] p1[1] Vss p1[4] p1[2] p1[0] + C3 1uF R4 5k M1 reset_x reset_y 74LS194 CP D3 D2 S1 D1 S0 D0 DSR DSL MR U2 Q3 Q2 Q1 Q0 U9 ULN2003 1B 2B 3B 4B 5B 6B 7B E 1C 2C 3C 4C 5C 6C 7C COM reset_z gyro Figure 5. Platform control circuit with PSoC. An external A is established with the help of a LM317. This A is added to each inertial measurement when it is multiplexed into the PSoC PGA via an ADG408. A Vector 2x dual axis magnetometer with 16bit measurements of the earth's magnetic field in (x,y) is connected as a SPI slave to the PSoC. The ECHO of the Polaroid ranging module (6500) and the INIT signal from the PSoC are ANDed to control the 16bit counter enable on the PSoC, which is designed to only run when an output is requested and an echo has not been detected. The 16bit counter runs on the 32kHz clock; the.5" resolution based on the counter is commensurate with the accuracy (1") from the ultrasonic ranging module. A 4bit shift register is loaded with "0x01" and shifts left or right depending on the input from the PSoC; the leading edge trigger from the incrementing subroutine pulse the clock pulse pin to rotate the scanning head. A MAX233 translates the UART output into RS-232 signals at kbps. Page 8

5 A) An overview of the platform. The motor, power conversion, and high voltage transducer circuitry is contained separately from the inertial navigation controller, which should be mounted closely to the center of gravity of the vehicle. B) A top-down photo of the motor and scanner. C) D) Closer looks at the orthogonally-mounted inertial measurement boards. The three boards (each measuring [x,y,z] and [roll,pitch,yaw] respectively) are mounted on the control board containing the PSoC, multiplexer, and magnetometer compass. Page 9

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