Nautical Autonomous System with Task Integration

Transcription

1 Nautical Autonomous System with Task Integration (code name NASTI) Students: Terry Max Christy, Jeremy Borgman Advisors: Dr. Gary Dempsey, Nick Schmidt 1

2 Outline Original Goals System Overview Review of Completed Work Motor Interfacing Module Communication RC Control Embedded System Image Processing Path Planning Results 2

3 Outline Original Goals System Overview Review of Completed Work Motor Interfacing Module Communication RC Control Embedded System Image Processing Path Planning Results 3 3

4 Background Information 4 4

5 NASTI 5 5

6 Outline Original Goals System Overview Review of Completed Work Motor Interfacing Module Communication RC Control Embedded System Image Processing Path Planning Results 6 6

7 System Overview 7 7

8 Outline Original Goals System Overview Review of Completed Work Motor Interfacing Module Communication RC Control Embedded System Image Processing Path Planning Results 8 8

9 9 9

10 Thruster

11 Thruster 3 Thruster 1 Thruster 4 Thruster

12 Thruster Circuitry 12 12

13 Thruster 3 Thruster 1 Thruster 4 Thruster 2 Left Drive 13 13

14 Thruster 3 Thruster 1 Thruster 4 Thruster 2 Left Drive Right Drive 14 14

15 Main Drive Circuitry 15 15

16 Thruster 1 Direction Control Thruster 3 Thruster 4 Thruster 2 Left Drive Right Drive 16 16

17 Bi-Directional Motor Control Vcc Vcc + - M R1 R

18 Bi-Directional Motor Control Vcc + - M R

19 Bi-Directional Motor Control Vcc + - M R

20 Bi-Directional Motor Control Vcc + - M R

21 Bi-Directional Motor Control Vcc + - M R

22 Bi-Directional Motor Control Vcc - + M R

23 Master POWER Thruster 1 Direction Control Thruster 3 Thruster 4 Thruster 2 Left Drive Right Drive 23 23

24 Master POWER Thruster 1 AtMega 368 Direction Control Thruster 3 Thruster 4 Thruster 2 Left Drive Right Drive 24 24

25 Outline Original Goals System Overview Review of Completed Work Motor Interfacing Module Communication RC Control Embedded System Image Processing Path Planning Results 25 25

26 Communication Overview 26 26

27 Master AtMega 128 Remote Control Output 50Hz Servo Signal PWM Output 0 99% 1KHz PWM Atmega128 Direction Output 0 5v GPIO 27 27

28 Servo Signals Forward Backward w1 w1 w2 Threshold w4 Threshold w3 w

29 Communication Protocol * * * M0 M1 M2 M3 M4 M5 3 Byte Header Packet 6 Byte Motor Info Packet bits for PWM resolution 1 bit for direction 29 29

30 Outline Original Goals System Overview Review of Completed Work Motor Interfacing Module Communication RC Control Embedded System Image Processing Path Planning Results 30 30

31 R/C Control 31 31

32 R/C Control 32 32

33 R/C Control 33 33

34 R/C Control 34 34

35 R/C Control 35 35

36 R/C Control 36 36

37 R/C Control 37 37

38 R/C Control 38 38

39 Outline Original Goals System Overview Review of Completed Work Motor Interfacing Module Communication RC Control Embedded System Image Processing Path Planning Results 39 39

40 Beagleboard Overview 40 40

41 Used Narcissus image builder to create low profile custom image Configured serial port for remote programming Set up Samba server for remote login via PuTTy Installed kernel modules for webcam/wireless adapter Beagleboard Installed and configured opencv Learned how to write makefiles for multifile compiling 41 41

42 Outline Original Goals System Overview Review of Completed Work Motor Interfacing Module Communication RC Control Embedded System Image Processing Path Planning Results 42 42

43 43 Image Processing Receive Target Image Convert Image to HSV Color Space Filter via Thresholding 43 cverode/ cvdialate Blob Detection Store Buoy Information in an array of buoy structures

44 44 Image Processing Receive Target Image Convert Image to HSV Color Space Filter via Thresholding 44 cverode/ cvdialate Blob Detection Store Buoy Information in an array of buoy structures

45 45 Image Processing Receive Target Image Convert Image to HSV Color Space Filter via Thresholding 45 cverode/ cvdialate Blob Detection Store Buoy Information in an array of buoy structures

46 46 Image Processing Receive Target Image Convert Image to HSV Color Space Filter via Thresholding 46 cverode/ cvdialate Blob Detection Store Buoy Information in an array of buoy structures

47 47 Image Processing Receive Target Image Convert Image to HSV Color Space Filter via Thresholding 47 cverode/ cvdialate Blob Detection Store Buoy Information in an array of buoy structures

48 48 Image Processing Receive Target Image Convert Image to HSV Color Space Filter via Thresholding 48 cverode/ cvdialate Blob Detection Store Buoy Information in an array of buoy structures

49 49 Image Processing 49

50 Outline Original Goals System Overview Review of Completed Work Motor Interfacing Module Communication RC Control Beagle Board Image Processing Path Planning Results 50 50

51 51 Path Planning 51

52 52 Image Processing 52

53 53 Path Planning 53

54 Control Block Diagram Forward Path 54 54

55 Outline Original Goals System Overview Review of Completed Work Motor Interfacing Module Communication RC Control Beagle Board Image Processing Path Planning Results 55 55

56 Path Planning 56 56

57 Results 57 57

58 Questions? 58 58

59 HSV chart 59 59

60 Serial Communication TTL vs RS-232 voltage levels Three pins RX, TX, and GND Multiple Baud Rates Baud Rate vs Bit Rate Computing Baud Rate error Baud rate test method 60 60

61 Circuit Calculation Ic2 = Ib2 = 67mA Thruster 1 Ib1 =.7mA + 0.3V V - Ic2 = 1.5A 61 61

62 Structures 62 62

63 Degrees of Freedom 63 63

64 Floating point values BeagleBoard is 32 bit ->32 bit value. Same as int, less than a double +-3.4*10^+-38 roughly 7 bits of precision ARM A8 contains a NEON coprocessor Dedicated to floating point operations 1 instruction/cycle 64

65 Sources [1] The Five Card Draw" 5th RoboBoat Competition - Preliminary Rules Arlington, VA: AUVSIfoundation. PDF