Nautical Autonomous System with Task Integration (code name NASTI) Students: Terry Max Christy, Jeremy Borgman Advisors: Dr. Gary Dempsey, Nick Schmidt 1
Outline Original Goals System Overview Review of Completed Work Motor Interfacing Module Communication RC Control Embedded System Image Processing Path Planning Results 2
Outline Original Goals System Overview Review of Completed Work Motor Interfacing Module Communication RC Control Embedded System Image Processing Path Planning Results 3 3
Background Information 4 4
NASTI 5 5
Outline Original Goals System Overview Review of Completed Work Motor Interfacing Module Communication RC Control Embedded System Image Processing Path Planning Results 6 6
System Overview 7 7
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
Thruster 1 10 10
Thruster 3 Thruster 1 Thruster 4 Thruster 2 11 11
Thruster Circuitry 12 12
Thruster 3 Thruster 1 Thruster 4 Thruster 2 Left Drive 13 13
Thruster 3 Thruster 1 Thruster 4 Thruster 2 Left Drive Right Drive 14 14
Main Drive Circuitry 15 15
Thruster 1 Direction Control Thruster 3 Thruster 4 Thruster 2 Left Drive Right Drive 16 16
Bi-Directional Motor Control Vcc Vcc + - M R1 R2 17 17
Bi-Directional Motor Control Vcc + - M R1 18 18
Bi-Directional Motor Control Vcc + - M R1 19 19
Bi-Directional Motor Control Vcc + - M R1 20 20
Bi-Directional Motor Control Vcc + - M R1 21 21
Bi-Directional Motor Control Vcc - + M R1 22 22
Master POWER Thruster 1 Direction Control Thruster 3 Thruster 4 Thruster 2 Left Drive Right Drive 23 23
Master POWER Thruster 1 AtMega 368 Direction Control Thruster 3 Thruster 4 Thruster 2 Left Drive Right Drive 24 24
Outline Original Goals System Overview Review of Completed Work Motor Interfacing Module Communication RC Control Embedded System Image Processing Path Planning Results 25 25
Communication Overview 26 26
Master AtMega 128 Remote Control Output 50Hz Servo Signal PWM Output 0 99% 1KHz PWM Atmega128 Direction Output 0 5v GPIO 27 27
Servo Signals Forward Backward w1 w1 w2 Threshold w4 Threshold w3 w5 28 28
Communication Protocol * * * M0 M1 M2 M3 M4 M5 3 Byte Header Packet 6 Byte Motor Info Packet 10101010 7 bits for PWM resolution 1 bit for direction 29 29
Outline Original Goals System Overview Review of Completed Work Motor Interfacing Module Communication RC Control Embedded System Image Processing Path Planning Results 30 30
R/C Control 31 31
R/C Control 32 32
R/C Control 33 33
R/C Control 34 34
R/C Control 35 35
R/C Control 36 36
R/C Control 37 37
R/C Control 38 38
Outline Original Goals System Overview Review of Completed Work Motor Interfacing Module Communication RC Control Embedded System Image Processing Path Planning Results 39 39
Beagleboard Overview 40 40
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
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 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 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 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 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 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 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 Image Processing 49
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 Path Planning 51
52 Image Processing 52
53 Path Planning 53
Control Block Diagram Forward Path 54 54
Outline Original Goals System Overview Review of Completed Work Motor Interfacing Module Communication RC Control Beagle Board Image Processing Path Planning Results 55 55
Path Planning 56 56
Results 57 57
Questions? 58 58
HSV chart 59 59
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
Circuit Calculation Ic2 = Ib2 = 67mA Thruster 1 Ib1 =.7mA + 0.3V - + 1.2V - Ic2 = 1.5A 61 61
Structures 62 62
Degrees of Freedom 63 63
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
Sources [1] The Five Card Draw" 5th RoboBoat Competition - Preliminary Rules Arlington, VA: AUVSIfoundation. PDF. 65 65