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DEVELOPMENT OF INTELLEGENT MOBILE PLATFORM

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1. 110 for i 0 1 lt 9 i rewrite Home point into Finish destination latitudeFin i latitudeBase i for i 0 i lt 10 i longitudeFin i longitudeBase 1 while Dist 1 Calc Values calculate direction if Dir R Control 1 R if Dir L Control 1 L if Dist 0 Control 0 6 else Control 0 0 for i 0 1 lt 7 1 Move delay cycles 320000 lt 20ms delay i 0 Move delay cycles 270000 Dist 0 RecClost 0 ch 0 while ch while UCSRIA amp 1 lt lt RXC1 ch UDR1 while UCSRIA amp 1 lt lt RXC1 ch UDRI if ch C while UCSRIA amp 1 lt lt RXC1 ch UDRI for i 0 1 lt 6 i while UCSRIA amp 1 lt lt RXC1 ch UDR1 Control i ch i 0 if Control 5 4 receive GPS points for autopilot while ch while UCSRIA amp 1 lt lt RXC1 ch UDR1 while ch D while UCSR1A amp 1 lt lt RXC1 ch UDR1 while UCSRIA amp 1 lt lt RXC1 ch UDR1 while ch1 for i 0 1 lt 9 i 111 while UCSRIA amp 1 lt lt RXC1 ch UDRI latitudeMem numP i ch while UCSRIA amp 1 lt lt RXC1 ch UDRI for i 0 i lt 10 i while UCSRIA amp 1 lt lt RXC1 ch UDR1 longitudeMem numP i ch while UCSRIA amp 1 lt lt RXC1 ch1 UDRI if chl numP ch1 0 for i 0 1 lt 9 i write first point into Finish destination lati
2. when receive it causes some difficulties Examples of data message First lt 3723 2475 N gt Second lt l issv2ammw Third lt B gt Fourth lt 123 123 123 gt First Latitude with N S indicator ddmm mmmm and N north or S south Second Longitude with E W indicator dddmm mmmm and E east or W west Third Speed over ground knots and currently using course Fourth Distance between platform and obstacle Left Front and Right To be able to control platform movements we used another message with corresponded data inside Example of control message 1 23 45 67 C ROO M 1 Message header C control data D GPS points 2 Move forward and back rear speed 1 fast 2 middle 3 low and 4 neutral forward speed from 6 to 9 slow to fast 3 Steering wheel R move right L move left 4 Camera U D U move camera up D move camera down 5 Camera L R L move camera left R move camera right 6 Reserved 7 Control type M manual A autopilot 57 Platform should also be able to receive GPS points for autopilot navigation from PC At the current moment there can be from 1 to 5 points but in future this amount might be increased This message has another header symbol D with the aim of to be understandable for micro controller There is also symbol which is used for points separation Example GPS points data message l a 1 b 2 a 2 b 3 a 3 b D 3723 2475
3. initiate 1st Ultrasonic GICR 0x08 lenable PCIEO Dist1 700 PORTD 0x10 set 1 delay cycles 160 linitiate 20us PORTD 0x10 set 0 PCMSK0 0x01 PCINTO interrupt enable delay cycles 240000 wait 30ms PCMSK0 0x01 PCINTO interrupt disable 85 k 0 k1 0 k1 Dist1 100 NumSym Dist1S k k1 k 4 k1 Dist1 Dist1 100 100 10 NumSym Dist1S k k1 k k1 Dist1 Dist1 10 10 NumSym Dist1S k k1 k 4 k 0 k1 0 initiate 2nd Ultrasonic Dist2 700 PORTD 0x 10 delay cycles 160 PORTD 20x10 PCMSK0 0x02 delay cycles 320000 PCMSK0 0x02 k 0 k1 0 k1 Dist2 100 NumSym Dist2S k k1 k 4 k1 Dist2 Dist2 100 100 10 NumSym Dist2S k k1 k 4 k1 Dist2 Dist2 10 10 NumSym Dist2S k k1 k 4 k 0 k1 0 linitiate 3d Ultrasonic Dist3 700 PORTD 0x10 delay cycles 160 PORTD 0x10 PCMSK0 0x04 delay cycles 320000 PCMSK0 0x04 k 0 k1 0 k1 Dist3 100 NumSym Dist3S k k1 k 4 k1 Dist3 Dist3 100 100 10 NumSym Dist3S k k1 k 4 k1 Dist3 Dist3 10 10 set 1 linitiate 20us set 0 PCINTI interrupt enable wait 40ms PCINTI interrupt disable set 1 linitiate 20us set 0 PCINT2 interrupt enable wait 40ms PCINT2 interrupt disable 86 NumSym Dist3S k k1 k 4 k 0 k1 0 GICR 0x08 enable PCIEO void GetCompCour void PORTD 0x20 lenable COMPASS
4. calculate direction move with Obsticle avoidence technique if Dir F amp amp Dist2 gt 50 Control 1 0 if Dir F amp amp Dist1 gt 50 amp amp Dist2 lt 50 amp amp Dist3 lt 50 Controlf 1 L s if Dir F amp amp Dist1 lt 50 amp amp Dist2 lt 50 amp amp Dist3 gt 50 Control 1 R if Dir F amp amp Dist 1 gt 50 amp amp Dist2 lt 50 amp amp Dist3 gt 50 Control 1 R if Dir F amp amp Dist 1 lt 50 amp amp Dist2 lt 50 amp amp Dist3 lt 50 while Dist 1 lt 50 Il Dist3 lt 50 Control 0 2 Control 1 0 delay cycles 320000 lt 20ms delay for i 0 1 lt 100 i move back 2s Control 0 2 Control 1 0 115 delay cycles 320000 lt 20ms delay if Dir R Control 1 R if Dir R amp amp Dist3 lt 50 Control 1 L if Dir L Control 1 L if Dir L amp amp Distl1 lt 50 Control 1 R if Dist 0 Control 0 6 else Control 0 0 for 1 0 i lt 7 i Move delay cycles 320000 lt 20ms delay i 0 Move delay cycles 270000 if numPc numP amp amp Dist 1 Finish 1 if reached last point then left Autopilot Finish 0 void PrintAngelsDir void Clean k1 0 k 0 ch 0 Addr1 0x80 ch A Data Addrl Cmd Data ch DataTr Addr1 ch Data Addr1 Cmd Data ch DataTr Addr1 k1 A 10 if K1 gt 0
5. ware chapter The rest of configurations I did not touch because they are do not take any affect on our sys tem The uses for much complicated system where we can build networks with using star and mesh technologies 38 5 5 Video transmitter With the aim of to provide video surveillance system it is obvious that we have to be able to get a video from mobile platform in real time For these purposes we need camera and wire less video transmitters In this chapter we take a look to the last one As Decartus project re quire operation distance 1000 m we need a powerful and reliable transmitter After a long digging I found device which can matches our goals We decided to use video transmitter with 800mW power it can works up to 1200 m with line of sight which is corresponded to our needs Transmitter video in Receiver Figure 25 Video transmitter and receiver We can see from Figure 25 how does this system looks like and where should be connected video in and out in order to get picture from camera It operates at high frequency and with the aim of to avoid external noise and take away overheating they use metal bodies Also they have 8 fixed channels in transmitter and 12 in receiver This feature makes life easier First of all there is no any problem with stable video signal in comparison with previous models where user has to find channel manually and always adjusts it Second when we first time tur
6. yur aque Meus JIEH 73 74 ATTACHMENT 2 Principal electrical scheme 75 Zsauas oJg esgx 097 er GIN weo jojo e av fz ubis A OON TIF UIT eo 1014105 e ano 99 ELF rajo jajo gzlebawly 10d 9dd sad vdd LOXUEOd LOXY ZOd Lad odd LIVIX TIVIX ano 99 13S3 v9d 9d 18d 98d sad tad ead wad Led 08d 43d 93d Sad bad eJd TAA oaxurad 00x4 03d N3d lolo To E e e To sseduo5 Sd9 QNS XLI DON T Si ucc 2 4 t ZHN 8 eo AE e led eo o TILE IWIY QNS VIWLX T1V1X dd 90d Sad tad dd ZOd OLNI tad 00d 00XY 1353 44dM9S 98d OSIN S8d ISOW bad 8d LOXL c8d LOxs lad 08d in g oiuosen 76 ATTACHMENT 3 Program diagrams TJ v Initialisation v Search satellites v Receive data from 21 MC y Remember home coordinates No for i 0 i lt 10 i Receive data from PC Autopilot home Receive data from 2 MC Send Data to PC Receive data Move from PC platform Autopilot next point Figure 1 Basic algorithm 78 Enable interruptio
7. __delay_cycles 36000000 wait 4s GICR 0x40 enable INTO MCUCR 0x03 rising age delay cycles 1600000 wait 40ms GICR 0x40 disable INTO CourseComp CourseComp 20 if CourseComp gt 359 CourseComp CourseComp 360 k 0 k1 0 k1 CourseComp 100 NumSym courseC k k1 k k1 CourseComp CourseComp 100 100 10 NumSym courseC k k1 k k1 CourseComp CourseComp 10 10 NumSym courseC k k1 k void ReceiveGPS void k 0 while k 7 while DataU_0 test_GPRMC k GetDataU 00 k k 0 i 0 while k 8 GetDataU 0 Send 1 i DataU O0 i if DataU_0 k 87 void ReceiveData void k 0 Send2 k k for i 0 1 lt 3 i Send2 k courseC i k Send2 k k for 1 0 1 lt 3 1 Send2 k Dist1S i k Send2 k k for 1 0 1 lt 3 1 Send2 k Dist2S i k Send2 k k for 1 0 1 lt 3 1 Send2 k Dist3S i k Send2 k void NumSym void if k1 0 k1 0 if k1 1 k1 1 if k1 2 k1 2 if k1 3 k1 3 if k1 4 k1 4 if k1 5 k1 5 if k1 6 k1 6 if k1 7 k1 7 if k1 8 k1 8 if k1 9 k1 9 void SendData_Ul void 88 while UCSRIA amp 1 lt lt UDRE1 UDRI DataTrU 1 void TransmitData void get request from 128 while ch R while UCSRIA amp 1 lt lt RXC1 ch UDR1 ch 0 transmit da
8. k1 longitude k SymNum k1 k1 m LongNum LongNum k1 k m m 10 k1 LongNum 1000000 1000000 k2 LongNum k1 100 60 LongNum k1 k2 k 0 k1 0 k2 0 m 10000000 LatNumFin 0 while k 9 if k 4 k k1 latitudeFin k 104 SymNum k1 k1 m LatNumFin LatNumFin k1 k m m 10 k1 LatNumFin 1000000 1000000 k2 LatNumFin k1 100 60 LatNumFin k1 k2 k 0 k1 0 k2 0 m 100000000 LongNumFin 0 while k 10 if k 5 k k1 longitudeFin k SymNum k1 k1 m LongNumFin LongNumFin k1 k m m 10 k1 LongNumFin 1000000 1000000 k2 LongNumFin k1 100 60 LongNumFin k1 k2 x 0 y 0 if LongNum gt LongNumFin x LongNum LongNumFin else x LongNumFin LongNum if LatNum gt LatNumFin y LatNum LatNumFin else y LatNumFin LatNum if x gt 9999999 II y gt 9999999 if x lt 99999999 II y lt 99999999 x x 1000 y y 1000 else x x 10000 y y 10000 k 0 k LatNum 10000000 if 10 lt k amp amp k lt 20 x x 10 9 if 20 lt k amp amp k lt 30 x x 10 8 if 30 lt k amp amp k lt 40 x x 10 7 if 40 lt k amp amp k lt 50 x x 10 6 105 if 50 lt k amp amp k lt 60 x x 10 5 if 60 lt k amp amp k lt 70 x x 10 4 if 70 lt k amp amp k lt 80 x x 10 3 if 80 lt k amp amp k lt 90 x x 10 2 x x 100 if x 0 x 1 if x 70 amp amp y 70 Dist 1 tanB y x if t
9. Data Addr2 Cmd Data course 1 DataTr Addr2 k void PrintDist void Clean k 0 Addr1 0x80 for i 0 1 lt 3 i Data Addr1 Cmd Data Dist1S 1 Data Tr Addrl J k 0 Addr1 Addr1 3 for i 0 1 lt 3 i Data Addr1 Cmd Data Dist2S i Data Tr Addr1 k 0 Addr1 Addr1 3 for i 0 1 lt 3 i Data Addr1 Cmd Data Dist3S i DataTr Addr1 102 k 0 Addr2 0xC0 for i 0 1 lt 3 i Data Addr2 Cmd Data course 1 DataTr Addr2 k 0 Addr2 Addr2 3 for i 0 1 lt 3 i Data Addr2 Cmd Data courseC i DataTr Addr2 void Clean void Data 0x01 clean display Cmd delay cycles 32000 symbols into num void SymNum void if k1 0 k1 0 if kl 1 k1 1 if kl 2 k1 2 if k1 3 k1 3 if k1 4 k1 4 if k1 5 k1 5 if k1 6 k1 6 if kl 7 k1 7 if k1 8 k1 8 if k1 9 k1 9 void NumSym void if k1 0 k1 0 if kl 1 k1 1 if K1 2 k1 2 if k1 3 k1 3 103 if k1 4 k1 4 if k1 5 k1 5 if k1 6 k1 6 if k1 7 k1 7 if k1 8 k1 8 if k1 9 k1 9 k 0 k1 0 k2 0 m 10000000 LatNum 0 while k 9 if k 4 k k1 latitude k SymNum k1 k1 m LatNum LatNum k1 k m m 10 k1 LatNum 1000000 1000000 k2 LatNum k1 100 60 LatNum k1 k2 k 0 k1 0 k2 0 m 100000000 LongNum 0 while k 10 if k 5 k
10. In this way we will able to transfer controlling data around 5 times per second what is totally unacceptable However if we become to use second MC we can decrease time for getting this information for main MC dramatically less then 0 5ms what is totally satisfy Decartus needs For sure ATmegal62 is so powerful MC for sensor s scanning but the main point why I chose this model it has two USART RS 232 interfaces One of them we need for gathering data from GPS receiver and another one for data communication with main MC The rest of models which are chipper have only one Feather in Software chapter we will take a look communication process more detail and describe all advantages and disadvantages the way of this scheme work 45 5 11 Wireless PC block We use for data communication XBee modules and for video special kind of receiver which can t be found in common PC Therefore Decartus require special additional block for trans mission and receiving data from our mobile platform This block should provide easy PC connection and data converting into understandable form for server As we know nowadays one of the most widely spread interface is USB so we decided to use this one As I already mentioned before we use RS 232 interface for data communication and FT232R chip for cre ating virtual COM port So fist of all PC block should has XBee Pro Module FT232R con verter and USB cable Figure 30 shows how should be connected in correct way al
11. if C1 50 C1 4 PORTF 0x04 delay cycles 15000 Start point i C1 while 120 delay cycles 280 i PORTF 0x04 113 void MoveC_UD void ch 0 ch Control 2 if ch B PORTF 0x03 delay cycles 24000 PORTF 0x03 C2 47 C3 47 j if ch U amp amp C2 gt 25 C PORTF 0x02 delay cycles 10000 i C2 while 120 __delay_cycles 280 1 PORTF 0x02 if ch D amp amp C2 lt 78 C2 PORTF 0x02 delay cycles 10000 i C2 while 120 __delay_cycles 280 1 PORTF 0x02 void MoveC_LR void ch 0 ch Control 3 1f ch lt L amp amp C3 gt 0 C3 PORTF 0x01 delay cycles 10000 1 C3 while 120 delay cycles 280 i PORTF 0x01 if ch R amp amp C3 lt 94 C34 PORTF 0x01 Start point Start point Start point Start point 114 delay cycles 10000 Start point 1 C3 while i gt 0 __delay_cycles 280 i PORTF 0x01 j void Move void MoveP FB MoveP_LR MoveC UD MoveC LR void Autopilot void while Finish 1 ReceiveData receive data from UART 0 Atmegal68 if Dist 1 numPc for 1 0 i lt 9 i rewrite first point into Finish destination flatitudeFin i latitudeMem numPc i for 1 0 i lt 10 i longitudeFin i longitudeMem numPc 1 Dist 0 Calc Values
12. void MoveP FB void MoveP LR void MoveC UD void MoveC LR void Move void Autopilot void void PrintAngelsDir void void main void Totallni delay cycles 1600000 Hello Search get from UART filter and put everysing into related arrays Print speed and course Print Latitude and Longitude Print time Clean LCD search sattelites hello massage Symbol into numbers Numbers into symbols calculate Values of the dirrection and angels send symbol to UARTI PC send data to UARTI PC send data to UARTI PC send data to UARTI PC send data to UARTI PC recieve data from UARTI PC move mobile Platform Forward and Back move mobile Platform Left and Right move Camera Up and Down move Camera Left and Right total move autopilot algorithm pring agels and directions ReceiveData receive data from UART 0 Atmegal68 while 1 for k 0 k lt 6 k RecD_PCO Move delay cycles 310000 RecD_PCO Move recieve data from UART 1 PC 20ms delay recieve data from UART 1 PC delay cycles 310000 SendD_PC1 92 RecD_PCO recieve data from UART 1 PC Move delay cycles 310000 SendD_PC2 PC2 RecD_PCO recieve data from UART 1 PC Move delay cycles 310000 SendD_PC3 PC3 RecD_PCO recieve data from UART 1 PC Move delay
13. R U7 I We need 1mA current for XBee RX R1 1 7 0 001 1 7 kOhm R2 3 3 0 001 3 3 kOhm I decided to use for R1 1 5kOhm because that is the nearest value of standard resistor Resistor for LED I 20mA V 5 U S 1 R R U F R 5 20mA 2500hm 49 6 SOFTWARE Microcontrollers are like small computers with a CPU volatile and non volatile memories certain periphery devices and interfaces for communication with external devices We can program these devices according our purposes in many different ways However there are some rules which we have to follow They can be written only with HEX code and the mem ory cannot be rewritten by microcontroller In order to create HEX code we need a special compiler which can transform our program to machine code The most famous are AVRstu dio4 IAR Embedded WinAVR CodeVision and BASCOM AVR These programs use common Assembler and C languages For comfortable and effective programming some compilers provide libraries and features for basic configurations of I O ports timers inter faces etc According to my earlier experience I would say these libraries are not so reliable and sometimes they cause certain kind of problems both for users and microcontrollers Therefore I tried to use minimum of them just for basic needs and the rest of them created personally To be able to program a microcontroller we also need special device for that There two types of them parallel and in c
14. SendData_U1 DataTrU_1 SendData_U1Q0 DataTrU_1 EWindi SendData_U1 DataTrU 1 2 SendData Ul void SendD_PC3 void while UCSRIA amp 1 lt lt UDREI1 UDRI Z ch 0 send data DataTrU_1 lt SendData_U1Q0 for i 0 1 lt 3 i DataTrU 1 speed i SendData_U1 DataTrU_1 SendData_U1Q0 for i 0 1 lt 3 i DataTrU_1 course i SendData_U1 DataTrU 12 SendData Ul void SendD_PC4 void while UCSRIA amp 1 lt lt UDRE1 UDRI W ch 0 send data DataTrU_1 lt SendData_U1Q0 for i 0 1 lt 3 i DataTrU_1 Dist1S i SendData_U1 send Second packege send Longitude send E W indi send Therd packege send Speed send Course send Fifth packege send Distl 109 DataTrU_1 SendData_U1Q0 for i 0 1 lt 3 i send Dist2 DataTrU_1 Dist2S i SendData_U1 DataTrU_1 SendData_U1Q0 for i 0 1 lt 3 i send Dist3 DataTrU_1 Dist3S 1 SendData_U1 DataTrU_1 gt SendData_U1Q0 void RecD_PC void RecC 0 while ch A request while UCSRIA amp 1 lt lt UDREI1 UDRI R acknowledgment ch 0 if UCSRIA amp 1 lt lt RXC1 RecC delay cycles 16000 else ch UDR1 RecC 0 if RecC gt 100 PORTB 0x10 delay cycles 1600 PORTB 0x10 RecC 0 RecClost if RecClost 600 Af signal tottally lost gt Go Home 1min
15. 232R 3V3 CABLE 42 We decided to use this kind of cable because it is complete device and so convenient to use As we can see from Figure 27 it is quite long 1 5m has plastic standard connector for 6 pins Internal wires have different colors it ss so easy to distinguish which one is which As I already mentioned XBee Pro modules require special sophisticated configuration from PC Therefore I connected also CTS and RTS wires to the appropriate lines on the module First one is used for checking input data is whether it clean or not and also for handshake signal Second one RTS provide sending request to control output and also handshake sig nal All in all this device is so reliable easy to use and provides many features for any kind of RS 232 interface connection Moreover it is provide 3 3V TTL level connection which is so suitable for modern microcontrollers and electronic modules such as XBee family 41 5 8 Servo drivers We already describe how to build video system and configure but no how to install here we are going to take a look it There are three camera installation variants in fixed position 3D move and more advance on high efficiency manipulator We decided to use second type of mount which can provide up down and right left camera movement With the aim of to build such system we need two drivers each of them for corresponded plane However there is another issue how to provide exact age angles and acc
16. After that special algorithm will recalculate path with the new circumstances Such a system will meet the high standards of quality and reliability It is also will help to save peoples life and do dangerous work safer Such designing system can be implementing not only for ground robots but also for Un manned Aerial Vehicles UAV Because they use navigation system to determine their loca tion on the Earth object location and differ military operations Our system also has installed portable onboard camera which is also key element of UAV s systems So video surveillance might be organized from the air what is more efficient in some cases then ground one The structure of my thesis is follows First in Chapter 2 I introduce the use and development of video surveillance systems The aim of the chapter is to introduce the reader to different application areas of video based surveillance In Chapter 3 I present the common building blogs of mobile surveillance systems including microcontrollers sensors radio transceivers and GPS module Chapter 4 describe main idea of the intelligent mobile platform for Decartus system and provide expected technical characteristics Chapter 5 was done with the aim of to describe and explain working principle of used devices In the last one Chapter 5 reader find software description for embedded microcontrollers In the last chapter 6 I mentioned some details related to software and ways of data communi
17. L Move Back 2s Figure 4 Obsticle avoidence algorithm 81 ATTACHMENT 4 Program codes for microcontrollers 82 Program for second MC ATmegal62 define ENABLE BIT DEFINITIONS ftinclude intrinsics h ftinclude iom162 h unsigned char Data 0 i20 i120 coma 0 intFlag first adresess in 1 and secon line char DataU 0 DataTrU 1 ch int k Dist1 Dist2 Dist3 CourseComp k1 k2 int courseC 3 describe names for GPS data int Send1 50 Send2 17 Dist1S 3 Dist2S 3 Dist3S 3 DistM 3 _ flash char test GPRMC GPRMC flash char set GPS S PMTK300 200 0 0 0 0 2FCRLF frequency 5Hz only RMC void Init void total initialisation void UARTini void UART initialisation void GetDataU_0 void get data from UART 0 from Atmega 128 void ReceiveGPS void receive information from GPS void ReceiveData void filter and put everysing into related arrays void SendDataU 1 void send symbol for UART 1 void TransmitData void transmit data from array to UART 1 void ScanDist void scaning distance void GetCompCour void set geographical course void NumSym void numbers into pragma vector PCINTO_vect interrupt void PCINTOint void pragma vector INTO_vect interrupt void INTOint void void main void Init GetCompCour while 1 ReceiveGPS ScanDist GetCompC
18. N 12158 5241 W 3723 2475 N 12158 5241W0 3723 2475 N 12158 5241 W a Latitude with N S indicator ddmm mmmm and N north or S south b Longitude with E W indicator dddmm mmmm and E east or W west In this example we can see three points which should be followed by platform with using autonomous navigation technique This data can be received only after getting A in the end of control message Otherwise microcontroller would operate in manual mode and just ignore everything else Figure 35 describe the communication process between the main MC and the PC As we can see first of all the main MC send request to the PC After that it answers that everything is ok and it is going to send data Finally PC send control message However if at the end of this message A which means Autonomous mode it will send package with GPS points This way we have fully synchronized and reliable data transfer between the PC and the main MC Hello I need a control data Ok I will send you data is comming C xxxxxx PC if there was A D Figure 35 Communication process between main MC and PC 58 6 4 Platform movement control On board of Decartus system we have several servos and one DC power engine for moving platform It was already mentioned that each motor has three connected wires power supply ground and signal With the last one we can tell where it should move how fast or how long Motor for back wheels has
19. NumSym ch k1 Data Addr1 Cmd Data ch DataTr Addr1 k1 A A 10 10 if k1 gt 0 NumS ym ch k1 Data Addr1 Cmd Data ch DataTr kz1 if k1 0 amp amp k 0 ch 0 Data Addr1 Cmd Data ch DataTr Addr1 0x85 k 0 ch B Data Addr1 Cmd Data ch DataTr Addr1 ch Data Addr1 Cmd Data ch DataTr Addr1 k1 B 10 if k1 gt 0 NumSym ch k1 Data Addr1 Cmd Data ch DataTr Addr1 k1 B B 10 10 if k1 gt 0 NumS ym ch k1 Data Addr1 Cmd Data ch DataTr k 1 if k1 0 amp amp k 0 ch 0 Data Addr1 Cmd Data ch DataTr Addr2 0xC0 k 0 ch F Data Addr2 Cmd Data ch DataTr Addr2 ch Data Addr2 Cmd Data ch DataTr Addr2 k1 F 100 116 if k1 gt 0 NumS ymQ ch k1 Data Addr2 Cmd Data ch DataTrO Addr2 k12 F F 100 100 10 if k1 gt 0 NumS ymQ ch k1 Data Addr2 Cmd Data ch DataTr Addr2 k1 F F 10 10 if k1 gt 0 NumSym ch k1 Data Addr2 Cmd Data ch DataTr k 1 if k1 0 amp amp k 0 ch 0 Data Addr2 Cmd Data ch DataTr Addr2 0xC5 if Dir R ch gt Data Addr2 2 Cmd Data ch DataTr if dun ch lt Data Addr2 Cmd Data ch DataTr if DES chz Data Addr241 Cmd Data ch DataTr ch 0 k1 0 k 0 Addr2 0xC9 if Dist 1 Clean while k 4 Data Addr2 Cmd Data Stop k DataTr Addr2 Dist 0 k else Data Addr2 Cmd Data G DataT
20. can be seen how sound goes from the transmitter to the object and finally back to the re ceiver Figure 7 Ultrasonic work principal 20 Such a kind of sensors can be used for wide range of purposes such as e Distance measurement e Counting objects e Determining the diameter e Availability control e Crash protection e Determination of the contour 14 The operation angle and distance in common sensor varies from 20 to 25 degree and 200 500 sm respectively These parameters are good enough for lots of purposes from civil to production area The main advantage of ultrasonic sensors is that they can detect almost any kind of material Moreover they have total tolerance to pollution in their working environment It is obvious that intelligent ultrasonic meters are really important for solving the problems of automation of technological processes and determine the distance and the object s position in various in dustrial sectors 3 2 2 GPS Receiver Navigation is one of the most important features for autonomous systems It helps to realise and determine position in the external environment There are lots of systems which can help us to do that but for global orientation the widely spread satellite systems introduced in the previous section are the natural choice In this project we are going to work with GPS navigation system There are lot of special de vices that might be used for receiving satellite s
21. cycles 310000 SendD_PC4 PC4 RecD_PCO recieve data from UART 1 PC Move delay cycles 280000 ReceiveData receive data from UART 0 Atmegal68 l FUNCTIONS Il LCD initialisation void iniLCD void delay cycles 7200000 delay 45 ms PORTA 0x30 delay cycles 128 PORTBI 0x01 set E delay cycles 128 PORTB amp 0x01 clear E delay cycles 32000 delay 5ms PORTA 0x30 delay cycles 128 PORTBI 0x01 set E delay cycles 128 PORTB amp 0x01 clear E delay cycles 3200 delay 0 2ms PORTA 0x30 delay cycles 128 PORTBI 0x01 set E delay cycles 128 PORTB amp 0x01 clear E delay cycles 1024 93 void Cmd PORTA Data delay_cycles 128 PORTBI 0x01 set E delay cycles 128 PORTB amp 0x01 clear E delay cycles 1024 void DataTr PORTBI 0x04 set RS delay cycles 128 PORTA Data DATA out to PORTA delay cycles 128 PORTBI 0x01 set E delay cycles 128 PORTB amp 0x01 clear E delay cycles 1024 PORTB amp 0x04 clear RS delay cycles 128 LCD start void LCDstart void iniLCDO LCD ini
22. device DL of SL second 37 one and wise versa It will help them to communicate directly without redundant broadcasting Then set NI Node Identifier 11 This one we need if we are going to use mesh technology but in case to avoid any problems I configure for different names for our devices The same I did with Device Type Identifier DD 13 DD can be used to dif ferentiate multiple XBee based products Set the transmission radius for broadcast data transmissions BH 12 Set to O for maximum radius This one is also using for star and mesh type of networks so we just leave it in 0 6 RF Interfacing Decartus project require 1000m range maximum distance which is provided by XBee Pro is 1200m Therefore I configured PL Power Level 14 in 4 which correspond to 3dBm Ad also set the PM Power Mode with 1 BOOST MODE ENABLE This mode improves sensitivity by 1dB and increases output power by 2dB improving the link margin and range 7 Serial Interfacing Our project needs enough speed for data and control command transmission in order to provide such ability we decided to use 19200 baud s It should be set in BR Baud Rate line 16 But after that we got some problem with synchronisation because we use 2 microcontrollers one for gathering information from sensors and central one So it was quite challenging to make it work In detail we will take a look it in Soft
23. dm uu cent I deii ed 3 2 2 Mobile platforms RH ER dde ca AKS 4 2 35 IPS MAVI GALI ON odes oon M NRA ood Seda eri nya Tenan Sata nm Res toca ELO ERA 7 3 BUILDING BLOCKS OF MOBILE PLATFORM ss 12 dal 2MICFODEOQOSSOES isto amita vtta ste dicatus eti mds temp eb dt ues Candee asa sn 12 Dede TOI ern TE E PT 14 3 28 Ns A Ic 14 9 22 A a ea eee suite Bee bu baute 15 9 3 Datatransc rverS 00d a ieee ated ci S RE SE 17 DA Videocameta A A e E E A Aa eS 19 3 Video transmitter uunc eite o Hop en valan sena las tes 20 3 6 USBCOM Converter Caso oou terri lp aes toot Uc Re uibs tdt Ne ten E 21 3 4 AAA d aes i ose sente Mea d rate fel bee it nas Ue e rau uud 22 318 DPISUOTI ASS ge aed oie ota sed itte ne an Mist iet 23 A nn ne ee tos ipe ies 24 ANY PINT COAST ee odd et et dina Te aa asa uite iv mot qu c 25 41 A A n e e ed eue 25 4 2 Expected technical parameters ee dnte di 27 5 HARDWARE AR E 28 SJ Ulirasonie SONSOLS came eei enr tb di ee adieu dele pis 28 2 Compass modulada 30 2 23 A i dee dues 31 5p Data tTamscelverscxmaus saunassa eR cda stad soassa 34 107 MACS transmitter nn do seals due etal ds eta d 39 3 0 VIDEO Cale Ed occae it A v a PE AD 40 5575 ASB COME CONVERT tt bd 41 5 8 JSELVO OELVOIs En et at nn et eee et ea care 42 30 Mobile platform de dd 43 5 10 Embedded microcontrollers suscita 44 ILL Wireless PO DIOCE sa Esa ie A ee 46 5 12 Power Systainer 47 5 13 Principal scheme deserr
24. for accurate way following and ultrasonic sensors with the aim of to avoid obstacles in autonomous mode Also the autopilot system might be used for camera naviga tion in autonomous and manual mode as well This mean that camera always can follow place with accurate GPS coordinates On Figure 16 we can see these autopilot functions which can be configured y y Figure 16 Functions of autopilot system All in all as this system can use GPS navigation it can be also installed on unmanned aerial vehicles Due to that fact that in air distances are much longer and there are no obstacles which can cause lots of problems navigation efficiency is increased dramatically and we can remove ultrasonic sensors However we will also need to install gyro and acceleration sensors for stable movement As we know in comparison with UGVs UAVs operate in 3D space and with the aim to provide a full autopilot system we need to mention also altitude otherwise it would not able to off the ground 26 4 2 Expected technical characteristics Physical requirement of the system are e Weight up to 5 kg e Size L H W 450 250 300 mm e Speed up to 45 km h e Acceleration 30 km in 10 sec e Cross country characteristics overcome obstacles up to 80 mm e Maximum climbing angle 50 degree e Operating distance 1000 m e Power consumption from 3 A h to 6 5 A h e Capture video video camera with wide angle up to 12
25. in air forces for military purposes it s so vital to use such a system This is due to that fact that both of them move to the huge distance and they use also autopilot system which can control whole plane or helicopter according to the flight plan GPS navigation system has 24 satellites on the earth orbit with the aim of to provide continu ous navigation without interrupts Satellites travel with the speed of 3 9 km s on the orbit that is why a circulation time of 12h sidereal time corresponding to 11 h 58 min earth time It means that same satellite reaches same position around 4 minutes later every day Average distance from the Earth canter is 26560 km with the average Earth radius of 6360 km so the height of the orbit is 20200 km However it s called as medium satellite orbit For instance such systems as ASTRA or Meteostat has 42300 km orbit 14 Satellites located on six planes each of them can contain four places where satellites can be located equidistantly Nowadays angle between planes inclination angle 55 degree these planes are rotated in the equatorial plane by 60 degree against each other It means that the orbits dispose from 55 N to 55 degrees S By such arrangement it can be guaranteed that at least 4 satellites can be reached all the time whole around the world Due to that fact that satellite s orbits run far enough to the north and south it can be reached even on the poles However accuracy there is not so pre
26. ist psu edu viewdoc summary doi 10 1 1 67 5548 Updated 2006 2 Intelligent distributed surveillance systems web document M Valera and S A Ve lastin 2005 subsequent 05 01 2011 Available www citeseerx ist psu edu viewdoc download doi 10 1 1 143 6243 amp rep rep1 amp type pdf Updated 4 11 2005 3 Applications in the Security amp Surveillance Market web document Analog devices 2008 subsequent 08 01 2011 Available www authorstream com Presentation Clarice 53020 8047189191H07 SecurityPresentation Applications Security Surveillance Market A genda Overview s Education ppt powerpoint Updated 2008 4 User manual Digital Camera System 4340 web document ESCO Technologies 2006 subsequent 12 01 2011 Avalible www ets lindgren com manuals 4340 pdf Updated 02 05 2006 5 Scooba Looj and Verro robots description web dociment iRobot subsequent 15 01 2011 Avalible www iRobot com No update information available 6 TALON Small Mobile web document Global Security subsequent 20 01 2011 Avalible www globalsecurity org military systems ground talon htm No update information available 7 PACKBOT robot web document iRobot subsequent 26 01 2011 Available www irobot com gi ground 510_PackBot No update information available 66 10 11 12 13 14 15 16 UAV systems technologies web document Defense Systems subsequent 30 01 2011 Available www defense upda
27. like GPS can provide information about current location of yours in all weather 16 conditions Time delay between renewable data from 0 2 to 1 sec Such frequent information updating allows accurate navigation around whole the world 3 3 Transceivers In wireless systems the most important part is to solve a data transmitting problems In order to do that special transceivers and receivers should be used The selection of the right compo nents depends on where we are going to use them and what requirements should be meet There are such devices which combine both transceiver and receiver in one This kind of so lution helps to save a space in electronic devises by building both of them only in one chip like in ZigBee technology Decartus project requires modules which can support transmission of relatively small amount of information So let s take a look at examples of transceivers which we can use with the aim to provide such connection with using RS 232 interface for long distance 1km Figure 9 range of different transceivers a YS 1100U RS485 b HM TR433 232 c Spirit ON TR24A d XBee Pro Series 2 23 24 Figure 9 shows different transceivers which have required operating distance and interface Some of them such as a and c provide several interfaces even up to 4 Moreover a b and c operate at 433 92 MHz FREQUENCY while XBee on 2 4MHz It s a dual situation because for the long distance data transmission i
28. once only to Echo Output i program the PIC chip Trigger Input Sal a during manufacture Mode No Connection v TM d Do not connect to SIEN these pins Figure 18 SRFOS pin configuration 19 Figure 17 and 18 provide information about construction and pin configuration of SRFO5 ul trasonic finder As you can see we need to connect 4 wires for one sensor power ground 28 echo and trigger which help us to operate with sensor Now we can take a look how we should work with our sensor in order to get the information SRFO05 Timing Diagram Mode 1 Trigger pulse 100 Mininum Trigger pulse input to SRF05 8 cycles off sonic burst Ultrasonic burst transmitted from SRFOS Echo pulse 100uS to 25mS Times out after 30mS if no object detected Echo pulse output fro users controller Figure 19 Timing diagram Mode 2 19 As we can see from Figure 19 fist of all we have to activate sensor with 10uS pulse mini mum Then an echo pulse will appear on another pin only in 700uS it is enough time to have our pulse measuring ready Between trigger and echo pulses the sensor generate 8 cycle burst with 40 kHz frequency and raises it echo line Then it receives reflected signal and generates Echo pulse which is proportional to the distance to the object By timing pulse it is easy to determine distance in inches centimetres or whatever unit we want If we measure pulses in milli
29. should be cor rected according distance from the equator After finishing with angels we should understand where it has to turn right or left For these purposes I created 16 algorithms for N E quarter of the Earth Algorithm example for current situation f 90 g b if a b 90 gt Forward if a b lt 90 gt Right else gt Left As we implemented this I faced challenging situation with AVR MCs The problem was that it takes so much power from MC to use float values so I had to convert all of them into inte ger values in order to save time and increase speed of work Finally I uploaded everything to ATmegal62 connect GPS receiver and programmed final destination point From Figure 38 we can see the result of GPS navigation system It shows where we have to turn left or right and which angle here 175 At the final point it shows STOP Rotation angle Left Right ATmegal62 GPS antenna GPS receiver Figure 38 GPS navigator 62 However we are going to use ground mobile platform which means that we have to solve an issue with obstacle detection For this purpose I created an obstacle avoidance algorithm based on data from distance sensors Platform has on it is board three ultrasonic sensors one for each side except back one I did not installed that one because usually we cannot meet situation where some obstacle is approaching from the back As we can see from Figure 4 in Attachment 3 there different op
30. system work even during the night without any limitations of external light We also know that such platforms sometimes should work under the harsh con ditions where lots of water and dirt which might lead to electronic destruction However our camera has metal water resistance body protecting it from any kind of external influences Somehow we conducted an experiment where camera was covered with a wet snow during 20 minutes As we expected camera hasn t been damage at all 40 5 7 USB COM converter There are so many ways how microcontroller PC communication might be establish but for Decartus project we are going to use COM RS 232 port which is easy to use with microcon troller As we going to use this interface for communication we need appropriate port in PC However due to the fact that many of modern computers does not yield a COM port the prob lem of connecting devices to the MC PC rises very sharply This problem can be solved with chip series FT232x In this family special interest for us is FT232R This chip is a nearly complete solution for PC connection via USB and has the output signals of UART These signals are clear for the entire MC including the software implemented For connection quite enough three of chip pins TX RX and GND For Decartus we are going to use complete de vice FTDI TTL 232R 3V3 CABLE based on this chip BLACK BROWN CABLE 1 8M RED ORANGE YELLOW GREEN Figure 27 FTDI TTL
31. with neighbour frequencies they have several channels which can be configure in average from 5 to 16 27 20 3 5 USB COM converter Nowadays one of the most widely spread interfaces for transferring small amount of informa tion up to IMbit s is RS 232 also known as COM port This technology quite simple and reliable which makes it indispensable in the management of small devices and data collec tion Most of microcontrollers has internal UART interface RS 232 and UART use the same technology with the difference only in TTL level First one works from 15V to 15V whereas another just from OV to 5V In order to make it possible to communicate between PC and controller special converter is used For instance if PC has a COM port it will be enough to install only MA X232 which can help to dock TTL level By the way modern computers do not have com port but most devices use more advance USB technology Fortu nately FTDI Chip Company provides special convertor with the help of which we can create virtual COM port It makes it easier to connect a microcontroller directly to a PC and to estab lish full and reliable connection With the latest tendencies that most microcontrollers and mini modules face to lover power consumption 3 3V they create different models as for 5V as for 3 3V The chip is so small that if it installed in to USB cable difference wouldn t be noticed that is why it is also well known in robotic development are
32. 0 and infrared light digital video converter camera movement up down and left right e Operation time 30 60 min Optional characteristics of the system include e Autopilot home return points following avoids obstacles camera navigation e PC data communication fully synchronize and data transmission in both ways e Control system accurate steering wheel rotation and 5 forward and 3 back gears speed control e Wireless connection stable and reliable with loss avoidance e Sensors fast and accurate data gathering and synchronization with PC 27 5 HARDWARE 5 1 Ultrasonic sensors As our system has autonomous mode we need somehow predict and avoid obstacles One of the best way is to use ultrasonic sensor because in comparison with infrared they have resis tance to sun light In this project we are going to use SRFOS This is a new sensor with higher facilities in comparison with previous generation SRF04 They were designed to increase flexibility range from 3 4 m and reduce cost With a new design there one pin both for trig ger and echo it is able to save microcontroller pins Technical parameters of SRFOS are e Backward compatible to the SRF04 e Frequency 40kHz e Detection angle 55 e Power 5V 30mA e Range 3cm 4m e Start pulse 10usec min e Output pulse 0 1 25msec e Size 43mm x 20mm x 17mm height Figure 17 Ultrasonic sensor SRFOS 19 5v Supply Programming pins Used
33. 40 TD web document TranSystem 2009 subsystems 4 03 2010 Available www transystem com tw Updated 2009 TTL 232R 3V3 CABLE web document FTDI Chip subsequent 12 02 2010 Available www farnell com No update information available Stampede Manual web document Traxxas subsequent 10 11 2011 Available http traxxas com products models electric 6708stampede4x4vxl No update informa tion available The phyiscs of light web document Steve subsequent 19 04 2011 Available www steve wordpress com 2006 03 19 the phyiscs of light phenomena part 1 No up date information available 70 45 ATmegal28 Datasheet web document Atmel subsequent 4 12 2010 Available http www atmel com dyn resources prod_documents doc2467 pdf No update infor mation available 46 ATmegal62 Datasheet web document Atmel subsequent 10 01 2011 Available http www atmel com dyn resources prod documents doc25 13 pdf No update infor mation available 71 ATTACHMENT 1 Anatomy of the Stampede 43 and appearance of the finished platform 72 poy a11 eppnquanj 19dweg 110 N N JUNOW pog 30014 oys 1683 wiy Noy euua K ad uoisuadsns J8A1828y ons Buli22 S yaIn gt 1addijs 1830 UOIUIJ JMO POS 1404 1eduung 1ear ands quoi m 1X jonu F umo pIoH Kiemeg MS 13 UOISSILUSU 1 peayying quaupedwo gt Aayeg 171 Uey 1 1030W 30044 wuy uorsuadsns sissey gt
34. HD44780 chip which controls all data exchange between devices and display HD44780 chip support wide range of symbols according ASCII standard Each symbol place has it s own address so in order to write something we should firstly transfer address and then send data Before oper ating with display it should be activated in correct way which is takes 19 commands other wise it wouldn t work at all However internal chip has lower speed of work in comparison with main MC so between commands and data should be delays which is lowers speed of whole system Therefore I would not recommend using it in systems which are so sensitive to processing speed Code example for displaying one symbol Data 0x80 write symbol address into buffer Cmd send this command Data ch write symbol into buffer DataTr send symbol to LCD Cmd and DataTr functions can be found in Attachment 4 Program for main MC Figure 33 LCD display 16x2 51 6 1 Basic algorithm Basic algorithm is a work diagram of the mobile platform in Decartus system If we take a look to Figure 1 in attachment 3 we will see there some first steps which are need to activate and configure basic parameters of the system First of all we need to get the GPS coordinates in order to remember our basic position Further it has a cycle of 200ms where are included such thing as mobile platform moving control data receiving both from second MC and PC sending informat
35. It caused interfer ence and loss of connection to Decartus system In order to solve this problem we imple mented two algorithms for automatic reconnection one in the server side and the second in mobile platform All in all I created intelligent and efficient mobile platform with many features which meets expected requirements This platform is really convenient to use in any UGV system It has advanced suspension worthy cross country characteristics efficient batteries wide angle camera with night view and autopilot system The last feature offers point following return to the base station in case of connection loss and obstacle avoidance system Moreover main block of electronics might be installed with some modifications on UAV and provide quality service even there As we can see we have created an advanced system which can be installed into any AV and it provides reliable and quality service with minimum resources and maximum efficiency Sys tems like that can be used in different areas of our life They can do some dangerous work protect in risky situations spy for security services doing research and even save one of the most valuable treasures we all have it is our lives 65 BIBLIOGRAPHY 1 Distributed Embedded Smart Cameras for Surveillance Applications web document Michael Bramberger Andreas Doblander Arnold Maier Bernhard Rinner and Helmut Schwabach 2006 subsequent 02 01 2011 Available http citeseer
36. Stanislav Shults DEVELOPMENT OF INTELLEGENT MOBILE PLATFORM Part of Decartus project Bachelor s Thesis IT Department May 2011 a MIKKELIN AMMATTIKORKEAKOULU Mikkeli University of Applied Sciences DESCRIPTION Date of the bachelor s thesis Aa MIKKELIN AMMATTIKORKEAKOULU Mikkeli University of Applied Sciences 27 05 2011 Author Degree programme and option Stanislav Shults Information Technology Name of the bachelor s thesis Development of intelligent mobile platform Abstract Unmanned vehicles are used in many areas related to security systems and defence Our team create an UGV under the Decartus project This system provides guality video surveillance system with built in autopilot system and remote control over the Internet The objective of my thesis was to de signed and prototype intelligent mobile platform with a possibility of data exchange with PC over 1 km range The secondary objective was to create and implement autonomous navigation system based on GPS technology I started my work getting to know with different types of mobile platforms with main attention on wheels type Then I focused on GPS system and methods direction calculation In order to improve navigation system I looked for a compass module and programmed it After that I searched market for distance sensors and robotic video cameras Next step was to establish wireless connection be tween the platform and the PC Finall
37. USB and others We are going to use one of the most effective and reliable one RS 232 interface It is convenient to use because most of MCs have one or sev eral embedded USART interfaces Decartus mobile platform need to establish connections between GPS receiver and second MC second MC and main MC and main MC with PC So in total it should have three algorithms for communication Now then take a look them in turn starting with GPS and ATmegal62 Between GPS and ATmegal62 It was mentioned earlier that GPS module data transfer frequency can be configured up to 5Hz Meaning that we can receive every 200ms a package with fresh data I did it with EB Viewer software connecting it over RS 232 interface to my PC As we need only RMC Rec ommended Minimum Specific GNSS Data message rest of others were disabled At first we have to find a message beginning which is SGPRMC For this purpose I created filter which can be seen on Figure 3 in Attachment 3 So at the beginning program waits for symbol then for G P R M and C at the end After that it can go further and gathering data I was wondering before if I can save data while receiving Fortunately after certain calcula tions and experiments I did it The result data goes directly to the appropriate buffer as they become available The same way data saving is used for main MC when it receive informa tion from both second MC and PC Code example of RMC massage filter _ flash ch
38. Windi status NSindi int latitudeBase 15 latitudeFin 15 longitudeBase 15 longitudeFin 15 int latitudeMem 4 15 longitudeMem 4 15 flash char test GPRMC GPRMC flash char TimeD Time describe names for GPS data flash char LatitD Lat flash char LongiD Lon flash char SpeedD Speed flash char CourseD Course _ flash char Searching SEARCHING flash char Stop STOP __ flash int TangAngVal 0 1 3 5 6 8 10 12 14 15 17 19 21 23 24 26 28 30 32 34 36 38 40 42 44 46 48 50 53 55 57 60 62 64 67 70 72 75 78 80 83 86 90 93 96 100 103 107 111 115 119 123 127 132 137 142 148 1 53 160 166 173 180 188 196 205 214 224 235 247 260 274 290 307 327 348 373 401 433 470 514 567 631 711 814 951 1143 1430 1908 2863 5729 lean void iniLCD void LCD functions void LCDstart void void Cmd void void DataTr void void PortIni void Port initialisation void UARTini void UART initialisation void TotalIni void total initialisation 91 void GetDataU_0 void void ReceiveData void void PrintSpeedCourse void void PrintLaLon void void PrintTime void void Clean void void Search void void Hello void void SymNum void void NumSym void void CalcValues void void SendData Ul void void SendD PCl void void SendD PC2 void void SendD PC3 void void SendD PC4 void void RecD PC void
39. a 29 At Figure 12 we can see examples of such converters From the left side it just a various of different chips at the second one it is already completed cable which can be used for direct connection with a microcontroller or other devices with RS 232 interface Figure 12 USB RS 232 converters 29 If we take a look at advance electronic devices which should be configured with special commands or physically moved we can find that they use RS 232 interface For instance cameras for UAVs using special mechanism for move it up and down left and right zoom in and out or even advance Cisco devices use this interface for configure mode 25 30 21 3 6 Servo drivers Some devices should moved in space with the aim of to reach better efficiency for instance different types of sensors or cameras for video surveillance It allows to increase the viewing angle that greatly enhances the use of equipment Decartus project requires special base that would provide free moving in three dimensions for video camera Most cameras have 60 de grees angle what is not enough for efficient survey otherwise we can use servo motors for moving this camera in both vertical and horizontal axis With this implementation we can increase the observation angle up to 240 degrees in both axes Servo drivers have one huge advantage which is accurate rotation angle that some of them reach this parameter up to 0 05 degree Moreover they include reducer wh
40. able advance and high performance platform In Attachment 1 we can see anatomy of the Stampede with description all details of platform It can be clearly seen that everything mounted on a strong chassis where electronic speed control XL 5 steering servo and place for 7 cell battery pack XL 5 provides 3 throttle configurations thermal shutdown protection 4 8cell compatibility and built in BEC There is also special profile reducing output power to 5096 making it convenient for new drivers to improve their skills before unleashing full power operation 43 Stampede platform equipped with Magnum 272 Transmission with hardened steel diff gears and precision ball bearings for race proven durability and speed It has Revo Spec Torque Control slipper clutch with semi metallic pads and heat dissipating This system provides Slipper Clutch adjusting in order to regulate the amount of power sent to the rear wheels to prevent tire spin This platform uses specially designed high power Titan 12T 550 Motor where is armature is 30 larger than in previous 540 model It has inside 12 turs of copper wire which is help to increase power handling There is also integrated fan inside uses for lower running temperature 43 One is the main reason why we also face our attention to Stampede because it has 4 ground clearance with high tech suspension and vibration avoidance systems Platform equipped with Ultra Shocks provide smooth performance and precise
41. according to delay between sending and receiving In order to find out longitude and latitude it would be enough to get a signal from at least three points After that receiver can geometrically calculate it s own location In Figure 4 it can be seen how satellite navigation works There are three satellites with dif ferent locations and an object which should determine its own location This object has a spe cial receiver Each satellite sends the signals to their own area on the earth The receiver takes those signals and calculates what is the accurate distance to the each of the satellite Using that information it applies special algorithms which provide precise determination of object s coordinates It uses at least three signals to calculate that because only in this case in 2D space 7 we can calculate more or less accurate object location The same principal is used for GSM navigation AGPS In that case it uses at least three base stations of mobile operators to cal culate distance to the object But this system isn t so accurate error 100m 12 Figure 4 Satellite navigation 12 Most of the big and developed countries in the world have designed their own navigation sys tems mainly for the military purposes The reason for this is obvious For example Russia can t use American negation system because it might be controlled by the US army and it can cause lots of problems for Russians and wise versa Various of
42. alling ages It is so convenient feature because we can distinguish between the beginning and end of pulse In Attachment 3 Figure 2 also provides algorithm for compass scanning There we can see that it is starts in the same way as ultrasonic sensor algorithm from interruption enable But then it waits 102ms instead of device trigger as for distance sensors After getting rising age program set timer 1 into 0 and waits for the falling age With falling age it stop timer calcu late data and convert them into symbols for data transferring buffer If there some problems with connection and there is no income data program will write 700 value into buffer As we use counter with clk 8 prescaler one pulse getting 1uS So in order to get value of the angle counter number pulses should be divided into 100 However it is not enough for precise angle definition because there variation between magnetic north and true north For Finland this variation is 20 Code example for Compass calculations and data converting CourseComp TCNT 1 100 CourseComp CourseComp 20 if CourseComp gt 359 CourseComp CourseComp 360 k 0 k1 0 k1 CourseComp 100 NumSym courseC k k1 k k1 CourseComp CourseComp 100 100 10 NumSym courseC k k1 k k1 CourseComp CourseComp 10 10 NumSym courseC k k1 k 54 6 3 Data communication There many ways for data communication between electronic devices such as I2C USART RS 232 SPI
43. amortisation control with oil damper and clip on spring pre load spacers which I used for change shock position It helps to in crease the stiffness of shock springs and increase clearance I did it because we have addi tional electronics and power battery which leads to weight gain and drawdown platform Tires produced by Talon with 2 8 diameter soft compound rubber to hook up for maximum acceleration and high efficiency grip on a wide verity of surfaces from grass and pavement to rocks and grid Moreover with the aim of to improve vibration resistance there is also special foam inside the tires 43 43 Platform specification 43 e Length 413 mm e Front Track 332 mm e Rear Track 332 mm e Height overall 234 mm e Wheelbase 275 mm e Wheel Diameter 72 mm e Waterproof electronics yes As we know it is so important for UVs to be unnoticed in order to avoid redundant problems Therefore camera lights use infrared type of LEDs which cannot be seen by human eye and also body wheels and shocks where painted into mat black colour This colour has much so weak light reflection and it is unnoticed during the night Mat colour has rough surface lead ing light fading whether glossy works as a mirror where is reflection much better on a surface Oo E n n gt v O Figure 29 Light reflection from the mat surface 44 5 10 Embedded microcontrollers Still now we was talking about physical ab
44. anB gt 5729 B 90 else i 0 k 0 k1 0 while k 0 if TangAngVal i tanB B i k 1 else i G GC take Compass angle find quarter for Robor if 0 lt G amp amp G lt 90 CourseDir 1 if 90 lt G amp amp G lt 180 CourseDir 4 if 180 lt G amp amp G lt 270 CourseDir 3 if 270 lt G amp amp G lt 359 CourseDir 2 find quarter for finish direction if LatNumFin LatNum amp amp LongNumFin LongNum FinDir 1 if LatNumFin LatNum amp amp LongNumFin LongNum FinDir 2 if LatNumFin lt LatNum amp amp LongNumFin lt LongNum FinDir 3 if LatNumFin lt LatNum amp amp LongNumFin gt LongNum FinDir 4 main body of direction algorithm First quarter of the earth surface Dir 0 if NSindi N amp amp EWindi E if CourseDir 1 robot in the First quarter A G if FinDir 1 F 90 G B if 90 lt G B F 90 90 F if A B 90 Dir F if A B lt 90 Dir R 106 else DirZ L5 if FinDir 2 Dir L F 90 B G if FinDir 3 if G 90 B gt 180 Dir R F 270 G B else Dir L F G 90 B if FinDir 4 Dir R F 90 G B if CourseDir 2 robot in the Second quarter A 360 G if FinDir 1 Dir R F 450 B G if FinDir 2 F 90 A B if 90 lt A B F 90 90 F if A B 90 Dir F if A B lt 90 Dir L else Dir R if FinDir 3 D
45. annels It started to work better but still even around M building we have a problem with stable connection Fortunately out of wireless devices range everything works perfect With the aim of to have reli able data communication after connection interrupt we implement two restoring algo rithms One of them on the Server side it will be represented by Ivan Suvorov and second on mobile platform So the idea of the last one is to check data communication if there appear interruption and server cannot restore it means that wireless system is totally crashed it reset COORDINATOR which is installed on mobile platform Setthe Scan Duration SD exponent 7 The exponent configures the duration of the active scan and energy scan during coordinator initialization Set the Node Join ND time 8 The value of NJ determines the time in seconds that the device will allow other devices to join to it If set to OxFF the coordinator will always allow joining So we live it OXFF because we need permanent connec tion 5 Addressing Setthe upper DH 9 and lower DL 10 32 bits of the 64 bit destination extended address As we need to establish point to point connection we have to configure in each device the same upper address but opposite lower For this first of all we need to write 2 OS to our devices with the rest of configurations and then read 3 in order to determine low address for each device SL Then set in first
46. ar test GPRMC GPRMC while k 7 while DataU_0 test_GPRMC k while UCSROA amp 1 lt lt RXC0 DataU OZUDRO k 55 Between second and main MCs As we know the most difficult problem for data communication is synchronisation This means that receiver must know when the transmitter going to send data in order to be ready to receive them and process them in correct way Otherwise they just lose data and become out of work There are so many ways how to do that and create stable and reliable system for communication I also developed two ways of synchronisation between MCs and main MC with PC Here we are going to consider the first option The idea is after gathering all information second MC starts to waits for request message symbol R from main MC After receiving it sends whole data through the same interface In this way we always can be sure that main MC can receive whole package of the data in certain time period Data message consist on GPS and sensors data It is starts with symbol and ends with dot This symbol helps to recognise beginning and ending of the data message In order to distinguish data from each other there are commas between them Originally time has additional accuracy I decided to remove it because we do not need it at all Example of data message 1 2 3 4 5 67 8 9 10 161229 8 3723 2475 N 12158 5225 09 809 MIN 125 125 125 1 2 Time hhmmss and GPS d
47. ata validation A valid V not valid 3 Latitude with N S indicator ddmm mmmm and N north or S south 4 Longitude with E W indicator dddmm mmmm and E east or W west 5 Speed over ground knots 1knot 1 852 km h 0 5144 m s 30 86667 m min 6 7 Course over ground 6 from GPS and 7 from Compass module 8 9 10 Distance between platform and obstacle 8 L 9 F and 10 R As we can see from example there are also two courses from GPS module and compass I did it in order to be able configure autopilot system in main MC with using either first or second depending on which we have In case of compass module damage program can reconfigure with using course from GPS module Finally at the end of message there are data from ultra sonic sensors which can be use to avoid obstacles in autonomous mode or at the server side creating an environment map 56 Between main MC and PC Here I also use messages for synchronisation and data transfer However it was a bit chal lenging to make it work because here media has wireless connection which causes certain problems for data communication Therefore after some experiments Ivan Suvorov and I de cided to divide data massage in for with appropriate information inside As we can see from example these messages use lt and gt in order to distinguish start and end of data Here we use different symbols because unlike microcontroller the server side can t recognize
48. can get access on it from all around the world He needs just a PC to open the page and Internet connection for life video and maps downloading Control system is really convenient which uses key board s arrows and some buttons for full control and mouse for setup configurations Off course in order be able to become control it a user should be logged in as an operator In real life it is unmanned ground vehicle There is a mobile platform with a camera electron ics and a wireless connection to the web server which is should be connected to the Internet There are two parts of wireless system one of them is connected directly to the web server and another one installed on the platform Operating distance is 1000m with line of sight from the server It is enough to cover a huge area Platform has perfect cross country characteristics 25 to be able to access the most impassable places It also has heavy duty battery in order to pro vide long work period in difficult conditions Moreover due to that fact that sometime management connection might be lost and we want to return the device back or an operator wants to follow fixed way automatically and follow just video picture it has autopilot system based on a GPS navigation technology Unfortu nately a GPS receiver can t provide us more or less accurate deviation from the north and it has error coordinates 3m so it can cause lots of problems That is why our system use also compass module
49. cation between MCs and PC 2 VIDEO SURVEILLANCE SYSTEMS AND MOBILE PLATFORMS 2 1 Video Surveillance Systems Over the past ten years video surveillance systems have become an integral part of an inte grated security system which helps to prevent threats and protect the security of the property A modern video surveillance system provides users with place observation and picture re cording functions and they also include intelligence algorithms which can help to recognise different object and predict some events 1 Such systems are widely used in every sector They face challenges in protecting their customers employees production facilities enhance productivity and security During past several years number of terrorist attacks has increased dramatically That is why governments from around the world turned their forces to improve quality of society security First of all it takes an effect on public places such as airports sub ways and railway stations For instance London Underground and Heathrow Airport have more than 5000 cameras each 2 Surveillance systems created for commercial purposes dif fer from civil CCTV systems Because commercial systems tend to use some specific equip ment and they widely use networks of digital intelligent cameras There are two types of video surveillance systems analogue and digital Analogue video sur veillance systems have been widely used in small areas where transferring information by pat
50. center for 1 0 1 lt 20 14 PORTF 0x04 delay cycles 22000 PORTF 0x04 delay cycles 320000 C1225 base position for Camera for 1 0 1 lt 200 1 PORTF 0x0B delay cycles 24000 PORTF 0x0B delay cycles 320000 C2 47 C3 47 void Search void ReceiveData while status V k 0 while k 9 Data Addr1 3 Cmd PORTS initialisation UART initialisation LCD initialisation rising age INTO allow global interruption text 1 line print 1st line Neutral Start point print Ist line 96 Data Searching k DataTr Addr1 k Addr1 0x80 ReceiveData if Addr2 0xD0 Addr2 0xC0 Clean Data Addr2 Cmd print 2nd line Data 0x2A DataTr Clean Addr1 0x80 Addr2 0xC0 Hello massage void Hello void Clean char m1 gt Hello world lt text 1 line size 0 k 0 Addr1 0x80 while size 16 Data Addr1 Cmd Data m1 k DataTr print 1st line size Addr1 k char m2 gt I am Decartus lt text 2 line size 0 k 0 Addr2 0xC0 while size 16 Data Addr2 Cmd Data m2 k DataTr print 2nd line size Addr2 k delay cycles 48000000 Clean char m3 gt GPS by Shults lt text 1 line size 0 k 0 Addr1 0x80 while size 16 Data Addr1 Cmd Data m3 k DataTr
51. ch group of microcontrollers they can be divided into CISC and RISC device Earlier CISC microcontrollers were the 12 largest group but in recent years there has been a clear trend of growth in the RISC architec ture 17 Clock frequency or more precisely the bus speed determines how many calculations a mi crocontroller can perform per unit time In general the performance of the microcontroller and the power consumed by it increase with clock frequency Performance of the microcontroller is measured in MIPS Million Instructions per Second One of the most widely spread family of microcontrollers is AVR by Atmel Company MCU in this family are 8 bit microcontrollers for embedded applications Microcontrollers made by low power CMOS Complementary symmetry metal oxide semiconductor technology com bined with advanced RISC architecture achieve the best combination of the performance speed power consumption Due to the fact that the vast majority of commands are executed in one clock cycle the performance of these microcontrollers can reach values of 1 MIPS at 1MHz clock frequency The family includes the classic microcontrollers with various combi nations of peripheral devices with varying levels of built in memory and different pin count Such diversity gives the developer opportunity to make the best choice and use exactly the microcontroller which is best suited to its needs Figure 6 shows typical bodies for AVR mi crocon
52. cise because then closer you come to the poles then lower above the horizon the satellites are located 14 GPS system is based on data transmitted between satellites and receivers that is why it s need it s own frequency band where it can operate All satellites in this system broadcast data in two carrier signals in the microwave range 14 e L1 1 57542 GHz 19 05 sm It s transferring only SPS code standard code for naviga tion in civil area navigation error 3 5m e 2 1 2276 GHz 24 45 sm This one is transferring the P code which has accurate navi gation data This type of receiver is used only in military area for precise navigation of rockets and bombs 1 3sm In Figure 5 we can see an example of P code which is transferred for military receivers Right hand circular polarized signal is used for transfer ring such code Figure 5 also shows that it has a transmission speed equal to 10 23 10 6 Bits s and 6 10 12 Bits per satellite xm COOEEELEELEELLEL comes 000000 10000 00 12 a 101 111100004 101 0 6x10 Bits 1100010001 1 0 De anii 7 days Figure 5 P code example 15 There are three types of signal modulation Amplitude Modulation AM Frequency Modula tion FM and Phase Modulation PM GPS system uses Phase Modulation the most popular modulation technique Figure 6 shows the composition of signals which are transmitted by GPS satellites This graph shows that L1 signal and L2 signal consis
53. classes of mobile platforms for ground and air purposes They are fundamentally different from each other with design as intended for totally differs condition to use Each of them has their own special characteristics to ensure the reliability and stability under certain conditions As it is well known military equipment is used in harsh conditions that require high dust moisture and thermal protection from designed mobile platform Moreover it should have light weight and optimized size for convenient transportation under hard conditions a b Figure 2 a TALON Small Mobile Robot b iRobot 510 PackBot 9 5 It s clearly seen in Figure 2 that TALON and iRobot use tracked platform Such solution en ables to reach high cross country characteristics Let s take a look to description of these ro bots TALON is a lightweight powerful versatile robot designed especially for missions ranging from reconnaissance to weapons delivery It s big quick release cargo bay accommo dates a variety of sensor payloads making TALON a one robot solution to a variety of mis sion requirements 6 Next is one of the most successful battle tested robots in the world the iRobot 510 PackBot performs bomb disposal and other dangerous missions for war fighters and first responders 510 PackBot can easily climbs stairs rolls over rubble and navigates in narrow passages with sure footed efficiency driving at speeds of up to 5 8 miles 9 33 k
54. des different information about the receiver position The most important metrics are time lati tude longitude speed and course over ground This information will make a system able to navigate over the whole world without any problems and it will never be lost Figure 8 GPS modules 22 Let s take a look to examples of such GPS modules which can be easily used in autonomous systems Figure 8 provide examples of onboard chip solutions It can be clearly seen that some of them are as small as a coin It makes possible to install them in devices with limited space even to mobile phones and laptops 22 Modern mobile systems are based on powerful chips performance of which is increasing highly every half year and they have reached hundreds of thousands operations per second For such systems it is not an issue to receive and calculate GPS data These systems have also special software such as GPS pointer or GPS maps show the user location Moreover these applications can also provide information how to reach certain place in the city by car walk train and other means of transport A user just puts the coordinates of the destination and the rest of work is done by a mobile system These systems are also widely used at shipping area When you are in the open sea and there is just water around you should be able to understand where you are and where you have to go in order to reach a correct place So a satellite navi gation system
55. e I tried it 32 when it was 15 C degree outside and heavy snowfall and it was able to receive data in 1 5 minute For instance GPS module CONDOR 67650 10 with external antenna under the same conditions need around 5 minutes or even cannot get any data at all That is why finally we decided to use EB 240 which is more reliable and sensitive One of the really good advantages of EB 240 is that it has its specially designed graphical software for module configuration EB view It is so simple and provides enough features for configuration As we can see from Figure 23 there are two main windows in this program Status and Setup In the first one we can configure speed and port connection also there we can find current receiving data small windows with converted date and status graph Also we can establish connection with GoogleEarth program and find out our location there However the most exciting part of this program for us is Setup window because there we can configure GPS module in order to get information in appropriate for our system way As we need only RMS Recommended Minimum Specific GNSS Data message with 5Hz frequency here it can be easily configured in couple minutes This configuration will be able to decrease data current up 38 6 and reduce redundant messages which are useless for Decartus system This program maintain NMEA 0183 protocol designed especially for GPS systems all infor mation about way it works can be found
56. ed i S ymNum SpeedN SpeedN k1 a a a 10 1 SpeedN SpeedN 18 10000 k1 0 1 0 k1 SpeedN 100 NumS ym speed i k 1 i k1 SpeedN SpeedN 100 100 10 NumS ym speed i k 1 i k1 SpeedN SpeedN 10 10 NumSym speed i k1 i CourseOG GPS while DataU_0 GetDataU 00 k 0 k1 0 while DataU 0 course k DataU_0 GetDataU 0 k es while k 1 99 if course k k1 course k SymNum G G k 1 a a a 10 k G G 10 k 0 k1 0 k1 G 100 NumS ym course k k1 k k1 G G 100 100 10 NumS ym course k k1 k k1 G G 10 10 NumS ym course k k1 k CourseOG Compass while DataU 0 2 GetDataU_0Q GetDataU 0 for 120 1 3 14 courseC i DataU_0 GetDataU_0 k 0 k1 0 k1 courseC k k S ymNum GC k1 100 k1 courseC k k SymNum GC GC k1 10 k1 courseC k k S ymNum GC k1 GC Dir 1 while DataU_0 GetDataU 00 for i 0 1 lt 3 i Dist1S i DataU_0 GetDataU_0Q k 0 k1 0 k1 Dist1S k k SymNum Dist1 k1 100 k1 Dist1S k k SymNum Dist1 Dist1 k1 10 k1 Dist1S k k SymNum Distl k1 Dist1 Dir 1 Dist2C Dist2 while DataU_0 GetDataU 00 for i 0 1 lt 3 i Dist2S i DataU_0 GetDataU_0Q k 0 k1 0 k1 Dist2S k k SymNum Dist2 k1 100 k1 Dist2S k k SymNum Dist2 Dist2 k1 10 k1 Dist2S k k SymNum Dist2 k1 Dist2 Dir 1 while DataU_0 GetDataU 00 for i 0 1 lt 3 i D
57. ere all connection are shown As Decartus project has some amount of electronics on board I created the same Principal electrical scheme can be found in attachment 2 This scheme shows all connections in the board s Decartus electronics and also provides information of component s denomination First of all we can see two microcontrollers UI ATmega162 and U2 ATmegal28 which are connected to analogue part This part was designed for power supply regulation Very important moment here is voltage level of the power supply All electronics operate from 3 3V to 5 5V so we have to create voltage converter from external source For these purposes I used two voltage regulators for 5 5V VR1 and 3 3V VR2 with 1000mA maximum cur rent per each We live in the developed world where so many wireless electronic devices around us which is spreading electromagnetic waves These waves can cause redundant noise on our board which I want to avoid by installing ceramic capacitor C7 Then we can have some extra noise in power line by our servos With the aim of to reduce this one there are powerful C8 capacitor In order to provide required 3 3V power supply for GPS and XBee modules I installed second voltage regulator VR2 with 3 3V output There is also filter based on C10 and C9 capacitors because of sensitive electronics inside these modules For convenient power supply control I added But 2 and green LED HL 1 With the help of VR1 and VR2 voltage regula
58. ervo at the central position C1 25 program will generate 1 375mS pulse length on appro priate pin Otherwise if wheels are turned right C1 lt 24 it will step by step return them back to the neutral position by increasing pulse length servo installed up side down The same when wheels turned left but here program is decreasing the pulse range Accuracy of the steering wheels rotation is 3 6 per signal once in 20mS So the whole rotation at one side will take 500mS I tried to find optimal speed which is not so fast and no so slow because the driving platform can be damaged if we turned wheels to fast All in all it is really convenient and precise control system which provides stable and reliable platform control even under harsh conditions Gear box with range of speed and accurate steering servo offers high efficiency both on lower and top speed on any surface from grass to rocks 60 6 5 Autopilot system Autopilot system helps the device to navigate and avoid obstacles according gathering data from sensors Decartus autopilot system is based on GPS system with local distance measur ing and compass sensors These sensors help to avoid obstacles provide precise navigation and their data can be used for environment mapping The aim of autopilot system is to lead mobile platform to the destination point The idea of the GPS navigation system includes different kind of calculations based on cur rent and following position a
59. ettings Range Test Terminal and Modem Configuration We will need the first and last tabs for modem configuration In the first tab there are just PC connection settings where COM connection properties might be configured and also we can 35 check model and OS version of the current device The most interesting and sophisticated tab is the last one where we are doing our configurations Now take a look it in more detail step by step Figure 24 shows configuration mode in X CTU software for XBee modules with as signed key properties ZigBee ZigBee Personal Area Network PAN network consists of one Coordinator and one or more routers and or end devices ZigBee network is created when the channel is selected by the Coordinator of the network and identified Once the Coordinator has initiated a net work it may allow the routers and end devices to join the network When a router or end de vice attach to the network they receive a 16 bit network address and can send or receive data from other devices on the network In contrast to the end devices the coordinator and routers can allow other devices to join the network and manage the data exchange Configuration steps of the ZigBee module are listed below 24 Numbers in brackets related to figure 24 1 First of all we have to check 3 are there any OS and configurations already there 2 Then we have to find appropriate model of our module 4 select OS version 1 and type of d
60. evise COORDINATOR or ROUTER END DEVICE For Decartus project we are go ing to work with xx41 OS version because we using only point to point connection without enhanced features 3 After we done these steps we will see tree of modem configurations Personally I wrote 2 OS fist time with default settings and then just configurations in order to be sure that everything works fine 4 Networking Here we need to configure PAN Personal Area Network ID 5 where valid range is is 0 Ox3FFF Or we can set IDZOxFFFF for the coordinator to choose a random PAN ID I wrote there randomly by my own self 234 channel 36 Then set list of channels to scan when forming a PAN as bitfield Scans are initiated during coordinator start up 6 With this configuration we ve got a challenging situation As we work in M building of Mikkeli UAS where so many wireless networks with powerful access points are operating at the same frequency it caused lots of interference to our system First we tried 2 channels in order to decrease time for channel scanning but later we realised that is no not enough From CCNA 3 course we remember that in order to avoid interference in wireless technology with 2 4GHz we have to configure our APs in different areas with 5 channels distance between them In average there from 4 to 11 wireless networks Other words we need at least 11 5 5 60 channels so we de cided to configure Ox1FFE value which is 8190 ch
61. h Camcorders VCR would be enough to organise quite sufficient security of image transition and later viewing of stored data Currently the surveillance system installed ana logue cameras are simple to implement with a low price These cameras are optical devices and they generate video signals when light flux passes through their lens and came to the CCD matrixes where the electrical signal is created 3 Digital CCTV systems have a similar kind of a structure and the main difference in compari son to analogue one is in cameras Digital cameras have additional AD converter so all trans ferred data is in digital format With increasing popularity of LANs and Internet such systems will has a great potential to provide the most convenient and secure method of video surveil lance 4 2 2 Mobile Platform Today we can see a great verity of mobile platforms MP for mobile robots It depends on which purposes robot was developed and in which circumstances it should work There exist lots of different robots as for civil as for military area Different kind of robots are designed for defence services and they have more complex controlling systems with enhanced algo rithms and they use special platforms with highest cross country characteristics Also elec tronics which they use are much better with lower power consumption and highest data tran sition rates which helps to reach better results Civil robots are usually used for ho
62. http www futaba rc com servos digitalservos pdf Updated May 2007 AC Servodrivers web document Baldor 2005 subsequent 4 04 2011 Available http www baldor com support literature_load asp LitNumber BR1202 D Updated August 2005 Robotic mobile platforms web document Roboshop subsequent 23 10 201 Available www roshop com No update information available 69 35 36 37 38 39 40 4 42 43 44 Mobile Robotcs Platform web document Worcested Polytechnic Institute 2009 subsequent 7 04 2011 Available http www wpi edu Pubs E project A vailable E project 030309 2001 I 5 unrestricted MobileRobotcsPlatform FinalReport pdf No up date information available L293D Motor Driver web document Solarbotics 2003 subsequent 9 04 2011 Available http www solarbotics com assets documentation kit10 pdf Updated 2003 CMOS web document Wikipedia subsequent 11 04 2011 Available en wikipedia org wiki CMOS Updated 01 03 2011 L298N Datasheet web document STMicroelectronics 2000 subsequent 2 09 2010 Available http www st com stonline books pdf docs 1773 pdf Updated 2000 CMPS03 Magnetic Compas web document DigiWire subsequent 5 10 2010 Available http www digi ware com file AN 09 pdf No update information available EB 240 TD Datasheet web document TranSystem 2009 subsystems 4 03 2010 Available www transystem com tw Updated 2009 GPS module EB 2
63. iate control data 110 times p m This method provide fast reaction for user s operations and quick data updates for quality system monitoring 52 6 2 Sensors scanning Ultrasonic sensors It was mentioned earlier that for all sensor s measuring and GPS data gathering I used second MC ATmegal62 from AVR family As all sensors use PWM type modulation for information sending I decided to implement counter based on 16 bit Timer Counter 1 with prescaler clk 8 so it counts in 8 times slower then processor s timer which is 8MHz First of all MC gathers data from ultrasonic sensors there are three of them in total From Figure 34 we can see that it takes information consequently beginning from the left then front and last one is right In order to determine any logical changes I used PCINTO PCINTI and PCINT2 interruptions Interruptions are generated when on appropriate pin appear any logical change whether rising or falling age Figure 2 in Attachment 2 represented algorithm for ul trasonic sensors scanning At the beginning it is enable corresponding interruption line and then trigger ultrasonic sensor with 20uS delay The minimum is 10uS but with the aim to avoid any problems I used 20uS delay Then program waits for 40mS until interruption ap pear When it happens a program check is it a first time rising age or second time falling age After rising age it drops TIMER to 0 and waits for the falling age When the last one is appear pr
64. ich can increase dramatically rotation power Now then take a look at typical servo motor which can be found in each electronic shop 32 Figure 13 shows typical servo with a gear box a DC motor a controller and the angle sensor Each servo driver has three wires for operating ground power and signal Last one is used for controlling rotation angle with different length of pulses Then it comes to internal controller which calculates the delay and turns motor to corresponding position However motor has no idea where is required angle Therefore servo has a special rotation sensor which provides appropriate information With this data controller can turn the motor to exact position Due to that fact that servo motor is used for moving something really heavy like steering wheels or cameras it has gear box which helps greatly boost torque of the spindle 33 Spindle Gear box Angle sensor DC motor Controller Figure 13 Construction of typical servo driver 31 22 3 4 Platform As mentioned earlier there are great verities of different platforms which are used in different conditions Both areal and ground UVs require light fast and powerful platform which can provide functionality and reliability Because Decartus requires ground mobile platform we are going to focus in this area It is obvious that it should have good cross country characteristics enough speed moving over the land and of course intelligence opera
65. icient and reliable Then during coordinates calculations micro controller should work with float numbers and use tan function in order to determine the an gle However AVR microcontrollers are not so advanced so it would take ages to calculate fractional values Therefore all calculations now use only integer values making the MC 64 work much faster Then compiler which I used had no tan function So I implement special algorithm in order to make it work The first tangible result was when a prototype of the navigator was finished It included a LCD display a GPS receiver and a microcontroller The navigator was able to show direction where you have to go in order to reach the final point It was tested many times and supple mented with some correction algorithms with the aim to consider that our planet has spherical shape Then one of the most challenging issues was wireless data exchange between the main MC and the server First of all I created a protocol which is used for communication and then es tablish wireless connection Transceiver which I decided to use has it is own really sophisti cated software and operating system which can be configured in many ways However con figuration should be done really careful with precise calculation otherwise it would not work at all Moreover we were experimenting and developing data exchange in Cisco laboratory where so many WLAN access points are working at the same frequency
66. icroprocessor code of microcontroller 16 The most common included devices are built in memory Input Output ports I O timers system clock and communication interfaces such as UART I2C and ISP Memory devices include random access memories RAM read only memories ROM flash ROM EPROM electrically reprogrammable ROM EEPROM Timers and intrfaces include real time clock and timer interrupts Tools I O includes analogue converters A D digital to analogue con verters D A liquid crystal display driver LCD of vacuum fluorescent display VFD Embedded devices have improved reliability because they do not need any external electrical circuits Microcontrollers can be found in huge quantities in modern industrial and household products like in machine tools automobiles telephones televisions refrigerators washing machines and even coffee makers Among microcontrollers manufactures there are Intel Motorola Hi tachi Microchip Atmel Philips Texas Instruments Siemens and many others The main classification feature for microcontrollers is the type of the data On this basis they are divided into 4 8 16 32 and 64 bit classes Today the largest part of the world market belongs to the 8 bit microcontroller devices about 5096 in value terms This is followed by 16 bit microcontrollers and DSPs Digital Signal Processor aimed for use in signal process ing system each group has about 2096 of the market Within ea
67. ignals Searching through the market we were able to find great virility of GPS receivers which can be used in different areas It s easy to find receivers with accuracy in the range of 2 5m but they have limitations velocity 18000m max and maximum speed is 515m s However there is also a receivers which give 3 30sm accuracy without any limitations which are usually used in military and space area The last one which is able to receive special P code with accurate GPS data impossible to get by a common student For project related to robotic area it would be justified to use small GPS modules which can give us necessary information for navigation All of such receivers use special protocol and interface for communication with external de vices A protocol which is used for these purposes is called NMEA 0183 and a typical GPS receiver uses RS 232 422 electrical interface These technologies were applied with aim of to provide ease connection between devices All microcontrollers even simplest one has at least one RS 232 UART COM interface which is allows combine and design huge range of de vices with differ features and purposes 21 The idea of NMEA protocol is to provide data 15 exchange between GPS module and device There are several groups of information and each of them has its own header The most popular groups of data which can be sent by GPS re ceivers has such header as GGA GLL GSA GSV RMC and VTG Each of them provi
68. ilities of Decartus platform but what about heart which is able to control all these things what about algorithms which we are going to imple ment how they should work For these purposes I installed powerful microcontroller from AVR family ATmega 128 because according to our goals I expected heavy load on it This MC is powerful enough to match our project and even has opportunity for future development and improvements 44 Table 2 provide key information about microcontrollers which we are going to use for Decar tus project It can be clearly seen that they are almost the same with such differences as amount of memory and body type MCs 3 Features ATmega 128 main ATmega 128 Flash memory 128 Kb 16 Kb Interfaces UART x 2 SPI JTAG UART x2 SPI JTAG Timers 8 bit x 2 16bit x 2 8 bit x 2 16bit x 2 Power 4 5 5 5 VDC 2 7 5 5 VDC Number of pins 64 40 Speed 0 16 MHz 0 16MHZ Body type 64A SMD 40P6 DIP Dimensions mm 14 14 1 2 L W H 52 13 5 4 8 L W H Table 2 ATmega 128 and 162 characteristics 45 46 From the beginning I decided to use only one ATnegal28 microcontroller for data communi cation sensor s scanning calculating GPS navigation and others But unfortunately after sensor s datasheet research I realized that it would be impossible because our system requires fast communication and precise motor control system when sensor s scanning takes 190ms
69. in DescriptionNMEA pdf providing by Klaus Betke May 2000 21 This document has a detailed description for all data and configuration mes sages which might be found in contemporary GPS receivers lease choose asm gt ge On Speed Port i I D ka E im x med Windoe for receiving data Er vas p M Tm GPS Eus 1 jate Fix SBAS Mode mu LOG Time Longitud Speed GPS information window Configuration window Figure 23 EB viewer Version 1 0 3 33 54 Data transceivers Each kind of UV requires wireless data communication both for controlling and gathering information for the base station Decartus system requires data communication and video transmission to the base station Therefore we decided to install two wireless systems which can provide full services for our UGV As I already mentioned we have to establish both ways data communication for providing quality of service Here we are going to use XBee Pro Series 2 modules based on Zig Bee technology by MaxTream company It is a completed transceiver module with an operating frequency of 2 4 GHz Designed for data transmission for distances up to 1200 meters in open space Structurally the module is designed as a printed circuit board 24x27 mm with inte grated antenna and 20 pin located on the edges of the board Minimally necessary conclusions for the operation of the module VCC GND DOUT DIN Key technical parameters e Si
70. ion and autopilot system But if we take a look more detail to Figure 34 we will see that it sends information in four packages between which it receives data from PC with platform control commands We de cided to implement such thing because there appeared some problems with fast data transfer ring of big packages to PC It happens because XBee modules have difficulties with the inter ference from other devices If we take a look to Figure 34 which is provides information about timing of main and second microcontrollers we will see how was done synchronisation I tried to mention all devices timing and program parameters when I was building it 25 AS o g PE Control platform Control platform Control platform Send Pack to PC RecDat from PC Send Pack to PC RecDat from PC Send Pack to PC Send Pack1 to PC RecDat from PC RecDat from PC RecDat from PC RecDat from PC RecDat from PC Control platform RecDat from PC Control platform RecDat from PC Control platform RecDat from PC Control platform Control platform Control platform Control platform Figure 34 Timing diagram both controllers As we can see sensor s scanning takes lots of time That is why I decided to use second mi crocontroller In this way system is totally synchronized with 2 microcontroller and PC All processors are going well without delays As result PC refresh data from sensors 5 times per minute and platform receive appropr
71. ir L F B G 270 if FinDir 4 if 450 B G gt 180 Dir L F G B 90 else Dir R F 450 B G if CourseDir 3 robot in the Therd quarter A G 180 if FinDir 1 if B G 90 gt 180 Dir R F 450 G B else Dir L F B G 90 if FinDir 2 Dir R F 270 G B if FinDir 3 F 90 A B 107 if 90 lt A B F 90 90 F if A B 90 Dir F if A B lt 90 Dir R else Dir L if FinDir 4 Dir L F G B 90 if CourseDir 4 robot in the Fourth quarter A 180 G if FinDir 1 Dir L F B 90 A if FinDir 2 if A B 90 gt 180 Dir L F G 90 B else Dir R F B 90 A if FinDir 3 Dir R F A 90 B if FinDir 4 F 90 A B if 90 lt A B F 90 90 F if A B 90 Dirz Pj if A B lt 90 Dir L else Dir R Send Data to PC void SendD_PC1 void send First packege while UCSRIA amp 1 UDRE1 UDRI X ch 0 send data DataTrU 1 lt SendData Ul for i 0 1 lt 9 i send Latitude DataTrU_1 latitude i SendData_U1 DataTrU_1 SendData_U1Q0 DataTrU 1 NSindi SendData Ul send N S indi DataTrU_1 gt SendData_U1Q0 108 j void SendD_PC2 void while UCSRIA amp 1 lt lt UDREI1 UDRI Y ch 0 send data DataTrU 1 lt SendData Ul for 1 0 i lt 10 i DataTrU_1 longitude i
72. ircuit programmer The first one is more advanced but really expen sive second one which we are going to use is much cheaper Figure 32 shows ATMEL AVRISPmkII programmatic for AVR MCs It has really convenient software and fast speed of working But it was quite challenging for me to install it on Win7 because originally it was designed for WinXP and finding suitable drivers for Win7 was a bit difficult It has USB con nection to PC and ISP to MC From Figure 32 we also can see the way of MC connection to programmer with ISP interface Some of MCs has JTAG interface allowing debugging in the real device 12 MISO VCC SCK MOSI RST GND ISP Figure 32 ISP scheme connection and AVRmkII programmer 50 Main MC also has JTAG interface for debugging but we have no special converter for that But it would be impossible to design something without ability to check you work step by step Of course there are some software simulators for PC but I would not say that they are so reliable Therefore I decided to use LCD display with 2 lines and 16 symbols in each It is very convenient when you can check what kind of information microcontroller in it is regis ters during operating process Figure 33 shows common monochrome LCD display In order to transfer information it has data bus 8 pins and three control connections Backlight and brightness might be adjusted with additional resistors or with PWM modulation from MC LCD has embedded
73. ist3S i DataU_0 GetDataU_0Q k 0 k1 0 k1 Dist3S k k SymNum Dist3 k1 100 k1 Dist3S k k SymNum Dist3 Dist3 k1 10 k1 Dist3S k k SymNum Dist3 k1 Dist3 Time void PrintTime void 100 Clean k 0 Addr1 0x80 for i 0 1 lt 5 i Data Addr1 Cmd Data TimeD k DataTr Addr1 k k 0 Addr2 0xC0 5 while time k Data Addr2 Cmd Data time k DataTr Addr2 k if k 2 k 4 Data Addr2 Cmd Data DataTr Addr2 Latitude and longitude latitude void PrintLaLon void Clean k 0 Addr1 0x80 for 1 0 i lt 4 i Data Addr1 Cmd Data LatitD k DataTr Addr1 k k 0 while k Clatit Data Addr1 Cmd Data latitude k DataTr Addr1 k Data 0x80 15 Cmd Data NSindi DataTr Nongigtude k 0 Addr2 0xC0 for 1 0 i lt 4 i Data Addr2 Cmd Data LongiD k DataTr Addr2 k k 0 while k Clong Data Addr2 Cmd Data longitude k DataTr Addr2 k Data 0xC0 15 Cmd Data EWindi DataTr Speed and Course speed void PrintSpeedCourse void Clean 101 Addr1 0x80 for 1 0 i lt 6 i Data Addr1 Cmd Data SpeedD i DataTr Addr1 Addr1 Addr1 1 for 1 0 1 lt 3 1 Data Addrl Cmd Data speed i DataTr Addr1 course Addr2 0xC0 for 1 0 i lt 7 i Data Addr2 Cmd Data CourseD i DataTr Addr2 Addr2 Addr2 1 for i 0 1 lt 3 i
74. it is own powerful driver which has the similar control system The main idea is that all of them have embedded MC which receives PWM signals and then runs appropriate motor Moving direction and speed depends on signal length For all our motors neutral position is 1 5mS 24000 MC s cycles except steering wheel servo where it is 1 375mS 22000 MC s cycles Figure 36 provides information timing for each engine in mil liseconds For convenient speed control I designed 5 step gearbox forward and 3 step gear back 1 28mS Move Cam L R Move Cam U D Forward 1 375mS neutral 1 5mS Backward Move Steering wheels Move Back wheels Figure 36 Servo motor s timing 59 One more detail which I also implemented is automatic return of the steering wheels into neu tral position in case of absent control signal from user In real vehicles it is done by mechan ics in Decartus system it should be done with software Code example of automatic return if ch 0 if C1 25 PORTF 0x04 1 delay cycles 22000 Neutral PORTF 0x04 if C1 lt 24 Cl PORTF 0x04 delay cycles 15000 Start point i C1 while i gt 0 delay cycles 280 i PORTF 0x04 if C1 gt 26 Cl PORTF 0x04 3 delay cycles 15000 Start point i C 1s while i gt 0 f delay cycles 280 i PORTF 0x04 As we can see from example there are three parts If there is no signal 0 and everything and s
75. l Modem Configuration jangeters and Firmw arameter View Profile Read Tite Restore Save BB x CTU COMA von rmm Versions Download new versions update firmware Show Defaults Version XBEE PRO on sel s XBP24 B ZNET 2 5 COORDINATOR AT gt 1041 xj Er Networking A B 14 CH Operating Channel I 234 OP Operating PAN ID B 234 ID PAN ID Bl FFE SC Scan Channels Bl 3 SD Scan Duration Bl FF NJ Node Join Time ES Addressing Bl 0 MY 16 bit Network Address Bl 134200 SH Serial Number High Bl 40627125 SL Serial Number Low E 134200 DH Destination Address High Bl 4062CC32 DL Destination Address Low Bl KG2 NI Node Identifier Bl 0 BH Broadcast Radius Bl 10 AR Aggregation Route Broadcast Time Bl 0 DD Device Type Identifier KI 3C NT Node Discovery Backolf Bl 0 NO Node Discovery Options RF Interfacing Bl 4 PL Power Level PM Power Mode D Security EE Encryption Enable Bl 0 EO Encryption Options Bl KY AES Encryption Key I Serial Interfacing B 4 BD Baud Rate Bl 0 NB Parity Bl 0 RO Packetization Timeout Bl 0 D7 DID Configuration Bl 0 DE DIOS Configuration A Sleep Modes 8 0 1 0 Settings H E AT Command Options Er ni Diagnostic Commands COORDINATOR Figure 24 Configuration mode in X CTU software for XBee modules X CTU software has four tabs PC S
76. l these things together We can use direct data TX RX CTS RTS connection from our USB RS232 to module but it has 5V power supply so for these purposes I installed 3 3V stabilizer in order to decrease voltage level in order to avoid module damage With the aim of to reach high performance of XBee Pro modules I decided to install 9dBi antenna USB RS232 12VDC Figure 30 Connection scheme in wireless PC block Then we have to receive and convert video signal from mobile platform For these purposes I installed video receiver operating on the same frequency as transmitter channel 49 which has its own high gain antenna and USB video grabber KONIG CMP USB VG5 We decided to use this converter because it has great verity of drivers for any kind of Windows OSs and PC sees it as web camera which simplifies the programmer s work 46 5 11 Power system One of the most important issues for each electronic device is power and how to get it in or der to provide efficient work for a long period of time Vital parameter for UVs systems is batteries and it is really challenging to combine and optimize weight of platform included buttery source duty and operating time If we want to increase work time we need powerful battery which is lead to overweight of the entire platform motor overload and decrease the speed The same in wise versa when we what to increase speed but time will be shortened becau
77. lance over the ground surface This pro ject included three parts as developing intelligent mobile platform server and client sides System was named Decartus from the name of famous scientist Rene Descartes My aim was to designed and prototype the mobile platform which is able to exchange data with PC and provide autopilot system with obstacle avoidance algorithm While I was doing it I faced many challenging moments some of them took even more than one month to solve them First of all I started with market research in order to find suitable hardware to might meet Descartes system requirements Our systems needs some really special and sophisticated elec tronics which I was able to find in China and Taiwan While I was waiting for that I started to develop the GPS autopilot algorithm The first problem I faced was that we did not have device for program debugging with using JTAG interface in order to check life controller data So I did a little research found LCD display where I could output data As result I got device which can show me the current in formation It was really convenient implementation which helped me a lot Then with the GPS system firstly I used Condor receiver with external antenna Unfortunately it was not really successful because it takes around 5 minutes for it to find enough satellites and in cloudy weather it could not get coordinates at all So I decided to change it into EB 240 TD model which is more eff
78. ls It means that we can control powerful motor with a common microcontroller where output current is so low in compression to motors current 36 These devices commonly consist of powerful elements as transistors with CMOS of MOSFET technology and filters Filters are able to decrease or even delete power noise which occurs when DC motors works This noise can cause many problems to sensitive elec tronics like microcontrollers or sensors or even destroy them That is why it is vital to use filter system 37 From earlier experience I can tell that it causes rebooting microcontroller every 500 ms and changing quartz frequency which lead to misbalance of the whole system misbalance Nowadays a driver for typical robotic DC motor with two channels and maximum current 2A per one looks like a common microcontroller It is so small powerful and easy to install with small amount of analogue elements 38 At Figure 15 we can see different bodies of one of the most popular driver for these purposes There are available several variants in functional solution and two shapes DIP and SMD both of them require additional cooler They can be used in conjunction with both analogue and digital electronics All in all for our platform we are also going to use special driver and intelligence electronics which will help us to reach the best results provide quality and optimize solution Figure 15 DC driver L298N 24 4 IDEA AND GOALS 4 1 Ba
79. lways update firmware Load Modem XGEEPRO notion SE x8P24 8 C ZNET 2 5 ROUTER END DEVICE AT 3 gt am Bus CH Operating Channel 234 OP Operating PAN ID 234 ID PAN ID 1FFE SC Scan Channels 3 SD Scan Duration FF NJ Node Join Time 0 JV Channel Verification dressing 4D MY 16 bit Network Aes gq 1 134200 SH Serial Number High i 4062CC32 SL Serial Number Low 134200 DH Destination Address High 40627125 DL Destination Address Li KGI1 NI Node Identifier 0 BH Broadcast Radius DJ AR Aggregation Route Broadcast Time 1 DD Device Type Identifier 3C NT Node Discovery Backoff 0 NO Node Discovery Options Interfacing 4 PL Power Level 1 PM Power Mode urity 0 EE Encryption Enable 0 EO Encryption Options KY AES Encryption Key rial Interfacing 4 BD Baud Rate 0 NB Parity 0 RO Packetization Timeout 0 D7 DID Configuration 0 DE DIOS Configuration Parameter View Versions Clear Screen Download new versions 4 Show Defaults Version 1241 y 00 10 tA IR m ru Ra a ei WN As E MU a a a a a a Ad a a a a a a a a a a a Ri m n r tn m ET EY HT HYHY lt ETETET oe bi mn m E G Sleep Modes H E 1 0 Settings H E AT Command Options 1 1 Diagnostic Commands ROUTER END DEVICE te Configuration PC Settings est Termina
80. m per hour 7 Such plat forms provide high efficiency reliability and stability under extreme conditions They also allow the robot to move through difficult terrain and reach hard available or dangerous places Another generation of robots it is unmanned aerial vehicle UAV also known as a Unmanned Aircraft System UAS aircraft which is flying without pilot by using different systems of navigation such GPS or GLONASS They are used from small and autonomous Special Forces units in army battalions divisions brigades and corps to joint services theatre opera tions centers UAS provide a wide range of combat support services such as defence and ex ploration objects from the air It s really convenient to use because of light weight small re sources consumption and high resolution of video camera which provide quality picture of the survive area 8 Figure 3 Unmanned Aircraft Systems 10 It can be clearly seen in Figure 3 that the design of UAV use glider technology This allows minimizing power consumption while providing video surveillance UAV should be opti mized for speed in order to provide fast transportation time to the survive area and also they should be able to stay at that area as long as they need For the last purposes slow speed would be recommended However we know that lower speeds require bigger wings Using glider technology with huge wings they can reach great characteristics in this field M
81. mpass module are Power 5v only required Current 25mA Typ Resolution 0 1 Degree Accuracy 3 4 degrees approx after calibration Output 1 Timing Pulse 1mS to 37mS in 0 1mS increments Output 2 I2C Interface SMBUS compatible 0 255 and 0 3599 SCL speed up to 1MHz Size 32mm x 35mm Pin 9 Ov Ground Pin 8 No Connect Pin 7 50 50 z Pin 8 Calibrate Pin 5 No Connect Pin 4 PM Pin 3 SDA Pin 2 SCL Pin 1 5v Hilton Lu _ a e N ea Co z gt ts Figure 21 Magnetic Compass CMPS03 39 Figure 21 represent overview and pin configuration for Magnetic Compass CMPS03 It can be clearly seen that there are two ways of getting information First one is from Pin 4 Pulse Width Modulation and second one is from Pins 3 and 2 I2C interface 30 The PWM generates pulses with positive width representing measuring angle The pulse width changes from 1mS 0 to 36 99mS 359 995 meaning that 100uS plus with 1mS off set Delay between pulses is 65ms plus pulse width so in total 66ms 102ms This timing is clearly represented in Figure 22 which provides information of PWM signal structure As this module require 5V power supply we have take into account the fact that microcontroller also should operate at the same power Otherwise we have to convert signal voltage to the required level It can be done with transistor repeater or resistive divider Figure 22 Compass PWM timing
82. mportant to notice that for zooming and moving camera we need engines which can increase the weight of the system For ground UVs not a big issue to install system with advanced techniques which has more weight than others On the other hand areal UVs are really demanding to these parameters Moreover surveillance distance for areal UV is much longer then for ground UVs this was lead to installation of hi tech video sys tems which provide high picture quality and enhance zoom 25 Figure 10 different types of video surveillance systems for areal UVs 25 26 At Figure 10 we can see two video systems for areal UVs First one is used for small vehicles where working range does not exceed 40 50 km whereas second one might be install on mid dle range models where the distance is up to 500 km Manufactures solve the over weight problem with using advanced materials such as carbon fibre and aluminium These materials are so light and strong In order to be able to identify targets and take a video in the night con ditions they need additional sensors and equipment Lighter equipment saves fuel and increase flying distance So it can cover more area with same recourses It is also important in a battle field where situation is challenging and many restrictions 19 3 5 Video transmitter Video surveillance systems can get a picture but then we need to transmit it It is obvious that we can not use wires for signal transmission e
83. n i Activate with 10uS pulse ae Start scanning Does interruption pulse appear No TIMER1 0 Stop scanning v v Flag 1 Read timer v Calc distance r Convert esult into symbols END ULTRASONIC Interruption enable Start scaning Does rising age appear Yes TIMER1 0 Does falling age appear Stop scanning Calculate data Convert result into symbols COMPASS Figure 2 Ultrasonic and Compass sensors scanning algorithms 79 Yes Yes No Receive next symbol Receive next symbol v Receive next symbol egin gt v Receive next symbol Receive next Receive next symbol symbol Receive next symbol Receive and save data into appropriate buffers END gt eM Figure 3 Data receiving from GPS by second MC atgorithm 80 Yes No Direction F Yes Yes Obstacle Yes Move R v Move L v MoveL Move R Move R Move
84. navigation systems in used or development are 13 e Galileo a global system being developed by the European Union and other partner coun tries planned to be operational by 2014 e Beidou People s Republic of China s regional system covering Asia and the West Pa cific e COMPASS People s Republic of China s global system planned to be operational by 2020 e GLONASS Russia s global navigation system e IRNSS India s regional navigation system planned to be operational by 2012 covering India and Northern Indian Ocean e QZSS Japanese regional system covering Asia and Oceania e GPS USA Global Position Navigation system nowadays one of the most widely spread around whole the world Although there are many alternative the most widely used navigation system is GPS It was developed by U S military owned and operated satellite constellation 11 It can be apply everywhere in civil and commercial sector far outweigh it s original military purposes and service continue to grow GPS was developed as a generic navigational system but has evolved into a predictable reliable and ubiquitous capability of information on demand However it is used for wide ranging purposes and requirements Anyway it is a transforma tional tool that has dramatically spread our society economy and national security For sure it would be difficult or might be impossible to imagine a world without GPS As in air transport as
85. nd the result is direction Mobile platform for Decartus system operates only in 2D space so it requires only direction where to turns left or right and it is angle Angle can be calculated by Tangent theorem for of a right triangle Figure 37 a shows angle calculation according this theorem Legs length of triangle is calculated by subtracting latitudes and longitudes modulo All values should be converted into degrees m required direction f ctg x y a Figure 37 Calculation method of the rotation angle At Figure 37 b we can see example of current direction and required direction to the destina tion In this example they are located in the same quarter With subtracting latitudes and lon gitudes modulo we will find x and y parameters for f angel calculation However for b angle 61 x and y will change positions in the formula In total we have to know three angles in order to be able calculate rotation angle f rotation angle g Compass angle b angle between required direction and horizontal axis a angle between current direction and vertical axis We have no g angle of the figure because in our example a g First of all we have to find out which quarter belongs current and required directions Then we need to calculate our angels according received information from the GPS receiver One more detail I should mentioned our planet has sphere surface that is why x Latitudes subtraction modulo
86. ned on video transmitter and data transceivers we have got interference between them which caused so many problems for XBee modules they even could not transfer information at all After that we adjust channel on video transmitter and found the best one which is does not cause any difficulties for modules Now it is operates through channel 9 39 Technical parameters e Voltage DC 12V 1A Transmitter and receiver e Output current 260mA e Output power 800mW e Video output IVp p FM e Size 19mmx45mmx53mm e Frequency 1 080G 1 120G 1 160G 1 200G 1 240G 1 280G 1 320G 1 360G e Antenna Gain 2 5 DB 5 6 Video camera Video camera it is a special device which is used for getting electronic motion picture There are digital and analogue cameral For Decartus project we are going to use analogue video camera designed for vehicles It has water resistance body infra red lights which are provide night vision for camera and also wide view angle 120 From the Figure 26 we can see that lights located around lens that allows for uniform illumination in the visible sector of the chamber In order to decrease camera power consumption there is installed special light sen sor which determines power and whet backlight should be turns on Lens Sensor R Backlight Figure 26 Video camera These infrared lights provide high quality high vision In total darkness effective distance is 5 meters It will help for Decartus
87. nfraredimaging co uk content english products miricle 110k index html No up date information available 68 25 26 2T 28 29 30 31 32 33 34 RF module HM TR433 232 web document Hope Microelectronics subsequent 22 03 2011 Available http picasaweb google com picaxe Data Updated 05 01 2006 The UAV Predator web document Hooked on RC planes subsequent 25 03 2011 Available www hooked on rc airplanes com uav predator html No update informa tion available Wireless Audio Video Transmitter web document Camera2000 subsequent 26 03 2011 Available www camera2000 com en 8 ch 800mw wireless audio video a v transmitter kit html Updated October 2000 Wireless Audio Video Transmitter web document Wireless Expert subsequent 28 03 2011 Available www tradeage com sale new 1 2g 8ch wireless video audio av transmitter receiver 2 5w uc088 ce011402 No update information available Datasheet for FT232RL web document FTDI Chip subsequent 29 03 2011 Available www ftdichip com No update information available Cisco routers web document Cisco subsequent 30 03 2011 Availabale www cisco com No update information available How do servo works web document Hitech HS 422 2004 subsequent 1 04 2011 Available http serwo wtx pl No update information available Digital servos Futaba web document Futaba 2007 subsequent 2 04 2011 Available
88. ogram disables interruption reads timer calculates distance and converts data into symbols for data transferring buffer Otherwise if there are some problems with sensor con nection after run out of time it will write into buffer 700 value I decided to use consequent scanning instead of simultaneous in order to avoid interruption intersection of echo pulses Code example for left side sensor GICR 0x08 enable PCIEO activate interruption line Dist1 700 PORTD 0x10 set 1 start trigger pulse delay cycles 160 linitiate 20us PORTD 0x10 set O end trigger pulse PCMSK0 0x01 PCINTO interrupt enable delay cycles 240000 wait 30ms PCMSK0 0x01 PCINTO interrupt disable 53 Compass module Compass module also has PWM type of communication with MC Here I used the same first 16 bit timer with clk 8 prescaler for angle determination There are some differences in PWM mode for compass in comparison with ultrasonic sensors In previous algorithm we should trigger device before getting echo However here an echo signal is going continuously with certain timing rules So we cannot use the same kind of interruptions which appears with any logical change Otherwise sometimes we will measure real course and sometimes range be tween pulses what is not acceptable for us In order to avoid this affect I decided to use more advance INTO interruption where appearance of it might be configured both for rising and f
89. oreover as they do not need pilot inside there is no problems with overload for human Be cause UAV is a remote control machine an operator can stay on the ground and control it through special equipment which provide similar systems as in real plain Some of these UAVs are so simple that even common solder can operate them but some of them so complex that they need special employee with special skills to manage them Al in all before developing or buying such systems we should to clearly understand where such platform will be used and under which conditions Because with the right decisions we can reach great results and overcome the obstacles and problems that appear in our way 2 3 GPS Navigation Navigation is one of the most important services for determine the object position relatively to the earth s surface It helps to realise what is your location now and where is the point which you should reach Since ancient times there has been great verity of differ devices and meth ods for navigation However they do not provide accurate enough results because nowadays requirements for navigation have grown up dramatically To solve this problem there has been developed great verity of navigation systems using satel lite technology The main idea here is to measure distance between object with known loca tion satellites to the object which is need to be determined 11 Satellite sends the signal to the receiver and distance measure
90. our ReceiveData TransmitData 83 void Init void PORTA 0x00 DDRA 0x00 PORTB 0x08 DDRB 0x08 PORTD 0x02 DDRD 0x12 PORTE 0x00 DDRE 0x00 SREG 0x80 allow global interruption TCCR1A 0x00 TCCR1B 0x02 prescaler clk 8 UART initialisation USART O initialisation UBRROH 0x00 set speed 9600 bps UBRROL 0x33 UCSROA 0x00 UCSROB 1 lt lt RXENO I 1 lt lt TXENO enable Receiver and Transmitter UCSROC 0x86 frame format 8 data stop bit no parity USART_1 initialisation UBRR1H 0x00 set speed 38400 bps UBRR1L 0x0C UCSR1A 0x00 UCSR1B 1 lt lt RXEN1 1 lt lt TXEN1 enable Receiver and Transmitter UCSR1C 0x86 frame format 8 data stop bit no parity M Set GPS for 1 0 i lt 27 i while UCSROA amp 1 lt lt UDRF0 UDROsset GPS i scan Ultrasonic sensors 84 interrupt void PCINTOint void 2 intFlag 0 i if PCMSK0O 0x01 II PCMS K0O 0x02 II PCMS KO 0x04 intFlag 1 TCNT1 0 j if PCMSK0 0x08 amp amp PINA 0x00 intFlag 1 TCNT1 0 else intFlag 0 Disti TCNT1 58 Dist2 TCNT1 58 Dist3 TCNT1 58 interrupt void INTOint void if intFlag 0 MCUCR 0x02 falling age TCNT1 0 intFlag 1 if intFlag 1 intFlag 0 CourseComp TCNT 1 100 void ScanDist void
91. pUQd iode ans nat dite aa opaca tu ao Please NEU OS BUS 48 SOBEDWVNRE S oe cheque n maet A Re pdt ms 50 OT Basie algorithm ils ssa viat sat Sei ai TRE Tm ea nad c pacc ee 52 0 25 E SCANS Go csi oed RS MEME A EU 53 6 39 Data communications ee cia 55 64 Platform movement control soie aseo oet ett dr oat Iu a tse eate 59 6 2 Autopilot System islandais 61 CON CID SSTOIN s tton ute utes ti to He Vott Ups Sn E auem de 64 BIBLIOGRAPHY ATTACHMENT 1 ATTACHMENT 2 ATTACHMENT 3 ATTACHMENT 4 1 INTRODUCTION Nowadays there is a great variety of different surveillance systems which can help people to control different kind of objects and areas Also these systems make it possible to take care of people or opposite way spy something It s a really great opportunity when people can discover and see whatever they want without being themselves in present This kind of system is commonly used by police sappers and army in dangerous situations As students of Mik keli UAS we decided to set up Decartus project in which we implement an improved mo bile video surveillance system with advanced features such as autopilot based on GPS sys tem ability to control it over the Internet comfortable robot navigation by operator and reli able platform with confident cross country characteristics This project also includes a server to control and represent information for user from mobile platform and web access to this server with the same abilitie
92. print Ist line size Addr1 k j char m4 gt Stanislav lt text 2 line 97 size 0 k 0 Addr2 0xC0 while size 16 Data Addr2 Cmd Data m4 k DataTr print 2nd line size Addr2 k delay cycles 48000000 Clean void ReceiveData void request while UCSROA amp 1 lt lt UDREO UDRO R find ch 0 while ch GetDataU_0 ch DataU_0 TIME GetDataU 0 Ctime 0 while DataU_0 time Ctime DataU_0 GetDataU 0 Ctime Status while DataU 0 GetDataU 00 status DataU 0 LATITUDE while DataU 0 status GetDataU 00 while DataU 0 GetDataU_0Q Clatit 0 while DataU_0 latitude Clatit DataU_0 1f base 0 remember base Latitude latitudeBase Clatit DataU_0 GetDataU 0 Clatit N S indicator while DataU_0 GetDataU 00 NSindi DataU 0 LONGITUDE while DataU_0 NSindi GetDataU 0 98 while DataU 0 GetDataU 00 Clong 0 while DataU_0 longitude Clong DataU_0 if base 0 remember base Longitude longitudeBase Clong DataU_0 base 1 GetDataU 0 Clong E W indicator while DataU_0 GetDataU 00 EWindi DataU 0 SPEED while DataU 0 EWindi GetDataU_0Q while DataU 0 GetDataU 00 1 0 while DataU_0 speed i DataU_0 GetDataU 0 i k1 0 a 1 while i 1 1f speed 1 k1 spe
93. r Addr2 Data Addr2 Cmd Data 0 DataTr Addr2 k 0 Addr1 0x8A k 0 ch G Data Addr1 Cmd Data ch DataTr Addr1 ch Data Addr1 Cmd Data ch DataTr Addr1 k1 G 100 if k1 gt 0 NumSym ch k1 Data Addr1 Cmd Data ch DataTr Addr1 k12 G G 100 100 10 117 if k1 gt 0 NumS ymQ ch k1 Data Addr1 Cmd Data ch DataTr Addr1 k1 G G 10 10 if k1 gt 0 NumS ym ch k1 Data Addr1 Cmd Data ch DataTr k 1 if k1 0 amp amp k 0 ch 0 Data Addr1 Cmd Data ch DataTr k1 0 118
94. s for operator First part will be done by Ivan Suvorov and second by Vitaliy Klimenko also Mikkeli UAS students My final thesis is related to hardware part of the Decartus project It will be a bit complex system which includes a GPS module ultrasonic sensors in order to avoid obstacles mobile platform a connection between a PC and a main microcontroller which will organise all of this This device should have ability to cover quite a big area Maximum distance from the server is 1 5 km It would be enough for doing different kind of work Speed of mobile platform must be up to 30 km h in order to give ability for operator to control large enough area in short period of time Controlling block should be quite compact and located near the com puter With such features we will have useful and convenient system for video surveillance For Autopilot system we will use a GPS module which sends the information to microcon troller and operator Here we will use parallel processing both on server and on microcontrol ler This method would help us to avoid situations when operator could lose signal and as re sult lose our bot So the system independently from the server calculate backup path and re turn bot Moreover with such a method this system can be totally independent just drive around collect some data return and transfer it to the server In order to avoid obstacles there must be installed ultrasonic sensors with 3m work range
95. se light weight battery has lower power As Decartus system require from 30 60 min work time depends on speed I decided to leave its own battery for 8 4V 3000mAh only for motor driver But we also need additional power for video system and rest of electronics For these purposes I add additional 12V battery This one is so convenient to use in our project because of battery chagrin status 2 outputs 12V and 5V Moreover it uses Li On technology feature high duty power with minimum weight Fig ure 31 represent scheme of power connection in Decatrus platform according to require ments There one key moment as we can see there is common GND cable between electron ics and motors I made it in order to avoid problems with communication between MC servos and driver Otherwise they can not distinguish level of logic 0 This way of cable connection provides reliable and stable power supply for all means of embedded electronic systems Figure 31 Power scheme connection in Decartus platform 47 Technical parameters of Li On battery e Power output 12V 3800mAh 5V 5600mAh e Power load 1000mAh e Type of battery Li On Rechargeable e Size 96 59 23 L W H mm e Weight 189 g 5 13 Principal scheme Electronic devices contain many components which should be connected in right way in order to work With the aim of to know for engineer how to connect them designers crease a spe cial principal electronic scheme wh
96. seconds then dividing the result by 58 we will get centimetres and dividing by 148 inches In case there is no any reflected signal sensor lower echo line after 30uS However there are some timing limitations We can trigger SRF05 only once in 50 ms in order be sure that ultrasonic waves are faded away and will not cause redundant echo next time Figure 20 provides information about measurement efficiency of SRF05 sensor As we can see from the beam pattern operation angle is from 120 to 15 according to the measuring distance Figure 20 Beam pattern of the SRFO5 transducer 19 29 5 2 Compass module For accurate navigation and deterring the direction we can use data from a GPS module But due to that fact that our UGV does not move so fast as UAV for instance it can cause some problem because of positioning error is lt 3m in 80 cases and lt 5m in the rest 20 So in order to provide our system more reliable and accurate course data we need to use a compass module Such device determines direction by analysing Earth electromagnetic field Of course real pole and electromagnetic pole are located in different places but we can avoid this prob lem with special algorithms in software We will take a look that more closely in software chapter For Decartus project we are going to use Magnetic Compass CMPS03 which was specially designed for the use in robots as an aid to navigation Technical parameters of the co
97. sic idea Nowadays there are so many different video surveillance systems which can provide quality of service and reliability Also we can find great variety of systems which use mobile areal and ground platforms as well which are so effective in different situations Most of them are used for military and defence purposes but we also can find them in civil area However they can be operated only manually and operator can t be further then work range of transceivers For typical systems this distance varies from 1 25 km this might cause some challenges for users of the system If we take a look to contemporary world we can see that communication service such as Internet is growing day by day and now we can find it where ever we go Speed and quality of service has increased dramatically over the past 15 years and it s going to improve even feather It is obvious that today we can even live in virtual space by join lots of services work shopping and have fun People and scientists argue that in the future this tendency will grow That is why Ivan S Vitaliy K and I decided to set up a project which can combine in one real and Internet services In the virtual space our project is a web page with information rules and control panel for mobile platform So on the control panel user can find control buttons online video from mobile platform world map with platform GPS information and also settings for the autopilot system An operator
98. signal I2C interface provides faster communication and same accurate data but PWM communica tion is more convenient to use in our project So now we focused on methods and algorithms which can provide stable and reliable data communication with microprocessor 5 3 GPS module As I already mentioned there is no way to built autopilot system without a sensor which can provide accurate navigation data In operating space in our case it should be geographical coordinates and direction For getting this information for Decartus we are going to use GPS module for civil purposes For sure common GPS chips has error coordinates detection from 2 5m but it would be enough for our system because we use additional sensors such as Magnetic Compass and Ultrasonic sensors with the aim to avoid obstacles on the path way But if we install this system on UAV we will have no problems with navigation accuracy and no need for additional sensors However navigation algorithm will be much more sophisti cated because device should be able to define its position in 3D space 3l Anyway Decartus system requires 2D navigation so we do not need to define altitude in our system For these purposes we are going to use EB 240 TD receiver by TranSystem Inc 40 This is contemporary complete sub system with an embedded antenna a backup battery and a GPS engine EB 240 TD supports quality and reliable navigation under dynamic conditions in areas with limited sk
99. specially for areal UVs Therefore there are great verity of wireless devices which can provide data transmission with different speed quality and distance Longer ranges we require then more powerful and sophisticated system Decartuas project requires wireless system which provides video transmission up to 1000 m range This type of system can be used also on any kind of UVs which do not work further than 1km As we know video signal require a wide bandwidth Therefore transmitter for such distance has big power consumption In average it takes from 7 2W to 24W Also we need special receiver which can get that signal from transmitter and convert into analogue video signal However unlike transceiver receiver does not require so much power in common model from 1 8W 3W 27 28 Moreover typical receiver has by default 12V power supply but the lowest voltage is 5V Because it is normal operation power for electronics and in order to decrease external voltage it use stabilization for 5V 1A Figure 11 shows most fa mous wireless video transmitters which are nowadays available in the civil market All of them provide quite the same distance 1000m Figure 11 Different video wireless transmitters with receivers 27 28 From Figure 11 it can be seen that they have different bodies and different antennas accord ing to their power consumption and carrier frequency With the aim of to provide stable and quality signal avoid interference
100. t s better to use lower frequency but for maintain high speed frequency should be as high as is possible It s important to understand where these devices will be used and which aims should be reached Only after that correct one 17 might be found and combine all necessary features Then more optimize system created then highest rate of the quality and reliability might be reached Table 1 provide information about these transceivers Feature Carrier Power Distance Dimension Weight Interfaces Model frequency V open area LxWxH g RS 232 RS 433MHz or YS 1100U 47x24x6 485 TTL ISM others DC 3 3 5 500m 80 RS485 mm optional optional HM TR433 UART 43x24x15 434MHz DC 4 5 5 gt 300 m 72 232 RS232 mm Spirit ON UART 29x30x5 2 4GHz DC 2 5 3 7 100m 55 TR24A RS232 mm XBee Pro UART 2 4GHz DC 3 3 1600 m 33x22x4 50 Series 2 RS232 Table 1 Comparative table of transceivers 18 3 4 Video camera Each unmanned vehicle UV should provide video from the observation place It will help operator to analyse the situation at the surveillance area and control unmanned vehicle One of the main problems for these systems is to find the best combination of size weight and functionality of the video system The main features of a video camera are resolution and zoom distance Electronics do not take so much place and weight but optics might cause some problem It is also i
101. ta DataTrU_1 SendData U1 k 0 i 0 while k 8 DataTrU_1 Send1 i SendData_U1 i if Send 1 1 k for 1 0 i lt 17 i DataTrU_1 Send2 i SendData_U1 void GetDataU_0 void while UCSROA amp 1 lt lt RXC0 DataU OZUDRO void TransmitData void get request from 128 while ch R while UCSRIA amp 1 lt lt RXC1 ch UDR1 ch 0 transmit data DataTrU_1 SendData_U1 k 0 i 0 while k 8 DataTrU_1 Send1 i SendData_U1 89 i if Send 1 iJ k j for 1 0 i lt 17 i DataTrU 12Send2 i SendData_U1 void GetDataU_0 void while UCSROA amp 1 lt lt RXC0 DataU_0 UDRO 90 Program for main MC ATmega128 Hdefine ENABLE BIT DEFINITIONS ftinclude intrinsics h ftinclude iom128 h unsigned char Data 0 coma 0 Addr1 0x80 Addr2 0xC0 Ctime Clatit Clong Cspeed Ccourse Cdate FinDir CourseDir intFlag first adresess in 1 and secon line unsigned long LatNum 0 LongNum 0 SpeedNum 0 m 0 d 0 LatNumFin 0 LongNumFin 0 x x1 y y1 Dist tanB k1 k2 SpeedN char ch ch1 DataU_0 DataTrU_1 Dir int k button size dec tngB F A B G GC DotNum Dist1 Dist2 Dist2C 0 Dist3 Cl 1 C2 0 C3 0 int time 15 a RecC 120 base 0 numP 0 numPc Finish RecClost int latitude 15 longitude 15 int Dist1S 3 Dist2S 3 Dist3S 3 Control 6 int speed 8 course 3 courseC 3 SendDat 46 char E
102. te com features du 2 05 feature uav htm No update information available UGV Systems web document Grobal Security subsequent 5 02 2011 Available www globalsecurity org No update information available Unmanned Aircraft Systems all categories and classes web document UAV Sys tems subsequent 9 0 2011 Available www uasresearch com UserFiles File 156 181 Reference Section UAS All Categories amp Classes pdf No update information available Overcoming Challenges to Transformation Space Program the Global Positioning System GPS web document Dana J Johnson 2006 subseguent 12 02 2011 Available www northropgrumman com analysis center paper assets Overcoming Challenges to Trans pdf Updated October 2006 Principle of GPS navigation web document Automotive subseguent 15 02 2011 Available www automotive illustrations com No update information available Global Positioning System GPS web document Wikipedia 2011 subseguent 16 02 2011 Available www en wikipedia org wiki Global Positioning System Updated 15 01 2011 The GPS system web document Peter H Dana 2000 subseguent 20 02 2011 Available www kowoma de en gps signals htm No update information available Global Positioning System Lecture 6 web document Kulshreshta 1997 subseguent 25 02 2011 Available www nptel iitm ac in courses W ebcourse contents IIT KANPUR ModernSurveyingTech lectureB 6 B 6 4codes htm Upda
103. ted 10 11 1997 The AVR Microcontroller and C Compiler Co Design web document Dr Gaute Myklebust ATMEL Corporation 2008 subsequent 1 03 2011 Available www2 atmel com Updated 2008 67 17 18 19 20 21 22 23 24 AVR microcontroller web document Elec Intro subsequent 4 03 2011 Available www elec intro com avr microcontroller No update information available Datasheet for SRF05 web document Devantech subsequent 6 03 2011 Available http www dfrobot com image data PDF Manual SEN0006 Manual 10 en pdf No update information available Datasheet for Parallax ultrasonic sensor web document Parallax 2010 subsequent 10 03 2011 Available http www dfrobot com image data PDF Manual SEN0006 Manual 10 en pdf Updated June 2010 The NMEA 0183 protocol web document Klaus Betke 2000 subsequent 14 03 2011 Available http www cs put poznan pl wswitala download pdf NMEAdescription pdf Updated 2000 EB Viewer web document TranSystems subsequent 17 03 2011 Available www transystem com tw No update information available GPS modules web document ECVV subsequent 18 03 2011 Available www ecvv com No update information available XBee Pro Series 2 module web document Digi subsequent 20 03 2011 Available www digi com No update information available RF RS 232 modules web document Infrared Pictures subsequent 21 03 2011 Available www i
104. tialisation Data 0x38 bus 8 bit 2 lines Cmd Data 0x0C turn on display Cmd Data 0x06 Entery set addres increment Display don t move Cmd Data 0x01 clean display Cmd delay cycles 32000 Data recive from USART_0 void GetDataU_0 void while UCSROA amp 1 lt lt RXC0 DataU OZUDRO void SendData_Ul void 94 while UCSRIA amp 1 lt lt UDRE1 UDR 1 DataTrU_1 void PortIni void PORTA 0x00 DDRA 0xFF PORTB 0x18 DDRB 0x17 PORTD 0x08 DDRD 0x08 PORTE 0x02 DDRE 0x00 PORTF 0x00 DDRF 0xFF SREG 0x80 allow global interruption TCCR1A 0x00 TCCR1B 0x03 prescaler clk 64 void UARTini void USART 0 initialisation UBRROH 0x00 set speed 38 4kBps UBRROL 0x 19 UCSROA 0x00 UCSROB 1 lt lt RXENO I 1 lt lt TXENO enable Receiver and Transmitter UCSROC 0x86 frame format 8 data 1 stop bit no parity USART_1 initialisation UBRR1H 0x00 set speed 19 2kBps UBRRI1L 0x33 UCSR1A 0x00 UCSR1B 1 lt lt RXEN1 1 lt lt TXEN1 enable Receiver and Transmitter UCSR1C 0x86 void TotalIni void 95 PortIni UARTini LCDstart MCUCR 0x0A SREG 0x80 Clean char m5 gt Initialisation lt size 0 k 0 Addr1 0x80 while size 16 Data Addr1 Cmd Data m5 k DataTr size Addr1 k j stearing wheel put into
105. ting system which can provide convenient and reli able control for operator Intelligence mean that it can have different sensors to analyze ex ternal environment some stabilization systems which can help to avoid redundant vibration or skidding Moreover there can be installed autopilot system in order to be able navigate and in the case of connection loss Such electronics can be installed in each kind of platform and successfully control it Now then take a look what kind of platform nowadays is able to find and use in this project 35 Figure 14 Typical mobile platforms for robotic development with wheel and track bases 34 On Figure 14 we can see three different mobile platforms First one has wheel base what is quite good in some conditions also it has faster speed in comparison with the others How ever not to mention that fact that second and third models have less speed without any doubts they has so good cross country characteristics All of them has perfect manoeuvrabil ity mean that they can turn round at the same place Second platform has even preinstalled development kit 23 3 5 Power Power supply one of the most important questions for all aspects of our life the same is here Most of platforms which we can find nowadays in the shops have their own drivers specially designed for their motors Here driver is a special electronic device which can handle high power with using low current control signa
106. tions for the platform how to move according obstacle appearances The most sophisticated one is when it is moving for ward and even can get into the trap with obstacles from the left front and right side In this way it should drive back and then turn away From Figure 39 we can see how it works in each situation It is good to noticed that when platform has an obstacle from one of the bottoms and should to turn that way it will move in parallel with that stuff with small fluctuation right and left This happens when it s going to turn obstacle side but sensor cannot accept that it turned opposite way After that distance increase and sensor cannot prohibit that way so it turns obstacle side again and sensor become to see that obstacle and so on Figure 39 Obstacle avoidance algorithm 63 7 CONCULION Today many mobile video surveillance systems are available on the market for different pur poses Most of them are used in military defence and research area All of them have sophis ticated equipment and used great verity of modern techniques However almost all surveil lance systems have no connection to the Internet where it can save transfer and even received data or control commands Therefore we decided to design and implement system with a dis tant connection over the Internet At the end of November 2010 Ivan Suvorov Vitaliy Klimenko and I started the Decartus pro ject oriented on manual and automotive video surveil
107. tors there can be connected any level of external power supply from 5V to 35V can It is so convenient feature when you have to install this board in device with differ power supply But most UVs use batteries from 7 2V to 24V so there would not be any problems to use it somewhere else 48 Both MCs operate with 5V so connected devises should have the same voltage level or any kind of converter in order to avoid MC damage I designed this scheme in way where we need only one converter between main MC s TX and XBee s module RX For converter I used voltage divider based on two resistors R1 1 5kOhm and R2 3 3kOhm There is also connection between XBee s TX and MC s RX and due to that fact that MC has level of logic 1 2 7V 3 3V level of signal from XBee would me enough to establish connection without any problems So we do not need to install second converter However MCs has a problem with internal clock generator The length of pulses become very in time according environment temperature what is leaded to problems with synchronization of interfaces Therefore MCs require external clock generator for stable work of interfaces With the aim of to avoid problems with interfaces I installed two guartzes Cri 16MHz for ATmega128 and Cr2 8MHz for ATmegal62 Calculations Voltage divider Uout R2 R2 R1 Uin Uout Uin R2 R2 R 1 R2 R2 R1 3 3 5 If on R2 voltage drop is 3 3 so on R2 would be 5 3 3 1 7V U I R
108. trollers The selection of the microcontroller depends on features and purposes of use If there is no limitation of the size device can use DIP body moreover it is simple to use while designing new devices But if smaller size is required SMD body can be used without any loss in performance TUTTI ATMEGA128 LET AA Tur 2141000000000 TITRE AU 2 UU ij Figure 6 AVR family microcontrollers 18 13 3 2 Sensors Robots don t have eyes ears or skin which help human to realise distance to the objects col ours understand sound temperature pressure and other external world parameters These features help us to navigate and analyze the space around us However robots to be able to see and interact with the world need same type of sensors as human has With the aim to measure each parameter there are several methods how to do that So sensor choice should be based on type of the robot and what kind of aim it s going to follow 3 2 4 Ultrasonic sensors Ultrasonic sensors are switching devices that are used for determine the distance to the object in the non contact way To measure a distance they use special ultrasonic sound 40 kHz which is sent in a short time slot by transmitter Then as a normal sound it reflects from the object and comes back to receiver Distance is determined by calculating the time between sending and receiving pulses 19 Figure 7 shows how standard ultrasonic sensor works It
109. ts of several signals It can be clearly seen that L1 consist on carrier 1575 42 Mhz C A Code 1 023 MHz an P Code 10 23 MHz Whereas L2 consist of P Code and carrier 1227 6 MHz But also both of them include NAV System Date 50 Hz signal 10 L1 Carrier 1575 42 MHz C A Code 1 023 MHz NAV System Daten 50 Hz e OA i Sg EG P Code 10 23 MHz Modulo 2 Sum L2 Carrier 1227 6 MHz lt L2 Signal Figure 6 Composition of GPS signals 14 The satellite communication network uses a CDMA spread spectrum technique The low bit rate message data is encoded with a high rate pseudo random PRN sequence that is unique for each satellite GPS receiver should know what are the PRN codes for each satellite to restore original data message data 11 3 BUILDING BLOCKS OF MOBILE SURVEILLANCE SYSTEM As mentioned earlier I am responsible for the hardware part of the Decartus project Therefore in this chapter I introduce the most important components required to implement mobile sur veillance systems 3 1 Microcontrollers As we know nowadays more or less sophisticated electronic devices use microcontrollers It is a special microcomputer designed to control various electronic devices and the implementa tion of the interaction between them according to the program In contrast to the microproces sors used in personal computers microcontrollers have built in accessories These devices perform their task under the control of m
110. tudeFin i latitudeMem 0 i for 1 0 i lt 10 i longitudeFin i longitudeMem 0 i Autopilot start Autopilot algorithm void MoveP_FB void ch 0 ch Control 0 PORTF 0x08 if ch 1 __delay_cycles 16000 1ms delay Back 3 if ch 2 __delay_cycles 21000 Back 2 1f ch 3 __ delay_cycles 22500 Back 1 if ch 4 __delay_cycles 24000 1 5ms delay Neutral else if Dist2210 amp amp Dist2 Dist2C 5 10 obstical prediction system if ch 5 1 delay cycles 25500 Forward 1 if ch 6 1 delay cycles 26000 Forward 2 if ch 7 1 delay cycles 28000 X Forward 3 1f ch 8 delay cycles 30000 Forward 4 1f ch 9 1 delay cycles 32000 2ms delay Forward 5 else delay cycles 24000 PORTF 0x08 j 112 void MoveP LR void ch 0 ch Control 1 if ch 0 if C1 25 PORTF 0x04 delay cycles 22000 Neutral PORTF 0x04 if C1 lt 24 Cl PORTF 0x04 delay cycles 15000 Start point 1 C1 while i gt 0 f delay cycles 280 i PORTF 0x04 if C1 gt 26 Cl PORTF 0x04 delay cycles 15000 Start point 1 C1 while i gt 0 f delay cycles 280 i PORTF 0x04 if ch R amp amp C1 gt 0 if C1 0 C1 PORTF 0x04 delay cycles 15000 Start point 1 C1 while i gt 0 delay cycles 280 i PORTF 0x04 j if ch L amp amp C1 lt 50
111. urate rotation resolution In order to solve this we install servo drivers which can offer so precise rotation With this system we don t need to move our entire platform to get a picture from the right angle just move camera wherever you want left and right or up and down so in this way we can save lots of energy and reach our aims with a best results For Decartus project we are going to use HS 311 servo by Hitec company with Pan and Tilt Kit If we take a look at Figure 28 we can see which angles configured for each servo driver Maximum rotation angle for both of them is 90 from the central position However we have limited the tilt of camera both forward and backward First one because there is no point to tilt it feather and second one in order to pre dict obstacle servo construction limitation Figure 28 System of video camera manipulating based on HS 311 servos Technical parameters e Speed 0 19 0 15 sec 60 deg e Torque 3 0 3 5 kg cm 4 8v 6v e Size 40 00 x 20 00 x 36 50mm e Weight 43 00g 42 5 9 Mobile platform There are so many different platforms designed especially for robot construction available in the stores whole around the world Some of them for UAVs another for UGVs but Decartus project need second one so we focused on that Finally we found model which is totally satis fies all our requirements It is Monster Truck STAMPEDE model 3605 by TRAXXAS This one is the most efficiency reli
112. usehold purposes 5 such as grass cutter home and pool vacuuming and gutter cleaning Some examples are shown in Figure 1 Vacuum cleaner ro bots use specially designed platform with low clearance with 3 4 wheels and special sensors to avoid obstacles and they have low height in order to be able work under the furniture Their bodies are typically made of plastic and controlling system are not waterproofed Their con trolling systems help them to work totally automatically without any human help Figure 1 Scooba home vacuum Looj gutter cleaner and Verro pool cleaner by iRobot 5 Unlike Scooba robot Verro has water resistance body which helps it to work under the water surface Such kinds of platforms are commonly used for robots which work under the water with the aim of to protect electronic damage Actually it doesn t matter what robot doing there cleaning researching or scanning bottom it should be water protected Figure 1 also provide example Looj of design for robot which work under special condi tions namely in narrow gutters and good traction So as result we can see narrow body with two tracks on the side Such design helps to placed it in narrow trenches and overcome the difficult parts Because these robots are oriented to domestic use in the normal catch their platforms are made of plastic what is dramatically reduces the cost of the product In military and defence area there are two totally different
113. y I prototyped the mobile platform This kind of system can be easily used for any unmanned vehicles with appropriate configurations depending on purposes to use These systems are mostly used in defence security and research areas I found various mobile platform models GPS receivers and robotic cameras and chose most suitable ones for Decartus system Then I did numerous experiments implementations and reached good results This system provides stable wireless data communication with PC and programmable autonomous mode It can follow the pre defined path avoid obstacles and return to the starting point in case connection loss This platform can be equipped with different sensors in order to provide addi tional information From my point of view this system can be very useful in the future when people can use it in dangerous situation and places without any risk for their health Subject headings keywords Decartus system autonomous navigation AVR microcontroller GPS Ultrasonic sensors Compass mobile platform Pages Language 70 pages attachments 47 pages Enlish Remarks notes on appendices Part of Decartus progect mobole platform design buld Autonomous Navigation System Tutor Employer of the bachelor s thesis Koivisto Matti Mikkeli University of Applied Sciences CONTENTS t7 INTRODUCTION TR aao god VSS tenis Qa rene tuo ned Te a nee 1 2 THEORY OF MOBILE SURVELIANCE SYSTEM 2 Vid o SU Clan Nee t s RH Mtem En
114. y view like in cities with high buildings It has high sensitivity 158 dBm for low signal without loss of accuracy and efficiency Technical parameters of EB 240 TD are 41 e Size 30x 30x 8 5 mm e Number of tracking channels 51 channels of Satellite e Voltage supply 3 3 V DC e Interface for communication 6 pin UART interface e Built in rechargeable back up battery e Power consumption 30 mA with 3 3 V Tracking e Accuracy 3m CEP 50 e NMEA massages GGA GLL GSA GSV RMC and VTG e Dynamics Altitude 18000m max Speed 515m s max Vibration 4G max e Update rate up to 5Hz e Acquisition open sky Cold start 36sec Worm start 33sec Hot start 1sec Pin assignment RS232 version Bottom View Fig2 PIN Header Back ub battery Figure 22 EB 240 TD GPS module overview Figure 22 provides our GPS module overview and pin assignment We have RS232 version of module with 6 pins on it However we need to connect only four of them such as GND VCC TX and RX for both directions data communication On the front we can notice GPS antenna and on the back there is clearly seen back up battery It is really convenient to have such battery because according my experiments I realised that it can save last coordinates during at least one week so it provides fast start when it is turned on again around 2 5 sec onds And I also find out that it can work under so hard weather conditions Onc
115. ze 25 28 8 W L H mm e Outoor Urban Range 1600 m e Transmit power 10 mW e Interface serial 3 3V CMOS UART e Freguency band 2 4 GHz e Interface immunity DSSS Direct Seguence Spread Spectrum e Supply voltage 3 0 3 3 VDC side views top view top view ya Figure 23 XBee Pro Series 2 overview and pin assignment 24 Figure 23 shows dimensions and pin s location on the module As I already mentioned mini mum necessary connections are VCC 1 pin TX 2pin RX 3pin and GND 10pin however 34 for configuration mode we also need CTS 12pin and RTS 16pin XBee Pro maintains point to point star and mesh topology but Decartus require only direct point to point connection By default modules are totally clear meaning there is no any OS inside Therefore we have to install and configure it with specially designed software for XBee modules X CTU by Digi Company This software provides connection range testing terminal and configuration modes Moreover it can update OSs for modules online from the official web server There are so many features which can be configured and in order to make it work an tiny details should be configured correctly otherwise it wouldn t work BB x CTU COM4 e 1 Remote Configuration 2 PC Settings Range Test Terminal Modem Configuration 3 Modem Parameters and Firmware Profile Write Restore Save A

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