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Senior Design I Final Paper - University of Central Florida

1. DSM44 6 Metal Digital 0 07 1 6kg cm 12 95 HD 1440A 6 Nylon Analog 0 1 1 kg cm 5 95 GS D9257 6 Nylon Digital 0 07 4 2 kg cm 19 95 HS 5485 6 Karbonite Digital 0 2 89 oz in 25 HS 5048 6 Metal Digital 0 07 1 9kg cm 30 PWM in a Servo The operation of a servo is much simpler than a motor Servos typically operate at voltages that are similar to that of digital circuits as is seen by table They do not generate extra current therefore do not require extra components to protect the microcontroller Most servos are typically limited to rotating 180 although there are servos that can rotate further To turn a servo to a specific angle servos have an input signal value that corresponds to angles In digital servos the duty cycle in PWM is the input signal required to turn the servo to a specific angle Normally pulse of width varies from 1 ms to 2 ms in a repeated time frame pulse is sent to the servo for around 50 times in a second This can be demonstrated in Figure 28 This shows an example of a pulse of 1 millisecond that moves the servo towards 0 a pulse of width 1 5 milliseconds will shift the servo to 90 and a 2 milliseconds wide pulse would take it to 180 Figure 29 shows how interfacing the servo with an Arduino board You can notice the controlled pulse signal is connected to pin 9 a PWM output pin I 9 i D PIS i 4 a a ee 180 ne t
2. 46 Figure 35 Block Diagram of H 264 Video COdeC ccccccececceeccseeeeeeeeeaeeeeeeeesseeseeeessaaeseeeesaaeeees 48 Figure 36 VGA Connections from Spartan 3 Starter Board 45 Permission Pending from pulp 50 Figure 37 Block Diagram of DM365 36 Permission from Texas Instruments 51 Figure 38 VPSS VPFE Internal Block Diagram 40 Permission Pending from Texas cuu se 52 Figure 39 OSD and VENC Modules within VPBE 41 Permission pending from Texas Instruments ccecececcceeeeeeeeeeceeeeeeeeeeeeeeeeeeaeeesaeeeesaeeeseaeeeseaeeeseaeessaueeseaeeeteeeesaaeesseseesaeeeeseneeess 53 Figure 40 DMAI Block Diagram ccccceeeceeeeeeeeeeeeeeeeeeeeseeesaeaeeeeeeaeeeeseeseeessaueeessaeeeeesegeeeesneeeeeas 54 Table 11 Voltage and Current Requirements for HL 1606 eeeeeeseeeeeeeeeeene 55 Figure 41 HL 1606 Chip for LED Strip 45 Permission Obtained from Adafruit 56 Figure 42 Gray Scale Data Format of WS2801 46 Permission Obtained from Adafruit 56 Figure 43 LDP8806 LED Light Strip 45 Permission Obtained from Adafruit 57 Figure 44 PWM Duty Cycles 47 Permission Obtained from Arduino 58 Table 12 Wireless Communication System COMPAriSONS ccccseeccccsse
3. 145 1 Executive Summary Three engineers from Brunswick Billiards consisting of Phil Crossman Bob Kenrick and Brad Baldwin began work on a project in 1969 for a game that would utilize a frictionless playing surface Their game would be developed over the next three years However interest in the project waned and it was set aside Fortunately Bob Lemieux resurrected the project and refocused the design to simulate ice hockey The table surface would be comprised of tiny holes that would supply air to the surface as a method of making the playing surface frictionless The objective was to direct small discs to your opponent s goal that was comprised of a slit at the end of the table which incorporated photo sensors to monitor scoring Mallets were used to strike the disc as a means of propulsion This exciting new game would be branded as Air Hockey and produced to the public Air Hockey was a meteoric success and was subsequently a financial achievement during the mid 1970 s Forty years later Air Hockey is still relevant in most gaming facilities 1 striker represents air hockey re imagined for the avid player The premise is that a human player plays its counterpart in the form of an autonomous robot that will have multiple playing difficulties to challenge all skill levels who play Striker The gamer will have the option of selecting particular playing difficulties by virtue of a smart phone application which will also m
4. ACKNOWLEDGEMENT i i FROM RECEIVER ACK ACK STOP CONDITION CONDITION REPEATED IF MORE BYTES OR ARE TRANSFERED REPEATED CONDITION Figure 50 Timing diagram for I C interfacing 52 Permission pending from Sidharth As mentioned earlier this can be advantageous in applications where more I O pins are desired like for our audio and video controller One downfall of this is the slower data rate of this type of interfacing Typically normal data rates of 100 kbps are achieved however recent advancements have increased this number to approach closer to 1 4Mbps Interfacing Bluetooth When specifying a Bluetooth adapter for a system or project it is important to know which type of interfacing will be used with the MCU of your system For example the Arduino Uno has a built in UART and a secondary SPI configuration option Certain Bluetooth modules are compatible with both however for our system we will most likely go with the UART which is practical and universal in most Bluetooth adapters In order to understand which protocol is ideal we must first have an understanding on how these communication protocols works in regards to Bluetooth modules Interfacing Wi Fi Because Wi Fi is a wireless local area network WLAN it has to connect to a wide area network WAN Some manufacturers of WLAN adapters embed SPI or UART protocols Another method of interfacing WLAN adapters is via
5. T pes le eee D mitem torn DU To Wham May Conten Hello my msme m Luis Nareaez and am currently s saim at the University of Central Fonge majoring m Flertrical ngrmeecimg am contacting yeu in regard so ananieg permission TO whe material fom your websne for my senior Gesige research paper My praeci is ae atonomooi Aw nockey Table 1 my paper releteoce the flm aTZ2uupetxtn K TEL within the following WAL kamennom Tear cmn Mic Dg Sane 2 eardowe 4066 Thus eniernatien wil strictly be ceed for education purposes otly and no profit adi be cade amp any may Thath you it adverce and look Innwart to hearmg tom you Gectca Fageneermyg Student loweersity of Central Forta Coryse of Eagueeneg 2 Comparer Sense 000 Cena Flaite Oh Oriamdu forwla 12878 A Mere a Dc acf ov Ph 407 254 27D amp 126 Permission from Adrio Communications l hitps pod51038 0utlook com owa viewmodel ReadMessageltem amp ltemID AAMkAGIxNGY2ZTMzLWRIMTctNDNjNy1iNDA4LWNiVWOSY 7 gt Message To Whom it May Concern Hello my name is Luis Narvaez and am currently a senior at the University of Central Florida majoring in Electrical Engineering am contacting you in regards to attaining permission to use material from your website for my senior design project research paper My project is an autonomous Air Hockey table In our paper we reference the information in the following URL radia electrani i uet ia interface mod Th
6. amp REPLY ALL gt FORWARD mark as unre Luis Emmanuel Narvaez Wed 11 27 2013 11 16 PM To support crownhill co uk To whom it may concern Hello my name is Luis and I am a student at the University of Central Florida majoring in Electrical Engineering I am contactir you to obtain consent to utilize information or media from your website The information referenced in our senior design project paper is strictly for educational non commercialized use The file referenced in our senior design paper is the following http www click server from the following site http myamicus co uk content php 246 Port nsion using SPI I appreciate your cooperation and look forward to hearing from you soon Thank you Luis E Narvaez Student Electrical Engineering University of Central Florida College of Engineering and Computer Science 4000 Central Florida Blvd Orlando FL 32816 L Narvaez knights ucf edu 407 284 2706 139 ACME ROD Crapo bs pDriegsoot m ub y Por omm yoy Hes ne qo dere yor vg Do twn sw see imi gy Hype fT Awrwrtit F i ietpaesd iedemamtuni L gt i Wal be poss amah actioni ALE rue ft ar oe u cot any Soe Dey Leese 4a 07e d P 1 eem e gts uct m itt ud Ceres aft as x You corren C uate La ag atu wa 259 uem Acie ow ans st Sunya 7 M sums jm 5 m toov ofras 4 G opa ogede Te wom it aay cr gt cercs e telo wy seme te cute acd T r o studert et
7. Goal limit houlda tim No limit be set or a aem oal limit TE Update Score 8 Updated data with end of game alert Turn motor in Request video Puck Return on from A V Flash Lights E Does User want until it reaches system and send MORENO the plaer to app Su ee No No Yes Yes v Receive data from Robotic Arm for number of hits Send A V system updated score and stats Request video from A V system and send to app Send App Updated data Does User want replay video Figure 67 Arduino Uno Coding Flow chart 90 Is puck being tracked Receive Tracking and Robotic Arm Coordinates and Trajectory Rotate Servo to aim for players goal Coordinates Calculate distance from Update Arduino Robotic Arm is Uno with Is Robotic Arm from trajectory number of hits close enough to hit Nose muere the puck send PWM to motor to move required distance Increment MELE 1010 fo number of hits strike Figure 68 Arduino Pro Mini Coding Flow Diagram The smart phone operating system chosen for Striker is Google s Android operating system There are several reasons for this choice First Android is the most popular smart phone operating system in the world therefore more people will have access to Striker Additionally there are no developer fees to create an application This decreases the cost significantly compared to choosing Apple s iOS wh
8. A conceptual sketch of this can be shown in Figure 30 where a castor wheel runs along the inner walls of the aluminum rails As the end effector translates along this track via chassis the actual movement can be controlled via pulley system This can be an easy cost effective way to implement our design however may have too much friction than desired Figure 30 Conceptual Drawing of Translational Track Another idea for our translational movement is to use a threaded ACME rod This will ensure minimal vibration and friction while still being able to vary speeds and direction quickly The rod would have a thread big enough that the amount of rotations necessary to get from one end to the other is minimal Another advantage of this is the accuracy of actuation Ideally it would have to be similar to a drill bit however impractical Figure 31 shows a typical ACME rod You can notice the threading on this type of rod is space much farther apart than all thread 42 wW bius uut EEEE EE EAEE eey Figure 31 ACME Rod Threading 30 Permission Pending from Crapworks One idea of the track that could be practical and easy to build is using bicycle chains to move it across the axis This would be a simple and cheap design although a track may still be necessary to maintain stability while changing direction This may not be practical due to aesthetics however will provide our desired movement with minimal machi
9. Equipments Servomotor aa ee E cc EL 105 Battery 9V Multi meter Procedure 1 First check the name plate to find information about rating maximum load and voltage In order to supply the right input voltage 2 Use the ohmmeter to check the ground resistance between the body of the motor and the lead terminals and then find the resistance of each lead which should be the same value 3 Use the battery to power the motor 5 4 Arduino Uno The main purpose of the Arduino Uno is to verify that it is able to receive data process information and create meaningful outputs Striker requires a fast processor of data therefore the information processing must occur at fast speeds The tests developed for the Arduino Uno are meant to encourage efficient programming and its capabilities to manage multiple subsystems 5 4 1 Lights Test The Arduino Uno has multiple subsystems it is in charge of The most basic of these subsystems are the lights that we are going to use on the air hockey table for visual appeal when a goal is scored It is the first step in testing the Arduino Uno s capabilities Objective The objective of the lights test is to verify that LED lights can be turned on to flash a particular pattern when triggered by an event This will prove to us that the Arduino Uno is capable of creating basic decisions Additionally it will verify that the lighting subsystem can be implemented Equipment Computer
10. MOSFET CMUCAM5 PIXY PIR325 V BELT PASSIVE IDLER HUB 2 X 23 TRACK FOR ROBOTIC ARM TRACK SPROCKET 120 TOTAL 135 84 168 90 189 99 50 94 152 75 959 76 The projected budget and the price list are very similar for the percentage breakdown of money allocated for resources that is illustrated in Figure 78 One exception there was more money spent for visual effects than anticipated Originally visual effects were budgeted for 120 but the actual cost is about 190 making Striker 70 over budget for this resource However other areas had less spending Cost for the robot arm materials is approximately 50 while the proposed budget was 100 The largest discrepancy in resource allocation was for shipping where the actual cost more than doubled the projected budget In all Striker is 40 under budget Striker Price List Puck Return 6 Air Hockey Table 14 Micocontroller 18 Robot Arm 5 Figure 79 Bill of Materials Chart 6 3 Sponsors and Contributors We would like to thank Boeing for their generous contribution of 1000 to fund our design project Striker The more than adequate funding will ease the financial burden to make Striker possible In addition we would like to thank Power Grid Engineering for the funding that is being offered Their thoughtful consideration for our project is greatly appreciated Lastly we would like to thank Universal Studios Orlando for allowing us to u
11. Nov 11 9 days ago to customerservice Towhom it may concern Hello my name is loubens Decamp am a senior student at University of Central Florida UCF and my group is planning on using the ATmega328 chip was just wondering if we could use pictures and documents found in your website Thanks in advance Response from Atmel Mata Cecilia lt Ceciia Mata fatmel com gt DL SJO Sales C me Hello Thank you for your email Please read the Terms and Conditson im the below link http veww atrnei com About legal aspy Aime Corporations Legal Notices gt ED ud ooodhocm d pompa o9 ome qo res be ped her instet po ptu te o aut tar na ih emp ard oar amme Tere dena P ameasg yvo afe04 NEE PETE aco wee g OTe OE meer Ife ed e 9 rte afa agree t aun anu gt her artow jf ees de am ap oet Dose tormi ases oet The webete noe LAATED LICESISE TO ATMEL S MATES S ruat ger free 9 beret 9f czy Tyr Tet 2 e of vmm uss h eat ey 3 Bees Wd Mee cum yg ese Bo 74 be 0 ce Ww TOS q 719987150 XE tm gt 6 ees T che Ogres te sed arma rtm cv Pom eed Lo em gle reae hay M he e mye tee of oF petar ore Pau rn eters cw eremo fete mam ont y m Aaaa tom cope o e i Gao scoia re m the sotme Wty be Caterers ore PEREDA aN of berets potr Aey e Sahi lu f 5870 8 ET ay 6 ESET wee 42 skian 9 pot a CUT une of MIB l 9 Fut uud e wer Ory v Pe Mem m o9 eo t He sc o9 A
12. This is important for our system in the fact that the program must be able to process information with fewer cycles and cycles per instruction ideally For that we now look into the programming process of our tracking system 3 2 2 1 CMUcam Software The software for the puck positioning system is intended to be the source of data for the robotic arm subsystem and the user interface Without the tracking of the puck positioning system the robotic arm subsystem could not apply intelligent decisions towards the movement of the arm Additionally the user interface and the audio and visual system would not display correct data To keep track of the puck during gameplay computer vision applications will be applied To do so an overhead camera will convey the visual source of data and relay this data to a processing unit The processing unit has to have the capability to accept live data while allowing algorithms to analyze and extract data from it The algorithm has to have the capabilities of object detection depth estimation and object tracking 17 Object detection is a vital aspect of the algorithms we create The algorithm will need to correctly identify the puck from its background in a continuous manner through color detection For our purposes the general code will have to identify what pixel intensity corresponds with the hockey puck form a matrix of data corresponding to the location of the edges also known as edge detection an
13. and B provide physcal limit on rotation as well as return voltage 25 Permission Pending from Exe rio TRI 36 Table 8 Specifications of several DC MOtors ccccccccccesseeeceeeceeeeeeeesaeeeeeeesaeeseeeessaaeeeeeeesaaess 37 Figure 27 Functioncal Block Diagram of Servomotor System sseeseseeessee 39 Table 9 Characteristics of Various DC Servomotors cccceccceeceeeeeeeeeeaeeeeeeeeeaeeseeeeesaaeeeeeeaaaess 40 Figure 28 PWM of a servomotor 28 Permission pending from Engineers Garage 40 Figure 29 Interfacing a Servomotor to Arduino via PWM 29 Permission pending from Azega H enm 41 Table 10 Comparison of various SolenoidSs c csseeecceeceeeeeeeeecaeeeeeeeeeaeeeeeeesaeaseeeessaeeeeeessaaess 41 Figure 30 Conceptual Drawing of Translational Track sees 42 Figure 31 ACME Rod Threading 30 Permission Pending from Crapworks 43 Figure 32 C5000 Audio Capacitive Booster Pack 32 Permission pending from Texas JR EE IRIIS ID tc 45 Figure 33 Functional Block Diagram of C5000 Booster Pack and MSP430 Launch Pad 83 Permission pending from Texas Instruments ccccccseeeeeceeeeeeeneeeeeeeeeeeesaeeeeesseeeeeseaeeeeas 45 Figure 34 Microprocessor System Architecture vs DSP System Architecture
14. the player will have the ability to choose a difficulty level through a smart phone application The difficulty levels will affect reaction time for the robotic arm The reaction time is directly proportional to the difficulty level chosen by the user Additionally the player will create a profile so that their score may be saved and compared with others As the game occurs the camera and other sensors will record data These data will be analyzed and will be used to give the player various statistics about the game played This data will be available to be seen on a phone application This phone application will also have access to the replays and will give the player the ability to save and forward the replays 2 3 Requirements and Specifications The specifications and requirements for the main system components are critical to the research phase of making a design In this section we break down critical components to determine the specifications required for their individual purpose These specifications will be used as a basis for our research relating to the project definition 2 3 1 User Interface With our project being one of interaction it was imperative to define the user s role in the experience One way to integrate the user with the system is to develop and application This application will have various features to control the game and interact with Striker Just about every modern smart device has the capabilities of sending
15. 120 132 120v medium CFL efficiency St 2 f we am Relay A contact relay is a type of switch used to open or close an electrical or mechanical contact Relays are used in DC circuitry to control low power devices for example small size motors and solenoids The three most common types of relays to consider is a contact relay a solid state relay and an electro mechanical relay A contact relay has two different states normally opened state NO which happens when the relay has an open contact therefore it is not energized The second state is normally closed NC which means the relay has a closed contact therefore it is energized 73 solid state relays are composed of three parts input output and control circuit This can be seen in Figure 53 When a voltage is supplied to input circuit it will automatically send signals to the control circuit It will then decide whether to energize the output circuit depending on its current state energized or non energized The control circuit is considered a bridge that establishes the connection between the input and the output Figure 53 Single phase Solid State Relay 55 Permission pending from MOR Electric Electro mechanical Relay An electro mechanical relay is made of electro magnets which contain the coil or electromagnet the armature and the contacts This is displayed in Figure 54 An electro mechanical relay can be used in both AC and DC circuits
16. Basics working amp types of Stepper Motor EngineersGarage Online Available http www engineersgarage com articles stepper motors page 3 Accessed 30 November 2013 20 VEXTA Stepper Motors Drivers and Controllers Online Available http www orientalmotor com products stepper motors Accessed 30 Novenber 2013 21 Pololu otepper Motor Bipolar Online Available http www pololu com product 1207 Accessed 30 November 2013 a_a aam 146 22 Azega Controlling a Stepper Motor with an Arduino Online Available http www azega com controlling a stepper motor with an arduino Accessed 30 November 2013 23 ScienceProg ScienceProg com 4 May 2007 Online Available http www scienceprog com using gray code for rotary encoders Accessed 21 November 2013 24 Futurlec Futurlec com 2013 Online Available http www futurlec com Components shtml Accessed 21 November 2013 25 J Feddersen X http fddrsn net ocomp examples potentiometers html Online Available http fddrsn net ocomp examples potentiometers html Accessed 21 November 2013 26 Arduino Arduino Uno Online Available http arduino cc en Main ArduinoBoardUno Accessed 20 November 2013 27 Society of Robots How to Build a Robot Tutorials Society of Robots Society of Robots 30 November 2013 Online Available http www societyofrobots com actuators dcmotors shtml 28
17. Contrary to the solid state relay the electro mechanical relay is a composition of two circuits the coil circuit and contact circuit By energizing the circuit coil current will flow and will create a magnetic field The contact circuit will then open or close the contact using the armature electro mechanical relay Pivot Armature Contacts i EL e i 2 9 d 3l lt j Spring i a Core Coil Figure 54 Electromechanical Relay construction 56 Permission pending from New Electronics 3 11 2 Voltage Regulator Voltage regulators are small electronics devices used to supply a constant output voltage to a circuit They are very affordable which is the reason why they are 14 used in numerous electrical applications There are different kinds of voltage regulators These regulators can be categorized by polarity and output The Output can be fixed or variable A few types of voltage regulators are linear voltage regulators switching voltage regulators and step up and step down voltage regulators Depending on what the sub systems require for voltage will determine what voltage regulator we will need for Striker 3 12 User Interface The user interface will be the first interaction the user will have with Striker It will provide a method of communication throughout their experience Before the game play begins the user will have to go through a quick process to login on a smart phone This pu
18. Module and Pixy eeeeeeseeeeeeeee 83 Figure 60 Pixy CPU LPC4330 Dual Core Schematic 4 Permission Obtained from Charmed Bo H oece X 84 Figure 61 OmniVision OV915 CMOS Image Sensor Schematic 4 Permission Obtained from Charmed LADS e 85 Figure 62 SPI and USB2 0 Interface All ports are ESD protected via ESDR0502B chip 4 86 Figure 63 Pixy Embedded 5V 3 3V and 1 5V Voltage Regulators 4 87 ee a mmm 143 Figure 64 DM365 UART Interface Reference Diagram 36 Permission Granted from T I 88 Figure 65 Peripheral AV Connection Diagram eeessssesseeeeeeeeeeeennnnen nennen 89 Figure 66 Connection of LPD8806 to Arduino Uno 45 Permission Granted from Adafruit 90 Figure 67 Arduino Uno Coding Flow Chaft ccccccccccesseeeeeeeeeeeeeeeeeeeeeceeessaeeeeeeseseaeeeesessaaeeeees 90 Figure 68 Arduino Pro Mini Coding Flow Diagram sees 91 Figure 69 Android Application Coding DiaQram cccccccssescececceseseeeeceeeeeeeeesseeeeeeeessaaeeeesessaaeeees 92 Figure 70 Video Playback Flowchart cccccccecccseseeeeeeeeeeceeeeseeeseeeessaaeeeeeessaaeeeeeesseeeeeeesssaeeeess 93 Figure 71 LED Lighting Coding Flow Diagram cccccccccccseseeeeseeeeeeeeeseeeeaeeeeesseeeeeseeeeesae
19. Program Microprocessor System Memory Architecture Program and General Purpose Data Memory Microprocessor Data Memory Video Codecs DSP Core The development of digital video is gaining popularity for various applications in broadcasts such as internet video streaming and digital television A necessary 46 by product of digital video is video compression and decompression or simply codecs Codecs are based on industry standards for compression and decompression with the use of intricate algorithms to process and store video Currently a merging of H 264 and MPEG 4 H 264 MPEG 4 or most often called H 264 is the current industry standard 35 H 264 codec is a vast improvement over previous codec versions One of the major improvements is bit reduction or data compression It has twice the reduction in bit rate when compared to previous standards such as MPEG 2 and MPEG 4 simple profile Compression by definition is the method of removing redundancy to reduce the bit rate This is beneficial when applied to data storage and in this case video transmission The improved video codec makes it possible for high definition movie formats to fit on a DVD without upgrading the laser optics Featured in Figure 35 is a block diagram of the H 264 video codec Several of the key improvements are Summarized e Intra Prediction and Intra Coding During the intra coding process intra prediction current frame endeavors predict or de
20. Secure Digital Input Output or SDIO In order to interface SDIO with our controller we must have a SD card adapter a parameter in which we will most likely not have Interfacing ZigBee ZigBee adapters typically use UART ADC 12C SPI PWM or DIO communication protocols to interface with microcontrollers and other devices ee 65 depending on model As mentioned previously it operates in the ISM band frequency of 2 4 GHz thus maximum transmission rate is approximately 250 kbps 3 8 3 Software To create communication between the smart phone and Striker we must use a wireless communication standard Two standards that are commonly used with smart phones are Bluetooth and Wi Fi The path data will take is between the microcontroller the wireless communication shield and the smart phone From the smart phones perspective it must have the ability to transmit data through the wireless communication standard we choose to the shield being used by the microcontroller Therefore the software written must be able to transmit data through the wireless communication that we choose The software must first have the ability to store user names stats and scores for long term By long term we mean that the data must not be erased after the application is closed It must remain saved permanently Additionally it must have the ability to trigger the game to begin Once the game begins the application must listen to Striker and diffe
21. Servo Motor Tutorial DC Servo Motor Control Basics amp Working of Servos EngineersGarage Online Available http www engineersgarage com articles servo motor page 2 Accessed 30 November 2013 29 Azega Arduino Servo Motor Online Available http www azega com arduino servo motor part 1 Accessed 29 November 2013 30 BigAl The Crapworks Upgrading from all thread to trapezoidal ACME leadscrews 20 November 2011 Online Available http crapworks blogspot com 201 1 11 upgrading from all thread to html Accessed 29 November 2013 31 United States Air Association Pro Air Hockey Online Available http www proairhockey com USAA_Rules pdf Accessed 22 November 2013 32 Texas Instruments C5000 Audio Capacitive Touch BoosterPack 2012 Online Available http www ti com tool 430boost c55audio1 2 Accessed 23 November 2013 33 Texas Instruments Audio Capacitive Touch BoosterPack Hardware 28 March 2013 Online Available a_a rr ucc LC 147 http orocessors wiki ti com index php Audio Capacitive Touch BoosterPa ck_Hardware Accessed 25 November 2013 34 S Somers Digital Signal Processing Reshaping Your Perceptual Enviroment One Digital Sample at a Time 2010 Online Available http www extron com company article aspx id digisigproc ts Accessed 24 November 2013 35 J Golston Comparing Media Codecs for Video Content San Francisco 2004 36
22. activate the motor Once the motor is on it will activate the belt As the belt moves the puck will be returned to the player with ease every time at the same location If no puck is being detected the sensor will not take further action however the sensor will never stop searching for pucks It will reset continuously to prepare for the next puck to come 3 3 2 Goal Sensors For our goal sensors we had several ideas on how to implement our desired responses Initially we were considering photoelectric sensors used in the automation and manufacturing industry We then considered a Passive Infrared sensor PIR that is used in many small electronic projects often with Arduino We also look into the approach of building a simple cost effective sensor with semiconductor photodetectors We began our research with the photoelectric Sensors Photoelectric Sensors Photoelectric sensors are highly used in automation and theme park industries These sensors provide a wide array of applications ranging from distance tracking to object detection Typically there are three methods of detection diffused retro reflective and thru beam All three methods use a Light Emitting Diode LED as a light source Retro reflective sensors use visible light whereas thru beam and diffused use Infrared IR LEDs IR LEDs have a higher intensity a ee ee UNUM E MM IM EMEN ETE EIN rr mss m 22 than these visible LEDs and operate between 10 m and 10 m wave
23. and the secondary or low side Usually this information is provided on the side of the transformer high side is represented by H1 and H2 low side X1 X2 for example As a step down transformer the input voltage will come from the high side if not this is not a step down Use the ohmmeter to calculate the resistance value of each lead The ohmmeter should read zero ohms If this is not the case the transformer might be bad Now connect the leads from the high side together and those from the low side then calculate the resistance value at this point the ohmmeter should read a value if not the transformer needs to be replaced 5 6 2 Complete System Power Objective Our power supply system will be tested differently since the main system is divided in sub systems In this test we will test each sub system separately and make sure that the whole system works in harmony Equipment Multi meter Helay Arduino Uno board otep down transformer Extension plug Voltage regulator LEDs 114 CMU Cam DMs 65 Servomotor Solenoid Procedure 1 2 4 Test every equipment listed above to make sure they are working properly specific test procedure for each is already written in section 5 1 After the individual test is done and everything works accordingly We will use an extension plug to establish the connection between the receptacle and our system The extension plug is used to provide more safety in case the
24. be as open source as possible so that leads us to more research on other brand of microcontrollers 3 9 2 Arduino Arduino is a platform used by many people in a variety of electronic projects Although many people use Arduino for their projects its primary market is for designers and hobbyists It is very popular to use base because of flexibility and its open source environment Additionally it is very easy to integrate hardware with software Arduino boards can receive inputs from various types of sensors and do processing in the information They can control signals to peripheral devices such as lights motors screens audio devices and etcetera They can ee ee UM EMEN NEP UE E rn n 67 even be used for wireless communications between devices ranging from a smart phone to a computer All Arduino boards use Atmel microcontrollers for processing and are programmed using the Arduino wire language This programming is done in the Arduino environment designed to work with the Arduino products These Arduino products vary depending on the application They have Arduino Leonardo Shield Pro Mini and Uno just to name a few For our project two particular Arduino boards stand out for our project Arduino Uno and Arduino Pro Arduino Uno The Arduino Uno shown in Figure 51 is a successor of the famous Arduino Duemilanove board The Uno is the latest in a series of USB Arduino boards In addition to all the features foun
25. cg c M ere Dee tee wn onn gunt wt 00 9 se ee dqQ 9 2 9 9 9 9 9 w p PE Tira XE IR Figure 23 Stepper Motor Interfacing with Arduino 22 Permission pending from Azega 4e oot ee X a ED 33 3 4 Robot Arm 3 4 1 Design Overview The Striker robot arm is the main feature of our project In our original design we envisioned a revolute revolute revolute RRR type robot arm with the end effector being the mallet Due to time constraints and difficulty in mechanical design of the arm we have come up with a simpler design that is easier to implement mechanically as well as electrically Figure 24 shows a conceptual drawing of our system S r Transi Tension Pulley F7 Drive Belt iis trike ansiabona y Drive Motor End Effector Track Figure 24 Conceptual Drawing of Bidirectional Striker 3 4 2 Processor Ideally our processor will have to differentiate differences between the puck s projected path and the end effector s current position Additionally our controller will have to communicate to the tracking system wirelessly For this reason we have narrowed our processor selection to the Arduino BT Atmel AT02509 and Arduino Pro Mini 3 4 3 Communication from Position Tracker The main task for the processor of the Striker robotic arm is to drive the motors and servos on the robotic arm To do so the processor will be gather
26. include a capacitive touch wheel LED S and a proximity sensor Y B 430800ST C55AUDO V20 ewz Audio Copacitive Touch Booster Pock i fi 7 o _ ET TTT1 SliNi n JUCE s wits 1203001310 Figure 32 C5000 Audio Capacitive Booster Pack 32 Permission pending from Texas Instruments The C5000 Booster Pack was developed to be used in conjunction with the MSP430 Launch Pad kit Before attaching the Booster Pack to Launch Pad the microcontroller for Launch Pad needs to be replaced with the MSP430G255 The replacement microcontroller contains the necessary firmware to run the MSP430 Launch Pad kit The microcontroller has the capability of capacitive touch interface UART hardware to interact with the C5535 DSP and the use of open source MSP 430 software Below is a block diagram of how the C5000 and MSP430 interact on the hardware level USB Controller AIC3204 UART S PC Audio Codec C55x DSP 2 GPIO x OLED Screen MSP430 GPIOS LEDs beos A SD Card PIOs Capacitance Touch Elements Figure 33 Functional Block Diagram of C5000 Booster Pack and MSP430 Launch Pad 33 Permission pending from Texas Instruments O a mmm 45 3 7 Video System A Video playback feature will be incorporated with the Striker gaming experience For this reason it is necessary to become familiar with the procedure of vide
27. input or an output The parameters are pin which is the number of the pin whose mode we are setting int and mode which is either input or output Digital I O funtions digitalWrite pin value This function can be called on any pin that has been configured as an output The value can either be high or low This function will also be used to pull up resistors when a pin is set as input For example this function can be used to communicate with the microcontroller to active sensors and other devices digitalRead pin 70 This function allowed user to read the value from the specified pin The return value can either be high or low and can also randomly change Analog I O functions analogRead pin This function is used to read the value from the specified analog pin The board contains a 6 channel 10 bit analog to digital converter this means that it maps input voltages between O and 5 to integer values between O and 1023 analogWrite pin value This method will write an analog value to a pin PWM wave After a call to this function the pin will generate a steady wave until the next call The following table 4 shows the interface pins used by different Arduino boards Table 17 Interface ports of various Arduino Boards Arduino Boards SPI 50 51 52 53 or ICSP 4 ICSP 1 3 4 Serial ports Rx Tx 19 18 16 17 15 14 Atmega2560 Arduino Leonardo 20 21 SDA1 SCL1 19 18 or 15 14 or Arduino Due
28. mark as unread Luis Emmanuel Narvaez Man 11 11 2013 7 52 PM To us infot connectblue com To Whom it May Concern Hello my name is Luis Narvaez and am currently a senior at the University of Central Florida majoring in Electrical Engineering am contacting you in regards to attaining permission to use material from your website for my senior design project research paper My project is an autonomous Air Hockey table In our paper we reference the information in the following URLs for your products J www connectblue com products classic bluetooth products classic bluetooth modules bluetooth serial port module obs421 AJ www connectblue com nc products classic bluetooth This information will strictly be used for reference and educational purposes only and no profit will be made in any way on our behalf Thank you in advance and look forward to hearing from you Luis Narvaez University of Central Florida lera n ruaimearninm amp alaala lirre 129 Response from ConnectBlue ll https pod51038 outlook com owa viewmodel ReadMessageltem amp ltemlD AAMKAGIxNGY2ZTMzLWRIMT m RE Licensed Content Permission DELETE REPLY REPIY ALL FORWARD Christina Bj rkander lt christina bjorkander connectBlue com gt Wed 11 13 2013 246 AM Hi Luis This should be no problem to us as long as we get to review the actual where connectBlue is mentioned making sure that we have the correct attribution An up
29. per second which is adequate for a display resolution of 640x480 pixels Other Xilinx FPGA s accomplish higher resolution An example is the Spartan 6 It has the capability of high definition video output The down side to the Spartan 6 is the higher cost otherwise it would make an excellent choice 90 Davinci Media Processor by TI The Davinci is a digital media processor that provides flexibility for video and audio processing The DM365 displays video resolution capable 720p at 30 frames per second which incorporates the standard H 264 codec The Davinci processor is an ARM9 based processor with processing speed capabilities up to 300 MHZ Moreover it supports H 264 MPEG 4 MPEG 2 MJPEG and VC1 WMV9 codecs which offer great flexibility to developers 36 Interfacing with DM365 is flexible given the number of I O options to choose from and the ability to connect with virtually any external device essential for video applications The DM365 contains 3 built in 10 bit HD Analog Video Digital to Analog Converters DDR2 mDDR Ethernet MAC USB 2 0 integrated audio Host Port Interface Analog to Digital Converter including other features shown in Figure 37 below 16 Bit DDR2 IPIPE EDMA 4 Resizer Controller ums NAND SDTV HDTV mory ee Fee Analog Video VF j LN 16 Bit RGB YUV j DMA Data and Configuration Bus ARM INTC USB2 0 HS wiOTG MMCISD x2 ARM926EJ S SPI x5 HDVICP UART x2 Time
30. puck If the computer is not displaying the appropriate data update the code as necessary If the LEDs and motor is not triggering to special events make sure they are connected to the appropriate pins and update code as necessary 5 5 Davinci Test Procedures Test procedures for the Davinci are conducted to ensure proper installation of the device Communication protocols are established such as input from the web camera communication from the Arduino and output to the display monitor 5 5 1 Audio Video Test Objective To determine if the Davinci can receive input from the HD web cam process the images and then output the processed signal to the display monitor Equipment Breadboard Davinci DM365 720p HD Web Cam 5 V dc Power Supply Procedures ammm 111 Software Prep 1 Download the Linux Digital Video Software Development Kit DVSDK located at this web location http www ti com tool inuxdvsdk dm36x 2 Install the appropriate software for the DM365 by following these steps e Unpack the tool chain Create a target and host shared file system and export it Set up the build development environment Write a simple C program such as Hello World and run it Follow the steps to install the Gstreamer plug in at the following web location http orocessors wiki ti com index php DMAI GStreamer Plug In Getting Started Guide Hardware Prep 1 Davinci DM 365 Breadboard 5 V supply HD Web Cam Monitor Coe
31. sensors Infrared sensors photoelectric and physical buttons are all capable of detecting objects To make the game more enjoyable many everyday technologies will be used Televisions have been around since the early 20 century Other commonly used technologies include speakers and light emitting diodes LED Of course this whole project could not be possible if it was not for the creation of power supplies voltage regulators 3 2 Puck Position Tracking System Tracking of the puck s position is critical in our design in order for Striker to respond accurately For this to happen we have a tracking device to record the puck s position and send it to Strikers processor to interpret and react accordingly Based on most tracking algorithms we primarily need a contrast in 13 the item tracked against the background it is moving along Figure 5 gives a basic flow diagram of our tracking system Tracking System Basic Flow Diagram Striker Current Position Position Puck Puck Position Sensor lt Position Receiver X Y Mo ve to Predicted Striker Puck Position Processor Figure 5 Tracking System Flow Diagram 3 2 1 XBOX360 Kinect The XBOX360 Kinect is part of an entertainment system designed and produced by Microsoft Primarily constructed of an Infrared IR projector CMOS receiver and camera it is a peripheral device designed to track human motions for various games and entertainment purposes It also has a
32. since the puck is lightweight and traveling on a surface that is almost frictionless Table 10 Comparison of various Solenoids 412 24 5N 55 9 95 ROB 11015 5 Unknown 6 4 95 rossen 12 320g 0 71 Ibs 5 9 95 There are several considerations to take when using solenoids in circuits First if the solenoid is on for too long the coils can overheat and damage the solenoid It is for that reason that game play is limited to 5 minute max periods Solenoids are capable of creating push and pull applications by powering a coil Due to its nature solenoids have high induction When the solenoid is powered after being a ammm 41 off a voltage spike occurs Therefore it is also important to protect the circuit from the voltage spike by using diodes and transistors such as a MOSFET Translational Track For our robotic arm we look into different methods to have the striker translate along one axis We have several options however because our design is mostly electrical we are looking into having a simple design with as little mechanical work necessary One of the methods we thought to have our Strikers arm move is along a track system similar to roller coasters One way of doing this is having the end effector connect to a wheel that moves along the track much like Figure 24 shown previously The physical part necessary for construction of this can be found at hardware stores used for windows sliding screen doors or curtains
33. the air hockey table to a distance where Pixy can view half of the air hockey table 3 Hit the air hockey puck at least 30 times and view the output on the computer Verify if the programming was accurately able to predict where it bounced off the table A success rate of 7596 at this juncture is enough to say at this stage that Pixy passed the trajectory test If a lower rate occurs rewrite the code as necessary until a success rate of 75 is achieved 101 5 1 3 SPI Communication Test Pixy has the capacity to track the hockey puck but the data is useless if it cannot be relayed We have chosen to use SPI communication to have Pixy communicate with the Arduino Uno The following sections specify how the testing of communication through SPI will pass the criteria required for the demands of Striker Objective The objective of SPI communication testing is to verify that the data from Pixy can be sent and be useful to the Arduino Uno The incoming data to the Arduino Uno is continuous therefore it is important that the data does not overwrite itself Equipment Pixy Computer 2 Micro USB to USB cable Hockey Puck Air Hockey Table Arduino Uno Procedure 1 Improve upon the code for Pixy that was used for trajectory testing and add a section to transmit current coordinates and trajectory coordinates 2 Write a code for Arduino Uno to receive current coordinates and trajectory coordinates 3 Connect Pixy and Arduino Uno u
34. the budget shortfall Initially the team submitted a proposal to SoarTech for funding Unfortunately the monetary award was given to a competing senior design team Next the idea of acquiring smaller donations from various connections both professional and personal was discussed Fortunately the Striker project is being fully funded by Boeing for 1000 The Boeing funding will give the project design flexibility when development issues arise An initial budget outline was assembled to institute monetary constraints on our project to avoid an inordinate amount of personal expense Our original budget estimate was based on this guideline The budget can be seen in Table 22 The budget outline was augmented at the creation of the actual parts list created from the hardware design in section 4 Table 22 Proposed Budgeting Expenses 118 Striker Budget Puck Return 10 Alt Hockey Table 17 Playback Cam Figure 78 Project Budget Chart 6 2 2 Bill of Materials BOM As the Striker project nears the end of the first semester specific product choices were selected A purchasing list was accrued to calculate the actual cost for the project This is shown in Table 23 Multiple factors are taking into consideration when assembling the list First product cost has to be considered This is always a concern since we are dealing with a finite budget Secondly shipping cost has to be accounted for but it should be noted that the
35. the half step angle 0 9 Stepper motors are available in many different step angles ranging from 0 78 to 90 The most commonly used are 1 8 2 5 7 5 and 15 Table 7 presents common stepper motors step angles and revolutions specifications O o n 32 Table 7 Stepper Motor Comparison Chart Step angle Step revolution HY VR PM 09 400 yes no 18 200 Jjyes yes yes 2 180 25 144 yes no yes 36 100 Jjyes no yes 5 72 yes yes yes 9 40 no no yes 15 24 X nmo yes yes 18 20 no no yes 3 3 4 Interfacing with a Microcontroller The PIR325 only has three pin connections One pin is for ground one is for signal and the last one is for power which is usually from 3V to 5V It can communicate easily with an MCU As described earlier the output of the PIR325 sensor is an active high when an object is detected or an active low when there is no detection The role of the MCU is to control the on off state of the puck return mechanism A stepper motor also has the ability to interface with a variety of development boards If the motor is a single pole it will use six pins on a MCU If it is a bipolar motor it will use four pins on a MCU Figure 23 shows the interaction between an Arduino board and a stepper motor This stepper motor uses four digital pins from the Arduino board plus two other pins which are ground and input voltage Hw nuw utcv lw s
36. this test is to assure that the step motor works properly at the right soeed and with consistency Equipment Stepper motor Battery 9V Multi meter Procedure 1 Check the name plate to make sure the right input voltage is applied otherwise you can burn the motor and every motor comes with a name plate that provides information about the rating maximum load and voltage 2 Use an ohmmeter to find the resistance of the windings 3 Connect the ohmmeter between the positive input terminal and negative input terminal of each winding 4 Compare the resistance values to make sure they are equal It is important to find the resistance of the two windings equal exactly the same otherwise the motor is considered faulty it must be replaced 5 After you determine the value of the resistances and find them equal continue the test by clipping the commons together using a clipper 6 Use a 9V battery to power the motor and test the motor through its various steps Use different combination to make sure the motor works properly clockwise and counterclockwise placing the battery on any combination of terminals will help you know how the motor should respond If the motor responds accordingly it passes the test then you have a good motor if it fails the test it needs to be replaced 5 3 2 Servomotor Test Objective The objective of this test is to assure that the Servomotor works properly at the right speed and with consistency
37. use a motor to drive the robot arm As previously mentioned due to our lack of mechanical engineering knowledge we are going with a simple one axis translation We will have our motor drive a belt which will further move the end effector along a rail system Our motor will have to rotate at a high rom be able to change direction quickly and be able to stop at a predetermined position accurately For these reasons we look into stepper motors Stepper motors have specific advantages for our system because of their accurate placement Specific details on how the operation of stepper motor works is further explained in section 3 3 4 In this section we discuss the advantage as it applies to the robot arm Most stepper motors operate with a 1 8 per step rotation angle This allows us to control where the motor will stop These motors also have the ability to operate at very high rom and high torque as well Although these features make this ideal there is one big downfall which makes it difficult to work with feedback Stepper motors usually do not contain a feedback loop to connect to a controller This poses a problem because feedback will be essential to the design of the arm A controller may send out a signal to the motor however there is no way for the controller to know if the motor moved or its current location It will assume that the movement was made This however can be solved several different ways We can include what is
38. 0 1 5 10 ICSP 1 3 4 3 9 3 Communication to User Interface For the system microcontroller to communicate with the application the same method the robotic arm uses to receive data from the tracking system will be used Therefore a wireless modem will be required to perform the communications wirelessly to the user interface This was discussed in section 3 8 To perform these communications the software will have to declare a baud rate that agrees with the standards required by the wireless communication typically 115k It must also declare the right amount of pins to be used for communication as required by the modem that is used As for receiving data from the microcontroller on the application that will be further discussed in section 3 12 3 10 PCB For our final design we will have to obtain a final PCB layout integrating all of our sub systems The software that will be used is called Eagle and is made by Cadsoft This software contains libraries of boards that are common in most PCB 71 designs used today If necessary one can simulate their design using LTspice or even import a design from LTspice Certain components within the board may not be installed onto the built in libraries but can still be built or downloaded from various library sources throughout the internet We will use this software in our final PCB design stages which will be done during Senior Design 2 3 11 Power Supply Power supply is the consi
39. 01 46 Permission Obtained from Adafruit Another important consideration is the reduced amount l O s that are needed to connect the strip to a microcontroller The I O requirements are for data and mmm 56 clock for PWM along with a voltage source and ground The reduced amount of I O and easier programmability makes the WS2801 an optimal choice LPD8806 The LPD8806 is very similar to the WS2801 in that they are both addressable and PWM One of the major differences has to do with how the LED s are controlled by the chip Previously with the WS2801 configuration each chip controlled one LED However the LPD8806 has six channels that control two LED s In addition the bits per channel are reduced from 8 to 7 bits per channel Subsequently the LED color level per channel is reduced from 256 to 128 different levels Ultimately the number of color variations for the each LED is 2 097 152 The LPD8806 LED strip is best suited when paired with an Arduino microcontroller Arduino has a library of sample codes that can be used as a guide to program the LED s Shown below is a small piece from the LPD8806 LED strip ns han inn a Figure 43 LDP8806 LED Light Strip 45 Permission Obtained from Adafruit Pulse Width Modulation The aforementioned LED strips employ PWM to augment the brightness or color choice Voltage signals from the microcontroller are digital meaning that their output state is either 5 V on or n
40. 013 12 29 AM To VWW2FHB glolab com Subject Senior design project 125 Permission and Response from Adafruit Industries E Reply Gp Reply All O Forsat Gf IM Wed 11 20 2013 10 58 AM adafruitt gmail com on behalf af Adafruit Industries supporti adafruit com Re Press Medial Press media inquires le n nan herren o Vie removed extra line breaks frown ess message thanks for the note feel free to just Ink to the original site documentation on adafruit On Wed Nov 20 2013 at 10 57 AM Brian Thomas lt bthornes488 knights uci odu gt wrote gt cantactname Brian Thomas gt email address bthomasdsSiknights ucf edu contact us 2 section gt press useragent string Mozilla 5 0 Windows NT 6 1 WOW64 gt Trident 7 0 SLCC2 NET CLR 2 050727 NET CLR 3 5 30779 NET CLR gt 3 0 3072 Media Center PC 6 0 NET4 0C NET4 0 rv 11 0 like gt Gecko message text Hello am an electrical engneering student at gt the University of Central of Flonda am in a senior design group gt where we are constructing an autonomous air hockey table would tke gt to request permission to use documentation relating to RGB addressahle gt LED s gt Thank you gt Brian Thomas gt University of Central Florida gt Chent IP 68 200 56 74 gt Permission from creative commons J B eee depen rete rerom D Lincenrsed Content Permission amp Luss Emmanuel Narvaez oust o ssa
41. 12 M Turner Blogs Pepperl Fuchs 16 July 2013 Online Available http blog pepperl fuchs us blog bid 290513 What s the Difference Between Light ON and Dark ON Modes for Photoelectric Sensors Accessed October 2013 13 Pepperl Fuchs GmbH Files Pepperl Fuchs 3 February 2004 Online Available http files pepperl fuchs com selector files navi productlnfo edb 128098 eng pdf Accessed October 2013 14 Glolab How to use Pyroelectric Passive Infrared Sensors PIR 27 April 2012 Online Available http www ladyada net learn sensors pir html Accessed 30 november 2013 15 Glolab How Infrared Motion Detector Components Work 23 2013 5 50 45 PM 23 November 2013 Online Available http www glolab com pirparts infrared html Accessed 30 November 2013 16 Ladyada net BISS0001 Micro Power PIR Motion Detector Online Available http www ladyada net media sensors BIS80001 pdf Accessed 22 November 2013 17 Thorlabs Thorlabs FGAP71 GaP Photodiode 1 ns Rise Online Available http www thorlabs com images xlarge 12174 xl jog Accessed November 2013 18 T R Kuphaldt Special purpose diodes 29 March 2009 Online Available http www allaboutcircuits com vol 3 chpt 3 12 html Accessed November 2013 19 Stepper Motors or Step Motors Tutorial with Basics working amp types of Stepper Motor EngineersGarage Stepper Motors or Step Motors Tutorial with
42. 2011 Online Available http www cmucam org projects cemucam4 Accessed 1 November 2013 4 CMUcam CMUcam5 Pixy 13 August 2013 Online Available http www cmucam org projects cmucamb wiki Wiki Accessed October 2013 5 NXP Semiconductors LPC4300 User Manual CMUcam5 Pixy CMUcam Open Source Programmable Embedded Color Vision Sensors 5 September 2012 Online Available http www cmucam org documents 20 Accessed 27 November 2013 6 OpenCV OpenCV OpenCV 30 November 2013 Online Available opencv org 7 OpenCV OpenCV Itseez 11 November 2013 Online Available opencv org 8 Charmed Labs and Carnegie Mellon CMUcam4 Arduino Interface Library Charmed Labs 10 February 2013 Online Available http www cmucam org docs cmucam4 arduino_api 9 Charmed Labs and Carnegie Mellon Color Tracking Explanation Charmed labs 30 November 2013 Online Available http www cmucam org projects cmucam4 wiki Color tracking Explanation 10 Charmed Labs and Carnegie Mellon Pixy CMUcam5 a fast easy to use vision sensor Charmed labs 14 September 2013 Online Available http www kickstarter com projects 2544498 72 pixy cmucam5 a fast easy to use vision sensor 11 Pepperl Fuchs Files Pepperl Fuchs 21 October 2008 Online Available http files pepperl mmm 145 fuchs com selector files navi productlnfo doct tdoctl633 usa pdf Accessed October 2013
43. 2013 52 Siddharth Are you reading the datasheet What to look for and how to find them 12 November 2013 Online Available http embedjournal com 2013 1 1 are you reading the datasheet Accessed November 2013 53 MSP430 Microcontroller 16 bit Microcontroller 16 bit MCU Online Available http ww ti com sds ti microcontroler 16 bit_msp430 overview Accessed 30 November 2013 54 Transformers Online Available http resources yesican science ca magnets transformers html Accessed 30 November 2013 ee EN UNE m PT m nm rn n S 149 55 Solid state Power Controls Online Available http www heatersplus com payne html Accessed 27 November 2013 56 Electromechanical relays still have much to offer Online Available http www newelectronics co uk electronics technology electromechanical relays still have much to offer 44279 20 20electro mec Accessed 30 November 2013 57 Open Handset Alliance Industry Leaders Announce Open Platform for Mobile Devices Open Handset Alliance 5 November 2007 Online Available http www openhandsetalliance com press 110507 html 58 Canalys Google s Android becomes the world s leading smart phone platform Canalys 31 January 2011 Online Available http www canalys com newsroom google E2 80 99s android becomes world E2 80 99s leading smart phone platform 59 D Kerr Windows Phone brings global competition to iOS
44. 5 and have normal reaction time The next setting is classified as hard At this level Striker has a 15 error rate and normal reaction times At this point it has become more difficult to score against Striker The next level is classified as Greatest of All Time G O A T At this elite level Striker not only reacts in a faster time he is upset and now adapts to your playing style to attack The error rate is less than 10 and is nearly impossible to beat After the difficulty level is adjusted to the player s desire the next option is music At this point the user has a couple choices in regards to music during game play They can choose to select a genre of music from a list or to create a playlist from the library Furthermore the user will then have to specify the game type There will be two different game types to select from First to score and full game The full game will consist of 3 periods at 5 minutes each First to score is a game type where the user specifies the goal limit within a given range necessary to win For the leader boards the user can check their rankings against other players who have played the system They can also compare stats and sort them accordingly The Stats menu option allows users to check their stats and observe their progression as they continue to play If they choose not to view their stats they have the option of viewing saved media from previous games The me
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46. 7 eos 6 af oq o orm mo o f pr F6 ooo Terre rs oe v Pere Mewes coup uf wan crm em puis Serie gere 459 v i e ynei T ted iaee 06 4 ot I Mate et ent foe Hwee Ete ove foes Ct gee sU 7 Che D 049 744 pup cuta 0 hes ee tia 7X ee ke ee ee ee od a m Ae ertet ce 94 P v Thank you and regards Cantarner Service ATMEL CORPORATION y i Leeming Urkemited Fossimhtien Tha uzforzzatues contained in thos emus message cus Oe prr eged confidential atal x protected Som authored daciowas foo me nct Se ufandei we pueri ar asemunaton dut sende yy repiy if vou recor md thes email un emos Thank vau for var cooperates From Loubens Decamp maito loulcudecampa gmad com Sent Monday November 11 2013 2 12 PM To DL 5JO Sales CustomerService Subject Senior Design Project 133 Permission from Arduino Permission inbox x meg Loubens Decamp lt ouloudecamp qmail com gt Nov 14 5 days ago 7 to trademark To whom it may concern Hello my name is Loubens Decamp am a senior student at the University of Central Florida Actually my senior design group is doing a project where we are planning on using Arduino s development boards Arduino Uno Pro and Mini we wanted to know if we could please get permission from Arduino to use documents and pictures from the website for this purpose We thank you in advance and hope to hear from you soon Best Regards Loubens Decamp Senior Electrical Engineering stude
47. Micro USB to USB cable Arduino Uno 10 LED lights Resistors Push Button Breadboard Procedure 106 1 Write a code for Arduino that checks if a button is pushed Create a function within that code that flashes the LED lights on and off several times if the button is pushed Afterwards it flashes it remains off until the button is pushed again Download the code to the Arduino 2 Ona breadboard connect push button as an input to the Arduino Connect the LED lights and resistors to the output of the Arduino Uno 3 Power the Arduino and press the push button If the lights do not flash check the physical connections on the breadboard Make sure the LEDS are connected to the pin that was referred to as the output pin in the programming Make sure the push button is connected to the pin referred to as the input pin in the programming If the LED lights are still not flashing after pressing the button update the code as necessary 5 4 2 Goal Sensor Tests When playing Striker and a goal is scored special events occur The player now will see the lights flash sounds play a replay on the screen and will have the ability to save a replay on their phone Additionally scores will be updated This subsystem is an important part of the achieving the arcade experience that striker provides to the player Objective The objective of the goal sensor tests is to make sure that the PIR sensors is correctly able to detect when the air hockey p
48. Plug In Accessed 28 November 2013 148 44 A Castle Jamie amp Adam Tested 21 February 2013 Online Available http www tested com art makers 453665 how get started programmable rgb led strip lighting Accessed 20 November 2013 45 Adafruit com Online Available http www adafruit com products 306 Accessed 20 November 2013 46 Adafruit November 2008 Online Available http www adafruit com datasheets WS2801 pdf Accessed 22 November 2013 47 T Hirzel PWM Arduino Online Available http arduino cc en Tutorial PWM Accessed 27 November 2013 48 Poole Bluetooth radio interface modulation amp channels Adrio Communications Ltd Online Available http www radio electronics com info wireless bluetooth radio interface modulation php Accessed November 2013 49 Les Amicus 18 Port Expansion using SPI 6 March 2010 Online Available http www click server com amicus Port 20Expansion Higher 20Res 20Images Master 20to 20Slave 20Interaction png Accessed October 2013 50 roboToSH 07 July 2012 Online Available http 2 bp blogspot com pnK3l1l Qhw T_wf75kTbowl AAAAAAAABkA mRFDJ93tpbw s400 Arduino Bluetooth ong Accessed October 2013 51 T Kugelstadt SIGNAL CHAIN BASICS Part 31 Digital interfaces con t The SPI Bus EE Times 15 July 2009 Online Available http m eet com media 1051315 C0434 Figure2 gif Accessed October
49. RR RO 102 J IC COO UD nrn EEOAE EEEN EAE A E E EA 102 3 2 1 Wireless CONMCCUVILY tesi sasctisainecsoseteschivtiwaon irai a E E a a aiaa 103 eZ WIE ES C OnO TES a 104 3 9 RODO A eE r E E E E E E AE A 105 SE T M OT eee E E EE E EN 105 Jo SELVORIOIDE hc een E E E T E A E E E 105 SAANTO UNO na E E E E A 106 ee le INI T TP E E EE E 106 aa Or TG ena T dS E A E A AR PUEDES 107 24d 3 PBOE RE 0 16 0 DOS A E E rr 108 5 4 4 UART SPI Communication Testing cccccccccccccssssseeseecceeeeeeeeeseeeeeeeeeeeeaas 109 I E e E E S E M MU IUE 110 5 5 Davinci Test Procedures ccccccccccccccccessseeccccceeseecceeeaeseeeceeesaeeeeeeeessueeeeeeeseaaaaes 111 D LAY Vil E EE E TEE 111 I LTD SO T e E E E E E E EEE 112 DOO Cl SUPPLY sera 114 5 06 1 AAS OU AC Testing NR T T T 114 240 2 Complete Systemi POWO e meisten eoa metr et tone es a rubi fna Mud UI 114 B Administrative Content 116 o Milestone DISCUSSION casei E AINE MIU CAS NUN EDEN ES 116 D 2b HO SCG SAF TN ANIC Cai ca sesasarexaccmanadosscassanconsmscmansentenconcasneuacessiseoncoasseesenseteoecostas 118 6 3 Sponsors and COM DULOLS 105 scascasicnascenehacduteerounl suabacnsadenoabtnuebecasledeneuvl suabecasedanioneanens 121 ADDODODC A eTermisslollS xcu deris ie EE E EE oor nra uaa hia rtp in 122 Appendix B Figures and Tables Index eeeeeeeeeeeeseeeeees 142 PIO DCG dem M Ted R07 T T
50. RUIN TUN UNUM MEME MUNI EIN 34 Ft MS OO RTT 34 ac POC CGS ON saei vi cision de donate veh seater oie seas sea aia eee eas 34 3 4 3 Communication from Position Tracker ccccccccccseessecceeeeeeeeeeeeeeeenseeeeeeeaeees 34 TAG E oreste E A E A E E E E ANA 35 ET is OL Wy AN SEED 43 ie AU EOC Mir 44 3 5 1 Harvard Action Arena 7 Air Hockey Table eeeeseeesessssee 44 OO FACTO aap cote TREE 44 S09 IS DEOR S sa peeceten eevee E E A E E EA 44 5 0 2 JAUCIO C ODIO E oci opes ueniae aed eni OpuE REM ose NEMINEM SUE PIE 44 927 VY TOC OS SU Il cosnaisutoremaG dU Ene UICE I IIR EE PU IN RU I DIE 46 S NINE GCSE RTI ETT TU TT 48 De 2 irse ERA eT VET ERNEUT 49 RAN R WACO ON OCI ERR T 49 2 44 Graphics Tor Display MORBIEOR oiesac ioco re Fue doa tane Qnm eio gk Rees Yan e Ta aax tau eua 54 SN NS Sb Mrd 54 2 9 X OMMMN ICAL ON SY SUC esris sr ems coro date vas ou cute uai ee omes UE corps Ei 58 Table 12 Wireless Communication System Comparisons 58 SN My MOS LOG GA RS cease sinatesnecon E E ase saetescecuens ase saateesecend 59 Table 13 Bluetooth Power Classes cccceeeeeceeeeeeeeee tenet eeeaeeeeeeeeaaeeeeeeeaaaees 59 302 Wireless Fidelity RA TNT 61 RN AU 61 3 8 4 Interfacing with System Controllers eeeeeesesseeeeeeennnnneeeennn 61 iO OU Ae MR TET T 6
51. TION NCPAB80DSOT15T1G C24 220 10uF 0 1uF Figure 63 Pixy Embedded 5V 3 3V and 1 5V Voltage Regulators 4 8 7 4 4 Visual Display The design of Striker would not be complete without having aesthetics added to the gaming experience Striker has two key features present to make the game visually engaging One feature is the incorporation of a video and audio playback system The other feature is the integration of LED s that interact with the game action 4 4 1 Hardware Both the FPGA and Davinci controller had their strengths and weaknesses The Spartan 3E FPGA Is superior with its reconfigurable hardware though the use of programmable logic gates Conversely the Davinci has H 264 codec process video at 720p Eventually the decision would come down to cost and product support To simplify the task for video replays with integrated audio effects it was determined that the Texas Instrument s Davinci microcontroller will be used for this task In particular the DM365 model will be used The major deciding factor was the plethora of documentation relating to the DM365 Communication between the Arduino Uno and the Davinci will be made using the UART The DM365 has two UARTs labeled UART 0 and UART 1 with UART 1 having specifications to handle flow control Figure 64 is a block diagram using UART 1 pins Figure 64 DM365 UART Interface Reference Diagram 36 Permission Granted from T I 88 A 720p HD web
52. Texas Instruments Davinci DM3x SOC June 2011 Online Available http www ti com product tms320dm365 Accessed 15 November 2013 37 Xilinx Xilinx All Programmable 20 June 2008 Online Available http www xilinx com support documentation boards_and_kits ug130 pdf Accessed 15 November 2013 38 National Instruments National Instruments 16 April 2012 Online Available http www ni com white paper 6984 en Accessed 2 November 2013 39 Xilinx XA Spartan 3E Automotive 9 September 2009 Online Available http www xilinx com support documentation data_sheets ds635 pdf Accessed 22 November 2013 40 Texas Instruments TMS320DM36x Digital Media System on Chip DMSoC Video Processing Front End VPFE November 2010 Online Available http www ti com lit ug sprufg8c sprufg8c pdf Accessed 25 November 2013 41 Texas Instruments TMS320DM36x Digital Media System on Chip DMSoC Video Processing Back End VPBE July 2010 Online Available http www ti com lit ug sprufg9c sprufg9c pdf Accessed 2 7 November 2013 42 Texas Instruments GSG DVEVM Software Setup for DM3xx Platforms 22 June 2011 Online Available http orocessors wiki ti com index php GSG _DVEVM_Software_Setup_for_ DM3xx_Platforms Accessed 28 November 2013 43 Texas Instruments DMAI GStreamer Plug In 12 July 2011 Online Available http processors wiki ti com index php DMAI GStreamer
53. VERIO D AAIDD LAOD LAIN D LAT Figure 3 Air Hockey Table Design One requirement of our tracking system is to record and analyze this data at high frame rates We want every frame to be no more than a hockey puck s diameter for quick processing Through multiple tests of air hockey games we calculated our desired processing time and max puck speed using the following equations Approximate max speed of puck 240 in s Diameter of puck 4 00 82 55 mm 16 7 ms Desired processing latency 4 in x ji The puck tracking system has to be able to monitor the position of the puck and send signals to the robot arm for a timely response In order for us to calculate the frame rate in which is necessary for us to track the puck we first define the distance the puck must travel in between frames then define the average speed via testing We use the following formula to calculate the desired frame rate Maximum Velocity 240 60 Hz F Rate Hz a EL nan ISIDORO UA Distance between frames in 4in With this frame rate using 16 bit color depth and a camera resolution of 640x480 we calculate the throughput using the following formula ammm 8 bits x 1Byte pixel 8bits 50 fps x 640p x 480p x 16 30 MB s The desired resolution of our camera is 640x480 VGA and 16 bit color depth This will ensure that the puck s color contrast is clearly tracked and accounts for less error To i
54. Y VY P d ec ritt y rrt EEL 4914 Senior Design Group 8 Cruz Efrain Decamp Loubens Narvaez Luis Thomas Brian Competitive Autonomous Air Hockey Gaming system 22 Gre IS ANG ODOC RATS NITET 4 2 3 Requirements and Specifications ccccccccccccccccceeecceceaeesseseeseeeeeeeeceeeeeeeeaaaaas 4 2 3 SE IHEBEIOEE eoi eoru OHNE EIOS ERR LU ose eee 4 2 2 2 PURCHO Sn Visudl TEHCCI are ene ne er biet siepe nue aie eer 6 2 9 9 MAAC AMS 3 SEC E E S 7 22 0 T OY Ole ee ce ET E E aan N E E EE aan de UII ME EIU 9 2 9 9 DY SUC MM Hard W AEC eeinetan Ea e site pi ena RET aaa RE e a aii 10 AO Paek Rear Mer Ma N UE RTT T 11 De E Ce OMAN EO a A E E A E aevanceereaueunetenawes 12 B Research EAE EEE EE E 13 3 L Existing Technology and Product S issessiseiciiaesiiisnn neen edena buda duds 13 3 2 PUCK Positon Tracking System osceoeuesszeutassesp unos vectaaceudiwadvarstaetacsteasvacaataaseedendvaets 13 230251 XO IOU KNC eene a E 14 SNAP C NIU a A E A E E E AI E E ET 15 Di ON LEES A CETT E T E E E A E 17 SL FoS Haare e E eoa NET 20 o PAE ESE a E A NEE E A E E E 21 De Oe UGK As 1 UE IVECO MANNS eE E EE EE 22 3 3 1 Design BIS ATL UPPER ETT 22 SS UE Oal Se I0 dee eee ee ee ee T 22 3 3 3 Motor for Conveyor DEDU nseonteeiesupdssupEu adt u RUP i vae te stop IN uiu duras ruat diu ete reu mM ORE 30 3 3 4 Interfacing with a Microcontroller eeeeeeeeesssseeeeeennnnnneeeeenn 33 S4 46 510 00d LL eee eoe dI
55. a multitude of color options but only one color can be used They are most commonly used in home theater applications to provide background lighting These LED s general display a soft glow to detract from a room that is to dark when conventional lighting would not be desirable 44 RGB non addressable LED strips can display different colors and have the ability to fluctuate between different colors quickly In particular all LED s change color at the same time These LED s require a simple microcontroller to execute the different color options that are available 54 RGB addressable LED strips offer the highest functionality of display options Addressable LED s require the use of a microcontroller to implement specific display designs that can be programmed A chip is placed between two LED s or every LED depending on the model The amount of LED configurations available is only limited by the programmer s imagination There are several RGB LED strip controllers of interest These include the HL1606 the WS2801 and the LPD8806 These three modules have many similarities but vary in several aspects as well The HL1606 uses Serial Peripheral Interface SPI to control the LED s with the use of a microcontroller SPI will be further discussed in section 3 8 One chip is used to control two LED s One of the advantages of the HL1606 is the lower power consumption that is illustrated in the table 12 below Moreover the HL1606 are the least exp
56. able 16 we summarize the features of the Arduino Uno You can see that compared to the previously noted MSP430 it has significantly smaller flash and SRAM This may pose a problem if our code ends up being lengthier than expected Although this may seem as a downfall contrarily because Arduino has more open source communities many of the programs have been optimized for better throughput and hit miss ratios Table 15 Arduino Uno Development Board Features 26 Parameters Values DigitallOpin 14 Analoginput 6 14 SRAM 2K EEPROM K As mentioned earlier Arduino boards support chips produced by Atmel The Uno supports an ATmega328 microcontroller The Atmega328 is used in many daily life applications such as home and building automation comfort and control industrial automation and sensors along with a variety of other hobbyist projects Using this microcontroller offers many advantages to us particularly in the processing rate The Atmega328 is capable of multitasking and a high throughput of 20MIPS at 20 MHz Bootloader in Arduino Arduino development boards use a program called bootloader to upload programs and communicate with them It is very similar to the BIOS on a PC and pretty much handles the start up of the CPU It takes a few seconds to run the program about 5sec and requires no other special programming boards 3 9 2 I O Assignments Analog Pins The analog pins nu
57. ady optimized Many computer vision languages are used today One of the possible languages we can use is OpenCV OpenCV has a community of 47 thousand people A large community gives the advantage of a larger source of knowledge to access when learning the language and obtaining example codes OpenCV is based on the C language which is a language that is very similar to C a language we learned through our academics and additionally a few of our members have had experience in programming with C 6 As for the accessibility of OpenCV many functions and libraries have already been optimized for our use Some of these functions include videocapture and objectdetection Due to the popularity of OpenCV open source programmable vision sensors have become available to purchase such as the Pixy which is mentioned before Pixy can be programmed using the graphical user interface that it comes with The software and firmware that it comes with has built in functions that the user can take advantage of The first function that is of major advantage to our project is that with one push of a button the user can specify what color Pixy needs to a ee ee aaam 18 track By placing an object in front of Pixy and pressing the button Pixy will automatically detect the color and begin object detection applications Pixy also has the ability to distinguish objects by applying color combinations By applying two colors side by side on an o
58. ae ee ee es aam 38 gears offer a mid ground between Nylon and Karbonite It is stronger than nylon but not as strong as metal They typically cost less than metal but more than plastic Servo system operation is different from a stepper as we can see in Figure 27 below When the control signal is energized it will generate a pulse which will be sent to the amplifier The amplifier will then be amplified to produce enough power to drive the motor The motor activates the gears which produce an output This type of amplifier used in this schematic is often called an error amplifier since its role is to reduce the error between its inputs Servo Motor Block Diagram Sevo Motor Figure 27 Functioncal Block Diagram of Servomotor System One other factor to consider with servos is transit time Transit time is the speed that the servo can rotate Typically it is measured at how many seconds a servo can turn 60 The final factor of consideration is control method The two methods of control are digital and analog The advantage with using digital servos is they can update at higher frequencies However the price is much higher Table 9 displays several servos and their specifications With these requirements in mind considering cost and performance our preferred servo would be made of Karbonite have a high transit time and use digital control The additional specifications would be the same as what is preferred for the motor 39
59. ains separate controllers Specification Summary of Audio Video Control e AV controller must be able to communicate with microcontroller e AV controller must be able to support high definition output to a monitor e AV controller must be able to process audio 2 3 3 Tracking System The simple theory used for position tracking is to capture the X Y position across a plane in our case the playing surface This position data is sent to the processor wirelessly where if the puck has crossed over a certain axis a signal to the arm will move it to the predicted spot In order to predict the future spot of the puck we will use an algorithm that implements simple geometry and dynamic equations Our sensing device will be mounted on an overhead structure that will be between 2 4 feet above our playing surface Refer to Figure for a general view of our system Notice that the field of vision for the tracking camera covers the entire width of the table This will be essential for edge detection used in predicting angular trajectory changes 7 Display Monitor F Speakers a A A TN m O N Tracking Camera K Field of View VOX P b A gt S i Net INNES Wy 7 va f A A 7 vA Z 7 7 7 f 4 7 FERJE 9 4 7 4 4 PR a wa nf Y s PS E a pP PM ou p FP Sp P og p 4 E Pl t CL P pr ILLAE LM GAA GJE GRAE GREED EGRA E GAEE 4 VILRO SARITAN S TANS ASITA PP APP LAIT APAD ERIO DRAED L A
60. al for a servo tilt motor The design of an electronic potentiometer along with its physical limitation is shown below in Figures 26 a and b respectively wiper turns with dial resistive material W a b Figure 26 a Rotary Potentiometer used in Electronic Circuits 24 Permission Pending from Futurelec 25 b Internal Makeup of rotary Potentiometer Notice that terminals A and B provide physcal limit on rotation as well as return voltage 25 Permission Pending from Fedderson 36 Another way we considered for feedback is wireless feedback We will do this using our puck tracking system With our puck tracking device we should be able to track an object by color differentiation or via shape Since we will have the playing surface tracked we can use the overhead camera to track our striker position and process the information as a feedback This will allow for more available pins on our striker processor to use for other IO options Motors come rated with different specifications Some of the main specifications are voltage rating operating current stall current power rating operating torque and stall torque Voltage directly affects operating torque The operating torque is the moment of force that the motor is designed to provide whereas stall torque is the moment of force that motor requires to stop Operating current and stall current refers to the amount of current required to run the motor
61. and receiving data via Bluetooth Wi Fi or NFC file sharing The information that will be sent to the device will be player statistics and an optional instant replay for goals scored The statistics being tracked along with the devices responsible for finding this data are listed below in Table 1 Table 1 Statistics Being Tracked for Leader boards Stat Device Goals Scored Puck Tracking Sensor When the user opens the application and the device is wirelessly linked with the table they will be asked to sign in or create a user profile Once the user is signed into their profile they will see the main menu Below is a sample of how the menu will appear to the user PLAY GAME LEADER BOARDS STATS MEDIA PROFILE OPTIONS Figure 1 Mobile Application Main Menu The first option Play Game will set the user up to play a game Upon making this selection the user will be able to adjust the difficulty of the autonomous opponent select music genres and game length These three options will be just another way to personalize the experience In order for us to make the game experience pleasurable for all experienced players we based our difficulty into four different levels The first level is classified as easy In this level the autonomous opponent Striker has a 50 accuracy rate and slower reaction time The next difficulty level will be classified as normal With this mode Striker will have an accuracy rate of 7
62. and Android CNet 2 September 2013 Online Available http news cnet com 8301 1035 3 57601007 94 windows phone brings global competition to ios and android 60 J Rosenberg Google Play hits 25 billion downloads Google 26 September 2012 Online Available http officialandroid blogspot com 2012 09 google play hits 25 billion downloads html 61 Android Eclipse ADT Google 30 November 2013 Online Available http developer android com tools sdk eclipse adt html 62 M Honan Apple Unveils iPhone Macworld 9 January 2007 Online Available http www macworld com article 1054769 iphone html 63 S Costello How many apps are in the iPhone App Store About com 30 November 2013 Online Available http ipod about com od iphonesoftwareterms qt apps in app store htm 64 B H Frank Microsoft unifies Windows and Windows Phone developer programs GeekWire 6 November 2013 Online Available http www geekwire com 2013 microsoft unifies windows windows phone developer programs 65 Apple Which Developer Program is for you Apple 30 November 2013 Online Available https developer apple com programs which program 150 66 J Topolsky Windows Phone 7 luanch guide Engadget 2010 Online Available http www engadget com 201 0 10 11 windows phone 7 launch guide 67 R E i Chief windows Phone doubles in market share currently word s fastest growing smart
63. and stop the motor respectively The power rating refers to the amount of wattage the motor runs at with efficiency Running the motor over the power rating can cause damage to the motor With these requirements in mind the preferred motor would have a low operating and stall current a high operating torque a low operating stall torque and a high power rating while running on a low voltage Table has some of these specifications listed for several motors Table 8 Specifications of several DC Motors 73 1 6 r 80 250 3300 19 95 154 1 6 250 3300 7 T 19 95 29 4 6 xim 250 2200 25 19 95 35 1 6 460 60 800 13 17 95 Banebots B 12 19300 1200 8000 70 55 6 75 ges dy 12 16000 1200 6380 60 64 13 00 Most motors operate on currents and voltages that are higher than supplied by microcontrollers For example the Arduino Uno pins can provide and receive a maximum of 40 mA and operate at 5Vdc 26 As seen by Table 8 the lowest operating current listed is 60 mA Another complication of running motors with a microcontroller is that once a motor stops receiving the command to run motors start generating current to the circuit Motors create this current through induction This excess current can flow back to the microcontroller and damage it if the appropriate considerations are not made Therefore to run motors with a microcontroller the circuit must include extra components to operate safely The two that are being considered are metal oxide semicond
64. as well and add more chain attachments for stability This chain system will be above the table with the end effector attached to a frame that rides along a track to further maintain stability This will be a basic track used for closet doors found in local hardware stores The entire robot arm design can be seen in the CAD drawing shown in Figure 75 ANSI Chain ice Res 3 OCOC ZU xa T sfe f t sy fe Drive Shaft at PAY tX PNP AS TODS Driven by Stepper Ss 7 i d bun E O Y TC _ j pi d 3 8TVO S C VA A A P i AQ VA f ag Solenoid c Poe LO wl i L e tu o 0 0 0 0 0 o 9 0 9 6 9 Aluminum Track l m 7 e c2 IF J E EX M oj to 9 Figure 75 Hardware Design of Striker Arm End Effector The end effector of our robotic arm is perhaps the most important piece of it mechanically speaking The end effector will be attached to a frame made of high density Polyethylene HDPE and will have a servo and solenoid The solenoid will have a plate containing brackets to mount the mallet against in which will be used for striking back against the user As mentioned previously throughout chapter 3 our robot arm will be controlled via a dedicated microcontroller The microcontroller we will be using will be the Arduino Pro mini This is our choice for control due to the amount of IO pins available and compact size With the small
65. ayback audio and video playback recording streaming and editing The DMAI works as an interface between the Linux operating system and codec engine to the Davinci platform 42 43 This can be seen in the following Figure 40 53 Gstreamer Libraries TI Plugin Codec VISA APIs Engine VISA APIs Framework Components Figure 40 DMAI Block Diagram 3 7 4 Graphics for Display Monitor It is the goal to have the display monitor not only show replays but to also to be used as a scoreboard for the participant It is the objective to have the Striker logo and colors displayed at all times The Davinci microcontroller will receive a signal from the master controller by way of sensor activation of a goal scored Upon reception of the signal a 10 sec replay will be shown on the display Once replay has been completed the appropriate participants score will be incremented by one and the Striker logo score will be displayed again 3 7 5 LED Strip Lighting LED strip lighting will be incorporated to Striker by attaching it to the support columns that will be used to affix the monitor that will be suspended over Striker Three basic types of strip LED s are available to select depending on the desired effect or budget The three LED strips available are single color non addressable RGB non addressable and RGB addressable Single color non addressable is the least functional and least expensive of the three choices There is
66. bit microcontroller designed for ultra low power applications Its MCU offers high performance peripherals such as USB RF and LCD even Sigma Delta ADCs Analog Digital converters that use sigma delta modulation The variety of features found in the MSP430 give users more options to find the appropriate tool for their projects The MSP430 is very affordable and easy to use From MSP430 product brochure M Mike Mitchell an engineer from TI mentioned on a report where he was comparing the MSP430 to other ultralow power MCUs that some MSP430 devices include direct memory access DMA which provides the capability to handle data automatically without CPU intervention In other words that means using the DMA controller can increase data handling and more importantly it lowers power consumption Using the DMA to automatically move ADC data for example to RAM allows the CPU to remain sleeping while ADC conversion are taking place only waking the CPU up when all desired conversions are completed This feature is not yet found in other microcontrollers in the market The following Table 15 provides information about the MSP430 features Table 14 MSP430FG4618 Specifications 53 Attribute Specification When we compare the features of the MSP430G48 chip to the Atmega328 from Atmel they were very similar in terms of capacity low power frequency and low supply voltage range 1 8v 3v However in this project we wanted our microcontroller to
67. bject Pixy can be programmed to recognize complicated objects 7 Pixy s software and firmware also give the benefit of allowing the user to see what Pixy sees from a computer screen If an object of interest is detected the software will name and outline the object on the screen Pixy is capable of detecting seven different color signatures and hundreds of objects at a given time Since Pixy was designed to be open source using their software is not the only means of programming this device For previous versions of CMUcams many users have developed optimized libraries for the Arduino that can be used towards programming CMUcams In the Aruduino sketch the interface that allows users to program Aurduinos some of the function included in these libraries is the following CMUcam4 begin CMUcam4 trackColor and CMUcam4 trackWindow These functions can be very beneficial in the programming process for computer vision applications 8 CMUcams have a simple way of color tracking The idea behind color tracking for CMU cam is to set upper and lower limits for the pixel intensity values corresponding with the colors red green and blue The CMU cam then has the ability to track colors within the specified range With those limits the CMUcam has the ability to search an image row wise for the specified color range and calculate edge detection and centroid positioning The data that is extracted from these calculations result in digita
68. called a wheel encoder to provide a feedback loop to our controller Encoders are devices used in motor control circuits to provide a feedback to the motor controller It does so by having two IR sensors to detect differences in black and white colors They can be added to the end of a motor shaft or alongside a wheel to sense the rotational movement Stickers of black and white patterns can be put to the sides of the spinning wheel to provide the contrasting colors for the sensors You can see this in Figure 25 35 1000 0000 1001 0001 0011 0010 0110 0111 1101 0101 1100 0100 Gray code Figure 25 Wheel mask for rotary Encoder 23 Permission obtained from ScienceProg As you can see in Figure 25 the wheel mask used for the encoder uses gray code for the photocells encoding Using gray code instead of regular binary allows for less error in directional changes Another method of obtaining position is to use a potentiometer Potentiometers operate sort of like a variable resistor This change in resistance allows for a changing voltage drop This variation of voltage can be compared using a comparator circuit to determine current position This is commonly used along with transducers for feedback loops however they have mechanical rotation limits Because our Stepper motor will have to rotate continuously a potentiometer is not ideal for our system although much simpler to implement This would prove to be ide
69. cam is connected to the DM365 via USB 2 0 interface This can be seen in Figure 65 Images from the camera are processed then recorded to a SD card At a goal scoring event the Arduino will request that the DM365 display 10 seconds of recording material to the monitor via HDMI connection Additionally the Arduino request the recorded material to broadcast to the user s smart phone Audio effects will also be incorporated by means of prerecorded MP3 files located on the SD card The sound effects for video playback will be integrated to support the action that has occurred oa HD Web Cam Digital Media Processor with SD Card 15 6 Display Monitor Figure 65 Peripheral AV Connection Diagram Arduino Uno USB 2 0 Interface UART Peripheral Interface LED Hardware The LED strips containing the LPD8806 chip will be used The main reason for the selection is that they contain more color choices and connectivity to manipulate the multitude of design options Control of the LED strips is dictated by the Arduino Uno via pulse width modulation The connection to the Arduino Uno can be seen in Figure 66 It is important to note that data flows in one direction so it is crucial to make connections to the controller and power using the input end of the LED strip The clock in Cl is connected Pin 2 and data in DI is connected to Pin 3 The strip is grounded to any available ground pin of the Arduino and the voltage input of the LED s
70. cedure with respect to Pixy 5 1 1 Coordinate Test The term coordinate refers to the position of the puck on the table Pixy has the ability to assign x coordinates and y coordinates to objects of interest with respect to the location of the item within the image originating from the camera of Pixy The origin is at the top left of the image Objective The objective of coordinate testing is to verify that the coordinates that Pixy produces are accurate and reliable After testing the results should demonstrate that Pixy can track the puck continuously and provide usable data Equipment Pixy Computer Micro USB to USB cable Hockey Puck Procedure 1 Install PixiMon application on the computer 2 Connect Pixy to computer using micro USB to USB cable 3 Teach Pixy to detect the hockey puck by placing it in front of Pixy and press the button 4 With the hockey puck placed within the site of Pixy observe PixyMon and verify that the hockey puck has been identified If it has not been identified repeat step 3 5 Set PixiMon to display x and y coordinates of detected objects 6 While observing PixiMon move the hockey puck to the top left of the image and observe the x and y coordinate displayed The top left should display a value of 0 0 Slowly move the hockey puck to the right and to the bottom the values of the x and y coordinates should continuously update increased values If the values do not increase reteach Pixy to
71. ces and applications it may be desirable to increase the intensity due to ambient conditions For example if the sensor is to be used in a ride at a theme park the sensitivity may need to be higher for a scene with high fog density versus clearer ambient conditions For this the amplifier will adjust the sensitivity by increasing the gain O aa ammm 23 As mentioned earlier photoelectric sensors have three primary methods of detection For diffused mode proximity mode light is emitted onto an object and depending on various factors the light is diffused at arbitrary angles These factors affecting sensing range and diffusion angles are color size and finish From these arbitrary angles some light is received into the receiver For example if the diffused sensor is trying to detect an object that is black and matte finish sensitivity and or position must be changed Retro reflective mode uses a special reflector to establish a light path between the transmitter and receiver This is the traditional method of object detection One advantage of having the reflector in this application is the ease of alignment and longer sensing ranges Although the sensing range is not essential ease of installation is desired The purpose of the reflector is to reflect the transmitter s laser back into the receiver on a parallel axis Figure 11 and describe the nature of retro reflective sensors Notice the sensor has a series of filters that the elec
72. ces are built to interface with the Arduino such as the Red Bear BLE shield and Pixy Additionally there is a lot of support for writing software for the Arduino Arduino provides a large number of libraries and built in functions that are specific to the type of coding considerations we will have for Striker The Arduino Uno also has the advantages of being able to communicate through several communication standards of interest specifically SPI and UART It also has a fast clock speed at 16 MHz with low power consumption Additionally programming an Arduino uses a language that is very similar to C The processors chosen for all of the subsystem will be further discussed in the following sections Figure 55 demonstrates how the processors are connected to each other and to other components of Striker This figure also shows what pin numbers correspond to which connections The pin assignments are important because not every pin has the same capabilities in the processors For example only pins 3 5 6 9 10 and 11 are capable of PWM on the Arduino Uno Therefore devices such as motors that rely on PWM can only be connected to those pins 77 UART TX UART RX MOSI MISO SS1 MISO Fig
73. checksum for the rest of the object block data Y Position 2 Bytes Y Position of object Center in image Size 2 Bytes Size area of object in image Angle 2 Bytes Angle of object optional only available for color codes 3 3 Puck Return Mechanism 3 3 1 Design Overview While looking at some air hockey games built from previous senior design projects we realized that some of them implemented the sound system the communication system put cameras to record the game and others added sensors to track the position of the puck on the table None of these projects had an automated puck return system This observation pushed us to add an automated puck return mechanism This will help players retrieve the air hockey puck after every goal scored in a shorter period The automated puck return system will add more taste to the game players will not only save more time but also experience a more interesting game The puck return mechanism will be composed of a goal sensor used for tracking a conveyer belt a power switch and a motor This design will allow the air hockey puck to be returned automatically to the player Puck return will be achieved through the following mechanism the puck will be identified into the goal by a sensor which is controlled by a microcontroller The microcontroller will make a decision whether to activate the power switch or not If the player scores the sensor will detect the air hockey puck and the power switch will
74. crocontrollers The advantages of this communication protocol are throughput ease of programming and versatility in devices SPI works similar to two shift registers to send and receive data In order for communication to begin the frequency of the slave device must be greater than or equal to the frequency of the master To establish communication between the two devices logic O is transmitted from the master to turn the active low slave chips on This allows multiple devices to share the same MOSI MISO and SCLK lines From here data transmission between the master and slave devices occurs in the following sequence e The master sends a bit via the Master Output Slave Input MOSI line to the slave e Slave then reads this bit from the MOSI line e Slave sends a bit via the Master Input Slave Output MISO line to the Master device e Master then reads this bit from the MISO line Figure 47 shows this process stated above 62 SPI Master Figure 47 SPI Master Slave Communication Process 50 Permission pending from RoboTosh The physical connections between the master and slave device can be done in two separate configurations If more I O pins are desired from your master device a daisy chain configuration may be a reasonable approach to achieve this For faster overall transmission rate an independent configuration may be appropriate but uses more I O pins from your master device Figure 48 shows these two configuratio
75. ct motion while active sensors can dectect motion and transmit energy 26 Retrigger uh select BISS0001 chip RE jr m asia 3v regulator HC uL l eS CT aA H faa F ivi Protection diode em 3 5VDC Digital out a b Figure 14 Passive Infrared Sensors a Front b Back 14 Permission pending from Ladyada PIR sensors are motion detecters made of pyroelectric sensors that have the ability to detect motion through level of radiation They are very common in various applications such as alarm and lightning systems Figure 15 is a representation of an operational diagram of the PIR sensor It contains a Fresnel lens which is a filter used specifically to focus infrared signals onto object The Pyro electric sensor defined earlier and an amplifier that is on the board is used to trip the output when motion is detected V Thermal Output Energy 3 Amplifier Comparator Focusing Pyroelectric Sensor Lens Figure 15 PIR Sensor Operational Block Diagram 15 Permission Obtained From Glolab oevaral reasons pushed us to consider the PIR325 to use in our project for example our first concern was to find a cheap sensor a low voltage low noise and very sensitive and besides of all find a sensor that used low power that can detect the puck in microsecond and adequat enough to support our design The PIR 325 is a low cost sensor with a wide lens of range and very easy to interface w
76. d also calculate the coordinates for the centroid of the object For that reason it will be important that the surface of the air hockey table not have any similar colors displayed as that of the hockey puck This feature will allow for easier detection and analysis of the puck Depth estimation for our purposes refers to the process of converting pixel size to measurable distances When the puck moves the depth estimation algorithms will relay the exact position to the user interface It is with the continuous calculation of the centroid s coordinates and the depth estimation algorithms that the system will be able to track the puck For our purposes to track the puck means extracting current coordinates velocities and trajectories from the puck With this data the robotic arm will have the required data to make intelligent decisions To create these algorithms there are many different languages to consider These codes can be written from scratch using C C java or numerous other languages The issue of writing a code from scratch is efficiency There are numerous ways to write a code but it is preferred that the code written uses the least amount of resources Otherwise the code may take extra cycles to extract data a commodity that the robotic arm does not have The algorithms we write for computer vision must be robust and fast Therefore it is best to use computer languages that have computer vision libraries and functions alre
77. d adjust the code as necessary Do not continue to step 3 until the motor behaves as expected 3 Add on to the goal sensors test code by adding the function written in step one to turn on the motor Change the function to only turn on the motor for five seconds 4 Download the code to the Arduino Uno Add to the circuit built in the goal sensors test the motor circuit Power the Arduino Uno Pass the hockey puck in front of the PIR sensor This action should turn on the motor flash the lights and display an increase in the goal scoring variable displayed on the computer through the serial communication of the Arduino Uno If the motor does not turn on make sure it is connected appropriately to the circuit and update the code as necessary 5 4 4 UART SPI Communication Testing The Arduino Uno has to communicate through two different methods The SPI communication method will be used to receive and transmit data from Pixy and to send data to the Arduino Pro Mini The UART will be used to transmit and receive data from Davinci It is vital that Arduino Uno is able to manage both communication protocols Objective The objective of these tests is to verify that the Arduino Uno can balance the communication needs required by Pixy and Davinci Although we are only testing a section of the communication that will actually occur during gameplay these tests will be sufficient to prove that it can carry out all the required communication Equipm
78. d on the previous Arduino boards the Arduino Uno now uses an Atmega16U2 USB to serial converter instead of the aging Future Technology Devices International FTDI chip which was used in the past to convert serial communication RS232 to USB signal This allows faster transfer rates and does not require installing of any drivers on Mac and Linux All you need on Windows is a simple inf file The new USB serial converter also offers an ability to have the Arduino Uno show up as a variety of USB devices such as keyboard mouse joystick and so forth The Arduino Uno can be powered using a USB power cord connected to a computer or a 9v battery or a DC power supply regulated from 6V to 20V However to prevent overheating and instability the recommended supply voltage must range from 7 to 12 volts DC ICSP for USB interface SPI SCK SPI MISO SPI MOSI Interrupt 1 Interrupt 0 O rPecD ow ee A e 1 EOS i A DIGITAL PWM F 5 ICSP for Atmega328 o d U to computer B LM LM LM LIN LAIZo lll ll 100 10 1 7 to 12V DC input ps EU i Figure 51 Arduino Uno Development Board 26 Permission obtained from Arduino Other advantages are the fact that the Arduino language is based on C C It links against AVR Libc and allows the use of any of its functions it also allows ammm 68 better Port manipulation Digital pins can be accessed directly via connectors or individual wires In T
79. de of two parts the rotor and the stator The main part of the stator is called the winding The number of phases determines the number of windings For example a three phase stepper motor has three windings The windings on a stepper motor are energized in a specific order called the phase sequence which happens when they are in the working mode 31 Controller Pulse Signal Programmable Controller Current Motor DD o E a veon Positioning Completion Signa H Rotor Peerfen Depcbon Sanse Ham Sond SCS a Oster Figure 21 Stepper Motor Drive system Diagram 20 Pending permission from Oriental Motor USA The 5mm shaft shown in Figure 22 is a NEMA size 14 hybrid bipolar stepper motor This stepper motor produces 200 stepper revolutions at 1 8 degree Each phase draws 280mA at 7 4V which allows a torque holding of 650g cm Table 6 displays various specifications for the stepper motor These specifications make this stepper motor a good candidate for our project Figure 22 5mm Hybrid Stepper Motor 21 Permission pending from Pololu Table 6 Characteristics of 5mm Stepper Motor 21 Parameter value Step Per Rev 2 The standard stepper motor has 200 rotor teeth which means 200 full steps per revolution or 1 8 degrees full step angle In half step mode one winding is energized and then two windings are energized alternately This causes the rotor to rotate half the distance making
80. dered to be the heart of the entire design project without a power supply system none of the sub systems will be able to work Since all of our sub systems are low power electronic devices that require low input power we decided to divide our power supply system in two parts The first system will pretty much be used to power up the air hockey table Since the air hockey table comes with a plug we will just use it to connect it to a wall receptacle that supplies 120 volts AC The for safety reasons an extension plug will be used to establish the connection And the second part of the power supply which is our own design will be used to power up all the sub systems includingand that include the LED system puck trackingthe CMU the motors Camera system the puck return mechanisms the AV system and the robot arm Basically to build the system we will be using a step down transformer a contact relay switch a solenoid and a voltage regulator 3 11 1 Transformer A transformer is an electrical device with two windings that facilitates the transfer of electric energy from one circuit to another circuit This transfer is possible because of a change in voltage current and phase When that transfer leads to a higher voltage it is called a step up transformer When it leads to a lower voltage it is called a step down transformer also Known as voltage converters For the purpose of this project we will focus on step down Step down transformers a
81. dia being saved onto the device would be instant replays When a goal is scored the user has 10 seconds to respond on whether they want to save the instant replay or not If they decline or refuse to respond within this time the video gets lost forever The instant replay will show the scoring goal 2 3 2 Audio and Visual Effects The audio and visual system will be separate from the main control system The Audio and video controllers will be controlled in which command signals to the MCU or FPGA will be sent from the main system controller We want to use a separate controller in order to take off some of the computation from the main system s microcontroller In order for our video data to consistently project the microcontroller would be running continuous data from the video camera in which would slow down our system response due to the high data rate required for visual effects alone Basic A V Control Diagram System 8 Data Microcontroller pee A V Control MCU Audio Controller Video Controller Digital Video Audio Signal Video Signal Speakers Display Monitor Figure 2 Audio amp Video Control Block Diagram The controller must be able to send commands to the speakers and display monitors synchronously with minimal effect on the overall system response The audio and video controllers are to be integrated within the AV controller however due to budget constraints it may be beneficial to go with a system that cont
82. e 38 VPSS VPFE Internal Block Diagram 40 Permission Pending from Texas Instruments The complement to video processing front end is video processing back end The VPBE is capable of handling various types of analog and digital displays The back end processing is comprised of two modules These two modules within the VPBE can be described with further detail in Figure 39 e On Screen Display OSD Designed to gather and blend video and bitmap data to be sent to the video encoder 52 e Video Encoder VENC The video encoder is comprised of three blocks that can distribute analog video output digital RGB YCbCr data output and the timing generator Figure 39 OSD and VENC Modules within VPBE 41 Permission pending from Texas Instruments The major advantage to the Davinci is the numerous development software tools that will simplify the video as well as the audio processing To supplement the DM365 is the Linux DVSDK video software development kit that is free to TI customers The software contains codec libraries with example programs to aid in the video as well as the audio design process A block diagram of the software can be seen in Figure An added feature of the software development package is the Gstreamer libraries The Gstreamer is an open source library that is used as a plug in for the Davinci Multimedia Application Interface DMAI It allows the designer to create media handling components such as audio pl
83. e get the fast processing speed at higher quality and lower price approximately 70 00 without including shipping 16 Another advantage of CMUcam is the ease of integration As mentioned previously CMUcam is open source and has programs readily available for image tracking Another feature that makes this easier to implement into our system is the fact that it was design to work directly with Arduino boards particularly the Uno Additionally Pixy has a wide range of integration options We can connect this to our board via SPI UART or l C which makes it ideal for Bluetooth setup Because of these options Pixy also has the ability to control servos with digital and analog output options as well This will save some processing power by the system controller and limit the latency on the robot arm s reaction time Pixy is very likely to be our choice for the puck position tracking because of the capabilities mentioned previously Table 3 summarizes the features of CMUcam version 4 and 5 Table 3 CMUcam Feature Comparison 3 4 CMUcam Frame Rate Power Version Lowest Res Consumption O Interfacing Processor 30 fps Parallax 4 0 N A TTL UART 640x480 P8X32A 50 fps WA UART SPI 640x400 Pc apio NXP LPC4330 5 0 Pixy The aforementioned traits are just some of the features that make this our front runner for the tracking system As mentioned CMUcam uses an open source library for various tracking programs
84. e minimum input and outputs needed for our microcontroller 10 Table 2 Microcontroller Monitored I O UART Monitor User Input from Bluetooth A pp Goal Sensors AV Puck Return Mechanism Motors Game LED Lighting In game Camera Power Supply Minimum Device Pins Specification Summary of System Hardware e Motor must rotate at high rom to achieve desired linear velocity e System controller must have a minimum of 6 output pins and 4 input pins e System Controller must have communication interfacing compatible with wireless communication devices i e USB UART 12C and SPI 2 3 6 Puck Return Mechanism The puck return mechanism has to be able to receive signal from the goal sensors AS mentioned previously once a goal is scored against Striker the sensors within the goal will send a signal to the main microcontroller discussed in 2 3 5 This signal will then trigger a successive command to the motor for the puck return mechanism This mechanism has to be able to send the puck back to the user without having the user move from their position The motor specified for this use will have to drive a belt much like our drive belt on the robot arm The requirements on speed regulation for this are unnecessary as the game will be in a temporary paused state until the user grabs the puck from their return slot If you notice on the flow diagram in Figure 5 there is a closed loop feedback sensing a continue game condition T
85. eaeeeeeeeseeeeeeeeeesaeeeeeeesaaess 17 Figure 9 Pixy s Hardware Interface 10 Permission Obtained from Charmed Labs 20 Figure 10 Pixy s pin layout for the I O ports 10 Permission Obtained from Charmed Labs 21 Table 4 Data Block Packet Sizes 10 cccccccccccesseeceeeceeeeeceeeceeeeceeseeeeseeesseeeaseeeessaaeeeeessaaass 21 Figure 10 Internal Components of a Photoelectric Sensor 11 Permission Obtained from aia E 23 Figure 11 Retro Reflective Sensor Instrumentation 11 Permission Obtained From Pepperl zc cC 24 Figure 12 Light On Dark On Condition Chart 12 Permission Obtained from Pepperl Fuchs 25 Figure 13 a Wiring Diagram of Pepperl Fuchs MLV12 54 LAS 76b 110 124 b M12 Pin Configuration c M12 Housing Sensor 13 Permission Obtained from Pepperl Fuchs 26 Figure 14 Passive Infrared Sensors a Front b Back 14 Permission pending from Ladyada m 27 Figure 15 PIR Sensor Operational Block Diagram 15 Permission Obtained From Glolab 27 Table 5 PIR Sensor Specifications 15 cc cccccccsssseceeeceesseceeceeeeseceeeeaeaseeeesseeeseeeesseegeeeeessaaess 28 Figure 16 BISS001 Chip PIR Motion Detector IC 16 Permission pending from Ladyada 28 Figure 17 a Photodiode 17 Permission Pending from Thor Labs b Inner construct
86. ecided to use Pixy as the main component in our tracking system for the air hockey table We are going to place an order for pixy soon As for now we have to write a report and explain why we have chosen to use Pixy Would you give us approval to use your data from your website and your kickstarter article to use in our report Our report is strictly for academic purposes The website and article I m referring to are http www kickstarter com projects 254449872 pixy cmucamb5 a fast easy to use vision sensor Efrain Cruz 124 Permission from Glolab W2F HB qglolab com Senior design project To whom it may be concern Hil my name Loubens Decamp am in my senior year at the University of Central Florida UCE am actually taking senior design one 1 and my group is working on a senior design project an Autonomous Air hockey table where we have to use sensors We wanted to know if we can get permission to use pictures and documents about the PIR235 sensor in you website We Thank you in advance and look fonward hearing back from you Permission granted by Glolab Frank Montegari to me Images are not displayed Display images below Always display images from lab glolab com Loubens You have permission to use any and all Glolab pictures and documentation on our web site Frank Montegari President Glolab Corporation 845 297 9771 From Loubens Decamp mailto louloudecam mail com Sent Thursday November 07 2
87. eeeeceeeecesseeeeeeeeeeeeesaeeees 58 Table 13 Bluetooth Power ClaSS S ccccccccccsseeeeeeceeeeeeeeceeesseceeeseeeseeeeesseaeeeesseeaeeeeessaageeeeeeeas 59 Figure 45 Bluetooth 4 0 BLE Gateway Diagram ccccceeecneeeeeeeeeeeeeeeeeeeaeeeeeeeesaaeeeeeeesaeeeess 60 Figure 46 UART Interfacing of Bluetooth Module with Arduino 49 Permission pending from ue P 62 Figure 47 SPI Master Slave Communication Process 50 Permission pending from aie sollo C Po 63 Figure 48 SPI Independent left and daisy chain right configurations 51 Permission pending fom L lt 6 26 2 E R 63 Figure 49 I C Interface shown without pullup resistors ce 64 Figure 50 Timing diagram for I C interfacing 52 Permission pending from Sidharth 65 Table 14 MSP430FG4618 Specifications 53 eeeeeeeseeeseeeeeeeeeernrneenn nn 67 Figure 51 Arduino Uno Development Board 26 Permission obtained from Arduino 68 Table 15 Arduino Uno Development Board Features 26 sseeesseseeeesse 69 Table 16 Digital Pin Use Summary 26 icit oath etsi anota o d Uo anna SE aedis e oS eed eruca s nsque Se us conet ons 70 Table 17 Interface ports of various Arduino Boards ccccceeeeeeee
88. eeeeeeeeeeeeeeeeaeaeeeeeeeeaaeeeeeenaaes 71 Figure 52 Transformer Input Output Characteristics of Step down Left and Step up Right Transformers 54 Permission pending from yesican ccccsecccceeeecceeeeseeeesaeeesaeeeesauees 73 Table 18 Transformer Comparison Chart cccccccccssseseececeeeeeaeeeseeeeeeeeseeeeeeeeceeeeeessaeeeeeeeeeeeeaaas 73 Figure 53 Single phase Solid State Relay 55 Permission pending from MOR Electric 74 Figure 54 Electromechanical Relay construction 56 Permission pending from New EIS COMICS m 74 Figure 55 System Wiring Overview with Pins ccccccccsseseeceeeeeeseeeeeseaeeeeeeeeeaeeeeeesssaaeeeesesaaees 78 Figure 56 H Bridge and Stepper Motor Connection with Arduino Pro Mini 79 Figure 57 Solenoid Interfacing with Arduino Pro Mini cccccceeeeeeeeeeseeeeeeeeeeeseeeeeeeeeeeeessaaeees 79 Table 19 Comparison Chart of Bluetooth Modules seeeesseeeneeee 80 Table 20 ACI Pin Assignments between Arduino Pro and RedBear BLE 81 Figure 58 Wireless Communication Wiring SCNEMAIC cccccceceeceeeeeeeeeeeeeeesaeeeeeeeeeeeessneaeeees 82 Table 21 Comparison of Tracking SYStOMS cccccccseeeceeeeseeeeeeeeesaeeseeeeesaeeeseeeesaeeeeeeesseeeeeeeeeas 83 Figure 59 Wiring between RNA2XV Bluetooth
89. ements in Wi Fi technology have allowed for virtually limitless speeds in data rates For example 802 11n transmits at higher rates than earlier version 802 11a Wi Fi runs on the same ISM band as Bluetooth of 2 4 GHz Just as a basic understanding of the significant speed difference from Bluetooth technologies one of the earlier versions of Wi Fi 802 11a provides speeds of up to 54 Mbps Although there are differences between Bluetooth and Wi Fi they are to some extent complimentary to each other in their applications One of the main differences is that Wi Fi is intended as a wireless solution of local area networks while Bluetooth is intended for device to device connection Wi Fi is connected asymmetrically via a central access point 3 8 3 Zigbee Zigbee is another type of Wireless Personal Area Network WPAN that operates on the IEEE 802 15 standard It operates in the same ISM band as Wi Fi and Bluetooth of 2 4 GHz It is a smaller simpler way to communicate and built from low power digital radios This compact design makes it ideal in our application for its energy efficiency The transmission range varies from as little as 10 m but can extend to further ranges via mesh networks Because of its decentralized nature and non centralized control the lack of a high power transmitter receiver can only transmit data at approximately 250 kbps This low transmission rate is ideal for applications pertaining to sensor signals or very smal
90. ensive of the available choices Table 11 Voltage and Current Requirements for HL 1606 Threshold voltage psg DS VOL Ipss1uA Voo 5V Stable and Operating voltage vCC functioning properly Vop 5V Operating current ICC oscillations no load DATA input Stable and changes of high VIN functioning level and low level properly Output current of drive IOL Vop 5V Vos 0 8V Output current of OH Vopz5V Vos 0 8V onic IOL Vpp 5V Vos 0 8V temperature Temp Work frequency of ermas Fs Vpp 5V 200 Hz One of the major detractors of using the HL1606 chip is the manipulation of the LED s with the microcontroller This is due to the nature of the controlling mechanism that is used namely by SPI To adjust the color mixing or fading it has to be accomplished with a majority of the burden dictated by software 99 A typical LED strip incorporating a HL1606 chip is displayed in Figure 41 The obvious visual distinction between the HL1606 and other models that use PWM is the number of connections that are made to the microcontroller The HL1606 requires the serial data clock and latch I O pins as well as a voltage source and ground The extra I O requirement could be potentially troublesome if multiple applications are being run from a single microcontroller J a _ LII Las Figure 41 HL 1606 Chip for LED Strip 45 Permission Obtained from Adafruit Unlike the HL1606 the WS2801 chip uses PWM from the
91. ensor is Omni Visions OV9715 image sensor The wiring connections are shown below in Figure 61 84 IMAGE SENSOR M Y7 CAM DOVDD CAM DOVDD A in CAM_AVDD T a Figure 61 OmniVision OV915 CMOS Image Sensor Schematic 4 Permission Obtained from Charmed Labs Another aspect of the CMUcam that will be essential for our design is the interface junction along with the mini USB port used for programming and debugging This is shown in Figure 62 Note that the interface used will be SPI as mentioned previously in Figure 59 85 USB 2 0 MINI USB VBUS USB DM USB DP use ID ESDR05028 INTERFACE PORT H14 K SPI MISQO UARTO RX So NS SPI SCK f a RR ee ae A L RILI 1 t ee m ee wr H Il2G SDA lt xma2 H XTRA1 VBUS MEAS Rz 10 05 VCC SV A C14 C15 1OUF 0 1uF lt TUARTO TX Tsp MOSI Figure 62 SPI and USB2 0 Interface All ports are ESD protected via ESDR0502B chip 4 The following schematic diagrams are part of the internal power supply of the Pixy development board It includes the main power supply in 7 9Vdc and three voltage regulators regulated at 5V 3 3V and 1 5V DC respectively These are shown in Figure 63 You can see that all of the regulators are ESD protected just like in Figure 62 86 Vin VIN_MEAS AGND SERVO 5V VOLTAGE REGULATION LM1117 5 0 U2 1 5V REGULA
92. ent Pixy Computer Micro USB to USB cable Hockey Puck Air Hockey Table Arduino Uno Davinci LED lights 109 e Resistors Procedure 1 Build upon the code in section 5 1 3 by adding code that will send Davinci a signal to turn on several LED lights when the hockey puck s current coordinates show that the hockey puck hit the back wall through UART communication 2 Write a code for Davinci that wait to receive a signal from the Arduino Uno through UART to turn on the LED Lights 3 Build upon the circuit required for section 5 1 3 by adding the Davinci with appropriate outputs connected to LED lights and resistors 4 Download the codes to the Pixy Arduino Uno and Davinci 5 Hit the puck on the table Verify that the computer is correctly displaying current coordinates and trajectory coordinates through the serial communication Verify that the LED lights connected to the Davinci turn on only when the hockey puck hits the back wall If the lights do not turn on verify that all components are connected correctly and update the code as necessary 5 4 5 System Test The term system in this case refers to the joining of all the subsystems into one system Although each subsystem is triggered by specific events they must all synchronize and behave as one entity The role of the Arduino Uno is to provide that experience Objective The objective of the system test is to verify that the Arduino Uno is able to manage all the inp
93. er satisfaction Monitors that have a video resolution are very common reasonably affordable 3 7 3 Video Controller Various methods for video processing can be used to achieve the desired goals for the video playback and display of statistical information It is desirable to deal with digital signals for visual appeal and to gain knowledge in digital signal processing Two avenues to accomplish the process are microcontrollers and FPGA s Both hardware choices have their advantages and disadvantages 38 FPGA s are becoming more prevalent especially for DSP applications FPGA s have a benefit over microprocessors with parallel processing paths This allows information to be processed quicker given that data allocation is not dependent on the same processor resource Another advantage is the flexibility of correcting bug issues onsite This is accomplished by rerouting the hardware pathways with the implementation of logic gates whereas with a microprocessor a new board would have to be constructed However the potential drawback would be the cost of the FPGA The initial cost of a FPGA is higher than that of a comparable microprocessor Additionally having to redo a PCB board configuration because of design or application issues would far exceed the initial cost Another drawback for consumers is that they are only two manufactures Xilinx and Altera Microprocessors have the distinct advantage having more choices when it comes to manufact
94. ey puck in microseconds It must be able to differentiate the puck from other moving objects It must be able to communicate with Arduino Uno board It must be low power consumption It must be affordable The PIR325 sensor since it meets all the expectations of our design First they are affordable Second the PIR sensor is used in many projects that use Arduino s development boards Third it only needs one pin from Arduino to communicate This can be seen in Figure 73 which demonstrates how the PIR325 will be implemented Lastly just like the Thru Beam sensor the retrospective sensor and the diffuse sensor the PIR325 has the ability to detect movement of objects in microseconds Drain Ground n 5v ap Source Figure 73 PIR325 goal Sensor Wiring Diagram 4 7 Power Supply Supply voltage to Striker will be made using conventional outlet receptacles that have 120 V nominal One outlet receptacle will be dedicated to the display monitor as it is already compatible to the present voltage source In addition no design was needed to supply voltage to the blower motor for the air hockey table as it is already present However power supply design was needed to power the devices that control Striker A 5 volt source is needed to power the LED s Arduino Uno Pixy DSM44 and the DM365 The first step in the design procedure is to reduce the voltage to 12 V from 120 Three parameters are taken into consideration They are power co
95. f about 9MBps Along with the inability to process at higher data rates it is a much more difficult system to program and integrate with our system and robot arm controllers due to its lack of SPI UART or TWI ports 3 2 2 CMUcam CMUcam is an open source color vision sensor that is particularly designed for robotic uses There are several versions of CMUcam the most recent release being the CMUcam 4 Developers of CMUcam are releasing a new model CMUcam 5 This is also known as Pixy It has faster processing speeds and better accuracy than previous versions This model is set to release in January of 2014 3 This camera is an ideal device for our puck tracking for several reasons namely the features and cost Apart from previous versions of CMUcam one of the biggest changes in the Pixy is the faster processing speeds CMUcams 1 4 have normal processing speeds of about 30 fps 4 Pixy is integrated with OmniVision s OV9715 image sensor With this sensor we are able to obtain VGA resolution at 60 fps 5 The OmniVision sensor can even obtain 720p resolution at 30 fps This sensor outputs raw RGB data to the processor on Pixy This on board dual core microprocessor allows for fast multitasking and analysis This LPC4330 microprocessor from NXP semiconductor has 2 cores for multilevel processing This can be seen in the block diagram of the LPC4357 microprocessor shown in Figure 7 The ARM Cortex MO coprocessor is primarily used for the acquisi
96. g the game less competitive Other considerations for the robotic arms software is that it keep track of the number of times the robotic arm hits the puck This number will provide a basis for creating stats for the player With this number the save to miss ratio can be calculated This ratio states that for every time the robotic arm hit the puck back if the robotic arm did not score than It is a save If the robotic arm did score than its a miss by the player a ee ee ammm 43 3 5 Air Hockey Table Acquisition of an air hockey table is necessary for testing and demonstration purposes A multitude of table options is available to meet our constraints It was desirable that the puck travel be made possible by means of a cushion of air in lieu of a smooth surface that is plastic in construction 3 5 1 Harvard Action Arena 7 Air Hockey Table The Harvard 7 ft Action Air Hockey table is one foot shorter than regulation tournament play length of 8 ft but larger than most air hockey tables that are present in most homes For example the other table option had a length of only 60 This would have serious ramifications to the robots hit rate with the puck The assembled table dimensions for the Harvard Table 84 L x 44 W x 33 H The playing surface is a pvc laminate that has air supplied from a 110 V motor Overall this table meets are our requirements 31 3 6 Audio System The process of having audio effects can be accomplished us
97. hese quick movements will be implemented using a single motor with a belt driving the end effector The end effector will have a smaller tilt motor to position the mallet for striking back Another constraint to consider when designing our robot arm is the weight of the end effector which can inhibit our velocity We must also specify the track system being used We want a track that is durable and allows caster wheels to move with limited loss in friction In total the process of the controller sending a signal to the servo and the servo moving must happen within 20 milliseconds System Controller For our main system controller we want a controller to give us a fast response to sensor input signals as well as quick processing for data Our main controller will be either FPGA or MCU The inputs read by the main controller will be mostly from in game sensors wireless communication and video signals The in game sensors will be monitoring the goal lines and puck return Once the puck has crossed a goal line it will send a fault signal to the main system controller to signal a score change and possibly activate the puck return mechanism depending on which goal was scored on We will also have a wireless communication protocol for several purposes The puck tracking camera will communicate to the striker controller via wireless connection and the system data will communicate to the application via the same protocol The table below shows th
98. his characteristic you can deduce that current will flow from the n side to the p side when photons are emitted This is advantageous for our project due to its very small size ease of circuitry and very low cost top metal contact __ p diffusion X intrinsic region larger depletion region n type n contact region E bottom metal contact a b Figure 17 a Photodiode 17 Permission Pending from Thor Labs b Inner construction of a Photodiode 18 Permission Pending from T R Kuphaldt Phototransistors Phototransistors are semiconductor devices that utilize PNP or NPN configurations to determine a light signal With an NPN light shining on the base terminal of the bipolar junction diode will give an output to the collector or emitter depending on the configuration Common Collector Common Emitter The implementations of these are essentially used as switches controlled by light This switching behavior can be used to control a relay or feed into a microcontroller for decision making Just like photodiodes this type of sensor is advantageous in our project because of its low cost small size and ease of circuit design 29 3 3 3 Motor for Conveyor Belt One of the key elements that we need to make our automated puck return system possible is a motor In this project the role of the motor is to activate a conveyer belt so that the air hockey puck is returned to the player automatically For the ch
99. his is to be implemented using a photo sensor within the user s puck return slot The system will monitor this sensor until the puck is removed from the slot Upon this action the sensor will record a condition change to the microcontroller signaling that the game is ready to continue These sensors can be simple photoelectric sensors 11 Puck Return Flow Diagram No Yes Figure 4 Puck Return Flow Diagram Specification Summary of the Puck Return Mechanism e Has to return puck on command e Has to provide enough friction to transport the puck 2 3 7 Communication The communication protocol in our system is as critical to our project as any other device Our system will take advantage of several communication methods including wired and wireless Our wireless system will communicate between several systems including the puck tracking system the main processor and a smart phone running an application that interfaces with Striker Our main requirements for the wireless communication are that it has to be low power efficient and have fast response Our fast response is desired particularly for the robot arm in order for us to accommodate fast reaction times that keep up with human players 12 3 Research 3 1 Existing Technology and Products The technologies required for this project varies greatly in operation and functionality throughout the air hockey table To create this project
100. i i i f j i i i i E i i ANnQuiar Rotation Pulse Figure 28 PWM of a servomotor 28 Permission pending from Engineers Garage 40 Figure 29 Interfacing a Servomotor to Arduino via PWM 29 Permission pending from Azega Striker Mallet Although we could go for several options for the end effector a solenoid seemed like a simpler design versus pneumatic or hydraulic systems With a pneumatic system we would need a pressurized air supply along with several pots to regulate the servo valve With a hydraulic system the same would have to be used except with a reservoir of hydraulic fluid Solenoids on the other hand use a magnetic field to propel the shaft This magnetic field comes from an input current The magnitude of this current will vary the force that the shaft is propelled In relation this is a very simple and small design The servo will provide various tilt angles for counter attacks As mentioned earlier because we will need a feedback on the servos current position a rotary potentiometer can be used to provide this The two different types of solenoids are push and pull There are not as many specifications that solenoids list compared to motors and servos The main specifications are operating voltage throw and coil resistance For Striker the ideal solenoid would work with a small DC voltage and a low coil resistance The throw can be small or large
101. ich has a 99 development fee Figure 69 displays the coding diagram for the application 91 Is BT Enabled gt No Yes Ask user to login Enable BT lt Yes Does player Uc A Close Application Display Initial Screen Has play game been pressed Ye Does Player Want Replay Video 2 Send Striker message tosend replay video Yes Display end of game screen No No Display congratulations screen with username and stats Has user landed in leaderboard stats Store user name and stats on leaderboard stime limit or goa limit reached Display updated stats received from Striker Send data to Striker to initiate game and which style of gameplay Has goal been scored Receive data from Striker N Figure 69 Android Application Coding Diagram For the DM365 a Linux based operating system will be used that incorporates Digital Video Software Development Kits DVSDK These developmental kits have extensive codec libraries along with numerous example programs to execute the replay design The DM365 will check for input from the Arduino The DM365 remains in standby mode until the condition changes Standby mode is defined as the processor recording video images continuously onto a SD card Once a goal is scored communicated by the Arduino Uno the DM365 will re
102. id ST Step Down Relay Transformer with AC DC Converter 9 V Step Down Voltage Regulator Reduce to 3 3V 12VAC FAV colernare DSMAA Servo Davinci CMUcam 5 Uno Motor DM 365 Display Monitor Figure 74 Dedicated Power Supply Schematic 4 8 Robot Arm For our robotic striker arm we went with a simple design As specified in chapter 2 we wanted to go with a minimal mechanical and machining design while still maintaining within the constraints of our budget We categorize our hardware design summary into three separate sub sections drive system translational track and end effector 96 Drive system For the drive system we have decided to go with a stepper motor As mentioned in chapter 2 this motor will be controlled by a dedicated microcontroller which will receive signal from our tracking system described in section 4 3 Because we are to use a stepper motor we need a feedback loop to tell the dedicated microcontroller where the mallets current position is This will be done using Pixy which will track the movements of the robotic arm Translational Track For our translation on the robot arm we are going with the simple design of bicycle chains to move our robot arm We will have two sprockets at the ends of the table one of which will be driven by the drive system At the opposite end of the drive sprocket will be a sprocket used as a tension pulley With chain links we can adjust the tension
103. identify the hockey puck ammm 100 and repeat this step If the values are continuously updated make sure the cable are connected correctly 5 1 2 Trajectory Test In the scope of Striker trajectory calculations will estimate the position of the hockey puck when it reaches the side the robotic arm The data used to compute trajectory calculations comes from the coordinates that Pixy assigns to the hockey puck and the change in the coordinates with respect to time Objective The objective of trajectory testing is to verify that Pixy can accurately predict where the air hockey puck will hit on the robotic arms side of the table If it can calculate the position where it will hit that side accurately the robotic arm will have the ability to intercept the hockey puck and hit it back to the player Equipment Pixy Computer Micro USB to USB cable Hockey Puck Air Hockey Table Procedure 1 Build on the software that comes with Pixy by adding to the code a section that stores previous x and y coordinates and time elapsed The code should continuously output at what section of the robotic arm s side of the air hockey table the air hockey puck will hit It should predict if the hockey puck is to bounce off a wall first or go straight forward depending on those two factors different dynamic analysis will be programmed into the code 2 Teach Pixy to identify the air hockey puck Connect Pixy to the computer and mount pixy above
104. ing a separate controller for audio processing or combine it with a microcontroller that has the ability to do both However it may simplify the process by having the audio controlled from a separate controller instead of integrating sounds effects with video processing 3 6 1 Speakers Two styles of speaker choices are considered for the display area that will be positioned above the playing surface One choice is to use two inexpensive computer speakers that will be positioned on either side of the display A more convenient choice is to use a speaker bar that can be affixed to the top of the display In both cases a simple connection to the monitor is available 3 6 2 Audio Controller A promising microcontroller to implement sound effect is the C5000 Audio Touch Booster Pack from Texas Instruments This device is an ultra low digital signal processing DSP driven application DSP by definition is the process of taking analog signals and converting those signals to digital signals by means of transforming to discrete time This transformation is accomplished by Fast Fourier Transform algorithm Clarity of the signal can be improved by padding zeros to the algorithm Generally the more zeros the better Moreover the DSP process is accomplished using a preprogrammed micro SD card Figure 32 thats included with the function code The C5000 is capable of record and a ne ee IUE aam 44 playback of MP3 audio and voice files Other features
105. ing data from the tracking system The data coming in from the tracking system will be relayed wirelessly using Bluetooth wireless communication protocol That protocol will be further discussed in section 3 8 The data that the processor will be receiving will be digital values that correspond to the x axis and y axis positioning of the puck The hardware needed to receive the data from the tracking system consists of a modem For our purposes we plan to use a modem that can easily interface with our processor The benefits of using a modem is that they receive and transfer pins can be connected with our processors digital input pins When receiving data from the tracking system the processor will gather data from the modems transfer pins Gathering data by bytes the digital data from the tracking system will give the robotic arm processor the values it needs to calculate what Pulse Width Modulation PWM value it needs to give the motors and the servos in the robotic arm PWM is further discussed in section 3 7 ic ucc i A Lisci I 1e epe ap leue M i sc 34 3 4 4 Hardware For our robot arm we must have a mechanical system that is not only reliable but also able to meet the electrical specifications of our system For this we must look into several factors to allow a successful design such as the motor selection end effector feedback and translational track Drive System For the translational movement along our track we plan to
106. ion of a Photodiode 18 Permission Pending from T R Kuphaldt esseeeesesssssss 29 Figure 18 Two Phase Permanent Magnet Stepper 19 Permission pending from Garage 30 Figure 19 Two Phase Variable Reluctance Motor 19 ccccscscceccssseeeeseeeeesseeeeeeeeeeeeeeeeeesens 31 Figure 20 Two Phase Hybrid Motor Construction 19 cccccccceecsessseseeeeeeeseeeeeeeeeeeeeeeseaeaeeees 31 Figure 21 Stepper Motor Drive system Diagram 20 Pending permission from Oriental Motor 35 32 Figure 22 5mm Hybrid Stepper Motor 21 Permission pending from Pololu 32 Table 6 Characteristics of 5mm Stepper Motor 21 ccccccccccsseseeeeeeeeeeeeeeeseeeeeeeeeeseeeeeesesaeess 32 Table 7 Stepper Motor Comparison Chalt ccccccsssseccceceeseecceeeeeeseceeseaeeseeeeeseeeeeeseseaeeeeesseaaess 33 Figure 23 Stepper Motor Interfacing with Arduino 22 Permission pending from Azega 33 Figure 24 Conceptual Drawing of Bidirectional Striker cccccecccccecssseeeeeeeseeeeeeeeeeeeeseeeessaaeeeees 34 Figure 25 Wheel mask for rotary Encoder 23 Permission obtained from ScienceProg 36 Figure 26 a Rotary Potentiometer used in Electronic Circuits 24 Permission Pending from Futurelec 25 b Internal Makeup of rotary Potentiometer Notice that terminals A
107. is information will strictly be used for reference and educational purposes only and no profit will be made in any way Thank you in advance and look forward to hearing from you Luis Narvaez Electrical Engineering Student University of Central Florida College of Engineering amp Computer Science 4000 Central Florida Blvd 127 Response Adrio Communications ld https pod51038 outlook com owa Zviewmodel Read Messageltem amp ltemID AAMKAGIxNGY2ZTMzLWRIMTCtNDNjNyTiNDA4LWNIYWOSY gt gt Adrio Communications lt fm3 adrio communications com gt Wed 11 13 2013 5 34 AM To LMarvaeztknights ucf edu Bing Maps Hi Luis have no problem with you using information from the site for your paper The only issue have is that it should not appear on the web as this can affect my rankings etc But am pleased to help in this way with your project paper Best regards lan Poole Editor Radio Electronics Com Adrio Communications Ltd 17 Glebe Road Dorking RH4 3D5 United Kingdom Tel 44 0 1306 740111 Mob 44 0 7989 054580 Radio Electronics Com www radio electranics com Company website www adrio communications com Adrio Communications Limited is incorporated in England and Wales Company registration number 4899832 Registered Office 17 Glebe Road Dorking Surrey RH4 3D5 England 128 Permission from ConnectBlue Licensed Content Permission W DELETE REPLY REPLY ALL FORWARD ID T
108. is order File SketchbookLibraries 5L PD8806 strandtest Hardware Prep 1 2 Check voltage readings to insure that output voltage to the LED is 5 V The strand test is configured based on a one meter LED strip Connect the clock in to pin 3 and data in to pin 2 Voltage input is connected to a 5 volt source while the ground is connected to the ground on the Arduino Refer to Section 4 5 Figure for wiring schematic Test Procedure 1 2 Power up applicable devices Make sure voltage to the LED s is 5 volts dc and not more as this will permanently damage LED s Run the example code labeled strandtest Note that it is written for a 1 meter length strip that contains 32 LED s If the LED strip is longer or shorter then this line of code needs to be augmented LPD8806 strip LPD8806 32 dataPin clockPin e The first argument to the object represents the number of LED s e Count the number of LED s on the strip being tested 1 meter has 32 LED s Change the object number to represent the number of LED s being tested e Run program with newly augmented code base on total number of LED s tested 113 5 6 Power Supply 5 6 1 Transformer Testing Objective The objective of this test is to identify if the transformer behaves like a step down transformer Equipment Step down transformer Multi meter Procedures 1 2 Isolate the transformer from all power sources Identify the primary side which is the high side
109. ith divers development boards Table 6 summarizes its features as it applies to our design You can observe that the supply voltage ranges from 2 5 to 15 Vdc This is sufficient of what a basic microcontroller can provide via on board power supply Another Feature shown in Table 6 is the viewing angle PIR sensors have a wide viewing angle which can be beneficial to our application This means that placement is virtually irrelevant as we are almost guaranteed to see the puck cross the goal 2 Table 5 PIR Sensor Specifications 15 Parameters Values Ave iv The PIR sensor board comes with supporting circuitry such as resistors capacitors and most importantly the BISS0001 chip shown below in Figure 16 The BISS0001 is a very inexpensive chip with low power CMOS technology that is ideal for battery operated PIR devices It can detect objects from two directions and is very sensitive to noise The BISS0001 chip converts analog input pulse to digital output pulse This chip comes with two modes non retriggering mode and retriggering mode LOUT iIN 1IIN 2IN ZOUT VDD IB Wt A VO RRI RCI RCD RR2 VSS VEY RESET Figure 16 BISS001 Chip PIR Motion Detector IC 16 Permission pending from Ladyada Photodetectors Photodetectors are semiconductor devices that can convert optical or light signals into electrical signals They are used in a wide array of sensor applications ranging from infrared to fiber optic communications In addi
110. l data packets Advantages of this WPAN over Bluetooth or Wi Fi are cost and simplicity 3 8 4 Interfacing with System Controllers Universal Asynchronous Receiver Transmitter UART Perhaps the most common and widely used protocol of the various types is the Universal Asynchronous Receiver Transmitter UART In UART transmission data is sent in 8 bit packets that include start and stop bits and in some instances a parity bit that will be used to check for transmission errors Usually UART connections use four ports for data transmission Transmit TX Receive Rx Clear to send CIS Ready to send RIS much like RS232 a ee puppe rr ccc E E Ls 61 communication In fact many Bluetooth devices have a USB to serial converter to convert this data serially Because Bluetooth controllers are wireless radio frequency transmitters and or receivers the CTS and RTS pins do not usually connect directly to the microcontroller rather are internal of the BT transceiver module Figure 46 shows how one Bluetooth module can interface to an Arduino Uno board via the built in Rx and Tx pins of the board This connection is essentially the same for other wireless modules STA TE s a Ld LI c p SESE EEEES Figure 46 UART Interfacing of Bluetooth Module with Arduino 49 Permission pending from Amicus Serial Peripheral Interface SPI Serial Peripheral Interface SPI is one of the faster options for interfacing to mi
111. l or analog values that can be used by the robotic arm s processors to drive the motors and servos in its system The data relayed will be in the form of x axis positioning and y axis positioning of the robotic are and hockey pucks current position as well as the hockey pucks projected future position This data will be sent wirelessly The communication protocol will be further discussed in section 3 8 Figure 8 demonstrates how the coding for CMUcams work and how they can be programmed to send outputs through Bluetooth 9 19 Set Upper Initialize CMU and Lower can RGB Limits Calculate Bluetooth x y position Modem for centroid Transmit and trajectory No Delay Figure 8 Tracking System Software Decision Process 3 2 2 2 Pixy Hardware Interface Pixy has an easy to use interface which is shown in Figure 9 The button that allows the user to program color detection mentioned before is positioned at the top left of the figure The USB connection allows the users to connect Pixy to a computer and use the software that it comes with to see what Pixy is viewing I O port UART SPI I2C etc i rH AT CEI aN power in Figure 9 Pixy s Hardware Interface 10 Permission Obtained from Charmed Labs The I O parts are the most important aspect of Pixy They are what make data extraction from Pixy convenient Figure 10 displays a pin layout for I O ports As O a aaae 20 mentioned earlier Pixy all
112. lengths with a frequency range from 10 10 Hz Because we want to utilize a system that has limited power consumption we consider options to reduce this for the photoelectric sensors One way to do so is to modulate or pulse the LEDs at a constant frequency rather than letting it run continuously This will not only increase the lifetime of the sensors but will also reduce the average power consumed This also gives protection against external light interference This can prove to be advantageous to our project considering the various sources of light we will have including the aesthetics Because the receiver is made up of a phototransistor it only powers on when the emitter is powered during the high cycles This provides very little time for mistaken light to give a false signal Generally photoelectric sensors are made up of four main components as seen in Figure 10 e light Source LED e Receiver Phototransistor e Signal Converter e Amplifier Modulated LED inue Dscillator signal Re bonverter Power Source Phototransistor Figure 10 Internal Components of a Photoelectric Sensor 11 Permission Obtained from Pepperl Fuchs From the phototransistor the pulses received pass through a signal converter to generate an electrical signal and then compared for change in frequencies You can condition these sensors to sense light or dark The amplifier mentioned above is used for LED intensity changing In some instan
113. listed below e Must be able to receive transmit data at ranges 0 ft 8 ft e Must be able to transmit data at rates equal to or higher than 3 Mbps e Must be compatible and have easy integration to our system microcontroller e Must be cost effective and able to communicate to android tablets With the given requirements of our system and the information obtained through research we have decided to implement Bluetooth as our wireless communication method The reasons why we chose Bluetooth over the other researched methods of wireless communication was because of its simple compact design fast data rates compatibility with Arduino Microcontrollers and availability Because Bluetooth is one of the most popular wireless controllers used in today s technologies flexibility in controller parts would be easily obtainable As mentioned in Chapter 3 Bluetooth utilizes several interface methods to transmit data Because our robotic system will require nearly real time decision making we will most likely interface this to our Bluetooth controller via SPI The connectBLUE cB OLP425i 04 Bluetooth Low Energy module is one module that is ideal for the system we are designing It is a low cost solution in comparison to other Bluetooth v4 0 modules and has an internal stack that contains all the Bluetooth drivers necessary for easy configuration The main features of this controller that pertain to our project are noted in Table 19 Table 19 Co
114. ll be dependent on which controller will be used for the video processing The VGA camera would be best suited for Spartan 3E FPGA since the VGA cam uses analog signals for picture resolution Conversely the Davinci DM365 by Texas Instruments has the capability of digital pixel images up to 720p To maximize the functionality of the DM365 it would be beneficial to use a 720p HD camera 36 37 a c3 DOUG P LUERUA Lue aaaea 48 3 7 2 Display Monitor A display monitor will be attached to an apparatus that will be affixed above the hockey table in easy view for the participant It is desirable that the monitor has a high enough resolution for viewer enjoyment but also satisfy our constraints for project budget Fortunately there are affordable options that will satisfy our requirements Therefore it is advantageous that the display have both analog and digital inputs for ease of interfacing with most cameras that will capture video for playback VGA inputs were the standard for many years until recently However that mode of input along with DVI is being phased out in favor of high definition digital inputs such as HDMI To stay with relevant and current technological trends it is logical that the display has an HDMI input or at minimum a DVI for digital signals Another subsequent issue will be the size of the monitor Given that size is directly proportional to cost of the display a 15 6 display can satisfy both project budget and play
115. lly using a stator coil AA and BB are the two phases Permanent Magnet Motor Case Two Phase Permanent Magnet type Stepper Figure 18 Two Phase Permanent Magnet Stepper 19 Permission pending from Garage Contrary to the PM VR stepper motors do not have permanent magnet rotor Figure19 shows the simplest design of VR stepper motors 30 Two Phase Variable Reluctance Stepper Motor AA and BB are the two phases Soft Iron Core Rotor Motor Casing Notice that the teeth of the Rotor are so designed that when they are aligned to one phase they get misaligned to the other Figure 19 Two Phase Variable Reluctance Motor 19 Hybrid stepper motors are a combination of both the VR and PM stepper motor designs Figure 20 is a representation of HY stepper motor Two Phase Hybrid Motor construction Teethed Magnetic Stator Poles North and South Rotor Motor Casing Stator coils Notice the separate North and South Rotor Cup Figure 20 Two Phase Hybrid Motor Construction 19 Stepper Motor Drive System A stepper motor system often contains three elements These elements are an indexer a driver and a motor The three elements in a stepper motor are shown in Figure 21 The indexer is often called controller It provides direction output and steps to the driver The driver is also called the amplifier It takes the output signal of the controller and converts it to power The motor is ma
116. m au forum id211473 Accessed 30 November 2013 76 Online Available http www engineersgarage com articles stepper motors page 3 Accessed 30 November 2013 77 Pololu otepper Motor Bipolar Online Available http www pololu com product 1207 Accessed 1 12 2013 151 78 Ladyada How Infrared Motion Detector Components Work Saturday November 2013 Online Available http www glolab com pirparts infrared htm Accessed 30 November 2013 79 Servo Motor Tutorial DC Servo Motor Control Basics amp Working of Servos Online Available http www engineersgarage com articles servo motor page 2 Accessed 30 November 2013 80 Online Available http www mcmaster com zshafts 2pm4vxq Accessed 30 November 2013 81 Power HD High Speed Digital Micro Servo DSM44 Online Available http www pololu com product 2142 Accessed 30 November 2013 82 Transformer small low voltage Online Available http us112484591 fm alibaba com product 112242766 101825652 Transformer small low voltage html Accessed 27 November 2013 83 Atmega328 Online Available http arduino cc en Tutorial Arduino ToBreadboard Accessed 30 November 2013 84 Online Available http www mcmaster com orders pmb56i3 Accessed 30 November 2013 152
117. make a motor run at different speeds the microcontroller must have the ability to provide PWM as an output The idea behind PWM is that the output of the pin turns on and off repeatedly and fast enough to affect the average voltage as seen by the motor Specifically the term associated with PWM is duty cycle Duty cycle refers to amount of time that output is high versus the amount of time the output is low The higher the duty cycle the faster the motor runs End Effector Once our microcontroller calculates the striker s positioning we will have striker perform a counter attack upon puck arrival near the end effector We will implement this using a solenoid to project the mallet Along with this we will have a small Servomotor to tilt the end effector at a certain angle to make for smarter counter attack Servomotor oervos also have specifications that are very similar to motors with some additions These additional specifications include material transit time and control method 27 The main materials used for servos gears are metal Karbonite and nylon There are advantages and disadvantages to each material Metal is the strongest of the three materials however they will lose accuracy after a period of time because they wear faster than nylon and Karbonite Metal gears are typically the most expensive of the three materials Nylon is typically the lowest price of the three materials but it is the weakest as well Karbonite
118. mbering AO through A5 a good thing about the analog input pins is the fact they can do a 10 bit analog to digital conversion ADC using the 69 analogRead function The analog pins O through 5 can also be used as digital pins 14 through 19 Digital I O pin description All the 14 digital pins on the Arduino Uno board operate at 5volts DC and can be used for either input or output using such functions like pinModel digiwrite digitalread which are specific functions to the Arduino standard library Table 17 describes the pin assignments for the Arduino Uno Table 16 Digital Pin Use Summary 26 Pin Use Pin Description Serial 0 1 UART Rx receive serial data Rx Tx UART T transmit serial data It s a built in LED pin when the pin is high value the LED is on when the pin is low it is off GPIO 013 General Purpose Digital IO 3 5 6 9 8 bit pulse with modulation PWM output using the 10 11 analogWrite function Arduino Functions On top of the standard functions found in most platforms Arduino has its own function library which can be downloaded easy through to website There are two categories of functions digital I O and analog I O here are some example of the built in functions that will need to be used when programming a chip in Arduino pinMode digitalRead digitalWrite anaolgRead analogWrite pinMode pin mode This function is used to configure a pin to be either an
119. microcontroller to adjust the different color variations and light brightness of the LED Some features of the WS2801 include constant voltage and current drive mode wide constant current range of 5 150 mA and a power supply voltage of 3 3 to 5 5 V Moreover the WS2801 has 3 channels of programmable output shown in Figure 42 to manipulate the RGB color scheme Each channel has an eight bit selection which translates to 256 levels for determining the desired color pigment Mathematically this equates to 16 777 216 color choices The Gray Scale Data Formate of VWWS2801 Stet of a Data End of s Data Frame Frame Gray Data LSB Start of Next Data Frame The Timing of WS2801 Stings Prepai for the next The lest Prepair for data he The Present Gray Scale Data Frame Gala Yansport Gata frame transpor iaa a REF GCRD GUB aaa G The mth WS2801 gray scale data x n The Input of The Y wer wor fn a erum KEEN E y atone V pw fur mM mM tst W82801 JA RATI A RIG X REI X k D 1 X Dol RIT K RS A RI X o o co c c ae c c 1504523901 9 The input of The ee een S anawsze01 L1 o em ers X Cem Cem y d The Output of The n 15n 82801 The hput of The n tws2891 ox 1 when the data tansport is completed the gray scale data will be latched 2 When ts gray stale data is latched he gray scale data will be taken efect at fne start of the next PM cycle Figure 42 Gray Scale Data Format of WS28
120. microphone for voice input and a Servomotor that tilts according to the person s tracked This can be seen in Figure 6 For our design we will not be using the microphone as the system does not require voice input The XBOXS360 Kinect uses two separate cords to send and receive data to the XBOX 360 Because the Kinect sensor s motorized tilt mechanism is a Servomotor it requires more power than the Xbox 360 s USB ports can supply As a result Microsoft makes use of a proprietary connector combining USB communication with additional power 2 Depth Color CMOS CMOS IR Projector Camera Camera Depth Image Color Image Control Data Control 7 Control Data Control Data PrimeSense Image D C Processor Ext Audio Source x4 12 MHz Crystal Figure 6 XBOX 360 Kinect Block Diagram 14 As mentioned the Kinect has a depth sensor composed of an IR projector combined with a monochrome CMOS sensor Along with this depth sensing camera the RGB camera uses 8 bit 640x480p at 30 Hz It is capable of streaming higher bitrates however the frame rate will degrade to approximately 9Hz This camera is ideal for our application due to its accurate motion sensing capabilities of its CMOS IR sensor One of the issues that may deter us from picking this system however is the inability to process the information fast enough for our Striker arm to react With the frame rate of only 30 Hz at VGA resolution this has a throughput o
121. mparison Chart of Bluetooth Modules Module Range ls Interface Throughput Cost ConnectBlue cB GPIO SPI OLS425i 04 SBM Miles UART 12C Microchip 10 RN42 20m RedBear 115 2 kbps 34 80 2Mbps UART 1Mbps 15 27 Another Bluetooth module that is ideal for our system is the popular RN42 module manufactured by Microchip This small compact Bluetooth module holds advantages over the other Bluetooth controllers in that it has a higher data rate of 3Mbps This seems ideal with UART HCI in contrast to our desired interface of SPI This poses a problem in our design as we are to interface multiple devices to one controller As a result we will use this module for our CMUcam wireless transceiver Perhaps the most compelling of the modules specified is the RedBear BLE shield This module uses Nordic semiconductors nRF8001 Bluetooth LE module to transmit data This low cost solution is designed to interface with Arduino boards as well as Android and iOS devices Its main purpose for design is to control devices through mobile device using Arduino as a gateway It can also be used as a wireless gateway to the internet which is advantageous for accessing the leader boards Another great feature for this shield is the interface method to our Arduino board The SPI slave based interface is referred to as Application Controller Interface ACI This interface method operates the same way SPI does but uses more pins This will allow us to test ou
122. my nane is Loubens Decamp I am a senicr student at the University of Central Ficrida my is doing a senior design project an Autonomicus Air hockey table we wanted zo knov if we can get permission to use picture from the website link htcp www azega com controlling a s3tegpper motor with an arduino thank you in advasce Regards Loubens Decamp Senior stodest at ucr yYrW Enter code above 135 Permission from New Electronics A copy of this email will be sent to you for your records To pring findlay co uk From louloudecamp gmail com Subject Premission Message Hello my name is Loubens Decamp i am in my senior year at the University of central Florida UCF my team is working on a project where we have to use a relay to our power supply system we wanted to know if we can have permission to use picture found in this link http www newelectronics co uk electronics technology electromechanical relays still have much to offer 44279 Thank you in advance Regards Loubens Decamp Submit Response from New Electronics FW Premission ee x Graham Piecher i tehen itediay c ou A 57 AM 9 mde ag i we Loubene You can reproduce thus Ulestrateon Thanks for asking Repards Graham Pitebe Edice New Eleztromita From kouloudecag ggr cory Sent 22 11 2013 00 47 Be Pete forge Ce loutimssdecarmegrarned cerm Subject Prermission Thee mgar comes 90 pou fiom the New Elactismaca web
123. ncrease the response time we reduce the color depth to 8 bit to get approximately 3 8 MB s Because of these requirements we look into the different systems for position tracking such as Infrared and simple video image processing These are all methods used in systems for position tracking in various applications Therefore in addition to having the correct frequency and data rate we must also take into account the ability to do image processing via color differentiation Tracking System Specification Summary e Tracking Device must be compact enough to mount onto overhead structure e Tracking Sensor must be no more than 4 ft overhead and no less than 2 ft e Desired image processing rate must be within 2 ms 120 fos Minimum frame rate is 50 fps 20 ms e Tracking device must use color differentiation for puck tracking 2 3 4 Software The main objective of the software is to have Striker running all commands as efficiently as possible Four areas require extensive coding The four systems are the tracking system the main system the robotic arm and the AV system We begin with the tracking system Ideally the tracking system should use a computer vision language or device that has preset libraries and functions and or predefined capabilities An example of this is how the OpenCV language has built in libraries to have the Arduino processor run a basic web camera The software written for the tracking system has to be capable of
124. ne Test Procedure 1 Test voltage to ensure input voltage is 5 V 2 Connect HD Web cam to USB 2 0 input of DM 365 3 Connect the DM 365 to display monitor via HDMI cable 4 Run the Encode Decode demonstration program to validate connectivity 5 5 2 LED Strip Test Test procedures for the LED strips are necessary to ensure proper functionality of the LED lights Proper communication between Arduino and LED s needs to be established Two criteria for the LED design are input from outside stimuli such as the tracking input from Pixy and input from the goal sensors Objective To determine if the Arduino can interact with the LED s and if they can be manipulated to an expected result verifying communication Equipment e Arduino Uno Board e Pixy Pixy Tracking Protocol e Goal Sensors e LPD8806 LED Light Strip ammm 112 5 V DC Power Supply Procedures Software Prep 1 Download the Arduino LED library from this web location https github com adafruit _LPD8806 Select the Download Zip button and extract the archive Rename the uncompressed folder LPD8806 and confirm that the folder contains the files LPD8806 cpp LPD8806 h and the examples folder Insert the LPD8806 folder into the Arduino s libraries folder It may be necessary to create the folder if it does not exist Once the LPD8806 library is installed is installed restart the Arduino oample code is accessed by directing through the options in th
125. neenens 94 Figure 72 LED Puck Shadowing Code Diagram ccccecccceccseseeeeeeeaeeeeeeeeeeeeeeeesaaaeeeeeessaaeeeees 94 Figure 73 PIR325 goal Sensor Wiring DiaQram ccccccccsssesseccceeeecsseeeeeeeeeeseesueaeeeeeeeeeessaaaseees 95 Figure 74 Dedicated Power Supply Schematic ccccccccsseeeeecceeeeeeeaeeeeeeeeeeeeesuaeeeeeeeeeeeseaaaaesss 96 Figure 75 Hardware Design of Striker Arm esses nnne nnns 97 Figure 77 Milestone Gannt Chart seeeeeeesssssssssesseseeeeeennnnnnnnn nennen nnne nnne nsns nan nnns 117 Table 22 Proposed Budgeting ExPe nsSes ccccccccssseeeeeeeeeseeeeeeceeeeeeeeesseeeeeeeessaeeeeeeseaeeeeeeeeas 118 Figure 78 Project Budget Chart cccccccccsseecececeeseceeeeeeeeeceeeeseeeeeeeeeseeeeceeessaaeeeeeseseaeeeeessaaaaes 119 Table 23 Billot Materials ee ee ee ee 120 Figure 79 Bill of Materials Chart ccccccsssssececcceesseeeeeeeeeeeeeeeseeuseeeeceeeaeceeesseeaseeesssaegeeeeseaeaass 121 144 Appendix C Works Cited 1 C P E K R G and L R W Air Cushion Table Game United States of America Patent US3773325 20 November 1973 2 M McWhertor Kotaku 20 April 2010 Online Available http kotaku com 552081 2 project natal its instruction manual in the wild comment 2201 7469 comments Accessed 28 October 2013 3 CMUcam CMUcam Open Source Programmable Embedded Color Vision Sensors
126. nfiguration senses when light is being projected onto the receiver When the light is interrupted or an object has crossed its path then the signal is interrupted also to the controller to show this Adversely the current sourcing is in an output state when light is not shining on the receiver Figure 12 summarizes the conditions for both states in regards to each photoelectric sensor For our system design it seems as though retro reflective light on is ideal because we will be sensing when the puck has obstructed the light Figure 12 Light On Dark On Condition Chart 12 Permission Obtained from Pepperl Fuchs Just as understanding the characteristic operation of photoelectric sensors is important we must also understand how data is output to the microcontroller For this we look at the various forms of connections to the sensor Typically photoelectric sensors operate with a DC input voltage however some models can operate with AC signals as well For our particular application we will be looking into DC input Figure 13 shows a Pepperl Fuchs retro reflective photoelectric sensor electrical configuration 20 Option 766 110 O Light on e Dark on a b c Figure 13 a Wiring Diagram of Pepperl Fuchs MLV12 54 LAS 76b 110 124 b M12 Pin Configuration c M12 Housing Sensor 13 Permission Obtained from Pepperl Fuchs In Figure 13 a you can see the input voltage signals UB and DC common goes into
127. ning and mechanical design We can add chain attachments in which can attach our end effector to the system 3 4 5 Software The software for the robotic arm has to be able to manage the actions of the motor the servo and the solenoid To do so it will need to take inputs about the robotic arms current coordinates and the hockey pucks projected coordinates With that information the software can then tell the motor what direction to travel and when to stop The servo will rotate based on what level of difficulty was chosen The most complicated algorithm the servo would require is to calculate the angle the robotic arm would have to hit the puck to aim straight to the player s goal For the servo to operate correctly the programming will have to be capable of sending PWM signals for digital servos With that capability a digital servo will be able to rotate to the required angle For the solenoid the software would have to take the robotic arms coordinates and the pucks current coordinates and hit the puck when they are a small distance apart To make a solenoid hit a push type of solenoid will have to be used Many push type solenoids require that a current be sent to the solenoid at the instant that the push is required Therefore the software must have the ability to send a current to the solenoid at the exact instant required The software must then be efficient Otherwise the solenoid may miss its opportunity to strike the puck makin
128. ns Figure 48 SPI Independent left and daisy chain right configurations 51 Permission pending from T Kugelstadt This type of interfacing can be advantageous where faster data rates and higher throughputs are desired as opposed to I C which is discussed in the next section Conversely because it does not use addressing between multiple slaves implementing can be very troublesome and only increases with added slaves Another disadvantage of this interfacing is the number of ports needed to 63 communicate between master and slaves As you can see from Figure 48 an independent configuration may use more I O pins is you have multiple slaves Inter Integrated Circuit FC Two Wire Interface TWI Inter Integrated Circuit IC also known as Two Wire interface TWI is another interfacing method common in our wireless modules today It utilizes fewer wires than SPI with only two lines Serial data typically SDA and Serial Clock typically SCL Usually slave devices in our case the wireless module share these two lines in parallel connecting to the master device MCU This Interfacing method is ideal for applications in which more I O pins are desired This eliminates the need to use more pins for data transmission between devices In order for the master to communicate to a slave device a series of tasks must take place first These steps can be complimented by referring to Figure 49 below Master transmits a start bit f
129. ns protocol Because our robot arm operates in a real time manner network acquisition and data rates are very important as the response time has to be within 1 2ms Other parameters considered were power consumption network topology complexity and operating frequency Ideally the robot arm will be about three feet away from the puck tracking system which is approximately 1 2 meters Since large packets of image data will be sent to the microprocessor a high data rate is necessary in order to keep the robot arm operating in real time manner Table shows a summary of the comparison between wireless options Table 12 Wireless Communication System Comparisons Specification Bluetooth Wi Fi Zigbee Data Rate 2 25 Mbps 100 Mbps 250 kbps 10cm 100m 20 100m 40 m Baud Rate 115200 115200 115200 Operating i Complexity Moderate High Low Power 25mW 500mW 1 25 mW UART SPI UART SPI SDIO UART SIP IC PWN C I C USB DIO ADC Interfacing Method 3 8 1 Bluetooth Bluetooth is a wireless radio technology standard using the industrial scientific and medical ISM radio bands of 2 4 2 48 GHz Bluetooth is a packet based protocol with a master slave structure This means that the data through this system is divided into packets transmitted on one of the 79 designated Bluetooth channels 48 Each channel is 1MHz apart and starts at 2402MHz As with all digital and analog communication systems modulation is important for data tra
130. nsed Content Permission To whom ft may concem Vio my name ie Luts and am a sradent st the Ureversity of Central Mende majoring im Electrical Engineering 1 am contacting you tp obtain consent to utftre formation or media from your webste The information referenced in eur senior design project paper amp styky for educational nen commeecakzed use The file seferenced mn oor semar deiga paper te the following citez Mpa ertian jarnak oem 201 17 E ariya reading helaa I appreciate your cooperation aud look forward te hearing from you coos Thank yeu Lus E Narvast Ortando FL 325616 407 284 2706 Sent from Windows Mail 141 Appendix B Figures and Tables Index Table 1 Statistics Being Tracked for Leader DOarS ccccccccsseeeeeeecaeeeceeeeeaeeseeeessaaeeeeeeesaaeeees 5 Figure 1 Mobile Application Main M nu ccccccseesecceeceseeceeeeseeeeeeeeseeeeeceeesseaeeeeesaaaeeeeeesaaaeeeess 5 Figure 2 Audio amp Video Control Block DiaQram ccccccsseeecceeeseeeceeesaeeeeeeesaeeeeeeeessaeeeeeeessaaeeeees 7 Table 2 Microcontroller Monitored l O cccccceccccccceeeeeeeeeeaeeeeceeseeeseceeeeaeeeeeeeesaeaeeeeessaaeeeeessaeass 11 Figure 6 XBOX 360 Kinect Block Diagram sees nnne 14 Figure 7 LPC4357 Internal Block Diagram 5 Permission from NXP pending 16 Table 3 CMUcam Feature Comparison 3 4 ccccccccccsssseceeeeseeseeeee
131. nsmission Bluetooth uses several modulation methods depending on the version of Bluetooth controller chosen For example Bluetooth 2 0 EDR Enhanced Data Rate uses GFSK Gaussian Frequency shift keying in which the baseband pulses go through a Gaussian filter to make the pulses smoother which will narrow the spectral width This modulation method is used for the hopping techniques that prevent interference between other wireless technologies sharing the 2 4 GHz spectrum This is only implemented as an additional capability so that the system can remain backwards compatible with previous versions of Bluetooth The data rate for this is approximately 3 Mb s In order to achieve higher data rates we can refer to Bluetooth 3 0 HS In Bluetooth 3 0 HS higher data rates are achieved by working with an IEEE 802 11g physical layer rather than changing the format of modulation With this 802 11g layer data rates of 25 Mbps can be achieved This 802 11 layer is used mostly in Wi Fi wireless technologies With this transmission layer we can achieve fast video and picture transmission with higher throughputs than other versions of Bluetooth Naturally this version will consume more power when transmitting at theses higher rates however having this 802 11 protocol adaptive layer PAL allows it only to be on when data is being transferred This allows for lower idle power Because of the nature of Bluetooth devices another thing to consider i
132. nsumption efficiency and cost Ultimately the step down transformer will need to satisfy these three conditions Therefore the ST step down transformer was chosen The transformer is cost effective is highly efficient and operates at a relatively low temperature A bonus feature with the ST step down transformer is the capability to rectify an AC signal to DC As for relays two types are of most interest solid state and electromagnetic Solid state relays are extremely reliable produce little electrical interference and do not produce a spark able arc but are subject to heating issues that require a ee ee ammm 95 heat sink Conversely with electromagnetic relays they are best suited when an electrical circuit has to be completely off but are not ideal when arcing or RFI are not desirable Ultimately it was decided that the solid state would be the optimum choice for its reliability and little to no RFPs A voltage regulator will be used to reduce the 12 V DC to 5 V DC Figure 74 displays how the voltage regulator will use the step down voltage from the transformer Two types of voltage regulators are of most interest linear and step down A step down voltage regulator has high efficiency close to 9096 compared to the linear regulator s efficiency of about 509e However the linear regulator produces much lower noise than a step down voltage regulator The step down voltage regulator was chosen for its efficiency a Soleno
133. nt University of Central Florida UCF cellphone 407 692 7282 Response from Arduino Nidha Syed via mailgun org 2 42 AM 14 hours ago to me i gt Hi Loubens Thanks for writing to us Yes you can use the documents and pictures from the website but you have to ensure to mention the source and also mention Arduino TM as Trademark All the best Regards Team Arduino Permission from Glolab W2F HB glolab com Senior design project To whom it may be concem Hi my name Loubens Decamp am in my senior year at the University of Central Florida UCF am actually taking senior design one 1 and my group is working on a senior design project an Autonomous Air hockey table where we have to use sensors We wanted to know if we can gel permission to use pictures and documents about the PIR235 sensor in you website We Thank you in advance and look forward hearing back from you 134 Response from Glolab Frank Montegari to me Images are not displayed Display images below Always display images from lab glolab com Loubens You have permission to use any and all Glolab pictures and documentation on our web site Frank Montegari President Glolab Corporation 845 297 9771 From Loubens Decamp mailto louloudecamp agmail com Sent Thursday November 07 2013 12 29 AM To W2FHB glolab com Subject Senior design project Permission from Azega Pending Contact Your Name required Rello
134. o processing and supporting peripherals Digital Signal Processing DSP is a common choice for video audio processing Both microcontrollers and FPGA s use DSP algorithms to process video signals Previously analog devices such as op amps were used to process signals DSP samples signals in the time domain and converts to discrete time samples These samples are manipulated mathematically by the processor and then reconfigured to reproduce the original signal Generally the more discrete samples available the better the resolution 34 A typical microprocessor can be programmed with a DSP algorithm but the microprocessor would prove to be inefficient for the task The fundamental difference between the microprocessor system architecture and the DSP architecture is that microprocessors are functionally optimized for control applications where DSP is geared toward mathematically operations A DSP microprocessor is designed to handle predominantly repetitive mathematical operations frequently and efficiently An example of a conventional microprocessor s deficiency is the task of filtering The general processor would need to run multiple times faster than the DSP core Furthermore applying multiple algorithms to a general processor would cause the system to run slow or become non responsive This can be summarized in Figure 34 Figure 34 Microprocessor System Architecture vs DSP System Architecture Typical DSP System Architecture
135. o voltage output The digital voltage output needs to be converted to analog to obtain varying voltage outputs This is accomplished by incorporating a square signal that effectively turns the output voltage on and off essentially regulating voltage The amount of time that the voltage output is on is the pulse width and the duration of the pulse width is controlled by manipulating the duty cycle Pictured below in Figure 44 is an example of different duty cycles and specific function calls based on and Arduino microcontroller The function call has a scale from O to 255 0 being a duty cycle of 096 in which power off and 255 representing a duty cycle of 100 for which power is always on Subsequently a duty cycle of 50 would equate to half power or for this example a voltage output of 2 5 V Moreover the speed of these pulse widths are generated at a frequency of 500 Hz and the period between cycles is the inverse of frequency 2 milliseconds 47 57 Figure 44 PWM Duty Cycles 47 Permission Obtained from Arduino 3 8 Communication System Our communication system will incorporate wireless communication based off our requirements and specifications That being said the research behind implementing the system will be crucial in our decision for our final design We look into several options including Bluetooth Wireless USB and Zigbee Data rate and network acquisition time are the two main concerns for our point to point communicatio
136. oice of a motor we will be looking into speed accuracy angle of rotation and input voltage size and price corresponding to our project For example of motors we have induction motors stepper motors and Servomotors We will mainly focus on steppers in this part Stepper Motor A stepper motor is an electromagnetic motor that takes a digital input pulse to convert it to an analog output A digital pulse on a stepper motor causes the motor to increment to a precise angle of rotation often called step angle Stepper motors are open loop motors which mean they do not provide feedback information Steppers are affordable and can operate at low speed Generally a stepper motor comes with four A stepper motor can be unipolar or bipolar In a unipolar stepper motor each stator pole has two windings Each winding creates one of the two magnetic poles A bipolar stepper motor has only one winding per stator There are three types of stepper motors of interest The first is a Permanent Magnet PM stepper motor also called active rotor The second is a Valuable Reluctance VR stepper motor also called reactive rotor The third is a Hybrid HY which is a combination of PM and VR The PM motor has a permanent magnet rotor This can be seen in Figure 18 These types of steppers have four windings They come with four or six wires depending on the type unipolar or bipolar The direction and speed of these motors can be controlled sequentia
137. ollowed by a 7 bit address referencing a particular slave device This address is the slave device it wishes to communicate to e The next bit after this 7 bit address is a read 1 or write 0 bit This obviously determines whether the master wishes to transmit or receive information to and from the slave e he slave then transmits an acknowledgement ACK signal to the master This acknowledgement bit is active low thus transmits a 0 when recognizing the master e Data is then transmitted between devices with the MSB first When a byte of data is transmitted from one device to the other an ACK bit is transmitted from the receiver to the transmitter signaling the data has been received After Data between the master and slave has been transmitted a stop bit is sent signaling the end of transmission Master Device MCU Slave Device I Slave Device Address 1001011 II Address 1001000 Figure 49 lC Interface shown without pullup resistors The serial clock line helps determine whether the bits being sent is a start stop bit or other data Both start and stop bits are sent through the SDA line during the high level of the SCLK line The start bit is determined on a falling edge of the 64 SDA line The stop bit is translated on a rising edge of the SDA line A timing diagram of this is shown below in Figure 50 SIGNAL FROM RECEIVER ACKNOWLEDGEMENT SIGNAL FRC I 4
138. om various devices Equipment RedBear BLE Shield Microchip RN42XV Bluetooth Module Arduino Pro Mini Pixy Pixy Arduino Uno Android Device Stepper Motor Solenoid Servomotor LED to verify control Procedures Perform connectivity test prior to continuing further with Control test Connect the Stepper Servo and Solenoids according to Figure shown in section 4 1 Utilize the RedBear application on the Android device to obtain remote control of the striker arm This will be done by sending output signals via Bluetooth to the RedBear BLE shield You can vary the PWM for LED brightness change direction of the Servomotor via servo control or turn on off our stepper motors via digital out This will verify our remote control of the Striker arm Write an android application function that will turn on off an output LED on the Arduino Uno board This should verify that the Arduino Uno system controller can be controlled Wirelessly via Bluetooth This will ensure the game setup will turn on the system Write and run a program onto CMU cam that will send an output via UART to the RN42XV Bluetooth controller This signal will come from one of the push buttons on the CMUcam board When the button is pressed the a ee ee ammm 104 stepper servo and solenoids should be energized This should verify our CMUcam can send signals to the Pro Mini board for processing 5 3 Robotic Arm 5 3 1 Stepper Motor Objective The objective of
139. on either side that are affixed to the rail and will function much like a trolley system A belt and pulley system along with a motor will provide the means of propulsion Vertical translation will function in a similar fashion with a solenoid instituted at the end effector to generate instantaneous movement to strike the puck Striker will represent many aspects of electrical engineering design Conceivably the biggest challenge will be the tracking of the puck and the appropriate response time by the robot 2 Project Description 2 1 Motivation The basic motivation towards completion of this project is to further develop our skill with electrical and computer engineering principles As a group of electrical engineers we have come to acquire numerous amounts of academic knowledge in the fields of circuit theory power systems and computer programming With the trends of technology becoming more about personal technologies as in technologies that are geared towards individual solutions it is important as modern engineers to have the ability to gear our knowledge towards unique and innovative solutions The autonomous air hockey itself is not a new idea A basic search online confirms that others have attempted to create this project with success Our solution however will be unique in part because of our motivation to develop our electrical engineering skills It is obvious that this project will require a power source voltage regula
140. onitor a person s progress record statistics store instant replays and rank a players success against other participants Wireless communication to the smart phone incorporating the devices operating system will be accomplished by means of wireless communication In addition there will be visual and audio alerts based on goals scored and games won by either the human or autonomous robot There will be two ways to win the game The first way as with traditional air hockey the first opponent to score seven goals wins the game The second way is to outscore the robot in a timed game Control of the autonomous robot will be accomplished via electronic controller and the tracking of the puck using various software algorithms The table will be augmented to incorporate a puck return system that will consist of motors and belts Other features for the table will include a display to show game time score and other various statistics Furthermore the display will be suspended above the air rink to immerse the player in the ultimate air hockey gaming experience The monitor will act as a mini Jumbo tron to show replays of goals scored along with aesthetic effects to illustrate games won The robot design consists of a horizontal and vertical translation This design was intended to be simplistic in nature to reduce error in tracking of the puck The base of the robot will travel from side to side on a fixed rail system The base has two sets of casters
141. only here bot would alvo look at the e2e forum barp i ox Y our questson m ambiguous enough that n s diffscuhlt to provide any specifi information righs mow What j d sd p vpn anam METTRA do scene research and come back to us when you have plan exactly what you guys are gomg to do We re bappy to belp with specific technical questions so please dont bestiate to ask Regards Derek Dosterschill TI Customer Support Amencas Customer Sapport Center 512 434 1560 tem mr r B T E2E Community Suppen Forums Geach ty ssa fzra gel test yt stam PR boo srpe and leds ares http www ti come suppor http www ke ext ti comsc technical camem as htu 122 Permission from Xilinx Permission Pending Need More Help For general Xilinx questions or comments complete the form below If your question is handled by our Distribution Partner then we will be emailing the contact list to you shortly 1 Enter your contact information Fist Name Last Name E mail bthomas488 9 knights ucf edu 2 Select your region North Central South America Asia Pacific Japan Europe Africa Middle East 3 Select a subject that best describes your issue Xilinx Online Store Customers ONLY Questions about entering an order at the Xilinx Online Store Questions regarding your xilinx com Online Store order C need to return a product that purchased from the Xilinx Online Store Purchasing and Part Number Question
142. ows for several communication methods which are described in section 3 8 SPI MOSI UART RX GPIOO 5V in or out SPI SCK DAC OUT GPIO1 SPI MISO UART TX GPIO2 I2C SCL GND SPI SS ADC IN GPIO3 GND I2C SDA 10 GND oaonrwoanhwh Figure 10 Pixy s pin layout for the I O ports 10 Permission Obtained from Charmed Labs 3 2 3 Communication The communication of our tracking system will be wireless Most tracking devices have similar methods of communication all falling in the lines of UART transmission For example the XBOX 360 Kinect communicates via USB This can pose to be advantageous in the fact that this is a fast method however higher power consumption As mentioned in 3 2 2 Pixy uses many different types of communication protocols which make it ideal for our project For more details on how we can integrate this with our wireless system refer to section 3 8 Communication system For object detection Pixy comes with the ability to send data blocks containing synchronization tags checksum signature x and y position size and angle Table 4 displays the size of each portion of the data block This predefined communication method has the advantage of making testing easy It will need to be changed to give other data required by Striker Table 4 Data Block Packet Sizes 10 Data Label Size Description Sync 2Bytes Synchronization tag indicates start of object block Checksum 2Bytes Simple
143. per or to test applications Eclipse is the main development environment used for creating applications with Android phones 61 Applications written in Eclipse use Java as the programming language However other software has been created that allows users to create applications for Android using C or C as well 79 3 12 2 iOS iOS was created by Apple to run on their smart phones iOS was first released in 2007 62 By 2010 Apple smart phones encompassed 16 of the world wide smart phone market 57 By 2013 iOS encompassed 43 4 of the U S smart phone market 58 As of June 2013 the application store had 900 000 different applications available to download 61 The cost for becoming a developer and testing applications is 99 per year 62 Xcode is the main development environment used for creating applications with iOS phones 63 Applications written in Xcode use objective c as the programming language Other software has been created that allows users to create applications for iOS using C or C as well 3 12 3 Windows Phone Windows Phone was created by Microsoft to run on their smart phones Microsoft Phone operating system was first released in 2010 64 By 2010 Microsoft s smart phones encompassed 3 1 of the world smart phone market 65 By 2013 Windows Phone encompassed 3 5 of the smart phone market 58 Although Windows Phone is a much smaller portion of the market with respect to Android and lOS it is fastest growing smar
144. phone platform WinBeta 31 October 2013 Online Available http www winbeta org news windows phone doubles market share currently worlds fastest growing smartphone platform 68 Texas Instruments Davinci Multimedia Application Interface 22 August 2013 Online Available http processors wiki ti com index php Davinci Multimedia Application Inter face Accessed 28 November 2013 69 T R Mahaffey Electronic Design 15 September 2002 Online Available http electronicdesign com components electromechanical relays versus solid state each has its place Accessed 29 November 2013 70 Analog Devices Inc Understanding How Voltage Regulators Work 2009 Online Available http www analog com en content ta fundamentals of voltage regulators fc a html Accessed 29 November 2013 71 Arduino Arduino 30 November 2013 Online Available arduino cc 72 Windows Windows Phone SKD Windows 30 November 2013 Online Available http dev windowsphone com en us downloadsdk 3 Windows Getting started with developing for Windows Phone Windows 4 November 2013 Online Available http msdn microsoft com en us library windowsphone develop tf402529 28v vs 105 29 aspx 74 Arduino ArduinoBoardUno Online Available http arduino cc en Main ArduinoBoardUno Accessed 30 Novembe 2013 75 Microprocessor Arduino Uno Rev3 pinouts photo Online Available http www gammon co
145. pin 1 and pin 4 respectfully The pin configurations in Figure 13 b are representative of the cable connection type for this particular model This is commonly known as a M12 connection type These pin configurations can vary from different Pepperl Fuchs sensors The signal that is sent to the controller is sent via pin 3 on the sensor From this configuration there is a switch showing a test condition The status of the sensor is checked via this test switch at a rate of 2 5 kHz or 400 us This signal checking is ideal for our system because of the fast response One other constraint we must take into consideration when researching these devices is packaging As mentioned above Pepperl Fuchs is just one company that manufactures these sensors and has many different types Their sensors depend on shape connection type light type etcetera For our design we will be looking into the threaded housing shown in Figure 13 c versus the rectangular type shown in Figure 8 In addition to the fast response of these sensors and low sensitivity the ease of installation and calibration makes this ideal as well Although the photoelectric sensors seam ideal for our application we look into other sources to narrow down our selection For example PIR Sensors and implementation of our own photo sensor using transistors and diodes PIR Sensor PIR sensors are usually categorized in two groups the Passive Sensors Shown in Figure 14 are used to dete
146. pounding rate of approximately 12 5 47 e Entropy Coding Baseline profile uses Universal Variable Length Coding UVLC and the Main Profile institutes Context Adaptive Binary Arithmetic Coding e UVLC CAVLC Instead of variable length coding tables H 264 uses Universal Variable Length Coding and Context Adaptive Variable Length Coding e Context Based Adaptive Binary Arithmetic Coding CABAC Improves bitrate by 10 over UVLC CAVLC Coding Control Intra Intra Prediction E Video Source X Inverse Quantization Bit Stream Inverse Out Transform 3 a n ntropy Motion Compensation Sc Coding Frame Store Loop Filter Motion Estimation Motion Vectors Figure 35 Block Diagram of H 264 Video Codec Video Output Options Most of the video processing research has migrated from analog toward digital transmissions VGA analog connectors are becoming obsolete and are not used in home theater applications anymore The shift from analog to digital brought about digital video connectors DVI Most DVI connectors have resolution capabilities of 1080i but without the capability to carry audio Currently High Definition Multimedia Interface HDMI is the standard HDMI cables transmit both video and audio with the ability to handle screen resolutions of 1080p 3 7 1 Cameras lt was first contemplated that a VGA web camera be used in Striker s video replay system Ultimately this wi
147. processing image data in respect to differentiating color intensities between individual pixels This is a big part of the software programming Without this requirement the programming would not be able to differentiate the hockey puck from its environment Additionally the software must have the ability to store multiple sets of coordinates and compute dynamical analysis Another requirement for the tracking system software is that it must be able to communicate meaningful data to other devices at fast speeds Our main processor will use a microcontroller that essentially monitors the entire system The software running in the processor will have to do many conditional checks in order to ensure that the link between the software and hardware is synchronous The software has to have the capabilities of storing variables and carrying out calculations It has to be able to provide and use communication protocols such as RS232 Zigbee and Wi Fi Another system that has software requirements will be the robotic arm The robotic arm and the AV systems have similar requirements as the main processors microcontroller An addition to the requirements for the robotic arms software is that it must be able to provide pulse width commands to run motors servos or any other actuator devices 2 3 5 System Hardware Robotic System One important requirement for Striker is to be able to make movements quickly primarily across a single axis Prismatic T
148. r x4 64b WDT x1 64b PWM x4 RTO PRTCSS 19 2 MHz 24 MHz 32 768 PMIC 27 MHz or 36 MHz kHz Sw Figure 37 Block Diagram of DM365 36 Permission from Texas Instruments JTAG CLOCK Ctrl VF PLL 51 Referenced in Figure 38 is a representation of a video processing system that is a subset of the DM365 Most video signal processors contain Video Processing Front End VPFE as well as its counterpart Video Processing Back End VPBE The video processing hardware specifically manages video data which allows the main processor to focus on other responsibilities 40 The VPFE block contains important properties to aid in the compression of video e SIF Image Sensor Interface is used to accept unprocessed YCbCr video data in various formats e IPIPEIF The Image Pipe Interface is the interface module for the ISIF and IPIPIE relating to data and sync signals e IPIPIE The Image Pipe is programmable hardware responsible for image processing e H3A The Hardware 3A module is used to support the control loops for auto focus auto white balance and auto exposure This task is accomplished by collecting telemetry about the imaging or video data The H3A consists of two main blocks featuring an auto focus engine and auto white balance engine DORZ2 mDDR p Controller internal Bus EN Processing Blocks DDR Read Bus Statistics Collection Blocks DOR Write Bus Supportintrastructure Blocks Figur
149. r microcontrollers and Bluetooth modules via mobile device wirelessly This comparison can be seen in Table 20 You can see that the MISO MOSI SS and SCK operate the same in SPI interface Additionally for the RedBear controller to be controlled via Android User application two additional lines REQN and RDYN are required These are used as handshake signal to and from the controller nRF8001 Bluetooth chip With that information we realize that only 8 more digital IO pins will be available on our Arduino board if this module is used For this purpose this shield will be used with our Arduino Pro Mini attached to our striker arm This will allow a user to manually control striker from their smart device in the event that one chooses to This can be seen further in Figure 58 Table 20 ACI Pin Assignments between Arduino Pro and RedBear BLE Serial Arduino Pro Mini nRF8001 Description MISO Input Pin12 Output SPI Master In Slave Out MOSI Output Pini Input _ SPI Master Out Slave In SS Output Pin10 Input _ SPI Slave Select Output SPI Serial Data Clock REQN Output Controller to nRF8001 Handshake Signal RDYN Output nRF8001 to Controller Handshake Signal 81 Strthen Wir el ess Communication Arduino Pro Mini SCLK P13 CMUcam5 Pixy Wireless luetooth Signal USER TABLETOR SMARTPHONE Figure 58 Wireless Communication Wiring Schematic The Arduino Uno will connect to our Bl
150. re is a balance between product cost and shipping cost At times a product can be allocated at a cheaper price versus a competitive vendor however the shipping cost could drive up the overall purchase price when compared to the other vendor Lastly availability and time to receive product is strongly deliberated Testing and production will be very time consuming Ultimately time constraints might out weigh the budget concerns 119 ITEM AIR HOCKEY TABLE MICROCONTROLLERS VISUAL EFFECTS WIRELESS COMMUNICATIONS ROBOT ARM SERVO MOTOR TRACKING CAM PLAYBACK CAM SENSORS MANUFACTURING PUCK RETURN SHIPPING TOTAL COST Table 23 Bill of Materials DESCRIPTION SUBTOTAL HARVARD GAME TABLES 50 00 HDPE BAR 2 5 X2 X5FT STRUCTURE 79 15 SUPPORT PVC PIPE 6 69 ARDUINO UNO 29 95 ARUDUINO MINI PRO 9 95 LEOPARD BOARD 365 129 00 15 LCD TV w SPEAKERS 94 99 PROG 5M RGB LED STRIP LIGHTS 95 00 BLE SHIELD 29 99 BLUETOOTH MODULE 20 95 MosFET GS BREAKDOWN V 20V 1 44 2 X 23 TRACK FOR ROBOTIC ARM 25 19 ROLLERS FOR ROBOT ARM TRACK 3 79 4 GUIDE FOR ROBOT ARM 18 97 DSM44 12 95 CMUCAMB PIXY 69 00 HD WEBCAM 14 95 PIR325 4 00 50 00 GEAR MOTOR 412 SOLENOID V BELT PASSIVE IDLER HUB TRACK SPROCKET ARDUINO UNO ARUDUINO MINI PRO LEOPARD BOARD 365 15 LCD TV w SPEAKERS HD WEBCAM GEAR MOTOR SOLENOID BLE SHIELD BLUETOOTH MODULE DSM44 HDPE BAR 2 5 X2 X5 FT STRUCTURE SUPPORT
151. re is a fault our system will not be affected Once the system in energized we will use the multi meter to check the voltage across each sub system to assure that the correct amount of voltage is supplied to each one If everything works according to the plan our system passes the test 115 6 Administrative Content 6 1 Milestone Discussion The development of Striker is an arduous task that will be time intensive especially on the functionality of the robot itself Initially the research process began with the concept of autonomous air hockey table Further brainstorming was made by observing numerous autonomous robotic air hockey tables from other design teams At the onset the most difficult aspect of designing and implementing the autonomous robot would be how the robot tracks the puck s movement Execution of the project goals involves intensive research into tracking hardware and software design It became apparent Striker was going to involve a fair amount of programming Unfortunately the composition of our team does not include computer engineers To resolve this shortcoming we delegated the programming responsibilities to our most qualified team member and chose software options that would make our goals obtainable Since the primary focus of Striker is tracking Pixy was chosen and the process of becoming familiar with software started in early October Ultimately success will depend on early planning Setting milestones
152. re present in a lot electro mechanical applications and are also used in small electronics devices like door bell home phone systems and DC power supply Step up and step down transformers can be easily differentiated by calculating the ratio of each From the figures below the step down transformer is the one that contains more turns in the secondary side and the step up is the one with more turns in the primary side See Figure52 to see the difference between a step up transformer and a step down transformer The following formula is used to calculate the number of turns and voltage required on each side of a transformer Vp is the Voltage from the primary side V N Vs is the voltage from the secondary side d NL Vs Np Ns represents the number of turn in secondary ammm 12 N represents the number of turn in the primary voltage output voltage output IBFORMER STEP D voltage input vrage input Figure 52 Transformer Input Output Characteristics of Step down Left and Step up Right Transformers 54 Permission pending from yesican In this project we will be using a step down transformer to supply power to the sub systems This step down transformer will take the input voltage 120V AC to step it down to 12 volt AC Mean ratio 10 1 the Table19 below compares step down transformers from different providers Table 18 Transformer Comparison Chart DC output Operating Voltage temp NPY
153. rentiate when a goal is scored versus regular gameplay When a goal is scored it must have the ability to display data sent from the robotic arm and video from the AV system if the user chooses they want to save the replay The application must also have the ability to realize when the game is over and decide if the user has reached leader board status In addition it must have the capability of displaying all final stats to the player 3 9 System Microcontroller Microcontrollers are present in almost all electronic devices these days basically any product or device that interacts with its user has a microcontroller inside For example LED or LCD digital cameras cell phones camcorders answering machines laser printers telephones anti lock brakes the cruise control and so on Any device that has a remote control almost certainly contains a microcontroller TVs VCRs and stereo systems all fall into this category 3 9 1 T I MSP430FG4618 For this project we will be using two Microcontrollers one for the robot arm design and the other one to control the rest of the features in the hockey table We have researched microcontrollers from two different providers Texas Instrument Tl and Arduino At first we looked into MSP430G48 from TI Texas Instrument website since we are more familiar with it and we used it in different projects in our Embedded oystem class aaam 66 As describes in the Tl website the MSP430 is a 16
154. rpose of this process is to initialize the settings of the Striker and to allow the user to setup their gameplay experience Because the user interface is meant for smart phones the application will give the user data about the current puck location velocity and other various statistics Additionally when a goal is scored the application will give the user the ability to save the replay video on their phone When the game is over it will thank them for playing and congratulate them if they have made it to the leaderboards The following sections will discuss the three most popular smart phone operating systems in use These operating systems include Google s Android operating system Apple s iOS operating system and Windows operating system The importance behind our research for smart phone operating system is different than other components we ve researched so far For us the importance is popularity ease of programming and price Popularity is of most importance to us because we want to develop a product that can be used by a majority of people with ease 3 12 1 Android Android now owned by Google was released in 2007 57 By 2010 Google smart phones encompassed 32 9 of the world market share 58 By 2013 they are now 51 1 of the U S market 59 As of June 2012 the Google Play store which is Google s version of the application store had 675 000 different applications to download 60 There is no cost for becoming a develo
155. s Buying or renewing Xilinx products Silicon or component related questions C I purchased a Design Tool or IP product but it is not available for licensing in my product licensing account Existing Order Questions Distributor Orders Only Order Status Inquiry need to return a product to Xilinx RMA Xilinx Download Licensing and Installation Questions have licensed my product and I m having a technical issue Xilinx com Sign in Issues Requesting a University Program donation I exceeded my Rehost attempts in the Product License Center How do license a Xilinx Design Tool or IP product O How dol register an older version of Design Tools How to get a registration ID Do have to download the entire ISE Vivado product in order to access WebPACK only Other questions regarding the download or licensing of your Design Tools Other All Other Inquiries 4 Add your question or comment here Dear Xilinx I am an electrical engineering student at he University of Central Florida I am ina senior design group where we are constructing an wv Autonomous air hockey table I would like to 123 Xilinx Copyright Statement Copyright Notice The Content is owned and copynghted by Minx Inc Except as expressty permitted herein you may not copy reproduce destribute republish download display post ar transmit in any form or by any means including but not limited to electronic mechanic al pho
156. s blog bid 29051 3 What s the Difference Between Light ON and Dark ON Modes for Photoelectric Sensors http blog pepperl fuchs us Portals 165667 images light dark 1 resized 600 jpg This information will strictly be used for reference and educational purposes only and no profit will be made in any way Thank you in advance and look forward to hearing from you Luis Narvaez Electrical Engineering Student University of Central Florida College of Engineering amp Computer Science Orlando Florida L Narvaez knights uct edu Ph 407 284 2706 131 Response from Pepperl Fuschs hitps pod51038 outlook com owa viewmodel ReadMessageltem amp ltemID AAMKAGIKNGY22 7 MzLWRIMTctNDNjNy1iN Bozzelli Melanie lt mbozzelli us pepperl fuchs com gt Tue 11 12 2013 9 12 AM Ta L Marvaez amp knights uct edu Bing Maps Hello Luis material found on our website is public and available for educational purposes Fundamentals of Photoelectric Sensors http pepperl fuchs com selector files navi productinfo doct tdoctl633 usa pdf Feel free to use these materials to support your research project Best regards 1600 Enterprise Parkway Twinsburg OH 44087 USA Phone 330 485 0212 Fax 330 425 4507 E Mail mbozzellius pepper fuchs com Www fuchs us Read our Blog Visit our YouTube Channel Folow us on Twitter PepperlFuchs USA 132 Permission from Atmel Loubens Decamp lt louloudecamp gmail com gt
157. s signal power Usually Bluetooth is a low power device however depending on the class of product and use conditions there are different requirements of power For our project we will be running a class 3 product This means we will be operating at relatively shorter ranges 1m 10m TABLE 14 summarizes the power classes and capabilities of Bluetooth controllers Table 13 Bluetooth Power Classes MAXIMUM POWER mW CLASS MAX RANGE As mentioned previously we want the ability for easy configuration of our Bluetooth controller as well For this we are looking into Bluetooth 4 0 This version of Bluetooth is low power and offers different features from the classic Bluetooth technologies Another advantage of Bluetooth 4 0 is the capabilities and support with newer Android and Apple devices Although this version has a slower data rate at 1 Mbps it consumes less energy has an optimized stack for lower latency and has the ability for power on applications as well You will find that most new mobile devices use this version of Bluetooth because of this low power advantage Another difference of 4 0 to previous versions is the adaptive frequency hopping techniques used As mentioned before classic Bluetooth uses a frequency hopping modulation of 79 channels of 1 MHz bandwidth per channel Bluetooth v4 0 has 40 channels with a modulation index of 2 MHz This newer version of Bluetooth also allows for faster network acquisition a fea
158. side ta this is that we also can promote your work through our channels once finalized Once you have something ready for review please send that to me Christina Bjorkander connectBlues Christina Bj rkander Communications Manager connectBlue AB Norra Vallgatan 64 3V SE 211 22 Malm Sweden Mobile phone 46 705 29 90 45 Fax 46 40 23 71 37 christina bjorkander 2connecthlue com www connectblue com 130 Permission From Pepperl Fuschs ENERO https pod51038 outlook com owa viewmodel ReadMessageltem amp ltemID AAMKAGIXNGY2ZTMzLWRIMT ctNDNjNy1iNDAALWNIYWQSY 7 7 Licensed Content Permission X DELETE REPLY REPLY ALL gt FORWARD TI mark as unread Luis Emmanuel Narvaez Mon 11 11 2013 8 03 PM To webmaster us pepperi fuchs com To Whom it May Concern Hello my name is Luis Narvaez and am currently a senior at the University of Central Florida majoring in Electrical Engineering am contacting you in regards to attaining permission to use material from your website for my senior design project research paper My project is an autonomous Air Hockey table in our paper we reference information on photoelectric sensors using material from your publications The URL for the material we are referencing is Fundamentals of Photoelectric Sensors http files pepperl fuchs com selector files navi productinfo doct tdoct1633 usa pdf Light Dark On Photo http blog pepperl fuchs u
159. signal from the Arduino Uno to activate or deactivate the puck return For details on the Stepper motor used for our system refer to the Bill of Materials in Chapter 6 The construction of the puck return system will require the use of several parts They include they conveyor belt belt lacing drive shaft conveyer roller wood frame and nails The air hockey table is approximately 7 feet long therefore we will need 14 feet of conveyor belt plus an additional 2 feet We will use a belt lacing of 4 inches wide to join the two ends of the belt Four inches was chosen because the belt width is 4 inches A driver shaft of 6 inches long will be used to hold the conveyor belt We will be using two conveyor rollers to help the conveyor belt move towards the player Lastly we will use wood frame to maintain spacing Below is a list of items to be used for the mechanical design of Our puck return mechanism number Conveyor belt 1 75 18 feet Belt Lacing 18 47 Part Product name Price unit Material Dimension Quantity Drive shaft 9 82 Conveyer roler 9 15 99 5 Prototype and Testing 5 1 Puck Tracking Pixy The main purpose of testing Pixy is to verify that the puck tracking system is capable of producing accurate and reliable data Additionally Pixy s communication protocols must be tested to verify that Pixy and the Ardunio Uno are capable of two way communication The following sections further discuss the testing pro
160. sing the pins that are meant for SPI communications 4 Connect Pixy to computer Teach pixy to identify hockey puck Mount Pixy on top of the air hockey table so that it faces the air hockey table 5 Connect Arduino Uno to the computer Open serial communication 6 Hit the air hockey puck on the air hockey table and verify that the coordinates and trajectory coordinates are constantly being updated on the serial communications screen If they are not constantly being updated verify that the Arduino Uno and Pixy are connected to each other using the appropriate pins If coordinates are still not updating correctly alter the codes for Arduino Uno and Pixy 5 2 Bluetooth The purpose of our Bluetooth module is to communicate wirelessly to various items within our system Our module must be able to send and receive data from our Android device Arduino Uno microcontroller Pixy Pixy and Arduino Pro 102 mini on our robotic arm The purpose of the tests set forth is to determine that communication can be established with our Bluetooth controller along with control via external sources 5 2 1 Wireless connectivity test Objective The objective of the wireless connectivity test is to verify that various Bluetooth devices can connect to our Bluetooth module via specified interface method Equipment RedBear BLE Bluetooth Shield Microchip RN42XV Bluetooth Module Arduino Uno Board Pixy Pixy Android Device LED To verify outpu
161. site Dus readies message is 22 foGows 136 Permission from Yes Can Science Pending Step up and step down transformer e i Loubens Decamp lt louloudecamp gmail com gt Nov 26 2 days ago v 10 Uppor to whom may may be concem Hello my name is Loubens Decamp am a student at the University of Central florida am working on a senior design project where need to use picture of step up and step down transformar just wantd to know if can get permission to use this link http resources yesican science ca magnets transformers html Thank you in Advance Regards Loubens Decamp University of Central Folrida Permission for HeaterPlus com Pending Permission e Loubens Decamp lt louloudecamp gmail com gt 4 56 AM 10 minutes ago A to sales i to whom it may concern Hello my name is Loubens Decamp i am in my senior year at the University of central Flonda UCF my team is working on a project where we have to use a relay to our power supply system we wanted to know if we can have permission to use picture found in this link http www heatersplus com payne htm Thank you in advance Regards Loubens Decamp 137 Permission for Engineers Garage Pending Daak ipaoleusecumpQ amat com Subject Omer Permessien Message Melde my eame is Lousens Decamp am a Senor student af Phe Ureversity of Central Florida my group 5 worming on a perot design paper we wanted to q
162. size we are able to mount this onto a cce E Ls 97 the housing that the stepper motor will contain As you can see in section 4 2 we will have an additional Bluetooth module from RedBear that will allow for user control of the robotic arm This will add another feature and dynamic element to the game experience of Striker Our wiring diagram for the Arduino Pro mini is shown in the following Figure Because our stepper and Servomotors will require more energy than the microcontrollers can provide 5vdc we will have to connect the power supply of these to an external source described in section 4 7 AS mentioned earlier in our report the stepper motors will need four lines connecting to an H bridge for bi directional control This H bridge however can be powered by the on board Arduino power supply of 5Vdc Re pis Pi ARDUINO o o ay UNO y E BE P13 P12 P11 P10 P09 P08 P07 SCK MISO MOSI SS1 REQN RDYN SS2 PO P01 P02 P03 a OUT OUT OUT OUT RELAY HH SOLENOID ae PER IE l i L fee Figure 76 System Wiring Diagram of Robotic Arm 4 9 Puck Return The puck return system has the following requirements e Puck must be return via the conveyor belt to the player e Sensor must detect the puck e System must be controlled through Arduino board SERVO zs 98 For the puck return we will use a stepper motor to drive a conveyor belt We will have the stepper motor receive
163. t 5V DC Power Supply Procedures Software Prep 1 om oN Download the RedBearLab library from http redbearlab com bleshield Quickstart and upload the appropriate library files into the Arduino s libraries folder Open the BLEShield Sketch file Compile and upload the program to the Arduino board Download and install RedBear s Android BLE Controller application from Google Play market Download the necessary Bluetooth libraries from Arduino s download site http arduino cc en Main Software Hardware Prep 1 2 Connect Bluetooth Modules to their respective devices Refer to Section 4 2 Figure for wiring diagram Verify the voltages to the Bluetooth devices are at least 3 3Vdc or 5Vdc Test Procedure 1 Turn all devices on and run the program downloaded in the software prep Ensure all power LEDs are lit on every device The voltage to each Bluetooth module and peripheral device should vary between 3 3Vdc to 5 0Vdc 103 2 3 Attempt to pair your Android device to the RedBear BLE Shield Once this has occurred an LED on the RedBear Shield will light up signaling a paired device Attempt to connect to the CMUcam Bluetooth module via Android device Once again the connection LED on the Bluetooth module should light on once paired 5 2 2 Wireless Control Test Objective The purpose of the wireless control test is to ensure that we can obtain control of devices wirelessly fr
164. t phone operating system 65 The cost for becoming a developer and testing applications is 19 per year 62 The Windows Phone Software Development Kit is the main development environment used for creating applications for Windows Phone 66 Applications for Windows Phone can be written in CZ Visual Basic or C 67 3 12 4 Receiving Data From Striker As mentioned in section 3 9 data being relayed from the microcontroller on otriker is being transmitted wirelessly Most smart phones have the capacity of turning on and off Bluetooth communication as well as Wi Fi When the application initializes a requirement of the application is that the communication method chosen become activated Therefore the first function that the application performs is to enable the device to use that wireless communication standard This action enables the smart phone and the Striker to be able to communicate with each other 76 4 Design Summary of Hardware and Software 4 1 System Overview The Striker system is composed of many subsystems After much research the main processors chosen are the Arduino Uno for overall system the Arduino Mini Pro for the robotic arm Pixy for the tracking system and Davinci for AV The Arduino Uno was chosen for the main system for many reasons It consists of the right amount of I O pins needed for Striker The Arduino Uno is a very popular microcontroller by electronic hobbyist therefore we have found that many devi
165. ted appropriately and update the code as necessary 5 4 3 Puck Return Test The puck return gives the Striker experience the capability of being a non stop experience It allows the player to remain in place as the puck returns to the player Additionally while the puck returns the player is distracted with lights sounds and replays Just as the lights are trigged by the PIR sensors so is the puck return Objective The objective of the puck return test is to verify that a motor can be triggered by the PIR sensor The test will first confirm that a motor can be commanded by the Arduino Uno without receiving any outside data When that is confirmed it will be possible to prove if the PIR sensor can trigger an event in the Arduino to turn the motor on Equipment Computer Micro USB to USB cable Arduino Uno 10 LED lights Resistors PIR Sensor circuit Breadboard Hockey Puck Motor with circuit Procedure 1 Write a code to turn on the motor using the Arduino Uno Make sure to use the pins on the Arduino Uno that are capable of creating pulse width 108 modulation Make a loop in the code to turn on the motor for 5 seconds and rest for 5 seconds repeatedly 2 Download the code to the Arduino Uno Connect the motor circuit to the appropriate pins on the Arduino Uno Verify that the motor turns on and off repeatedly If the motor does not turn on and off as expected make sure the motor circuit is connected appropriately an
166. termine the current block from the surrounding pixels in neighboring blocks in a specified set of instructions A block is denoted by blocks of pixels representing 16x16 4x4 etc e Inter Prediction and Inter Coding Inter frame coding previous and current frame is improved by adding various block sizes for motion compensation quarter pel 1 4 the distance between pixels motion compensation multiple reference frames and adaptive loop deblocking e Block Sizes Different variations of block sizes are now supported such as 16x8 8x16 8x8 8x4 and 4x8 e Quarter Pel Motion Estimation An improvement on motion compensation by allowing half pel and quarter pel motion vector resolution Quarter and half represent the distances between pixels e Multiple Reference Picture Selection As many as five different reference frames are now used for inter picture coding This translates to better video quality and improved coding efficiency e Adaptive Loop Deblocking Filter A deblocking filter that is used on the horizontal and vertical block edges in the prediction loop It removes artifacts produced by block prediction errors e Integer Transform A pure 4x4 spatial transform is used which is an approximation of the discrete cosine transform in lieu of the previous floating point 8x8 discrete cosine transform e Quantization and Transform Coefficient Scanning Increasing step sizes for quantization have changed from constant incrimination to a com
167. the Deavervity of Cerccs floride sececing in Elecersrel Exypineecing I ws cestactiog goa ss chcash dorea L2 42112136 L132CINSLIZZ sx fadis fzcm your websice Tee tafereeticn referenced ir rer eetiaet Jetish etoiect peper is rerartly Fet rectis ser czmmerczalilsed use The file rsfecaccmi tm car setioc scasign pases is che foliceing itd LOAA ieas VLELENILA TIE VLNapTii A Comms tet Od Acem toseed tng TL pR AcTw L5 9492 7258 frzm tf tice acre stig We saal t bBlv4Tygt 5 m 2 oae rg freee i trt 6 v n mg f appreciate Sa SEOPOTAL LO CHO LOCH FPISMASR TS PesrF i q Cece Pee 949 THANE yw Lassa E Parvaes ftedest Kiertrieel Ereineerizs Resveresty c Cesczel Flcrcsas T 3aeg OF Tigieeetitg 4 Dompetur ileto SPI Daisy chain pics amp Luis Emmanuel Narvaez 12 2013 7 03 PM to scb ilist ti com Licensed Content Permission Thornas am a student at the University of Central Florida and am contacting you to obtain your permission to reference a picture in one of your articles The link for the article is shown below http www eetimes com document asp doc 1d 1272534 amp appreciate your help and look forward to hearing from you Luis E Narvaez Electrical Engineering Student University of Central Florida Orlando FL 32816 L Narvacaz fi knights ucf edu Sent from Windows Mall 140 I2C Timing Diagram Luis Emmanuel Narvaez erui 708 PM to Sddhartiipembedjoums corr Lice
168. the system has been organized into sub systems The sub systems include the puck position the tracking system the robotic arm the puck return mechanism the video system the audio system and the user interface These subsystems require a power supply and voltage regulators to make them operational Additionally there has to be a method in place to allow communication within and between the subsystems The scope of this project deals heavily with computer vision to form intelligent efficient and effective decisions Without the capability of motion sensing and trajectory formulation the air hockey table would be incapable of meeting the objectives that we created for our project To equip the Air Hockey with this capability a camera will be used over head The robotic arm will be composed of several technologies that have been used for decades The actuators we are researching include motors servos and solenoids For the devices to be effective there will be specification requirements for each one of them To swiftly and accurately hit an incoming puck these technologies will be controlled through a controller The controller will gather data from the puck positioning and tracking system and direct the robotic arm accordingly The puck return mechanism will consist of various sensors and motors as well To give the puck back to the player a puck return system will be used Many technologies today can be used to detect objects for our goal
169. tilize their resources for our project Any help is greatly appreciated On behalf of the University of Central Florida we thank you 121 Appendix A Permissions Permission from Texas Instruments Thesm you for your feret in Texas leetnunments Sermicowhato prodocis ad servoes To e558 Us m ans you Questions please compl the hoboewg harm Regured Contact Information First Prefia Mi Name Arnan Thomas Company Unereraity of Central Forms Job Tite student Emal bthomesdS86knights ud edu Outside US amp Canada Plagne arte your compete phona runter sire Country Coda Area Coda PhO 5632269074 FAX Address 135 Twin Lakes Cre Address eT lt CIN Labeler ep T 33815 Coury USA E Sins Prewnce Fonda i Problem Description oer Desin uta Trelem Deer Texas Instnaments a Hee Fyen need 1e armar code Wippen ae the usi wt box belee Maps sa Wecwane Uw Poat 1 am an electrical eevanernng student at the Unevenaty of k Central Forsta and out senior team ie dorg seati oi micro controllers A master con to manipulate on autonomous robot and n comroller for vdeo and aodio processng 1 would Mico ro request penmission for educational Steps to Recreate the Problem Fate Test bos ecrotie ster ines Hri Yos mery sisp cot perte ipt farm piihia bus lecie Purtnil Hesponse from Texas Instruments Bran Thank you for the details brad r xod ioo preening gm m Ron LU BE SPOTS ORIS Ine CUNO ete Not
170. tion they are used in photoelectric sensors Internally the operation of these devices involves three steps carrier generation by incident light carrier transport by a specific current gain mechanism drive stage and interaction between this current and the externals of the device so to provide an output signal The use of semiconductor photodetectors provides many advantages to sensing technologies such as high sensitivity at the operating wavelengths fast response and low noise These devices also are energy efficient as they do not require very high biasing For our simplicity we will not discuss in detail the internal operation of these devices except to lay a fundamental understanding of the device The photodetector devices we are focused on are photodiodes and phototransistors 28 Photodiodes Photodiodes are essentially p n junction diodes operating in reversed bias mode For a p n junction forward biased is the normal operating mode of the device However for a photodiode one can say reverse biased is the normal operating mode This is because the way current is generated through the diode is different from what a normal diode generates Figure 17 b shows the inner construction of a photodiode You can see on this structure that photons emitted onto the diode via the p side causes electron hole pairs EHPs to form These EHPs create an electric field in the depletion region thus sweeping electrons to the n side From t
171. tion of pixels from the OV9715 image sensor The M4 sub processor is used for higher level processing user device communications and debugging 15 LPC4357 53 TEST DEBUG INTERFACE me fy ETHERNET HIGH SPEED 10 100 USBD0 t HOST IEEE 1588 DEVICE OTG HIGH SPEED USB1 HOST DEVICE sng u its s BRIDGE BRIDGE 3 32 KB LOCAL SRAM oy 4 Y f P i 40 kB LOCAL SRAM WWDT MOTOR RI TIMER CONTROL ALARM TIMER BACKUP REGISTERS 16 kB AHB SRAM WER MODE CONTRO 16 kB EEPROM 512 256 kB FLASH A 512 256 kB FLASH B CONFIGURATION REGISTERS EVENT ROUTER g s i Sn n v OTP MEMORY RTC OSC 12 MHz IRC 3 e GPIO INTERRUPTS INTERRUPTS e t INTERRUPT RTC POWER DOMAIN INTERRUPT connected to GPDMA Q il Figure 7 LPC4357 Internal Block Diagram 5 Permission from NXP pending This would be ideal for our system in the sense that it will only take 20 milliseconds to process a color VGA image With this processing speed we can track a puck going 200 for a distance of 4inches between processes One additional benefit to having this camera in our system is the low cost as well Traditionally most image processing cameras or FPGAs are very expensive Other image processing methods use regular cameras and open source code for processing However most of those methods do not provide sufficient processing time for Striker to react in a timely manner With Pixy w
172. tness level controlled with PWM This can be seen in Figure 71 93 Arduino Microcontroller Interprets Puck Position Identifies Appropriate LED Specific Brightness and Color Illu minates Correspond CMU Cam Location Choice by with Bit Means of Addressing PWM from CMU Cam ing LED Figure 71 LED Lighting Coding Flow Diagram oeveral pre programmed LED lighting designs will be used in the event of a goal scored and game conclusion Sensors are employed at both goals to indicate when a player has scored a goal Upon a goal being scored the LED tracking algorithm will be replaced in lieu of a celebratory LED display The duration of the LED scoring display is arbitrarily set at 5 seconds Once the program finishes its execution control is reverted to the LED puck tracking procedure as can be seen by Figure 72 Arduino Microcontroller Control Switched Receives pss from LED Control Returned Tracking to from Goal Programmed LED Ko RED PUES c Special Effects Tracking e nsors Demonstration Time Duration of LED BIST Fahy Less Than 5 Seconds Output to LED s via PWM Figure 72 LED Puck Shadowing Code Diagram 4 6 Goal Sensors 4 6 Design summary for Goal Sensor Our main concern was to find a sensor that met all these specific requirements that will allow our puck return mechanism to work accurately These requirements include 94 Sensor must be able to detect the air hock
173. to accomplish specific tasks in a timely manner will aid to keep the project on course Resolution of time management was made by instituting a milestone chart shown in Figure 77 The milestone chart consists of project deadlines and assignment delegation 116 9 3 9 23 10 13 11 2 11 22 12 12 1 1 1 21 2 10 3 2 3 22 4 11 Brainstorming Project Selection Budgeting E Role Assignments Sensors MCU Robot Motors Arm Design Air Hockey Table Selection Asthetics Programming Language Bluetooth Controller Meeting Robot Arm Sensors MCU Programming APP Table Aesthetics Comm Syst Puck Return Lal AV Tracking PCB Design Group meeting Paper first draft Group meeting Proofreading Paper second draft Proofreading Final draft Parts Ordering Build Prototype Robotic Arm Sensor Controller Programming App Table amp Aesthetics Communication Puck return motor AW and tracking PCB Build Group meeting i Testing Hardware Software Sound Lighting I Robot Arm Microcontroller code Complete Process d Group meeting i Final design developed resentation in front of peers d Final test Figure 77 Milestone Gannt Chart 117 6 2 Budgeting and Finance With most senior design projects budget and funding will be an intricate part to design success Estimated funding for Striker was 850 but it was suggested that the Striker budget be set at 1000 to allow for unforeseen issues It was necessary to seek funding to offset
174. tocopying recording or otherwise the Content or any part of the Site without the peor written non electronic consent of Xilinx You also may not mirror any Content contained m the Ste without express written consent from X nx Permission is granted to display copy distribute and download the Content for personal non commercial use only proveded you don t modify or alter the Content and you retain any and all copyright and other proprietary notices contamed in the Content This permission terminates automatically if you breach any of these Terms Upon termination you must immediately destroy any downloaded or printed Content Any unauthorized use of Content and the Ste may violate copynght laws trademark laws the laws of privacy and publicity and communications regulabons and statutes All nghts not expressly granted to you under these Terms are reserved Permission and Response from Pixy By Charmed Labs and Carnegie Melon Kwabena W Agyeman lt kwagyeman live com gt mark as unread Thu 11 14 2013 10 38 AM The project is open source for this reason Feel free to download and use any material you want Just remember to provide proper attribution in your report Thanks REPLY GE REPLY ALL FORWARD z mark as unread Efrain Cruz S Thu 11 14 2013 10 16 AM Sent Items Ta cmucami zcs cmu edu Hello am part of a senior design team at UCF We plan on building an autonomous robotic arm for an air hockey table To do so we have d
175. tors actuators sensors and much more The question that drives us is how do we put these technologies together to meet the needs of our project There are additional questions that follow How will our knowledge in circuit theory and power systems guarantee that the devices we use work within an efficient and operational mode How do we interface the technologies to look like one streamlined object that is appealing to the participant without over whelming their senses There are many basic technologies and principles that academia has educated us on resistors capacitors diodes operational amplifiers integrated circuits motors and servos to name a few We have learned how these devices behave along with the formulation model to predict behavior However there is only so much academia can teach us A project of this nature will allow us to learn about technologies that are not part of our curriculum By doing so it will allow us to further improve the fundamental principles that we have acquired by allowing us to exercise our skills on newly created technologies The challenges we face will be the strengths we gain Another driving force is gaining advanced programming skills a fundamental skill of computer engineering The Air Hockey Table will require artificial intelligence Although we have basic knowledge of programming microcontrollers a project in this nature requires specialized skills In the process of completing this project
176. trieve the last 10 seconds of video images from the SD card The DM365 will then output the last 10 seconds of game action onto the HD monitor as well as the Arduino Uno Once the video replay is completed the program will revert to a standby mode awaiting input from the Arduino At the completion of the game the game video located on the SD card will be deleted from Striker This software design can be seen in Figure 70 92 Figure 70 Video Playback Flowchart Programming of the LED s will be aided by the Arduino s open source programming libraries that contain example codes written composed in the Arduino language Example coding provides a foundation for deriving the appropriate program needed to operate the LED s The LED lighting effects will have two modes of operation based on the gaming conditions One aspect of the LED design will have the LED s mimic the puck movement as it travels during game action The other demonstration will have the LED s display an intricate pattern of lighting special effects when a goal is scored or game completion With Pixy s ability to track the puck the y axis coordinates from of the puck will correspond to a specific LED illuminated at the brightest level with of color red For each LED segment away from the puck location on the y axis LED brightness will be reduced and the color augmented to a less intensive hue Location of the appropriate LED is accomplished with bit addressing and the brigh
177. trip is connected to a 5 V source Another important note is to never connect more than 5 V to the LED strips as this will permanently damage the LED s Furthermore careful consideration has to be made for current consumption One meter of LED s that are fully illuminated can have a current draw of almost 2 amps However since most of the LED s will not be fully illuminated power consumption would be approximately 1 3 of the maximum 89 GND i m RC PITT IA Fe R OI RG CR 5V 4 o 4 cece AEn Arduino PUR aos a Figure 66 Connection of LPD8806 to Arduino Uno 45 Permission Granted from Adafruit 4 5 Software Design The following section displays the coding diagrams specific to each processor Figure 67 displays the block diagram corresponding to the coding for the Arduino Uno Figure 68 displays the block diagram corresponding to the coding for the Arduino Mini Pro Recei n Initiate Pee cate Begin Timer from app Ye eT Initiate Ending Process Game Ending Receive Puck Flash Lights Give ra jectory Tracking and Pattern Coordinates to I 1 Robotic Arm as the time Robotic Arm No limit been Coordinates and Receive data from Robotic Yes Arm for number reached Trajectory Coordinates No of hits as PIR detected Send A V a goal scored POE system updated score and stats and send end of Time limit game alert
178. tromagnetic waves pass through for clear deciphering The clear lens protects the polarizing filter from scratches and outside debris while the polarizing re aligns the waves so that the receiver can determine the signal coming in is from the transmitter and not an external light source Polarizing filter j E AE v AJ PN S e x LX SS Comer Cube MSS Polarizing filter Reflector v a Target Figure 11 Retro Reflective Sensor Instrumentation 11 Permission Obtained From Pepperl Fuchs Lens The other form of photoelectric sensors to operate is thru beam mode Thru beam uses two sensors one transmitter and the other a receiver This method is known as the most efficient mode of the three This mode allows for minor misalignments while still maintaining the ability to sense opaque targets Another advantage to this is the ability to manipulate the trajectory of the light This is also referred to as convergent sensing This method is not an attractive option for our system due to the higher complexity and cost Thus we will not elaborate further on this system 24 Typically the connection and detection methods vary for photoelectric sensors They can operate in a light on or dark on state Essentially these methods depend on phototransistor semiconductor composition A NPN phototransistor configuration is a current sinking receiver Conversely a PNP is a current sourcing receiver A current sinking co
179. ture that is irrelevant to Our design considering the devices would be paired before any serious transmission occurs One would assume that because of the slower data rates a Bluetooth 4 0 module would not be ideal however this controller is perfect for small packets of data regardless of the speed Because our tracking system would do the image processing the only information that would need to be sent to the striker controller would be the puck s projected position This is the correct application for Bluetooth 4 0 as it is design for exposing state in our case the puck s state Additionally because of the low energy gateway functionality devices can communicate amongst each other directly as if the adapter were just a pipeline of communication as shown in Figure 44 Overall for a minimum packet transmission the total latency for the transmission process is just under 3ms Bl uetooth 4 0 Low Ener gy Gat eway Wireless Signal r ye porum BT v4 0 MODULE Figure 45 Bluetooth 4 0 BLE Gateway Diagram 60 3 8 2 Wireless Fidelity Wi Fi Wireless Fidelity Wi Fi is another wireless technology considered for our project Wi Fi works by sending data wirelessly through radio frequency RF much like Bluetooth It carries many advantages over any wireless communication mainly in transmission rate range and security Wi Fi works off an IEEE 802 11 standard to obtain high data rates Throughout recent years advanc
180. uck travels through the goal The Arduino Uno will also go through tests to verify that it can receive communication from the PIR sensors and that it can trigger special events These tests will build upon the lights test Equipment Computer Micro USB to USB cable Arduino Uno 10 LED lights Resistors PIR Sensor circuit Breadboard Hockey Puck Procedure 1 Build upon the code written for the lights test by adding code that receives input from the PIR sensor instead of a push button The PIR sensor is now the input that will make the LED lights flash Add a section that simulates the tracking of goals scored Each time the PIR sensor detects the puck it is to increment a variable that tracks the goals scored a ammm 107 This value will then be displayed on the computer screen through serial communication 2 Build the circuit that connects to the PIR sensor and LED lights with resistors to the appropriate pins to the Arduino Uno on a breadboard 3 Connect Arduino Uno to the computer Pass the hockey puck in front of the PIR sensor Observe the serial communication on the computer screen and verify that the goal tracking variable is increased Observe the LEDs and verify that the lights only flash when the hockey puck is detected by the PIR sensor Repeat this process several times and verify that the appropriate events are triggered by the hockey puck If the events are not triggered correctly verify the PIR sensor is connec
181. uctor field effect transistor MOSFET and H bridges in combination with diodes a Er cce cU lE 3 The MOSFET is a small low price transistor To simplify the operation of a MOSFET there are three pins of consideration The three pins are source gate and drain In a p type MOSFET the gate allows current to run from the source to the drain and the current of the gate is significantly smaller than that of the source to drains current Therefore the MOSFET has the capabilities of running a motor while protecting the microcontroller To do so the output pin of the microcontroller must be connected to the gate pin on the MOSFET and the required operating voltage for the motor must be connected to the source pin of the MOSFET The H bridge is our second consideration for operating the motor through a microcontroller The H bridge is an integrated circuit that incorporates MOSFETS into the circuit The advantage of using an H bridge over the MOSFET is that the motor has to have the ability to run in two directions forward and reverse Therefore the H bridge circuitry would be simplified due to the use of one component to run the motor To use the MOSFET there would either be a need for two of the transistors or heavier design work to use one As mentioned previously microcontrollers typically only provide a fixed amount of voltage from their digital pins If the voltage is not varied the motor will run at a constant speed as well To
182. uetooth module via SPI As mentioned previously RedBear BLE uses an interface referred to as ACI which operates exactly like SPI The lines being used for our SPI in the Arduino board are identified as SCLK SPI MOSI and SPI MISO The slave select lines SS are GPIO pins on the board 4 3 Puck Tracking System Perhaps one of the most critical components of our project is the tracking system Without using the proper tracking system the game experience will be compromised and thus not meeting our goals We looked into two different tracking methods to determine the best choice In summary of section 2 3 3 our tracking system will have the following features Must have a frame rate of at least 60 fps Must be easily programmable Must be able to interface with Bluetooth module Must be low power and have good accuracy a_a ll 82 e Must be low cost Table 21 below shows this comparison of systems by important features Table 21 Comparison of Tracking Systems Tracking Programming Processing Motor Interface Device Difficulty Frame Rate Control 360 Kinect USB 2 0 High 30 Hz UART 12C ow 50 Hz Pixy SPI USB Based on the table above it is a clear choice that we will go with CMUcam The version of CMUcam we will use is Pixy 5 0 Pixy offers unique features that make it ideal for our application Along with the fast processing frame rate we also get flexibility in interface methods whereas the XBOX 360 Kinect utili
183. ure 55 System Wiring Overview with Pins For the robotic arm the servo does not require extra components to run However the motor and the solenoid do need extra components to operate safely and efficiently Figure 56 displays how the motor will be connected to an H bridge which will be connected to the Arduino Pro Mini The same figure can be used for the motor being used by the puck return system on the Arduino Uno 78 5mm Shaft Stepper Motor oV NW Arduino Pro Mini mun NEN MEN NEN NNNM H Bridge 10 30 v SN754410NE Figure 56 H Bridge and Stepper Motor Connection with Arduino Pro Mini The solenoid on the robotic arm like the motors require extra components to operate safely The solenoid requires more current than the Arduino can provide Therefore a separate voltage source and a MOSFET are required Figure 57 displays how the circuit will be built 10 30Vdc Arduino Pro Mini Figure 57 Solenoid Interfacing with Arduino Pro Mini 79 4 2Wireless Communication 4 2 1 Hardware The hardware design of our wireless system is relatively simple in comparison to other sub systems of our project As specified in chapter 2 our communication system will have to give us quick response at a data rate of higher than 2Mbps Another requirement for this is that our system must be able to operate within a range of no more than 8 feet In summary the device chosen will have to meet or exceed the requirements
184. urer and product options This is by virtue of microcontrollers being in existence since the early 1970 s Another advantage is the computer language that is used to program a microprocessor Generally most microcontrollers use a O ee ammm 49 form of C language or assembly language FPGA s use a HDL language such as Verilog Spartan 3E FPGA The Spartan 3E FPGA is a low end FPGA that has video processing capabilities The development board has a VGA port that can be used with the condition of having an adapter to convert to the monitor input or obtain a monitor with the Same connection This can be seen in Figure 36 The Spartan 3E pushes five VGA signals consisting of red blue and green The other two signals comprise the signal high or signal low for the three VGA colors which will represent eight color options In summary a 3 bit code represent eight color combinations 3 39 Pin 5 Pin 10 Pin 15 DB15 VGA Connector DB15 front view Connector 27002 Red TPAR IMr O R R12 27082 1 Green y G T12 4 27002 Blue Ryn V B R11 Horizontal Sync HS R9 Vertical Sy j jync o ys T10 1 XX FPGA pin number wv GND Figure 36 VGA Connections from Spartan 3 Starter Board 45 Permission Pending from Xylilnx The use of VGA as a display makes it possible to incorporate a VGA based webcam to capture the playback images Most webcams have the capacity of 30 frames
185. uts and outputs to all the subsystems By the end of this test there will be proof that the Arduino Uno is capable of processing the data at rates required by Striker This test will be the final test required for the Arduino Uno Equipment Pixy Computer Micro USB to USB cable Hockey Puck Air Hockey Table Arduino Uno Davinci LED lights Resistors PIR Sensor circuit a aaam 110 Breadboard Motor with circuit Procedure 1 Combine the codes from section 5 4 4 and 5 4 3 Change the code so that the Davinci turns on the LED lights only when the Arduino Uno has received input from the PIR sensors that a goal has been scored Build the circuits as detailed in section 5 4 3 but place the PIR sensor in one of the goals of the air hockey table Add to it the circuit required by section 5 4 4 Download all the codes to the Arduino Uno Pixy and Davinci Hit the puck on the table Verify that the computer is displaying and updating the current and trajectory coordinates Score a goal Observe that the computer is displaying that the goal tracking variable is increased Observe the LEDs and verify that the lights only flash when the hockey puck is detected by the PIR sensor and that the motor turns on Hit the puck against the back wall of the hockey table Verify that the lights from the Davinci only turn on during this event Repeat this process several times and verify that the appropriate events are triggered by the hockey
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187. we will acquire knowledge on various programming languages various software and wireless technologies Wireless technologies are also a trend that has been evolving in technology Wireless devices are not only becoming more popular but are becoming a preference in personal technologies With the knowledge that we gain from creating this project we believe we will possess the skills that are required and sought after in the engineering community of today It will allow us to prove our understanding of electrical and computer engineering while creating an innovative product that is fun and follows the current technological trends It will give us the advantage of proving that we can apply academic knowledge to real life projects 2 2 Goals and Objectives The goal of this project is to create an Autonomous Air Hockey Table that is more engaging than traditional air hockey tables are The Air Hockey experience that we create should mimic that of an arcade game experience After scoring against the robotic opponent sounds will play lights will flash and an instant replay will play on a screen Afterwards a puck return mechanism driven by motors and belts will direct the puck back to the player The screen used to play instant replays will also display time score and various statistics When the player wins different lights and sounds play compared to a regular goal scored signaling a victory and the end of the game Before the game begins
188. zes USB interfacing one we are not willing to utilize The Kinect as mentioned in section 3 2 1 also has a proprietary voltage source for servo control This also makes it an unattractive feature for our system The interconnecting wiring diagram is shown in Figure 59 where the only external connection is simply the Bluetooth module RNA2XV The other physical connection used by our tracking camera is the power source coming from our power supply This is further elaborated in section 4 7 Figure 59 Wiring between RN42XV Bluetooth Module and Pixy Our final board design is critical in our project The following figures show only the important parts of the CMUcam schematic in which we will keep for our final design The omitted parts include the servo control and JTAG interface port 83 The central processing unit within Pixy is shown in Figure 60 This part of the tracking system does all the controlling and processing of image data communication holds the programming and much more Because of the smaller scaled schematic a better schematic could not be obtained IL cr Figure 60 Pixy CPU LPC4330 Dual Core Schematic 4 Permission Obtained from Charmed Labs The main processor on the CMUcam is obviously an integral part of the tracking system With the dual ARM sub processors it is capable of multitasking for faster image processing The next important portion of the CMUcam is the image sensor itself This s

Senior Design I Final Paper - University of Central Florida

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