2. Robert McGilvrey
Major: Computer Eng.
Role: Team Lead
Subsystems: US Transmission, Physical Input, Packaging
Ryan McIver
Major: Computer Eng.
Role: Lead Engineer
Subsystems: US Transmission, Main Control Loop
David Jennings
Major: Electrical Eng. with Specialization in Communication, Controls, and Signals
Role: Treasurer
Subsystems: US Reception, USB Transmission
Evan Peterson
Major: Computer Eng.
Role: Librarian
Subsystems: US Reception, Visuals
Team Members
2
3. Localization for autonomous mobile vehicle that uses ultrasonic signal
Ground based emitters at each location of interest transmit an ultrasonic signal that is unique to its location
Mobile unit that detects and processes the ultrasonic signal and transmits location data via USB to downstream systems
Project Introduction and Overview
3
4. Stationary Transmitter Modules:
Inputs:
Power: 9 V
Physical: Button to cycle through the location
number that is being transmitted
Outputs:
Acoustic Signal: 40 kHz
Acoustic Range: ≤ 3 ft.
Visual Feedback: Displays the location number
that is being transmitted
Other:
Size: ≤ 6 in3
Weight: ≤ 2 lb.
Design Constraint: Posts must be oriented so
signal crosses path and does not point toward
another post.
Mobile Receiver Module
Inputs:
Power: +-12 V
Acoustic Signal: 40 kHz
Acoustic Range: ≤ 3 ft.
Outputs:
USB Signal: Serial data at 9600 baud
Visual Feedback: Displays the location number
that is being received
Other:
Size: ≤ 6 in3
Weight: ≤ 2 lb.
Specifications
4
7. Subsystem: Ultrasonic Transmission
Implementation:
A bridge circuit driven at 5 volts for about 20 feet of range.
Each post is programmable to emit bursts at 40 kHz with a different
interval between bursts.
A seven segment display indicates the selected station number, and a
pushbutton allows the user to program the module.
An Arduino Mini with an Atmel microprocessor drives the circuit.
The input power is 9VDC, the package is ~6 in3.
http://www.kerrywong.com/2011/01/22/a-sensitive-
diy-ultrasonic-range-sensor/
Requirements:
From the post modules, send a unique ultrasonic signal that
represents a particular stop number along a route
7
8. Subsystem: Ultrasonic Reception
Requirements:
On the cart module, receive and interpret the signals transmitted by
the post modules
Implementation:
The ultrasonic signal from the transducer is amplified to increase
sensing range.
A bridge rectifier demodulator creates a signal envelope representing
the incoming signal which can be processed by an Arduino Uno rev3.
The microprocessor measures the delay between bursts and transmits
station number data depending on which station it hears. It transmits 0
if no station is detected.
Output is 8-bit serial at 9600 BAUD and an LCD screen on the back of
the module.
The input power is 24VDC and 12VDC, the package is ~6 in3.
8
9. Subsystem: Downstream Data Transmission
https://en.wikipedia.org/wiki/USB#/media/File:USB.svg
Requirements:
From the cart module, send information via USB to the self-driving
cart’s navigation module that indicates when the cart is near a post
module.
Implementation:
Using the Arduino’s serial library, send the number of the post that is
detected, or 0 if the vehicle is not near a post.
The protocol is 8-bit serial at 9600 BAUD.
The standard is USB 2.0
9
10. Subsystem: Physical Input
Requirements:
Allows the convenient addition of more stops in the future.
Implementation:
A momentary pushbutton allows the user to program the post module.
This allows every module to be constructed and the code to be written
identical.
Pressing the button changes the state of the system to emit bursts with
a different delay between bursts. This is how the system uniquely
identifies different posts.
More stops can be added without the need for downloading new
firmware.
https://www.amazon.com/gp/product/B00GTEQXYS/ref=ox_
sc_act_title_1?ie=UTF8&psc=1&smid=AVYWV9PRP7NOV
10
11. Subsystem: Visuals
Requirements:
Each module should display the status of the current location.
Implementation:
On the post module, if it is broadcasting the signal assigned to stop #2,
then the seven segment display will read ‘2’.
On the cart module, if it is receiving the signal for stop #2, then the LCD
screen will display ‘Station 2’. If the cart is out of range of any stop,
then the LCD will display ‘No Station Detected’.
http://cherryswitches.
com/us/wp-
content/uploads/sites/
7/2012/05/Pushbutto
n-KF-Series-
290x290.png
https://www.amazon.com/RioRand-
Module-Arduino-White-
Blue/dp/B00GZ6GK7A/ref=sr_1_17?ie=
UTF8&qid=1473110530&sr=8-
17&keywords=16x2+lcd
11
Everyone
Comment: Should we add member responsibilities to this slide?
Response: I think we should be ok. The block diagram and work break down should cover all of that.
