Presentation delivered during the Karel Comenius project meeting, Katerini, 12 - 19.10.2014

1. KAREL
2nd Platform Design
Mihai Agape, Project Coordinator
Palatul Copiilor Drobeta Turnu Severin
KAREL, Comenius Project Meeting
Katerini, 12 – 19.10.2014

2.  This project has been funded with support from the
European Commission.
 This communication reflects the views only of the
authors, and the Commission cannot be held
responsible for any use which may be made of the
information contained therein.

3. The Purpose of the
Presentation
 Describe the second prototype
of Karel platform

4. First prototype - Karelino
3D Top View

5. First prototype - Karelino
3D Bottom View

6. First Karel prototype
(Rybnik meeting)

7. Proposed Improvements
(Rybnik meeting)
 Integrate new blocks (e.g. Motor voltage
regulator, UART connector, Battery
management system)
 Make changes to the initial design (e.g.
replace USB micro B connector with an USB
mini B connector)
 Redesign the PCB (components places and
traces) according to the chassis shape
 Add LEDs to show the state of Bluetooth
module

8. Karel
Second Prototype
 2 boards
 Lower board
 Battery management system
 Motors
 Upper board
 Controller
 Regulators
 I/O devices
 Motor regulators

9. Karel Battery Management System - Schematic

11. Board dimensions

12. PCB Design
 Double Side PCB laminate
 Components
 SMD
 THD
 Software
 Target3001! - version limited at 400 pins /
pads

13. Lower board
3D bottom view

14. Lower board
3D top view

15. Lower board
Design problem

16. Upper board
3D bottom view

17. Upper board
3D top view

18. Upper board
 What is missing from the upper board?
 Electronic switch
 Why?

19. Upper board
Copper Top Layer

20. Upper board
Copper Bottom Layer

21. Boards manufacturing
 Older printer (Samsung) – 600 dpi resolution
 New printer (HP) - 1200 dpi resolution
 Very good results after some tests
 Problems – driver for Windows 7

22. Printing problems
 MS Word (doc)
 Different results
 Picture (png)
 Scaling problems
 Good results with
pdf files

23. Tonner Transfer
problems

24. Tonner Transfer
problems

25. After we’ve learned how
to do it (printing)

26. After we’ve learned how
to do it (printing)

27. After we’ve learned how
to do it (alignment)

28. After we’ve learned how
to do it (tonner transfer)

29. After we’ve learned how
to do it (tonner transfer)

30. After we’ve learned how
to do it (seal)

31. After we’ve learned how
to do it (seal)

32. Quite good alignment
between top and bottom

33. Final upper board (top) with
min 0.6 mm tracks (top)

34. Final upper board (down) with
min 0.3 mm tracks (bottom)

35. Good to know
 Some circuits (e.g. for battery
management) not tested yet
 Some integrated circuits are not so easy
to procure (e.g. the ones made by Seiko)
 Possible new changes in design using
new integrated circuits (e.g. boost
regulator supplied from 1 li-po battery with
high output current capabilities)

36. Bibliography
 Agape, Mihai. Agape, Maria-Genoveva.
“KAREL Specifications”, agreed in Karel
Project Meeting, held at Beypazari on 10–
16.11.2013. http://sdrv.ms/170NTak
 Agape, Mihai. “Karelino—One Step in Karel
Robotic Platform Developing”, presentation
given at National Symposium IPO-TECH,
Tirgu-Neamt, 29.03.2014

37. Bibliography
 Agape, Mihai. “KAREL
Controller Design”, presentation delivered
at Karel project meeting, held at Rybnik, 06-
13.04.2014
 *** ATmega32U4, 7766G–AVR–02/2014.
Atmel. http://www.atmel.com/Images/Atmel-
7766-8-bit-AVR-ATmega16U4-
32U4_%20Datasheet.pdf

38. Bibliography (cont.)
 *** DRV8833, SLVSAR1C. Texas Instruments.
http://www.ti.com/lit/gpn/drv8833.
 *** LM2940, SNVS769I. Texas Instruments.
http://www.ti.com/lit/gpn/lm2940-n.
 *** LM1117, SNOS412M. Texas Instruments.
http://www.ti.com/lit/gpn/lm1117-n
 *** Bluetooth Module BTM-112. Rayson.

39. Questions?