Preliminary Design Review Package - Introduction to Software Engineering | CSE 2410, Study notes of Software Engineering

Download Preliminary Design Review Package - Introduction to Software Engineering | CSE 2410 and more Study notes Software Engineering in PDF only on Docsity! Marvin An Intelligent Obstacle Avoidance System Preliminary Design Review Package Team Members Kenneth Jernigan (PL) Mark Abramovs Azhar Khayrattee Jason Haynes Brian Pridgen Jon Ranes Matt Spurk Table of Contents Brian Pridgen Preliminary Design Review Package...............................................................................................1 Table of Contents.........................................................................................................................2 Top Level Description.................................................................................................................3 Technical Specifications..............................................................................................................5 Current Gantt Chart......................................................................................................................7 Design Options...........................................................................................................................10 Positioning Systems...............................................................................................................10 Command Communication Systems......................................................................................12 Sensor Systems......................................................................................................................15 Computer Control Systems....................................................................................................23 Motor Controller Systems......................................................................................................26 Power Supply Systems...........................................................................................................29 Drive System..........................................................................................................................32 Frame.....................................................................................................................................36 Design Selection and Rationale.................................................................................................38 Bill of Materials.........................................................................................................................40 Preliminary Sketches.................................................................................................................41 Financial Status..........................................................................................................................42 Appendix 1: Current Business Plan..................................................................................................i Top Level Description..................................................................................................................i Preliminary Specifications............................................................................................................i Product Value Proposition...........................................................................................................ii Team Organization Chart...........................................................................................................iii Team Capabilities.......................................................................................................................iv Individual Strengths....................................................................................................................iv Competitive Analysis..................................................................................................................vi Risk Analysis.............................................................................................................................vii Out-Of-Bounds.........................................................................................................................viii 2 Technical Specifications Brian Pridgen Specifications Performance Physical Appearance Length 18” – 24” Width 12” – 24” Height < 15” Weight < 50 lbs. Positioning System Voltage Input < 12V Data IO Serial (using a standard, defined protocol) Accuracy < 3m resolution Communication System Voltage Input < 12V Transfer Format Half-duplex serial Transfer Medium Wireless RF signal Transfer Range > 300 m Transfer Speed ≥ 9600 baud Sensors Ultrasonic Range Finder Voltage Input < 12V Input Type Serial or other defined protocol Output Type Serial or analog Scanning Range 4m – 10m Resolution < 0.5 M Field of Vision > 60° Resolution < 2° Infrared Voltage Input <12V Input Type Serial or other defined protocol Output Type Serial or analog Scanning Range 0m – 4m Resolution < 0.2 M Field of Vision > 60° Resolution < 2° Contact Bumper Voltage Input <12V Output Type Hi/low interrupt signal Operating Speeds 0.1-8mph Maximum Collision Speed 15mph 5 Specifications Performance Magnetic Compass Voltage Input <12V Output Type Serial, analog or other defined protocol Resolution < 5° Microcontroller (Multiple PICs) Voltage Input <12V Data Inputs Parallel, serial, and analog Standard Memory 256 B Extended Memory (for program storage) 4 KB Programming PIC Assembly Motor Controller Maximum Current to Motors 60 A Maximum Voltage to Motors 12 V Input Voltage < 12 V Data Input Serial or Parallel Data Output Serial or Parallel Power Supply Output Voltage >12 V Maximum Current 200 A Operation Time 25 min Robot Operation Time 20 min Recharge Time 1 hr Regulated Voltage Outputs for Circuitry 5 V, 12 V Drive System (Tracks) Stall Current 40 A Normal Operation Current 20 A Track Length 20” Track Height 8” Track Width 5” Maximum Torque 1728 oz-in Normal Torque ~1000 oz-in Maximum Vehicle Speed 8 mph Normal Vehicle Speed 7 mph Maximum Acceleration 7 mph in 3.3 sec 6 Current Gantt Chart Kenneth Jernigan ID Task Name % Complete 1 Marvin 25% 2 Managed Projects 29% 3 Managed Projects 29% 4 Managed Projects 29% 5 Design Website 100% 6 Locate Funding 20% 7 Develop Gantt Chart 70% 8 Acquire Parts 0% 9 Statement of Work 80% 10 Statement of Work 80% 11 Statement of Work 80% 12 Compose Bill of Materials Revision 1 80% 13 Write Stament of Work 80% 14 Team Approval of SOW 0% 15 System Design 45% 16 PDR 99% 17 PDR 99% 18 Research Mechanical Specs 100% 19 Research Microcontroller Specs 100% 20 Research Sensors 100% 21 Research GPS 100% 22 Research Wireless Communication 100% 23 Compile PDR Package 100% 24 Compose PDR Slides 100% 25 Submit PDR Package 100% 26 Hold Preliminary Design Review 0% KJ KJ KJ KJ KJ KJ 10/28 MS,JH MA AK BP BP BP KJ 10/7 10/14 W T F S S M T W T F S S M T W Aug 24, '03 Sep 28, '03 Nov 2, '03 Dec 7, '03 Jan 11, '04 Feb 15, '04 Mar 21, '04 7 Design Options Positioning Systems Brian Pridgen Global Positioning System (GPS) GPS units are the standard for low-cost positioning systems. They use satellites to determine the current location and time. Most units can then compute basic information such as distance- traveled, current speed, and current heading. Pros – Most manufacturers produce at least one unit designed for embedded applications interfacing with a computer or microcontroller, so a selection of units is available. All of these support a standard, documented serial interface and protocol for communication with the unit. These embedded systems are designed with size and power efficiency in mind. A standard commercial unit is available for around $200 dollars. Cons- GPS units have several performance limitations. Most units feature a one hertz data update, which will either limit the speed of Marvin, or require attentive software programming to ensure that destinations are not overshot during transit. Also, GPS units suffer a loss of accuracy while moving or while indoors, which may provide difficulties during the demonstration. Bill of Materials Line Item Part Number Description Manufacturer Quantity U/M Price Extended Price 1 Embedded GPS Unit 1 1 ~$200 ~200 10 Antenna for satellite reception Processing unit for position calculations Serial IO port for communication Positioning System Inertial Navigation Systems (INS)- INS units combine the satellite location capabilities of GPS units with a sensitive inertial system for error compensation during movement. Pros- INS units maintain a higher accuracy during movement by using the inertial sensors to counteract error within the GPS system. The will also work better in doors, particularly for our relative use of the positioning functions, provided a rough fix has been determined. Cons- INS units are very expensive (two to ten thousand dollars). Most companies use different error compensating algorithms. Although they still provide the same standard interface for serial communication, full use of the INS functionality often requires extra, product-sensitive communication with the device. Bill of Materials Line Item Part Number Description Manufacturer Quantity U/M Price Extended Price 1 Embedded INS Unit 1 1 ~$2000 ~$2000 11 Antenna for satellite reception Processing unit for position calculations Serial IO port for communication Inertial Sensors Position correction algorithm Positioning System Command Communication Systems Brian Pridgen Wireless Network Communication- Wireless Networks all for the radio frequency communication between the base station and the robot wirelessly using standard network protocols. Pros – With the recent increase in wireless networking, these parts are readily available. All of the local computer stores have the cards and routers necessary to make the communication link functional. Also, use of network protocols would allow for the development and implementation of a more complex base station/robot communication interface. Cons- Wireless networking would require the purchase of a wireless networking card and a wireless router, both of which are still expensive. Also, the readily available components are designed for desktop/laptop use, and are not power-efficient. Bill of Materials Line Item Part Number Description Manufacturer Quantity U/M Price Extended Price 1 Wireless network card 2 1 ~$60 ~$120 2 Wireless network router 1 1 ~$100 ~$100 12 Base station wireless network card Wireless router Robot wireless network card Communication System Sensor Systems Azhar Khayrattee Infrared- Infrared, as the name implies, uses an IR beam to detect objects. A LED is usually used to generate the beam. The reflected beam is then analyzed to find the distance of the object. Pros- It has a good range of detection, 2-4m. The processing time, i.e. the time rewired to calculate the distance, is usually minimum. It is much cheaper that ultrasonic. Usually, external circuitry is unnecessary; the IR interface can be connected directly to the microcontroller I/O. Cons- The ambient light in the surroundings might affect the reading. Color/type of material of objects will also influence the sensor. Flashing lights into the sensors will also affect readings. Bill of Materials Line Item Part Number Description Manufacturer Quantity U/M Price Extended Price 1 Infrared Sensor 1 1 ~$40 ~$40 15 Sensor System LED to generate and receive IR Processing unit to generate output 1 to 2 I/O lines for communication Ultrasonic Range Finder- Ultrasonic sensor uses sound waves to detect objects. A sound wave is sent out and the returning echoes are analyzed to calculate the distance, the time interval is usually used. Pros- Ultrasonic sensors usually have large range of detection, up to 11m. The intensity of light or color or type of material of the object will not affect the readings. Some Ultrasonic sensors can even be used to detect the shape of an object. For example, if there is a passage in the wall, a narrow doorway, the vehicle would be aware of it. Cons- Ultrasonic sensors are relatively expensive compared to Infrared Sensors. Some Ultrasonic sensors have a high processing time, i.e. they take a longer time to give an output. Bill of Materials Line Item Part Number Description Manufacturer Quantity U/M Price Extended Price 1 Ultrasonic Sensor 1 1 ~$100 ~$100 16 Sensor System Sound wave generator/receiver Processing unit to generate output I2C interface or Serial I/O communication Magnetic Compass- Magnetic compasses are digital circuits which give outputs depending on the earth’s magnetic filed. They will be useful for guiding the vehicle. Pros- It is a very small and compact unit. It is cheaper than the sonar sensors. They are usually very accurate, they can give relative positions correct to 1°-2°. This would be very useful to guide the vehicle to its destination. Cons- It can be rather time consuming to program. It is more expensive than the IR sensors, if an accurate unit is considered. Bill of Materials Line Item Part Number Description Manufacturer Quantity U/M Price Extended Price 1 Magnetic Compass 1 1 ~$80 ~$80 17 Sensor System Magnetic coils to sense Earth’s magnetic field. Processing unit to generate output I2C interface or PWM communication Vision Sensor- These sensors act like real time cameras. They can detect both shape color and make 3D models of objects Pros- This output of this sensor would be very useful on the collision avoidance mechanism. Precise calculations can be made in order to avoid the obstacle efficiently. If the vision sensor is used, it would be redundant to include other sensors since it provides a very accurate depiction of the surroundings, which makes it easier to avoid obstacles. Cons- This unit is usually very expensive and the decoding of the output is very time consuming. They also consume a lot of power. Moreover, they are affected by sudden changes in lighting conditions and can give skewed pictures in poor lighting conditions. Bill of Materials Line Item Part Number Description Manufacturer Quantity U/M Price Extended Price 1 Vision Sensor 1 1 ~$200 ~$200 20 Sensor System Lens to capture light from surrounding environment Processing unit to generate output Serial I/O communication LEDs or photosensitive devices to convert input to current Temperature Sensor- This device detects the temperature of the ambient environment. Pros- It could be used to avoid hazardous temperature regions. It is a relatively cheap unit and very compact. Moreover, the decoding of the output is rather simple. Cons- Accurate units are usually expensive. It has no real use for the vehicle is not designed to venture in high temperature regions. It would draw power from the vehicle, which could be used for other important devices. To get accurate readings, the sensor would have to be placed far away from the vehicle thus making it liable to damage by obstacles outside the range of the sensors. Bill of Materials Line Item Part Number Description Manufacturer Quantity U/M Price Extended Price 1 Temperature Sensor 1 1 ~$40 ~$40 21 Sensor System Temperature sensor Processing unit to generate output Serial port or I/O lines communication Ultrasonic Movement Detector- This device can be used to detect movement using sound waves. Pros- It can be used to detect moving obstacles. The vehicle can then operate in a dynamic environment. It has a very good range, same as the ultrasonic sensors. Cons- This sensor is relatively expensive. They usually require a long processing time to give an output. Moreover, the vehicle should be stationary to obtain an accurate depiction of the moving object. It would draw power form the vehicle that could be used for other important devices. Bill of Materials Line Item Part Number Description Manufacturer Quantity U/M Price Extended Price 1 Ultrasonic Movement Detector 1 1 ~$50 ~$50 22 Sensor System Sound wave generator/receiver Processing unit to generate output I2C interface or Serial I/O communication Embedded Microprocessor Board An embedded microprocessor board is a computer that is built onto a single board. The computer runs an operating system in real time. Pros- This is the most powerful option for controlling Marvin. This board utilizes a microprocessor instead of a microcontroller. The board can run various operating systems including embedded versions of Linux. The system is easy to install off-the-shelf software for integration with sensors and control systems. The microprocessor would only require one board to run all of the systems on Marvin. Programming could be done in multiple languages including C++. Cons- This option would be expensive, with prices starting at $200. It adds an extra layer of complication involving operating systems and device drivers. This option would require a larger power supply, possibly up to three times the amount for a microcontroller. Analog to digital converts would have to be interfaced separately. Bill of Materials Line Item Part Number Description Manufacturer Quantity U/M Price Extended Price 1 Embedded computer 1 1 ~$200 ~$400 25 Microprocessor for robot control Serial IO port for communication Control System Motor Controller Systems Jason Haynes All-In-One Integrated Circuit Package This design implementation is an integrated circuit control board with speed controller, built in fail-safes and built-in monitoring sensors. Pros- These controller comes ready to go out of the box setup is quick and easy, plug and play theory. They are very durable and offer extra useful features that may include motor and controller temperature monitoring, overheat protection and serial mode support that allows monitoring. Upgrade software and built-in brake function are also available in some models. Cons- Integrated motor controllers are very expensive (up to about $400) and not customizable. The size and weight may be excessive for an IC setup. With an integrated design all circuitry is enclosed and may be hard to reach, hence the black box problem may occur. If a malfunction occurs it may be very difficult and time consuming to narrow down and locate the problem. Since most integrated motor controller are designed for use in combat robots there are many features that will not be necessary, for example flip input where the controls will become inverted should the robot be turned over. Bill of Materials Line Item Part Number Description Manufacturer Quantity U/M Price Extended Price 1 Integrated Robot Controller 1 1 ~$250 ~$250 26 Integrated controller system Output signals to motors Sensor and positional input Motor Controller Modular Design This design is a basic controller with separate speed control circuit. Directional control can be implemented using a relay or bi-polar circuit or the more popular Power MOSFET transistors. Speed control can be implemented using variation of Power MOSFET transistors. Pros- A modular interface has the advantage of being fully customizable. Not only will features be obtained that are specifically useful to the project but also the black box theory will be avoided. If a malfunction occurs, the source of the problem can be narrowed down easier. This design will also be significantly cheaper than the integrated design since the speed controller circuitry will be build from scratch and individual parts are cheaper. Cons- Circuitry for this design will definitely be more complex than anything encountered before hence time will become a factor. The design will be harder to implement and relatively detailed knowledge of the circuitry will be required. Since parts of the circuitry will be built, many variables such as overheat protection and overall circuit toughness (keeping wires connected) will have to be taken into consideration. Hence the circuit will no be as durable. Interfacing modular components such as the speed controller circuitry to the motor controller may be a difficult. Bill of Materials Line Item Part Number Description Manufacturer Quantity U/M Price Extended Price 1 Integrated controller 1 1 ~$80 ~$80 2 4011 NAND gates 2 1 ~$4.00 $8.00 3 Resistors 4 1 ~$2.00 $8.00 4 Capacitors 1 1 $2.00 $2.00 27 Sensory and positional input Basic robot Controller DC motor system Speed control circuitry Motor Controller Cons- Batteries can suffer from “memory effect” whereby the useful capacity of the battery is reduced if the cell is not fully discharged before it is discharged. This can be inconvenient that the battery needs to be fully discharged before recharging. Ni-cads’ polarity can change (positive to negative or negative to positive). Polarity reversal is common if the battery is left discharged for too long or if discharged below 75 or 80 percent. Bill of Materials Line Item Part Number Description Manufacturer Quantity U/M Price Extended Price 1 2400mah NiCad BattlePacks (12V) 1 1 ~$40 ~$40 Nickel Metal Hydride NiMH batteries are also popular rechargeable batteries. They are about the same size as Ni-cads but they deliver about 50% more operating juice. Pros- These batteries have low internal resistance; they do not exhibit memory effect as the Ni-Cads nor do not contain cadmium, a highly toxic material. NiMH especially works well in high current conditions. They can be also be recharged at an aggressive rate thus can be recycled very quickly. Cons- NiMH batteries can get very hot when discharging especially at high currents. Therefore they need to be placed away from control circuitry if implemented in robot. NiMH packs, relative to other rechargeables, do not hold the charge well. Over time, charge in battery is depleted, even while the battery is in storage. They are also very expensive. 30 Multiple Nickel Metal Hydride Battery Packs Connection leads Power Supply Bill of Materials Line Item Part Number Description Manufacturer Quantity U/M Price Extended Price 1 2600mah NiMh BattlePacks (12V) 1 ~$65 ~$65 Lead-Acid These batteries are the same as those used in cars. It is made up of essentially lead plates crammed in a container that’s filled with can acid-based electrolyte. These plates are very powerful and have respectable between-charge life. When the battery goes dead it can be recharged just like Ni-Cad. They typically come in self-contained packs. Six-volt packs are the most common, but 12 and 24-volt packs are also available. Sizes of lead-acid can vary up to about the size of a radio. Pros- Lead-acid batteries are powerful. They have high voltage range and provide high current for a reasonable time. Additionally lead acids are easily rechargeable and relatively cheap. Cons- Lead-acid batteries are excessively heavy. Not uncommon for a car battery to weigh about 20 pounds. Robot has to be large and sturdy enough to support the battery. Bill of Materials Line Item Part Number Description Manufacturer Quantity U/M Price Extended Price 1 12V, 12AH SLA Battery 1 1 ~$50 ~$50 31 Single Lead Acid Battery Connection leads Power Supply Drive System Matt Spurk Tanks Tracks- Tank Treads are used primarily in military and construction applications. Treads use their large contact area with the ground to prevent the heavy vehicle they propel from becoming “bogged down” in loose soils. Pros- Tank treads provide a very stable platform even while crossing difficult terrain. Tank treads will also provide great traction when slippery inclines, loose gravel, and/or sandy surfaces are encountered. The treads should eliminate any instances of high centering (assuming appropriate ground clearance is used). The tank treads also come as a complete assembly and should simply bolt directly onto the robotic platform. Cons- Tank treads are notoriously heavy and expensive. If the tank treads were to be damaged a new track assembly would have to be purchased due to the limited availability of replacement components 32 Motor Transmission Tread Assembly Drive System Legs- A multi-legged robot system is the best obstacle-conquering device in our list. A 6 legged walking platform is very stable mechanically, because three points of contact are in contact with the ground at all times (and remaining still). Pros- A legged robot is basically unstoppable as far as terrain is concerned. Legs are also very unlikely to become high centered on dips or bumps as it moves along. The walking platform is also the most creative and artistic in appearance. Cons- A stable walking platform is considerably harder and more expensive to implement. The walking platform would require and alternative power source to provide locomotion such as 35 Actuator Leg KneeDrive System Foot Actuator hydraulics or pneumatics as electric linear actuators are in general too slow for our purposes and also very costly. A walking platform is difficult to effectively position sensors such that an obstacle is not missed while the robot is moving. Bill of Materials Line Item Part Number Description Manufacturer Quantity U/MPrice Extended Price 1 1/4" Aluminum flat bar for legs (3"x18") 12 20 240 2 Pneumatic cylinders Bimba 12 20 240 3 Pneumatic hose line and fittings ~400 400 4 High pressure air (HPA) tank ACI 2 200 400 5 Regulator 1 50 50 6 4 port solenoid valves 12 40 480 7 High pressure gauge 1 40 40 8 Standard gauge 1 8 8 Frame The frame serves as our mounting surface for our components, our cover to protect the components from the elements, and as our test platform to verify the functionality of the components. 36 Cover Component Rack Chassis Frame Aluminum Pros- The grade of aluminum we chose to use is Al 6061-T6. This grade of aluminum has great machinability characteristics and can be welded. Aluminum is also corrosion resistant and can easily be shined to produce a nice finish. Due to the fact that aluminum is easy to machine, the walls of the robot will also be used to mount both drive and electrical components. We feel confident doing this because of the strength characteristics of the hardened aluminum we will be working with. We also have access to this aluminum locally at a reduced price. Cons- Aluminum has poor shear characteristics, which makes threads in Al weak. Normally aluminum is costly and difficult to find locally, but as mentioned above a local source has already surfaced. Bill of Materials Line Item Part Number Description Manufacturer Quantity U/M Price Extended Price 1 3/16" 6061-T6 Al (~15 cubic feet) none 15’ 1’ ~10 150 Steel Bar skinned with Plexiglas Pros- Steel bar provides a very strong frame material. Due to the fact that the frame would not need to be subjected to large shock loads, thin-walled steel tube could be used. Steel is one of the cheapest metals and is easily accessible to the general public. Steel is easy to weld making an ideal frame material. The wiring for the robot can be run inside of the steel tube to protect the wires as well as add to the aesthetic appeal. Plexiglas is highly available to the general public at low costs. Plexiglas is also clear, which provide a view of the interior of the robot without removing the covers. Cons- Steel is very susceptible to rust. Steel is difficult to machine. Plexiglas is a fragile material and can shatter if hit with a moderate amount of force. Bill of Materials Line Item Part Number Description Manufacturer Quantity U/M Price Extended Price 1 1" thin wall square steel tube 60’ 20’ 20 60 2 Plexiglas 2'x2' 6 1 18 108 37 Bill of Materials Compiled by Kenneth Jernigan Revision:1.00 Line Item Part Number Description Manufacturer Quantity U/M Price Extended Price Position System 1 Embedded GPS Unit 1 1 $200.00 $200.00 Communication System 2 Wireless Serial Transciever 2 1 $80.00 $160.00 Sensors System 3 Infrared Sensor 1 1 $40.00 $40.00 4 Magnetic Compass 1 1 $80.00 $80.00 5 Bumper Sensors 4 1 $10.00 $40.00 6 Ultrasonic Sensor 1 1 $100.00 $100.00 Computer Control System 7 PIC Microcontroller MicroPlanet 4 1 $10.00 $40.00 8 PIC Interface Board 4 1 $30.00 $120.00 Battery 9 12V, 12AH SLA Battery 1 1 $50.00 $50.00 Drive System 10 Dewalt 12V Drill Motor Dewalt 2 1 $35.19 $70.38 11 Dewalt 12V Drill Transmission Dewalt 2 1 $15.99 $31.98 12 Tank Treads (left and right assemblies) Sno-Trac 1 1 $139.99 $139.99 13 24" Dewalt Transmission Shaft 1 1 $4.00 $4.00 Frame 14 3/16" 6061-T6 Al (~15 cubic feet) 15' 1' $10.00 $150.00 Integration Controller 15 Parts for building integration controller 1 1 $100.00 $100.00 Speed Controller 16 Resistors 4 1 $2.00 $8.00 17 Capacitors 1 1 $2.00 $2.00 18 Switches 1 1 $5.00 $5.00 19 Misc (circuit material, wires etc) 1 1 $40 $40.00 20 4011 NAND gates 2 1 $4.00 $8.00 40 Preliminary Sketches Matt Spurk Front-Left: The final product will have a bumper support as shown along the front ledge. Marvin will navigate environments with its treads. Side: Here we can see the connections holding the bumper in place. We can also see the slope on the front and rear of the vehicle to provide additional ground clearance. 41 Financial Status Kenneth Jernigan Breakdown of Member Hours Week Azhar Matt Jon Jason Brian Mark Kennet h Total Hrs for Week Sept 1 - 8 (and prior) 5.25 3.00 1.00 3.00 10.50 3.00 10.00 35.75 Sept 8 - 15 6.00 4.00 3.00 3.00 5.00 2.00 7.25 30.25 Sept 15 - 22 4.00 5.00 5.00 4.00 6.75 0.00 8.50 33.25 Sept 22 - 29 6.50 2.00 0.00 8.00 4.50 4.00 5.75 30.75 Sept 29 - Oct 6 5.00 0.00 3.00 7.00 4.50 4.00 7.00 30.50 Total Hours: 26.75 14.00 12.00 25.00 31.25 13.00 38.50 160.50 Actual vs. Budgeted Hours Azhar Matt Jon Jason Brian Mark Kennet h Total Hrs Actual Hours 26.75 14.00 12.00 25.00 31.25 13.00 38.50 160.50 Budgeted Hours 60.00 60.00 60.00 60.00 60.00 60.00 60.00 420.00 Difference 33.25 46.00 48.00 35.00 28.75 47.00 21.50 259.50 % of Hrs Spent 44.58% 23.33% 20.00% 41.67% 52.08% 21.67% 64.17% 38.21% Team Expenses: Donations Received FIT $200.00 Total Donations: $200.00 Expenses to Date none $0.00 Total Expenses: $0.00 Total Budget: $200.00 42 Team Organization Chart A-iii Kenneth Jernigan Project Leader Status Report Compiler Brian Pridgen Systems Engineer Change Control Mark Abramovs Microcontroller Azhar Khayrattee Sensor Integration Jason Haynes Motor Control Machining Parts Kenneth Jernigan Web Master Funds Locator Matt Spurk (MAE Junior) Mechanical Design John Ranes (CS Senior) Obstacle Avoidance Brian Pridgen Wireless Control GPS Integration Team Capabilities This team is well suited for the design and implementation of Marvin. The successes and failures of ART from last year give us a head start on Marvin. That knowledge, combined with our unique experiences, makes a working autonomous robot this year a feasible project. The key to Marvin will be the conversion from raw sensor data into a useful form. Five of the team members are computer engineers with this kind of low-level experience, as shown by the assembly language programming skills. Two of the team members have technician experience, so the physical aspects of the electronic components will be properly designed. By using commercial sensors and controllers, we can minimize the need for heavy electrical engineering. Mechanically, we are also well off for the project. Our mechanical engineer has experience with building similar robots for battle competitions. As such, he not only knows both the theory of the design and the practicality of actually building the robot. He also has a robot currently built that can be used as a test platform for the controlling systems. One of our computer engineers has been properly trained to use the machine shop tools. Together, they will be able to build the frame and mechanical pieces for the robot necessary for the robot. Programming is one of the areas that really hurt ART. Our team has more programming experience, including a dedicated computer scientist. The computer engineers will be able to handle the low-level sensor interfaces, as well as motor control and parts of the obstacle avoidance algorithm. The computer scientist will be responsible for the high level of the obstacle avoidance, and the controlling program. By choosing people who are qualified for the tasks, we should minimize unnecessary frustration and delays while waiting for team members to climb the learning curve. The team is strong administratively too. Our project leader was a project leader for CSE 2410, which involves a massive, eight-week software project. That project required proper development procedures to be followed and heavily documented. The project leader has experience from the software project in management, scheduling, and team coordination. The team also has a lot of combined web design experience. This, along with the experience of ART last year, should make fund-raising an easier task. Individual Strengths Mark Abramovs  Computer Engineer  2 years experience Unix/Linux System Administrator including networking  Programming experience in C++ (including graphical user interfaces)  Programming experience in PHP  Programming experience in JAVA  Programming experience in HTML  Programming experience in MySQL  Programming experience in Shell Scripting  Programming in assembly language (MC 68000)  Programming in assembly language (Intel 8051)  Completed Science and Technical Communication course A-iv Jason Haynes  Computer Engineer  One summer experience as a computer technician  Programming experience in C++  Programming in assembly language (MC 68000)  Familiar with Linux/ Red Hat  One summer Machine shop training  Machine shop certification (green badge)  Programming experience in HTML Kenneth Jernigan  Computer Engineer  Microcontroller Programming on the Motorola MC68000 and Intel 8051  Completed Programming Language Concepts course  Project Lead of Software Engineering’s Email Project  Experience speaking to large audiences  Completed Science and Technical Communication course  3.78 GPA Azhar Khayrattee  Computer Engineer  Microcontroller programming on the Motorola MC68000 and Intel 8051  Completed Scientific and Technical Communication course  C++ programming experience  Completed Computer Communications course  Linux programming experience (SuSE & Redhat)  Programming experience with HTML  Programming experience with Apache  Programming experience with MySQL  3.83 GPA Brian Pridgen  Computer Engineer  Strong technical writing skills from creating design documents and test procedures during summer internships  Strong in software/hardware interfacing from developing and maintaining a self- diagnostics application during summer internships  High school internship working with autonomous surf vehicles at Naval Coastal Systems Station  Two summers experience as an electronic technician  Two summers experience as a software engineer  Programming experience in C++ (including graphical user interfaces and serial and network communications)  Programming experience in assembly (Motorola 68000 and Intel 8051 microcontrollers)  3.95 GPA A-v