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A project proposal for ece 345, where the team of xiaobo zhao, peter chen, and jiajun wang propose the development of a robotic tracker system. The system aims to track and follow a moving transmitter using a robot, with applications ranging from locating lost items to keeping pets amused. The project's vision, feature list, design specifications, and testing procedures.
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Xiaobo Zhao, Peter Chen, and Jiajun Wang are proud to propose:
Need Something TRACKED? Need something FOLLOWED? Need to keep your pet AMUSED? Then you need Robo-Tracker 345… ECE 345 Project Proposal Team Members: Xiaobo Zhao, Peter Chen, Jiajun Wang Supervising TA: Paul Leisher
Drawing upon the group members’ background in signal processing and radio frequency circuit design, we are designing and implementing a system in which a robot tracks and follows a moving transmitter with the ultimate goal of catching the target. This project is aimed to apply the ideal principles we learned in class to real world applications and to challenge us to investigate gaps in our knowledge that are vital to becoming a professional engineer.
The transmitter and tracker system can be applied to a variety of real world applications to aide in target location and acquisition. Customer Benefits: o Locate and re-acquire any lost or misplaced items, persons, or pets o After planting transmitter on unwanted target, can use tracker to guard an area from pests (ingested transmitter in mice etc) o Keep pets healthy and amused Feature List: o Wireless, electromagnetic transmitter / receiver array o Compact transmitter antenna o Directional sensor grid to detect signal o Programmable DSP to process sensor outputs o Robotic car interface able to navigate in any direction as DSP dictates o (Optional) Low voltage inductor shockers to persuade target
o Monopole and omni-directional o Less than 1 Watt total power
Description: The receiver is based on the robotic car. The 4 x Receivers grid acquires signals transmitted by the transmitter. Receiver circuitry processes the signals and correctly outputs signals to the DSP for directional analysis. Feature List: Operate under 9 volts Compact Signal Detection ( Front, Back, Left, Right ) Tuned to transmitter frequency 4 x Receivers Grid o Receive 433.33Mhz to 900Mhz o Compact o Microstrip Antennas ( Directional ) Power o Stand-alone 5V / 9V Battery Receiver Circuitry o Custom made o Filter received signal o Output signals to Analog Multiplexer Other Peripherals o Possible Expansion slots o Possibilities: Electric Shockers, Computer Interface Analog Multiplexer o Multiplex between 4 to 8 signals o Time Multiplexing o Input: Multiplexer selection from DSP o Output: The selected signal as chosen by the DSP
Description: The TI-54x DSP is the central processing unit mounted on the robotic tracker/car. It’s inputs are signals from the receiver sensor array. The DSP then processes the signals to triangulate the direction of the transmitter relative to the car and determines a path to it. The DSP then outputs the direction the car should go to the car interface. Feature List : Multiplex between input signals when required Operate between 5V and 9V Fast and reliable location triangulation algorithm Averaging buffers algorithm with time-varying weights on samples Graceful performance reduction under stress Compact and mountable on car o Compact o Low power consumption o Must not significantly decrease car performance Inputs: 2 Input o 1 multiplexed input ( 2 from receiver circuitry ) o 1 backup input Outputs: 6 Outputs o 4 Car steering o 1 Activating the weapon (Optional) o 1 Backup output
Description: The motor circuit takes in directional output from the DSP and directs CAB (Current Amplifier Bridge) Modules which outputs the correct currents to the car’s motors. The car itself is the same car used in ECE 110. Feature List: Provide adequate speed, dexterity, and duration to catch a moving target Translate directional output from DSP to correct inputs for car motors Able to mount low voltage inductor shockers (Optional) Inputs: 4 Inputs (Forward, Reverse, Left Right) o Error Detection (Forward and Reverse, Left and Right) o Smart navigation to approach target with front of car Outputs: 4 Outputs (2 per Motor) o Correctly steers car in designated direction
o Able to convert a 900Mhz signal to under 20 kHz result Use VNA, Circuit, Function generator, and oscillator. Examine VNA for results. Receive at least a distance of 10 feet o Hook up to transmitter and make sure receiver can receive at a distance of up to 10 feet Detectable amplitude difference with different antenna orientation o Hook-up receiver circuitry and ensure that signal from different antennas have discernable amplitudes given a fixed transmission location Able to resolve interference issues within standard classroom environment. o Test out receiver circuitry in standard classroom environment ( ECE345 lab ) Ensure output to DSP within (-1 ~ 1V) o Use VNA, Circuit, Function generator, and oscillator. Examine VNA for results
Ensure all the inputs are in input range o Use VNA, Circuit, Function generator, and oscillator. Examine VNA for results Ensure functioning algorithm produces correct outputs under all situations o Scenarios: When the target is not moving When the receiver circuitry is not moving When the receiver circuitry is moving When the target is moving When the receiver circuitry is not moving When the receiver circuitry is moving More challenging situations When the target is behind the car (challenge is to catch up with it heads-on instead of simply moving toward it)
Error detection (prevent forward and reverse, left and right) o Hook inputs up to high and lows to emulate both situations Motor circuit functionality o Emulate correct inputs to test motor circuit and car direction Car dexterity and duration o Perform stress tests for rapid turns and long-term durability Power o Use Circuit, oscilloscope, VNA, to test power consumption
The most critical component in our design with respect to tolerance is our receiver system. The receiver system has to be able to differentiate which signal is stronger from one of our four directional antennas. One extreme case of this system would be differentiating between an object directly in front of the vehicle versus directly in the back of the vehicle; directly left of the vehicle versus directly right of the vehicle. The other extreme case of the system would be differentiating the location of the object when it is only moved slightly in front of an antenna.
Digital Signal Processor: TI-54x DSP and Boards $ Transmitter: 900 Mhz Phone $ Circuitry components $ Receiver Antenna x 4 $35 each Amplifiers $ Circuitry $ Comparators $ Mounts / boards $ Car CAB x 4 $20 each Car $ Total: $
($40/hour)(120 hours)2.5 = $12,000 per person ($12,000 per person)*(3 people) = $36,
Total Cost = $37,
Week Work Item Team Member 2/10 Proposal Complete All 2/17 Order parts Preliminary Circuit Design Complete Peter All 2/24 All simulation complete Update circuit designs / part list Robotic Car Complete All Jiajun Xiaobo
