Presentation Schedule Revised Sept 21 2010 l l

Presentation Schedule Revised Sept. 21 2010 l l l l Introduction Student info Sensor info Device info Communication Robo. AL 3 Robo. AL 4 References 9: 45 AM 1

Introduction Experiences l l l 9: 45 AM Started to working for University of Ottawa in 1986 15 years with University of Ottawa Haz- Mat Team 10 years with Clarence-Rockland Fire Dept. 2

Student info. l % of lab marks can be deducted if rules and regulation are not followed ex: by not cleaning up your bench or sliding your chairs back underneath bench top. l Students are responsible for their own extra parts ex: if you want to add a sensor or device that the dept. doesn’t have you are responsible for the purchase and delivery of that part, on rare occasion did the school purchase those parts. Back packs off bench tops l TA’s will have student # based on station # l Important issue regarding the design of a new project is to do a current analysis before the start of your design l 9: 45 AM 3

l Setup a leader among your team so that you are better organized. l Do not wait before starting your project, start now ! l Prepare yourself before coming to the lab. l It doesn’t work ! Ask yourself if it is software or hardware, use the scope to trouble shoot your problems. l Fuses keeps on blowing, do not replace with lager one. l Do not cut any servo, battery and other device connectors. If you must please come and see me first. l No design must exceed 50 volts, ex: do not work with 120 volts AC. l I can give you what I have regarding metal, wood and plastic recycled pieces and do some cuts or holes with my band saw and drill press for you. l PLEASE DO NOT ask to barrow my own personal tools. If you need to do a task with a special tool that I have then I shall do it for you. You can purchase inexpensive tools from Dollar store 9: 45 AM 4

Work station setup 9: 45 AM 5

High power class I Blue Tooth TRENDnet TBW-102 UB User manual at http: //www. trendnet. com/en/products/TBW-102 UB. htm 9: 45 AM 6

Proper instrumentation settings Oscilloscope 9: 45 AM 7

Power supply 9: 45 AM 8

Soldering station 9: 45 AM 9

Spot Welder 9: 45 AM 10

3 in 1 Metal Forming Machine 9: 45 AM 11

Metal Transformation 9: 45 AM 12

Sensors Sonar Polaroid 6500 (Long Range) www. acroname. com l l l l Uses TOF (time of flight) technology Accurate range 15 cm – 10 m Function is to bring high the “init” signal (ping) and then measure the elapsed time until TOF, “echo” signal goes high The “echo” output is an open collector therefore use 4. 7 K pull up resistor between the output “echo” and Vcc. May require a 1000 micro farad electrolytic Cap at 50 Volts Install a 0. 1 micro farad capacitor in C 7 on the board a must have Caution ! 200 Volts p-p on transducer leads 9: 45 AM 13

Ultrasonic Ranger SRF 04 (Mid Range) www. acroname. com Also uses TOF l Range is 3 cm- 3 m l Logic lines used to trigger the pulse and echo l Compact, perfect for robot applications l 9: 45 AM 14

Sharp GP 2 D 02 IR (Short Range) www. acroname. com l l l Uses triangulation theory for output results Range 10 cm – 80 cm 8 bit serial output Has a position sensitive detector (PSD) Wiring identification Vout: yellow, Vcc: Red, Vin: Green , Gnd: Black Use diode 1 N 914 Vin: anode, output: cathode to FPG/HC 12 etc. 9: 45 AM 15

Single Chip Rate Gyro ADXRS 300 EB Used extensively to sense angular rate of rotation. l Plus or minus 300 degrees per second l Analog device l www. analog. com l 9: 45 AM 16

Vti sca 1000 accelerometer l l l 2 -axis measurement; X-Y measurement and Z-Y measurement Measuring range ± 1. 7 g, ± 4 g Interchangeable with SCA 610/620 SPI compatible digital output Internal temperature sensor, accessible via SPI Qualified according to AEC Q-100 9: 45 AM 17

Devantech Digital Compass www. acroname. com 3 -4 degrees of accuracy l Output PWM (1 ms to 37 ms) l Uses Philips KMZ 51 magnetic field sensor l Wiring identification Pin 0: Gnd, Pin 1: 5 v, Pin 4: PWM output l 9: 45 AM 18

Optic Sensor TRA-01 (line tracker) • Sensor type = Reflective IR • IR sensor = Combined IR LED and detector • I/O required = Three digital lines (inputs) • Minimum range = Almost touching the floor • Maximum range = 1/2" from floor • Input voltage = 5 vdc regulated • Current requirements = 50 -65 m. A • PC board size = 2. 3" x. 75" 9: 45 AM 19

Temperature sensor (Newark part # 50 F 7748) 4. 7 k ohms at room temperature l Sensitive to the touch l +5 Voltage regulators T 0220 package rated at 1 amp l Pin 1: input, Pin 2: Gnd Pin 3: output l l T 03 package rated at 3 amps 9: 45 AM 20

Hamamastu P 5587 Photo reflector Fast TTL output l Miniature package l Only 12 m. A, current draw l Incremental wheel encoders • 64 increments • 5. 6 degrees per increments • self adhesive • 3. 3 cm in diameter 9: 45 AM 21

Devices Futaba FP-S 148 Servo Motors l l l l Uses PWM Freq. is 33 Hz Range limits 2. 2 ms – 0. 8 ms with a stop time of 1. 26 ms on average 42 oz-in of torque Voltage input 4 – 8 Vdc Wiring identification Vcc: red, Control: white, Gnd: black Note: Do not exceed 33 Hz motor will be damaged as a result ! 9: 45 AM 22

Communication Blue tooth class II (MCB 3100) www. drrobot. com • Class 2 Bluetooth compatible • On-board communication stack • Effective range: 15 meters indoor, 45 meters outdoor • Support UART data rate: 921. 6/460. 8/115. 2 kbps Serial interface MCR 3210 P • 1 M bits/sec data rate • RTS/CTS handshaking • Single 3. 3 V power supply • 9 -pin DSUB connector as DTE 9: 45 AM 23

Blue Tooth class I MCB 3101 www. drrobot. com l l l Output Interface UART Compliant Bluetooth Specification v 1. 1 Transmission Power Class 1 (max 18 d. Bm) Receiving Signal Range -84 to -20 d. Bm Effective range: 120 meters (Default Antenna) 9: 45 AM 24

l The Zero. G 802. 11 PICtail Plus Daughter Board is a demonstration board for evaluating Wi-Fi connectivity using PIC microcontrollers and the Zero. G ZG 2100 M module. This product is compatible with the Explorer 16 Development Board and other Microchip development platforms with the PICtail/PICtail Plus connector 9: 45 AM 25

XBee Starter kit XB 24 -DKS Performance Indoor/Urban range: Up to 100 ft (30 m) Outdoor/RF line-of-sight range: up to 300 ft (100 m) RF data rate: 250 Kbps Interface data rate: Up to 115. 2 Kbps Operating frequency: 2. 4 GHz Receiver sensitivity: -92 d. Bm Power Supply voltage: 2. 8 - 3. 4 V Transmit current: 45 m. A (@ 3. 3 V) Receive current: 50 m. A (@ 3. 3 V) Power-down sleep current: <10 µA General Frequency band: 2. 4000 - 2. 4835 GHz Serial data interface: 3 V CMOS UART - No configuration required Physical Properties Size: 0. 960 in x 1. 087 in (2. 438 cm x 2. 761 cm) Weight: 0. 10 oz (3 g) - w/ U. FL. connector 9: 45 AM http: //www. digi. com/products/wireless/point-multipoint/xbee-series 1 -module. jsp 26

Devantech SP 03 Speech Synthesizer module www. acroname. com l l l Serial interface Built in speaker Stores up to 30 phrases (up to 1925 characters total) PIC processor for easy communication Winbond WTS 701 speech chip I 2 C bus interface and parallel interface (I 2 C: 2 wire bi-directional serial bus) 9: 45 AM 27

RFID Reader & Programmer http: //www. kanda. com l l l l l Read/write ISO 15693 RFID Tags Read ISO 14443 A RFID Tags Operates at 13. 25 MHz Anti-collision, continuous read and Quiet features Serial port connection to PC. Suitable for use with USB adapters Power requirements: 6 -9 VDC PSU with barrel connector or 5 V direct input Antenna detector to detect RF signal strength API software for easy integration with your own programs VB. net Project example 9: 45 AM Extensive Documentation on CD 28

Altera FPGA DE 2 interfaces LCD display Terasic TRDB-LCM Camera Terasic TRDB-DC 2 http: //www. terasic. com. tw/cgibin/page/archive. pl? Language=English&Category. No=39&No 9: 45 AM 29 =50

CMUCam 2 9: 45 AM 30

CMUCAM 2 -CMUCAM 2+ CAMERA www. seattlerobotics. com l l l l l Track user defined color blobs at up to 50 fps Track motion using frame differencing at 26 fps Find the centroid of any tracking data Gather mean color and variance data Gather a 28 bin histogram of each color channel Manipulate horizontal pixel differenced images Arbitrary image windowing Adjust the camera’s image properties Dump a raw image Up to 160 X 255 resolution Support multiple baud rates Control 5 servos outputs Slave parallel image processing mode off of single camera bus Automatically use servos to do two axis color tracking B/W analog video output (Pal or NTSC) Flexible output packet customization Multiple pass image processing on a buffered image 9: 45 AM 31

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Altera Cyclone board l l l l Nios embedded processor Cyclone EP 1 C 20 device 10/100 Ethernet on board Compact. Flash Two UART Connectors 1 Mbyte SRAM, 16 Mbyte SDRAM, 8 Mbyte Flash Memory Quartus II Design software with SOPC builder 9: 45 AM 33

Altera DE 2 l l l Altera Cyclone II (2 C 35) FPGA with 35, 000 LE’s 16 Mbite serial configuration device Built-in USB Blaster TV Decoder for NTSC/PAL Multiformat system 24 bit CD quality Audio CODEC VGA DAC (10 bit DAC) USB Host and Device Ethernet 10/100 Mbps SRAM, SDRAM, Flash, SD Card connector RS-232, Ir. DA, PS/2 16 X 2 LCD Panel 9: 45 AM 34

Motorola Adapt 9 S 12 DP 256 Microcontroller board l l l Two 50 pin connectors bring out all I/O pins of the MCU RS-232 transceiver provide for both SCI channels 16 Mhz crystal, but internal bus can run up to 24 Mhz Accommodates optional user supplied oscillator Back ground debug Mode Program in C, Basic, and Assembler, etc. . 9: 45 AM 35

Microchip Explorer 16 Development Board l Features • Includes PIC 24 FJ 128 GA 010 and the ds. PIC 33 FJ 256 GP 710 DSC Digital Signal Controller PIMs (100 -pin version) or the PIC 24 FJ 64 GA 004 PIM (44 pin version). • Alpha-numeric 16 x 2 LCD display • Interfaces to MPLAB ICD 2, MPLAB REAL ICE, USB, and RS-232 • Includes Microchip's TC 1047 A high accuracy, analog output temperature sensor • Expansion connector to access full devices pin-out and bread board prototyping area 9: 45 AM 36

MICROCHIP PICkit microcontroller l l l Easy low cost way to start development Uses selected Flash-base PIC microcontrollers MPLAB IDE Software USB interface www. microchip. com 9: 45 AM 37

New Arduino Duemilanove Overview The Arduino Duemilanove ("2009") is a microcontroller board based on the ATmega 168 (datasheet) or ATmega 328 (datasheet). It has 14 digital input/output pins (of which 6 can be used as PWM outputs), 6 analog inputs, a 16 MHz crystal oscillator, a USB connection, a power jack, an ICSP header, and a reset button. It contains everything needed to support the microcontroller; simply connect it to a computer with a 9: 46 AM 38 USB cable.

Summary Microcontroller ATmega 328 Operating Voltage 5 V Input Voltage (recommended) 7 -12 V Digital I/O Pins 14 (of which 6 provide PWM output) Analog Input Pins 6 DC Current per I/O Pin 40 m. A (do not exceed) DC Current for 3. 3 V Pin 50 m. A (do not exceed) Flash Memory 32 KB (ATmega 328) of which 2 KB used by bootloader SRAM 2 KB (ATmega 328) EEPROM 1 KB (ATmega 328) Wi. Fi shield • Provides Wi-Fi connectivity to your Arduino-based project • Uses SPI for host communication (max speed 25 MHz) • 16 Mbit serial flash for storing web pages and other data • External antenna 9: 46 AM 39

New tools Apple Iphone 3 G 16 Gig Apple IMac 20” 9: 46 AM 40

Robo. Al 3 9: 46 AM 41

Robo. Al 3 Features l l l Altera’s Cyclone board (EP 1 C 20) with LCD display Cmucam 2+ with pan and tilt turret Powerful solenoid, shoot puck 2 feet an average with aprox. 200 shots note: do not leave plunger out, it will damage the internal coil Differential steering using two servo motors, Futaba FP-S 148 Powered by 2 Ni. Cad 1700 m. A/h batteries and AC adaptor controlled by selector switch. Dual in lab battery chargers. note: you can charge both batteries at the same time while still mount underneath robot New photo reflector circuit, using Hamamastu photo reflector P 5587 with wheel incremental encoders (64 increments for 360 degrees therefore 5. 6 degrees per increments Two prototyping bread boards 2 X 6. 5 inches Front puck holding guide Female board mount sockets, use 22 gauge solid wire only. Powerful 3000 m. A regulator Blue tooth class II MCB 3100 with serial interface MCR 3210 P 9: 46 AM 42

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Robo. Al 4 9: 46 AM 44

Roboal 4 Features l l l l l Altera’s Cyclone board (EP 1 C 20) with LCD display Cmucam 2 with pan and tilt turret Differential steering using two servo motors, Futaba FP-S 148 Powered by 2 Ni. Cad 1700 m. A/h batteries and AC adaptor controlled by selector switch. Dual in lab battery chargers. note: you can charge both batteries at the same time while still mount underneath robot New photo reflector circuit, using Hamamastu photo reflector P 5587 with wheel incremental encoders (64 increments for 360 degrees therefore 5. 6 degrees per increments Two prototyping bread boards 2 X 6. 5 inches Female board mount sockets, use 22 gauge solid wire only. Powerful 3000 m. A regulator Blue tooth class II MCB 3100 with serial interface MCR 3210 P 9: 46 AM 45

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Project group photo’s 9: 46 AM 47

Robot projects 9: 46 AM 48

Entrepreneurship and Innovation Endowment Fund University of Ottawa - Faculty of Engineering l http: //www. eng. uottawa. ca/eng/eief/index. p hp 9: 46 AM 49

References l l l l Photo’s , Text and Schematics Information www. acroname. com www. lynxmotion. com www. drrobot. com www. analog. com www. microchip. com www. vti. com www. technologicalarts. com Presentation version: Jan 12 2010 9: 46 AM 50