UAE University College of Engineering Electrical Engineering Department Graduation Project II (ELEC 5902-01) - PowerPoint PPT Presentation

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UAE University College of Engineering Electrical Engineering Department Graduation Project II (ELEC 5902-01)

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UAE University College of Engineering Electrical Engineering Department Graduation Project II (ELEC 5902-01) GIS Guided Commuting Vehicle Progress Presentation #4 – PowerPoint PPT presentation

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Title: UAE University College of Engineering Electrical Engineering Department Graduation Project II (ELEC 5902-01)


1
UAE UniversityCollege of EngineeringElectrical
Engineering DepartmentGraduation Project II
(ELEC 5902-01)
  • GIS Guided Commuting Vehicle
  • Progress Presentation 4

Team Members Hesham Ahmed Hiekal 950710744
Khalid Said Ghadban 980211479 Hamad
Khamis Al Bedwawi 980711002 Mohammed Ata Ul
Kareem 970711528 Supervised by Dr. Raa Said
2
Project Goal
  • To design and fabricate a robot system or a
    vehicle
  • that is guided in its positioning by a Geographic
  • Information System (GIS).

3
Block diagram explaining the operation
4
Sample Test
  • A straight route segment of 1 meter length.

5
Testing Procedure
Sample programs to
  • Define input and output pins.
  • Routines to count pulses from the function
    generator.
  • Routines to control motor motion and direction.
  • Testing the motor drive routine (From PIC to
    Motor drive chip to DC motor) to verify
    functionality and reliability.

6
Problems Faced
  • Ability to stop immediately.
  • Rotation depends on applied load.
  • Predefined distances can not be achieved.
  • Feasibility of using the stepper motor.
  • Alignment of the motors, wheels and encoder.
  • Encoder disk readings were not precise.
  • Shaft connected to the wheels are too long for
    the design.

7
Route Prototype
8
Robot Platform Redesign
9
Shaft Encoder Attaching Mechanism
Adjustable screw connected to the platform
Shaft Encoder Opto-swtich
10
Encoder Wheel
Encoder Wheel with more Segments
48 Segment Wheel
  • Alternating slots make reflecting and
    non-reflecting surfaces.
  • More stripes give greater resolution to
    measurements.
  • The stripes cannot be narrow than the field of
    view of the slotted optical switch.

11
Shaft Encoder Design
12
Wheel Shaft encoder connected to the DC motor
13
Designed Shaft Encoder
14
New DC motors with reduction gear box
  • The DC motor comes with a gear box, therefore a
    higher output torque is produced.
  • The shaft comes with screw for attachment

15
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16
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17
MOTOR-RS-380 -- Mabuchi RS-380 with Gear box
Manufacturer Mabuchi Motors (Japan)Operating
voltage DC 7V-12VTorque (7V) 839g.cm Torque
(14V) 959g.cmSpeed under 7V without load
16,200 rpmSpeed under 12V without load 21,900
rpmCurrent drawn 0.5A-0.7ADimension (Motor
body) 37.8mm (length) x 29.20mm
(diameter) Dimension (with metal gear box) 75mm
(length)
18
PIC Microcontroller
PIC microcontroller Features
  • Compact size.
  • Low power consumption.
  • (Basic) programming language with powerful
    functions.
  • Programmable analog and digital I/O pins.

Move to PIC microcontroller Because of
  • Problems in Handy Board.
  • Compatibility.
  • Cheaper microcontroller.
  • Size, power consumption and other capabilities.

19
First vehicle test
  • A straight segment of 1 meter length.
  • For each segment we have to determine the
    equivalent number of pulses.
  • 8 pulses per round.
  • Wheel radius.
  • Programming solutions to overcome any expected
    error.
  • Make sure we dont miss any pulse.

20
Control Signal
Read Pulses
PIC Microcontroller
Wheel Encoder
Motor Drive
DC Motor
Power
Mechanical rotation
21
Control Flow Chart
Motor Drive
PIC
DC motor
Wheel Encoder
Feed Back
22
  • Program consist of similar code blocks
  • Straight segments codes.
  • Left and right turns.
  • User interface (using Visual Basic)
  • User select number and types of segments.
  • Editing the data base in the controlling program
    (producing the code as a text document).

23
  • Program consist of similar code blocks
  • Straight segments codes.
  • Left and right turns.
  • User interface (using Visual Basic)
  • User select number and types of segments.
  • Editing the data base in the controlling program
    (producing the code as a text document).

24
Why use Motor Drive
  • The PIC does not have the ability to directly
    power the motors because it can only provide low
    current in mA.
  • For this reason we need external voltage to drive
    the motor which can be controlled through the
    motor drive.
  • Using the motor drive help in controlling the
    rotation direction of the motor.

25
How it works
  • The PIC will send an on-off signal to the motor
    drive chip which can handle the current flow to
    the motor.
  • The on-off signal through inputs and enable pins
    will
  • turn the motor ON or OFF
  • Specify the direction of rotation
  • The motor drive has the ability to drive two
    motors in both direction.

26
Pins Function
  • Input pins are for controlling the direction of
    rotation.
  • Output pins are connected to motor.
  • Enable pins are used to turn motor power on or
    off.
  • Power pin is used to supply external voltage to
    motor.

27
Block and Connection Diagram
28
New Motor Drive
29
Tasks Completed
  • Writing the backbone routine that will control
    the traveled distance based on the encoder
    reading.
  • Writing the backbone routine that will control
    the traveled distance based on the encoder
    reading.
  • Testing the robot motion along a simple route (a
    straight segment of 1 meter length).
  • Full control of motor motion was tested, which
    was not successful.
  • Testing the motor drive routine (From PIC to
    Motor drive chip to DC motor) to verify
    functionality and reliability.
  • Understanding the problems that occurred, turning
    back to the previous approach which was using a
    dc motor with a shaft encoder.
  • Motor Selection.
  • Platform mechanical design.

30
Tasks in Progress
  • Finalize the robot prototype design attaching
    mechanism to different robot components in the
    workshop.
  • Route Prototype design.
  • Increase encoder resolutions to 12 holes of 0.5
    cm radius.
  • Wires management.

31
  • Thanks for listening, we would be glad to answer
    any questions!
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