BRAAD Bio Robotic Autonomous Aquatic Demonstration - PowerPoint PPT Presentation

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BRAAD Bio Robotic Autonomous Aquatic Demonstration

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Bio Robotic Autonomous Aquatic ... Original Design Original Design Sensor Theory Two Possible Configurations EKG Sensors Need to use sensors in pairs Use second ... – PowerPoint PPT presentation

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Title: BRAAD Bio Robotic Autonomous Aquatic Demonstration


1
BRAADBio Robotic Autonomous Aquatic Demonstration
  • Uzma Alam and Danielle Osler
  • ECE 345
  • Group 9

2
Background
  • Weakly Electric Fish
  • Generate and detect Electric fields
  • Electro receptive
  • Ability to sense Electric Fields
  • Monitor changes in receptors on skin
  • On the order of milli-volts
  • Passive Sensing

3
Objective
  • Principal deliverables
  • Accurate sensing
  • Autonomous movement
  • Simulate the passive sensing of electroreceptive
    fish
  • Modify an RC boat and add autonomous
    functionality

4
Original Design
5
Original Design
6
Sensors
7
Sensor Theory
  • Two Possible Configurations
  • EKG Sensors
  • Need to use sensors in pairs
  • Use second configuration

8
Sensor Testing
9
Amplification
10
Amplification
  • Use High Precision Instrumention Amps
  • Options AD524, LM741, LF357N
  • Documented applications Analog signals
  • Heart rate Frequency .05Hz to 150 Hz
  • Pulse on finger Frequency starts at .03 Hz
  • A to D can take 20 mV and convert it
  • Use more precise sensing for Microcontroller

11
Amplification
  • Final Sensor Configuration

12
Microcontroller
13
Microcontroller Flowchart
Motorola HC12 Assembly Language
Power Up A/D Sets Initial PWM for Motor/Steering
Start
Initialize
Sets ATDCTL5 to 8 bit conversion Samples and
stores digital values
GetAtoD
Linear compare of voltage difference
CompVolt
Updates duty cycle of Steering PWM
Update
Uses RTI to sample A/D every 0.25s
Delay
14
Microcontroller Testing
  • A/D Conversion
  • Accurate to 2 lsb
  • Possible to use un-amplified signal

15
Motor and Steering
16
Motor and Steering Control
  • Servos
  • Steering TS-11 Microservo
  • Motor Hitec HT7001A

17
Motor and Steering
  • Interface Boards
  • Toggle between uC and receiver
  • Power from receiver voltage regulator

18
Motor and Steering
  • Pulse Width Modulation

Reverse
Motor
Forward
Left
Steering
Right
19
Power
20
Power Theory
  • All power from one battery
  • Simulations

21
Power Design
Connect all components to the same common
22
Final Product
23
Physical Layout
24
Results
  • Successes
  • Communication Between Modules
  • Unique Solution to EKG sensing
  • Teamwork
  • Challenges
  • Amplification of DC signals
  • Size reduction
  • Physical construction

25
Recommendations
  • Amplify signals
  • Add smoother turning capability
  • Add Stop functionality
  • Make boat smaller
  • Add more sensors

26
Acknowledgements
  • Professor Nelson
  • Professor Swenson
  • Julio Urbina
  • Braad

27
The End
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