Electronic project

GROUP G10B

S. JI, M. MA, A. OBERTELLI, V. OSTERTAG, V. SCHAEFER, A. VERVAET

2018 PROMO

2nd SEMESTER, JUNE 2016

Presentation's PLAN

• Introduction
• Understanding how the robot works
• Analysing sound signals
• Programming the robot
• Creating the captors for the robot
• Conclusion

Group G10B - ELECTRONIC PROJECT

Slide 1.2

INTRODUCTION

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Slide 1.3

Our goal was to create a robot capable of observing its environment

Start moving when it hears a two tone whistle

Move around a 20 by 60 cm rectangle

Stop moving when receiving a high temperature or when pushing a stop button

A challenging part was to have an international

group. We had a language barrier as well as different thinking methods.

Understanding how the robot works

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Slide 2.1

Understand how the robot works

Some of the main components

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Slide 2.2

Cyclone III processor

4MB flash memory

7 segments display

USB Blaster

10 switches

SDRAM 8 Mbytes

Understand how the robot works

CONSUMING

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Slide 2.3

FPGA works at 5V

What we know

Understand how the robot works

To find the power, we must measure the current

Measured current : 0.15A

We know that:

P = U x I

P = 0.75W

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Slide 2.4

Understand how the robot works

CONSUMING

What we know

P = 0.75 W

W=P*∆t

1kWh = 0.09 kg of CO2

During one hour :

W  = (0.75/1000)*1

      = 7.5*10^-4 kWh

Equivalent in CO2 :

6.75*10^-5 kg

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Slide 2.5

Understand how the robot works

BATTERY

Powered by 4 lithium cells

Boe-Bot uses 0.15 A

T = (Battery / U) = 19H

ANALYSING sound signals

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Slide 3.1

Analysing sound signals

Problem A

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Slide 3.2

Analysing sound signals

Create an algorithm which detects the presence of absence of an audio signal

1

Finding where it is stationary

2

Calculating powers

3

Using it to determinate where the audio is

Problem A

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Slide 3.3

Analysing sound signals

Problem A

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Slide 3.4

Analysing sound signals

Problem b

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Slide 3.5

Analysing sound signals

Finding the notes played in a signal

1

Calculating the Fourier transformation for each point

2

Finding the primal frequency and time of each point 

Problem b

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Slide 3.6

Analysing sound signals

1611 Hz et 1311 Hz

1589Hz et 1281Hz

Problem C

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Slide 3.7

Analysing sound signals

Reducing the memory used to  numerise a signal

We lost a little bit of precision but so much memory place.

Problem D

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Slide 3.8

Analysing sound signals

Creating a filter on Matlab

Problem D

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Slide 3.9

Analysing sound signals

BEFORE

AFTER

PROGRAMMING THE ROBOT

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Slide 4.1

Programming the robot

001010100011

110101111000

Objectives of this part

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Slide 4.2

This part aims at programming the robot. We had to:

• Lean how to program in VHDL
• Learn how to use QUARTUS II

Here are the programs we coded:

Programming the robot

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Slide 4.3

Quartus II

It's a software used to program any ALTERA product such as the Boe-Bot Robot

There are two ways to tell the device what to do.

1. Using a diagram
2. Coding in VHDL

VHDL is a language used to control the behavior of an electronic device.

Programming the robot

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Slide 4.4

Quartus II

Programming the robot

PINNING THE COMPONENTS

IMPLEMENT THE CODE ON THE ROBOT

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Slide 4.5

Counting from 0 to F

Programming the robot

Here's what the code does

The clock's frequency is 50MHz. Therefore, when it has done 50 000 000 cycles, that means a second has passed.

The program simply counts how many cycles the clock has done and when it reaches 50 000 000, it knows a second has passed.

How to count? Useful in many of our programs

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Slide 4.6

Programming the robot

How the motor works

1 ms of high level makes the robot goes backward

1.5 ms of high level makes the robot stay put

2 ms of high level makes the robot goes forward

Group G10B - ELECTRONIC PROJECT

Slide 4.7

Programming the robot

How the motor works

The two motors given have opposite turning sense !

Examples: Each line represents the power given to a motor

1 ms

2 ms

Going forward

Go backward

1 ms

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Slide 4.8

Programming the robot

Making a rectangle

Here's what we've achieved

In this program, the robot can be in 4 different states.

The first state is the one which makes the robot stop

1

2

The second state is for the smallest part of the rectangle

3

The third state is for the longest part of the rectangle

4

The fourth state makes the robot turn and counts how many states it's been through to help him know, which state it has to go to next.

Creating the captors

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Slide 5.1

Creating the captors

Objectives of this part

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Slide 5.2

Creating the captors

Learn how to use captors

Make electrical

circuits and

analyze them

Weld everything

on the card

Make simulations

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Slide 5.3

Creating the captors

Microphone

We used an electret microphone

hit by a soundwave

Distance D1

Distance D2>D1

C= ε S/D

changing D changes the capacity

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Slide 5.4

Creating the captors

Microphone

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Slide 5.5

Creating the captors

Microphone

As we can see, the signal is too small

We must amplify it.

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Slide 5.6

Creating the captors

Amplifier

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Slide 5.7

Creating the captors

Amplifier

Our circuit :

The signal is now amplified, but the robot must only receive sounds that have a specific fequency.

We need to use a filter

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Slide 5.8

Creating the captors

Filter

RAUCH FILTER

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Slide 5.9

Creating the captors

Filter

RAUCH BANDPASS FILTER

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Slide 5.10

Creating the captors

Filter

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Slide 5.11

Creating the captors

Trigger

The robot does not understand an electric signal. We must convert it to a binary sequence. To do that, we need to use a trigger...

Above SH => equals 1

Below SH => equals 0

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Slide 5.12

Creating the captors

Trigger

Slide 5.13

Creating the captors

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Trigger

Slide 5.14

Creating the captors

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SimulatioN

We also used a software in order to check if everything would work.

It is called « Advanced Design System (ADS) »

Slide 5.15

Creating the captors

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SimulatioN

Slide 5.16

Creating the captors

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Secondary Sensor

We chose the temperature captor as our secondary sensor

Here's the sensor working

Slide 5.18

Creating the captors

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Display