CECS 490B – Midterm 1

CECS 490B – Midterm Report 1

Due : 2/24/16

SERVOARM

Skyler Tran

Victor Espinoza

Michael Parra

Jose Trejo

 

General Description: Our project revolves around a robotic arm whose segments are controlled by five different servos. It is able to detect a human face using facial detection and follow their face around. It is also able to exhibit common emotions using LEDs and noise outputs.

 

February 24th  Midterm Report I Due:

This report must be submitted to the BeachBoard Dropbox prior to our 7:00 class meeting on February 24th.  The report must include two sections, “Schematic” and “Parts List”.  First, Schematic, includes a complete, detailed schematic of your design including a discussion of each major section.  All aspects of your project must be included in the schematic.  Second, Parts List, includes a list of all parts required for your project along with a list showing those that have been received. The list must include the quantity, part number, manufacturer, distributor, part description and cost.  It will be expected that all major components will have been received by the time you submit this report.

 

Block Diagram:

Final Block Diagram

Block Diagram Descriptions:

 

Dual Port Power Supply: (Port1: 5V 4A, Port2: 12V 4A): The power supply provides the power for all of the components in the circuit. For our design we will use the Spartan-6 FPGA. The Spartan-6 FPGA will draw approximately 200 mA. The 5 servos draw a total of 2.5 A; each draws 500 mA. We have 10-20 5mm RGB LEDs that will draw 200 mA; an LED draws 20 mA at 2V. The camera will draw about 20 mA of current. The total current needed for our design is less than 4 A, but we need to make sure that we are providing sufficient current to each component, meaning that we want to produce more current than needed. As such, we decided to have our power supply create 4 A.

 

Components

Power

Spartan-6 FPGA 200 mA
Speaker 200 mA
Servos (5) 2.5 A
LEDs (10 – 20) 200 mA
Camera 20 mA
Total: 3.12 A

 

Power Switch: The power switch will turn on and off for the whole circuit. On the power switch, we might have to add a capacitor to prevent the spark and to smooth out the electricity. The reason the power switch may have the spark is because as the switch is closed the electricity begins to jump over the switch from a terminal to other terminal. The wire and switch are made of different materials, so that makes the electricity unbalanced the electricity runs through the switch when the switch is closed.

 

3.3V Converter: The 3.3 volt converter converts the 5V power supply to 3.3V for use with the camera, because it requires the use of 2.5 – 3.3V . On this 3.3V converter, we are going to have a step down voltage regulator and a couple of capacitors from the input and output to smooth out the DC voltage coming out of the converter. Also, the 3.3 volt is connected to FPGA. This voltage uses for voltage level shifter for GPIO pins to be 0 as 0V and 1 as 3.3V.

 

1.2V Converter: The 1.2V volt converter converts 3.3V to 1.2V for the use of FPGA core in order to operate the chip. All Xilinx family uses 1.2V as FPGA core.

 

Custom FPGA: We going to use the Spartan-6 FPGA in our design. We chose the Spartan-6 because we believe that it will be capable of efficiently processing the images that it receives from the camera in order to determine whether there is a person’s face in that frame or not.

 

Speaker: The speaker will output robotic sounds in order to communicate with the user. It can output high and low pitches which result in different groups of sounds. For example, it will output a high pitch at a fast frequency to express a happy mood. In the sad mood, the speaker will output a low pitch at a slow frequency to mimic a sad noise.

 

Speaker Driver: This is needed to amplify our speaker output.

 

Servos: There are 5 servos in our design. Each servo controls a different position on the arm. We have a servo controlling the base of the arm which will turn from left to right (Servo_1). There is another servo controlling the base appendage of the Desk Buddy, allowing it go up and down (Servo_2). The third servo helps the Desk Buddy lean forwards and backwards (Servo_3). The fourth servo helps the camera to move up and down (Servo_4). The fifth servo helps the camera to move left and right (Servo_5).

 

RGB LED Strip: We plan to use RGB LEDs for this project so that we can alter the color being displayed on the LEDs in order to simulate different moods. The way that RGB LEDs work is that all of the colors available come from a combination of different values for the Red, Green, and Blue colors. Each of these three color values is altered using Pulse Width Modulation techniques to output different colors.

 

LED Driver: In order to drive the LEDs we need to be able to safely connect them in a way where they will not burn out the pins that they are connected to. This is going to be done by connecting each of the R, G, and B pins on the LED strip to darlington transistors so that we can safely sink the current flowing through the LEDs to ground. This is done by connecting each of the R, G, B pins to the collector of our transistors. We then connect the bases to ground and the emitters go to our FPGA board.

 

Camera: We are going to use a camera that is compatible with a SPI communication for face detection. The camera will take an image size of 160 x 120 and send the data to our FPGA and also store it into flash memory. This is done so that we can perform facial detection  processing on the  image. The desired frame rate for the camera will be 30 frames per second.

 

PROM-M25P80: This serial flash memory will store the bitstream file and is in charge of loading the program to the FPGA when it is powered up. The memory will communicate with the FPGA via a SPI interface.

 

Schematic:

Custom FPGA for camera – (S1):

Spartan 6
Spartan 6

 

The Spartan 6 will be controlling only camera which processing face detection. The customized Spartan 6 PCB size will be 40×40 mm. We want to design the PCB small, so it can be attached to the camera. This board will be the slave. It will tell the master controller whether it detects the face. If it does not detect the face, the master controller will control the servos and look for the face until the slave tells the face is detected.

 

The firmware will be coded in verilog.

 

Dual Power supply (5V and 12V) – (S2):

STEVAL_ISA013V1_Schematic

The dual power supply will output 5V, 2.4A and 12V, 1A. The power provides to the Spartan 6, Arduino, servos, and LED.

 

Arduino controlling for servos and LED and speaker – (S3):

Arduino

The Arduino is our main board which is the master. It will control servos, LED, and initiates the data of the slave Spartan 6. Initiating the Spartan 6 that whether it detects a face.

 

The firmware will be coded in C++.

Parts List:

 

Parts List: includes a list of all parts required for your project along with a list showing those that have been received. The list must include the quantity, part number, manufacturer, distributor, part description and cost.

*Note: Each schematic has a sub-heading that describes the purpose of each schematic. In each sub-heading there is an abbreviation that corresponds to each schematic (S1, S2, and S3). These are used to convey which schematic the desired part goes to. This is done to prevent confusion in the case that two parts have the same name on two different schematics.

 

Associated Schematic Qty Price Description Name On Schematic Part # Supplier Received
S1,S2,S3 1 $21.19 3025 resistors and 700 capacitors book *Resistors and Capacitors supplied from this book… 310874598756 eBay Y
S1 1 $16 Spartan 6 U1B0,U1B1U1B2,U1B3 U1BGND, U1BVCCAUX, U1BVCCINT, U1BNA XC6SLX9-2TQG144C eBay Y
S1 1 $0.86 FPGA PROM U100 M25P80-VMW6TG Digikey Y
S2 1 $0.36 3.3V 1A VRegulator for power supply AP2114H-3.3TRG1 Digikey Y
S1 1 $0.68 1.2V 1A VRegulator for FPGA core CR1 LD1117AS12TR Digikey Y
S1 1 $2.83 100MHz 3.3VOsc. HCMOS/TTL U$1 CTX318LVCT-ND Digikey Y
S1 8 N/A 0.1uF capacitor C100 – C108, 310874598756 eBay Y
S1 2 N/A 100 ohm resistor R100, R2 310874598756 eBay Y
S1 1 N/A 330 ohm resistor R5 310874598756 eBay Y
S1 3 N/A 510 ohm resistor R8,R10, R103 310874598756 eBay Y
S1 3 N/A 1K ohm resistor R4,R11,R9 310874598756 eBay Y
S1 2 N/A 2K ohm resistor R3, R6 310874598756 eBay Y
S1 2 N/A 4.7Kohm resistor R7, R8 310874598756 eBay Y
S1 1 $0.26 1ed red LED PWR

red

LH R974-LP-1 Digikey Y
S1 1 $0.28 1ed yellow LED yellow

LED1

LY R976-PS-36 Digikey Y
S1 1 $6.99 30fps 640×480 Camera JP3 VGA CMOS OV7670 eBay Y
S1 1 $0.40 Tactile Switch SW1 EVQ-Q2S02W Digikey Y
S1 2 $3.20 Female Header 1×6 JP1, JP2, JTAG 391390110447 eBay
S1 1 $3.68 Female Header 2×9 (for camera connections) JP3 121469428422 eBay Y
S2 1 N/A 5 ohm resistor R1 310874598756 eBay Y
S2 1 N/A 22K ohm resistor R2 310874598756 eBay Y
S2 2 N/A 1K ohm resistor R12,R7 310874598756 eBay Y
S2 1 N/A 15 ohm resistor R4 310874598756 eBay Y
S2 1 N/A 3K ohm resistor R3 310874598756 eBay Y
S2 1 N/A 3.3K ohm resistor R5 310874598756 eBay Y
S2 1 N/A 68 ohm resistor R8 310874598756 eBay Y
S2 2 N/A 2.49K ohm resistor R6,R9 310874598756 eBay Y
S2 1 N/A 0.047uF capacitor C1 310874598756 eBay Y
S2 2 N/A 0.33uF capacitor C17, C18 310874598756 eBay Y
S2 1 N/A 4700pF capacitor C3 310874598756 eBay Y
S2 1 N/A 68uF capacitor C2 310874598756 eBay Y
S2 1 N/A 100uF capacitor C4 310874598756 eBay Y
S2 2 N/A 4.7nF capacitor C5,C10 310874598756 eBay Y
S2 1 N/A 470nF capacitor C7 310874598756 eBay Y
S2 1 N/A 0.01uF capacitor C12 310874598756 eBay Y
S2 1 N/A 100pF capacitor C14 310874598756 eBay Y
S2 1 N/A 2.2nF capacitor C6 310874598756 eBay Y
S2 1 N/A 470pF capacitor C13 310874598756 eBay Y
S2 2 N/A 2700uF capacitor C19, C8 310874598756 eBay Y
S2 2 N/A 0.01uF capacitor C11, C12 310874598756 eBay Y
S2 1 N/A 330uF capacitor C9 310874598756 eBay Y
S2 2 N/A 1000uF capacitor C15,C16 310874598756 eBay Y
S2 1 Transient Voltage supressor D5 5KE220A eBay Y
S2 2 Diode D3, D2 STTA106 eBay Y
S2 1 Diode D1 1N4148 eBay Y
S2 1 Transistor U2 LTV817 eBay Y
S2 1 Adjustable precision shunt regulator U3 TL431ST eBay Y
S2 1 10uH inductor L2 eBay Y
S2 1 Power Switch 1.6A 8-Pin PDIP Tube U4 VIPer53DIP eBay Y
S3 1 $0.26 1ed red LED RED

RX

LH R974-LP-1 Digikey Y
S3 2 $0.28 1ed green LED GREEN TX

PWR_green

LY R976-PS-36 Digikey Y
S3 1 $0.40 Tactile Switch sw1 EVQ-Q2S02W Digikey Y
S3 2 $0.41 mini USB B cn1 690-005-299-043 Digikey Y
S3 1 $0.52 1ed yellow LED yellow LED1 160-1435-1-ND Digikey Y
S3 5 $1.85 Female Header 1×3 JP5-JP9 201071767090 eBay Y
S3 1 $0.99 Female Header 1×2 CN3 400845181706 eBay Y
S3 2 $0.99 Female Header 1×8 JP4, JP3 191133369986 eBay Y
S3 1 $3.58 Arduino microcontroller IC1 ATMEGA328P-AU Digikey Y
S3 1 $2.96 CH340G USB TO SERIAL CH340G 381476893995 eBay Y
S3 1 $11.96 RGB LED Strip used to display different colors on the Desk-Buddy RGB_LED_STRIP SMD5050RGB eBay Y
S3 4 $0.27 16 MHZ 18pF capacitor C6 ABLS-16.000MHZ-B4-T Digikey Y
S3 1 $0.28 16 MHZ 18pF X1 ABLS-16.000MHZ-B2-T Digikey Y
S3 5 $25 Hi Torque Servos JP5,JP6, JP7,JP8,JP9 MG966R eBay Y
S3 4 N/A 18pF capacitor C1,C3,C4 310874598756 eBay Y
S3 1 $1.85 Mini Speaker 8 ohm 0.5 W CN3 KS-3008 1898 Adafruit N
S3 3 $5.00 Complementary power Darlington transistors Q1, Q2, Q3 TIP120 Fairchild Y
S3 4 N/A 18pF capacitor C1,C3,C4 310874598756 eBay Y
S3 5 N/A 0.1uF capacitor C2,C5,C7,C8,C9 310874598756 eBay Y
S3 3 N/A 220 ohm resistor R8,R9,R10 310874598756 eBay Y
S3 7 N/A 1K ohm resistor R1,R6,R7,R2,R3,R4,R5 310874598756 eBay Y
S3 1 $0.28 12 MHZ 18pF X2 ABLS-12.000MHZ-B2-T Digikey Y

 

*Note: The resistors and capacitors prices are not available because these parts are included in 3025 resistors and 700 capacitors book.

 

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