System Review - FAMU-FSU College of Engineering

Lance Ellerbe - BS EE Jamal Maduro - BS CpE Peter Rivera - BS ME Anthony Sabido - BS ME

1

2

Project Overview Develop a self-contained network of tracked surface drifters for

near coastal application. Housing Electronics Power System GPS receiver Radio transceiver Microcontroller Any of these drifters within range of the base station will then be able to send all the information from all other drifters, thus providing a self-contained drifter network.  Many such drifters are deployed globally by the National Oceanic and Atmospheric Administration (NOAA) as part of the world climate observation program. 3

Electrical Components  Microcontroller:  TI (Texas Instruments) MSP430G2553 microcontroller  Radio Transceiver  XBee-Pro XSC RF module’s

 GPS module:  Maestro A2100

 Battery  Lithium ion  Temperature Sensor  Maxim DS18B20

4

General Layout

5

Color Coded Circuit Connections

6

Engineer: Jamal Maduro

7

Microcontroller

8

Microcontroller

9

MSP430G2553 Functional Block Diagram

10

Microcontroller Clock Speed - Voltage

11

Microcontroller Clock Speed - Current

12

Microcontroller Low Power Modes

13

System Flow Chart

14

Microcontroller Architecture

15

16

XBee Functional Block Diagram

17

XBee Modes of Operation

18

XBee Transmit State Machine

19

XBee Receive State Machine

20

XBee Data Verification Chain

21

XBee Pin Out Table 1

22

XBee Pin Out Table 2

23

Radio Transceiver  Output power(Pt) = 30dbm (1W)  Transmitting Gain(Gt) = 16 dBi  Receiving Gain (Gr)= 16 dBi

 Frequency Band = 902 – 928MHz ISM Band  Distance (d)= 15 miles (24.14016 kilometers)

= -57.348dBm 24

25

GPS Diagram

26

GPS Pin Out Table 1

27

GPS Pin Out Table 2

28

Engineer: Lance Ellerbe

29

Temperature Sensor Overview  Compared to the thermistor, the DS18B20 has memory and thus the temperature can be held until a more convenient time when the data can be logged.  1 temperature reading per GPS fix

30

Temperature Sensor Maxim DS18B20  Power Supply Range is 3.0V to 5.5V  Can read temperatures from -55°C to +125°C (-67°F to

+257°F) with an accuracy of ±0.5°C from -10°C to +85°C  Converts Temperature to 12-Bit Digital Word in 750ms

(Max)

31

Temperature Sensor Interfacing Maxim DS18B20

 Digital temperature sensor that uses serial

communication through the DQ pin.  The DQ pin operates in half duplex and therefore cannot receive and send data at the same time.

32

Temperature Sensor Interfacing Maxim DS18B20

33

Temperature Sensor

34

35

Power Systems Overview  Low Power Consumption  Each must be able to operate on 3.3V maximum.  The drifter network will be designed to use the least amount of power when transmitting data.  The power supply will be selected in order to supply the adequate amount of amp-hours in order to provide enough current for each electrical component to be operational throughout its 15 day deployment. 36

Power Systems Current Component Selection PROGRESS:  Xbee  Operation Voltage: 3.0 -3.6VDC  Current Draw: 



Transmitting current: 256mA Receiving Current: 50 mA

 Maestro A2100-A/B  Operation Voltage: 3.0V - 3.3VDC  Current Draw: 

Peak Acquisition Current 45mA

 Microcontroller  Operation Voltage: 1.8V - 3.6V  Active mode: 230uA  Standby Mode: 0.5uA 37

Power Systems Ideal Battery Configuration •Parallel configuration would be ideal to increase the amount of Amp-

Hours to supply the adequate amount of current to Microcontroller, GPS module, Radio Transceiver and Temperature Sensor for a 15 day period. Using 4000 mAh Batteries

EXAMPLE

Voltage = 3.3 V V1

3.3 VDC

V2

3.3 VDC

V3

3.3 VDC

Current = 12000mAh

38

Power Systems Voltage regulation If battery chosen has a nominal voltage of more than 3.3 V, a voltage regulator will need to be implemented to maximize battery life and supply the correct operating voltage to the components.

39

Power Systems Voltage Regulator MAX882/MAX883/MAX884 line regulator  The regulator input supply voltage can range from 2.7V to

11.5V  Low Dropout Voltage: 220mV  Fixed Output voltages: 3.3V and 5V

40

Power Systems PCB protection  Lithium Ion batteries must connect to a protection circuit module to protect Li-Ion Battery from overcharge, over discharge and to prevent accidental battery explosion due to its extra high energy density. Battery

41

Power Systems Testing/ Verification  The testing of this task will include a number of power consumption tests. First, each electrical component will be attached separately to a multimeter or oscilloscope to validate that the component is operating within its electrical specifications.  Second, based on the results in the previous step the results can be then used to tweak network parameters such as transmission time or microprocessor algorithms in an attempt to lower power consumption and increase theoretical operation time. 42

Power Systems  Risk:  Temperature affecting battery characteristics

43

Power Systems

LiFePO4 Rechargeable 26650 Cell

Once all component selection has been finalized, the battery will be chosen based the voltage needed and the highest mAh that can be found. Xeno AA Size 3.6V Lithium Battery XL060F Nominal Voltage

3.6V

Capacity

2400mAh (2.0V cutoff)

Operation Temperature

Discharging: 85 oC (140F)

Max. Discharging current

100mA

Price

$3.49

-55oC

-

Nominal Voltage

3.2 V

Capacity

10000mAh

Operation Temperature

Discharging: - 10 60 oC (14 - 140 o F)

Max. Discharging current

10 A

Energy density

163.17 wh/kg

Price

$22.95

44

Engineers: Anthony Sabido and Peter Rivera

45

Concept Designs

Block Design

Cylindrical

Spherical Design

Design

Semi-Spherical Design

Deciding Factors  Cost  The most critical factor. We can change the amount of material used and needed, but we can’t change the amount of money allotted.  Stability  Each design has it’s strengths and weaknesses. 

Ex: Cylinders bob or tilt back and forth, blocks can snag, and spheres will roll/pitch.

Deciding Factors (cont.)  Ease of Fabrication  There is a risk of losing these at sea or a need for more. The Marine Lab should be able to reproduce them if necessary.  Impact Resistance and Weight  Each are there own category but carry the same weight in regards to decision making. Increasing impact resistance typically increases weight. However, these are weighted less than the other factors due to their effects on performance and project completion.

Cost/Benefit Analysis Aluminum Tube

Glass-Fiber Carbon-Fiber Aluminum

Block

Glass-Fiber Carbon-Fiber Aluminum

Sphere

Glass-Fiber Carbon-Fiber Aluminum

Semi-Sphere

Glass-Fiber Carbon-Fiber

Cost

Stability

(10) 7 -7010 -1002 -208 -8011 -1103 -306 -609 -901 -105 -5012 -1204 -40-

(10) 1 -102 -203 -304 -405 -506 -607 -708 -809 -9010 -10011 -11012 -120-

Ease of Fabrication (6) 6 -364 -243 -185 -3012 -7210 -601 -611 -669 -542 -128 -487 -42-

Impact Resistance (5) 2 -101 -53 -155 -254 -206 -3011 -5510 -5012 -608 -407 -359 -45-

Weight (5) 3 -156 -3010 -502 -107 -3511 -551 -55 -259 -454 -208 -4012 -60-

Total

Rank

141

11

179

10

133

12

185

9

287

4

235

6

196

8

311

2

259

5

222

7

353

1

307

3

Overview

Major Features: •Symmetric •Semi-Circular Profile •Fiberglass Hull

•Off-the-Shelf Deck

Plate •Low Cost •Easy Fabrication

•Symmetric Shape •Semi-Circular Profile

Major Features: •Symmetric •Semi-Circular Profile •Fiberglass Hull

•Off-the-Shelf Deck

Plate •Low Cost •Easy Fabrication

• •

3 Part Designs Maximum Water Tightness

1. Top 2. Bowl 3. Screw-in Deck Plate

Major Features: •Symmetric •Semi-Circular Profile •Fiberglass Hull

•Off-the-Shelf Deck

Plate •Low Cost •Easy Fabrication

1

2 1. Top 2. Bowl 3. Screw-in Deck Plate

3 Major Features: •Symmetric •Semi-Circular Profile •Fiberglass Hull

•Off-the-Shelf Deck

Plate •Low Cost •Easy Fabrication

Material Selection

Fiberglass  Low Density:  Cloth: 2.6 g/cm3  Resin: 1.3 g/cm3

 Low Cost  205-B Slow hardener (0.86qt.): $45.99  105-B Epoxy Resin (1 gal): $99.99

Sealing the Hull  6” diameter deck

  

plate Screw-on design Made of Durable ABS plastic O-ring for water tight seal Low cost - $15.99

Dimensioning the Hull

Calculating Buoyancy  Volume of water needed to be displaced:

 Density of water (not salt water) at 30 degrees

Celcius:

Mass Calculations Component Mass (New) Antenna

9.1

g

GPS Antenna

9.1

g

GPS Module

4.5

g

Radio Transceiver

4.5

g

Batteries (2)

45.4

g

Board

40.0

g

Deck Plate

309.7

g

Hull

1401.5

g

1823.8

g

Total

Water Displacement  Volume of water needed to be displaced (Vwater) is

1.831 x 10-3 cubic meters.

Vwater

Dimensions - Drifter

Performance Analysis

Testing in Detail  Floatation – Check water level. Our goal is to have the

drifter sit low enough in the water to avoid wind drag but not too low that it loses stability.  The Diameter can be increased or decreased to effect floatation.

Testing in Detail  Wavelength and Frequency  We want to avoid accidentally matching the wavelength of the test area witch would amplify the amount of roll that the drifter experiences.  An optimal diameter would be 1.5 – 2 times the wavelength but we have not determined the approximate wavelength of the test area and can not compare the data at this moment.

Testing in Detail  Adjusting the diameter however, risks our balance with the

wavelength, instead we can also adjust the vertical profile of the drifter. For example, we can make it more cylindrical to the top and bowl-like at the bottom.  This change allows us to change the volume of water that we’re displacing allowing for a change in water level.

Testing in Detail  Dr. Oats  Vibration testing was initially one of

our determined test methods but after discussing the pros and cons we determined it was not worth pursuing.  Impact testing was also examined but we believe our electronics will fail before the hull fails, therefore, any testing would be to determine the limit of the electronics. This test would require us to purposely destroy valuable material.

69

70

Technical Risk Risk

Exceeding baud rate limits

Probability

Low

Consequence

Severe

Mitigation Strategy

Obey the baud rte limits for each component

Risk

MCU communication function is unavailable

Probability

Low

Consequence

Minor

Mitigation Strategy

Communication can be implemented with a “bit banging” method using general purpose pins 71

72

Schedule Risk Risk

Personal Emergencies

Probability

Moderate

Consequence

Severe

Mitigation Strategy

A strategy to manage this risk would be to ensure that all files used by all group members can be accessible no matter who is not available.

Risk

Resource Availability

Probability

Moderate

Consequence

Moderate

Mitigation Strategy A strategy to assessing this risk would be to accommodate this possible setback in the group's schedule. 73

Schedule Risk Risk

Underestimate Microcontroller Software Creation

Probability

High

Consequence

Moderate

Mitigation Strategy Give the programmer more than expected time to program the microcontroller to ensure they can finish without extending other deadlines. Risk

Marine Lab Changes Preliminary Requirements

Probability

Low

Consequence

Severe

Mitigation Strategy

Stay in contact with the FSU Marine Lab to ensure that if any changes are made in the requirements we will be knowledgeable of the changes and access them as soon as possible. 74

75

Budget Risk Risk

Out of Stock Components

Probability

Low

Consequence

Moderate

Mitigation Strategy

Looked up several different products and vendors in case our first choice is not available. Risk

Replacing Lost/Damage Components

Probability

Low

Consequence

Severe

Mitigation Strategy Handle the components carefully and keep them in their original packaging for safekeeping. 76

Budget Risk Risk

Underestimated Quantities

Probability

Moderate

Consequence

Severe

Mitigation Strategy

We plan to minimize the risk by very carefully calculating the required amount of material needed. Risk

Requiring Developmental Tools

Probability

High

Consequence

Severe

Mitigation Strategy

We plan to avoid the risk by adapting a current breadboard and printed circuit board to avoid further purchases. 77

78

Project Overview - Timeline TASK

START DATE DURATION (DAYS) END DATE

Assigned Team Members

Electronic Components: Product Research

9/18/2011

2

10/1/2011

Lance, Jamal

Simulation Programming in MATLAB

9/18/2011

14

10/1/2011

Jamal

Review Wireless Networking Theory

9/18/2011

14

10/1/2011

Lance, Jamal

Meet with Brian Wells

9/30/2011

1

9/30/2011

Anthony, Peter

Meet with High Performance Materials Institute

9/30/2011

1

9/30/2011

Anthony, Peter

Meet With Peter Lazarevich

9/30/2011

1

9/30/2011

All

Reverse Engineer Previous Drifter

9/30/2011

1

9/30/2011

All

Preliminary Housing Design

10/3/2011

8

10/10/2011

Anthony, Peter

Finalize Electronic Component selection

10/3/2011

1

10/3/2011

Lance, Jamal

Order Electronic components

10/4/2011

1

10/4/2011

Peter

Finalize Housing Design

10/10/2011

45

11/23/2011

Anthony, Peter

Measure & Weigh components

10/10/2011

1

10/10/2011

All

Conceptual Design Review Paper

11/17/2011

4

11/20/2011

All

Hull Design Finalized

11/17/2011

1

11/17/2011

Anthony, Peter 79

Timeline Cont. Radio Antenna Selection

11/17/2011

5

11/21/2011

Lance, Jamal

GPS Antenna Selection

11/17/2011

5

11/22/2011

Lance, Jamal

Floatation Testing

11/18/2011

3

11/20/2011

Anthony, Peter

Hull Material Ordering

11/21/2011

1

11/21/2011

Anthony, Peter

GPS signal testing

11/21/2011

2

11/22/2011

All

11/29/2011

2

11/30/2011

All

1/9/2012

14

1/22/2012

Anthony, Peter

1/16/2012

7

1/22/2012

Anthony, Peter

2/3/2012

1

2/3/2012

All

2/4/2012

1

2/4/2012

Anthony, Peter

2/5/2012

1

2/5/2012

Anthony, Peter

Transmission Range Testing Start Initial Fabrication of Hull Water Tightness and Flotation Housing impact testing Prototype Housing Fabrication Prototype Housing Waterproof Testing

80

Project Overview - Timeline Electronic Components: Product Research Simulation Programming in MATLAB Review Wireless Networking Theory Meet with Brian Wells Meet with High Performance Materials Institute Meet With Peter Lazarevich Reverse Engineer Previous Drifter Preliminary Housing Design Finalize Electronic Component selection Order Electronic componenets Finalize Housing Design Measure & Weigh components Conceptual Design Review Paper Hull Design Finalized Radio Antenna Selection GPS Antenna Selection Floatation Testing Hull Material Ordering GPS signal testing Transmission Range Testing Start Initial Fabrication of Hull Water Tightness and Flotation Housing impact testing Prototype Housing Fabrication Prototype Housing Waterproof Testing

14 14 14 1 1 1 1 8 1 1 45 1 4 1

5 5 3 1 2

81

Budget Expenses

Quantity

Unit Price

Total

Microcontroller

8

$2.80

$25.70

Development Board

1

$13.69

$13.69

Radio Transceiver

5

$39.00

$195.00

USB-RS232 Adapter

5

$11.95

$78.53

RS232 Shifter

5

$13.95

$83.59

Radio Antenna

5

$8.00

$40.00

Printed Board

5

$15.10

$75.50

GPS Antenna

5

$22.95

$114.75

GPS Module

5

$19.44

$97.20

Thermistor

5

$5.00

$35.00

Battery

10

$9.00

$100.00

Fiberglass

15 sq ft

$ 4.74/sq ft

$71.10

Fiberglass Resin

1 qt

$39.99

$39.99

Fiberglass Hardener

0.44 pt

$19.99

$19.99

Deck Plate

5

$15.00

$75.00

Expenses Total

$1065.04 82

83

Technical Report: “Surface Circulation Study of Waters Near Ochlockonee Bay, Florida” - Peter Lazarevich and Dr. Kevin Speer Project Description : “Tracking the coastal waters: a wireless network of shallow water drifters” - FAMU-FSU College of Engineering

84

85

Network – (Legacy Network)

86

Network – (Revised Network)

87

Temperature Sensor Interfacing Maxim DS18B20

 Parasitic Mode Power Supply  The DS18B20 can draw power from the DQ data line in parasitic mode without connecting VDD to the drifter system power supply.  Direct Power Supply  Power Supply Range is 3.0V to 5.5V connected to the VDD pin.

88

Power Systems Time of Operation  15 days of operation = 360 hours of operation  Required GPS fixes: 10,000  Number of Fixes in 15 days: GPS fix every 2.16 min or greater  FCC rule: The average time of occupancy at any frequency must not be larger than 0.4 seconds when using the frequency hopping spread spectrum.  Maximum current drawn per transmission/reception of all electrical components: Approximately 336mA

89

Power Systems Power supply considerations:  (1)Lithium Ion  Lithium Manganese Nickel  Lithium Polymer  Nickel Cadmium (NiCad)  Nickel Metal Hydride (NiMH)  Photovoltaics

90

Power Systems Lithium Ion Battery:  These batteries are able to handle excessive current applications.  Lithium batteries are great for long-term use.  Lithium batteries also perform well in extreme temperatures.  Increased life cycles over Nickel cadmium (NiCad) and Nickel Metal Hydride (NiMH) batteries.  Lithium ion batteries are also cheaper to manufacture than lithium polymer batteries, so when cost is a factor, lithium ion is the choice.  Much lower self-discharge rate than Nickel Metal Hydride (NiMH) batteries.  Wide variety of shapes and sizes efficiently fitting the devices they power. 91

UART Test Code Part 1 of 3

92

UART Test Code Part 2 of 3

93

UART Test Code Part 3 of 3

94

XBee Module Risks 1

2

3 4 5

XBee-PRO XSC RF Module Risks If the serial interface data rate is set higher than the RF data rate of the module, the module will receive data from the host faster than it can transmit the data over-the-air. If the module is receiving a continuous stream of data, monitoring data on a network, or awaiting acknowledgments for Retries functionality, any serial data that arrives on the DI pin is placed in the DI Buffer. The data in the DI buffer will be transmitted over-the-air when the module no longer detects RF data in the network. If the RF data rate is higher than the set interface data rate of the module, the module will receive data from the transmitting module faster than it can send the data to the host and data will be lost. If the host does not allow the RF module to send data out of the DO buffer because of hardware or software flow control data will be lost Care must be taken not surpass the XBee's baud rate limit of 56,700 bps or data will have a high chance of being corrupted and the drifter system could be rendered unusable 95

Microcontroller Risks 1 2 3 4

MSP430G2553 Microcontroller Risks The 16 kB flash for storing the main program may be inadequate for unaccounted complexities in the overall integration of the MSP430G2553 with other components The 512 bytes of RAM may be inadequate for unaccounted data that would be beneficial or necessary to store on the MSP430G2553 The digitally controlled oscillator (DCO) is sensitive to temperature and may slow down or speed up significantly which may cause all time dependent functions like UART communications to introduce errors into data The amount of pins may be inadequate to fully interface MSP430G2553 with all of the necessary components

Since the MSP430G2553's functions are multiplexed there might be a function that is needed but cannot be used because the pin it is on is currently configured 5 as another function. For example, if you need to use both timers but the pin with one of the timers is currently being used as a serial communication device

96

GPS Risks Maestro A2100 GPS Module Risks and Manufacturer Precautions 1

2

3

The A2100-A needs an external pull-up resistor to be configured for UART operation. Please consider the pull-up resistor in your design or pull the GPIO up right after reset by other means. The ON_OFF input of the A2100-A needs to be connected to a push-pull output of a microprocessor. For a wake-up, including the initial one after power on, a LOW-HIGH transmission is mandatory. It is recommended to connect the nRST pin of the A2100-A to an open collector / open drain output of a microprocessor!

4

It is recommended to supply Vcc continuously! Use SiRFaware or other low power modes to reduce power consumption of the module while no position information is required.

5

Care must be taken to implement an orderly shut-down sequence along with supplying power for a certain period of time after initiating the shut-down sequence. Abrupt removal or drop of power while the module is running has risks ranging from minor impact on TTFF to fatal corruption of flash memory code area!

6

Generally, the quality of the GPS antenna chosen (passive or active) is of paramount importance for the overall sensitivity of the GPS system. Losses through a bad antenna, long cables or tracks or a bad antenna position can’t be compensated afterwards. 97