EPS@ISEP | The European Project Semester (EPS) at ISEP

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report [2014/06/26 14:10] – [6.2 Architecture] team2report [2014/06/26 14:23] (current) – [6.5 Tests and Results] team2
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 The power supply in our project comes from Li-Poly 2000 mAh battery. This battery has a nominal voltage of 3.7 V. We will convert this voltage with the battery charger and boost it uptil 5 V. The output of the booster is directly connected to the arduino 5 V. voltage input then the Arduino linear regulator and the wireless shield linear regulator take care of providing the sensor stick and the Bluetooth radio the right amount of voltage (3.3 V). The TMP 36 temperature sensor is fed at 5 V. by the arduino output in the following sketch we have the electrical architecture as well as the power consumption in mA. The power supply in our project comes from Li-Poly 2000 mAh battery. This battery has a nominal voltage of 3.7 V. We will convert this voltage with the battery charger and boost it uptil 5 V. The output of the booster is directly connected to the arduino 5 V. voltage input then the Arduino linear regulator and the wireless shield linear regulator take care of providing the sensor stick and the Bluetooth radio the right amount of voltage (3.3 V). The TMP 36 temperature sensor is fed at 5 V. by the arduino output in the following sketch we have the electrical architecture as well as the power consumption in mA.
  
-{{:elek_graf.png?200|}}+{{:elek_graf.png?500|}}
  
 Figure 15 - Electrical architecture of surf logger Figure 15 - Electrical architecture of surf logger
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 {{:ıkre_c.png?400|}} {{:ıkre_c.png?400|}}
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 Figure 16 – I²C [68] Figure 16 – I²C [68]
  
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 These signals are processed on the Arduino CPU and sent by the arduino serial port that is used the Bluetooth interface to send the data to the PC where the processed signals are used to visualize a 3D model of the board. Additionally, this data are also sent to the SD card in order to have a backup copy of the session if Bluetooth communication is lost. These signals are processed on the Arduino CPU and sent by the arduino serial port that is used the Bluetooth interface to send the data to the PC where the processed signals are used to visualize a 3D model of the board. Additionally, this data are also sent to the SD card in order to have a backup copy of the session if Bluetooth communication is lost.
  
-{{:baska_ark.png?200|}}+{{:baska_ark.png?500|}}
  
 Figure 18 - Signal Architecture Figure 18 - Signal Architecture
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 In the following fritzing diagram and in the table below we will explain the physical connections between all the components. The Bluetooth radio It is represented with XBee radio because they have the same footprint and the SD card is not represented in the in the diagram but it’s just plug on the SD slot of the arduino wireless SD shield. In the following fritzing diagram and in the table below we will explain the physical connections between all the components. The Bluetooth radio It is represented with XBee radio because they have the same footprint and the SD card is not represented in the in the diagram but it’s just plug on the SD slot of the arduino wireless SD shield.
  
-{{:sketch_surf_logger_bb.jpg?200|}}+{{:sketch_surf_logger_bb.jpg?500|}}
  
 Figure 19 - Physical schematics Figure 19 - Physical schematics
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 {{:uno.png?400|}} {{:uno.png?400|}}
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 Figure 20 - Arduino Uno + Arduino wireless SD shield [70] Figure 20 - Arduino Uno + Arduino wireless SD shield [70]
  
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 {{:bluetooth.png?400|}} {{:bluetooth.png?400|}}
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 Figure 21 - RN41-XV Bluetooth Module [71] Figure 21 - RN41-XV Bluetooth Module [71]
  
 **Cork Box Design** **Cork Box Design**
  
-{{:kutu_ıcı.png?300|}}{{:kutu_tammi.png?200|}}+{{:kutu_ıcı.png?300|}}{{:kutu_tammi.png?300|}} 
 Figure 22 – Surf Logger box Figure 22 – Surf Logger box
  
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 Once the code has read the information from the sensors the readings are corrected with the Sensor calibration, scale and offset values. We want to know the exact orientation of the surfboard. This means that we need the yaw, pitch and roll angle. Once the code has read the information from the sensors the readings are corrected with the Sensor calibration, scale and offset values. We want to know the exact orientation of the surfboard. This means that we need the yaw, pitch and roll angle.
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 +{{:yaw.png?400|}}
  
 Figure 23 - Explanation of yaw pitch and roll in a surf board [72] Figure 23 - Explanation of yaw pitch and roll in a surf board [72]
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 Internally the fusions of accelerometer, magnetometer and gyroscope data are done to use a Direction Cosine Matrix (DCM) algorithm. The algorithm also takes care of handling sensor noise and numerical errors. It is based on a paper by William Premerlan on the theory and implementation of a direction-cosine-matrix (DCM) [73]. Internally the fusions of accelerometer, magnetometer and gyroscope data are done to use a Direction Cosine Matrix (DCM) algorithm. The algorithm also takes care of handling sensor noise and numerical errors. It is based on a paper by William Premerlan on the theory and implementation of a direction-cosine-matrix (DCM) [73].
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 Figure 24 - Block diagram of the DCM [73] Figure 24 - Block diagram of the DCM [73]
  
 Posture data (Euler angles) of the board are get from the gyro. For the roll, pitch, and yaw, three rotation matrices X, Y, and Z can be calculated: Posture data (Euler angles) of the board are get from the gyro. For the roll, pitch, and yaw, three rotation matrices X, Y, and Z can be calculated:
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 +{{:x_formulu.png?400|}}
  
 Then, direction cosine matrix (DCM) is given as: Then, direction cosine matrix (DCM) is given as:
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 +{{:x_ikinci.png?400|}}
  
 With this matrix, representing of board’s posture in 3-dimensional space is possible. Each of the rotational drift correction vectors (yaw and roll-pitch) are multiplied by weights and fed to a proportional plus integral (PI) feedback controller to be added to the gyro vector to produce a corrected gyro vector. That is used as the input to equation. Proportional plus integral feedback controller are used to apply the rotation correction to the gyros, because it is stable and because the integral term completely cancels gyro offset, including thermal drift, with zero residual orientation error[73], [74]. With this matrix, representing of board’s posture in 3-dimensional space is possible. Each of the rotational drift correction vectors (yaw and roll-pitch) are multiplied by weights and fed to a proportional plus integral (PI) feedback controller to be added to the gyro vector to produce a corrected gyro vector. That is used as the input to equation. Proportional plus integral feedback controller are used to apply the rotation correction to the gyros, because it is stable and because the integral term completely cancels gyro offset, including thermal drift, with zero residual orientation error[73], [74].
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 To verify the calculations that performed on the battery, the maximum current draw could be measured. This current should not exceed the 108.64 𝑚𝐴. Also, an ammeter is needed to test it. To verify the calculations that performed on the battery, the maximum current draw could be measured. This current should not exceed the 108.64 𝑚𝐴. Also, an ammeter is needed to test it.
 Assembly will follow the same pattern as the rest of the tests but the ammeter was placed between the battery and the boost converter as shown below: Assembly will follow the same pattern as the rest of the tests but the ammeter was placed between the battery and the boost converter as shown below:
 +{{:elek_graf.png?500|}}
  
 Figure 31 - Sketch of the mounting Figure 31 - Sketch of the mounting

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