<html><head><meta name="color-scheme" content="light dark"></head><body><pre style="word-wrap: break-word; white-space: pre-wrap;">\documentclass[onecolumn,letterpaper,11pt]{article}

%===================================================================
\input{common_latex/common_latex_packages}
\input{common_latex/common_latex_definitions}
\input{common_latex/common_latex_memo_format}
%===================================================================

\begin{document}

\begin{labcover}
\labtitle{The PABLO Box}
\vspace{0.1in}
\labdate{August 2017}
\vspace{0.1in}
\labauth{Michael Benjamin, mikerb@mit.edu}
\labauth{Department of Mechanical Engineering}
\labauth{MIT, Cambridge MA 02139}
\labtoc{small}
\end{labcover}

\wikidoc{file=PavLab.PabloParts}
\wikidoc{auth=mikerb@mit.edu}


%=================================================================
\section{The PABLO Hardware (Bill of Materials)}
%=================================================================
\label{sec_pts_overview}

Materials for the PABLO reference design were selected to minimize
customization. Parts on this list can be purchased from multiple
vendors and substitutions of similar items can be used in most
cases. Listed vendors are for price comparison only and are not
intended as an endorsement. Holes in the enclosure and the mounting
plate can be accomplished easily with typical machine shop tools and a
laser cutter or with some difficulty by a mechanical novice.

Below is a listing of parts required to assemble a single Pablo
unit. Web links and prices given are accurate as of March, 2016.

\vspace{0.1in}
\begin{figure}[H]
  \centering 
  \includegraphics[width=0.6\textwidth]{figures/pablo_parts.png}
  \caption{The parts of an unassembled PABLO unit.}
  \label{fig_pablo_parts}
\end{figure}
\vspace{0.1in}


%====================================================================
\section{PABLO Housing and Waterproof Connectors}
%====================================================================
\label{sec_pts_housing}

The Pablo unit housing is a polycarbonate box with a clear lid. This particular 
box was selected to fit inside the M200 payload bay while still having tall 
enough sides to support pass-through holes. The box is breached in 
four places with waterproof fittings:

\begin{enumerate}
\item 2 x USB connectors
\item 1 x Ethernet connector
\item 1 x PG7 Gland (for 5v power input)
\end{enumerate}

%====================================================================
\subsection{Enclosure}

\vspace{0.1in}
\begin{figure}[H]
  \includegraphics[width=0.25\textwidth]{figures/pablo_bud_box.png}
\end{figure}
\vspace{0.1in}

\begin{packed_itemize}
\item {\em Model ID:} Bud Industries P1325-C
\item {\em Description:} Polycarbonate enclosure with clear lid
\item {\em Purpose:} Provides housing and IP66 level of water
  protection
\item {\em Purchase:} 1 x \$33 ea
\item {\em Notes:} Pricing is for standard uncut enclosure only. For
  additional costs, the box can be custom-ordered from Newark with
  precut holes in minimum quantity of 10.
\item \urlx{http://www.newark.com/bud-industries/pn-1325-c/enclosure-junction-box-polycarbonate/dp/95F6390}
\end{packed_itemize}

%====================================================================
\subsection{Waterproof Cable Gland}

\vspace{0.1in}
\begin{figure}[H]
  \includegraphics[width=0.15\textwidth]{figures/pablo_waterproof_cable_gland.png}
\end{figure}
\vspace{0.1in}

\begin{packed_itemize}
\item {\em Model ID:} JACOB 50.007 PA-F
\item {\em Description:} PG7 Cable Gland, 3 mm to 6.5 mm
\item {\em Purpose:} Enables power cable to pass through the enclosure.
\item {\em Purchase:} 1 x \$1 ea
\item {\em Notes:} Any cable gland sized for PG7 and 3mm to 6.5mm diameter 
cable can be used.
\item 
\urlx{http://www.newark.com/jacob/50-007-pa-f/cable-clamp-gland-dome-top-nylon/dp/26M7389}
\end{packed_itemize}

%====================================================================
\subsection{Waterproof USB Connector (x 2)}

\vspace{0.1in}
\begin{figure}[H]
  \includegraphics[width=0.15\textwidth]{figures/pablo_waterproof_usb_connector.png}
\end{figure}
\vspace{0.1in}

\begin{packed_itemize}
\item {\em Model ID:} Bulgin Buccaneer PX0842/A
\item {\em Description:} IP68 USB-A Connector
\item {\em Purpose:} Waterproof USB connectors on the enclosure that
  allow external devices to connect to the computer.
\item {\em Purchase:} 2 x \$16 ea
\item {\em Notes:} The PX0842/A provides a USB-A receptacle on the
  outside. The PX0842/B can be used instead to provide a USB-B
  receptacle on the outside but requires a USB A-A cable to connect
  internally to the computer.
\item \urlx{http://www.newark.com/bulgin/px0842-a/adapter-usb-a-usb-b/dp/86H3159}
\end{packed_itemize}

%====================================================================
\subsection{Waterproof Ethernet Connector}

\vspace{0.1in}
\begin{figure}[H]
  \includegraphics[width=0.15\textwidth]{figures/pablo_waterproof_ethernet_connector.png}
\end{figure}
\vspace{0.1in}


\begin{packed_itemize}
\item {\em Model ID:} Bulgin Buccaneer PX0833
\item {\em Description:} IP68 RJ45 Ethernet Connector
\item {\em Purpose:} Waterproof Ethernet connector on the enclosure that 
connects the internal computer to the local network.
\item {\em Purchase:} 1 x \$26ea
\item \urlx{http://www.mcmelectronics.com/product/831-2945}
\end{packed_itemize}

%====================================================================
\subsection{Waterproof Connector Cap}

\vspace{0.1in}
\begin{figure}[H]
  \includegraphics[width=0.2\textwidth]{figures/pablo_waterproof_connector_cap.png}
\end{figure}
\vspace{0.1in}


\begin{packed_itemize}
\item {\em Model ID:} Bulgin Buccaneer PX0733
\item {\em Description:} Sealing Cap for Buccaneer USB/Ethernet
\item {\em Purpose:} Ensure waterproofing on USB and ethernet ports when no USB 
cable is connected.
\item {\em Purchase:} 3 x \$2ea
\item \urlx{http://www.newark.com/bulgin/px0733/sealing-cap-polyamide/dp/48F2467}
\end{packed_itemize}


%====================================================================
\section{PABLO Computer and Related Hardware}
%====================================================================
\label{sec_pts_computer}

The Raspberry Pi 3 Model B was selected as a low-power,
small-footprint computer that supports a GNU/Linux type of operating
system. The computer uses a MicroSDHC card as a storage drive. An
optional TFT display can attach inside the housing.

%====================================================================
\subsection{Computer}

\vspace{0.1in}
\begin{figure}[H]
  \includegraphics[width=0.25\textwidth]{figures/pablo_raspi.png}
\end{figure}
\vspace{0.1in}


\begin{packed_itemize}
\item {\em Model ID:} Raspberry Pi 3 Model B
\item {\em Purpose:} Primary PABLO computer
\item {\em Purchase:} 1 x \$35 ea
\item {\em Notes:} Older Raspi versions can be used but are not supported by 
Pablo documentation.
\item   \urlx{http://www.mcmelectronics.com/product/83-17300}
\end{packed_itemize}

%====================================================================
\subsection{MicroSDHC Card}

\vspace{0.1in}
\begin{figure}[H]
  \includegraphics[width=0.2\textwidth]{figures/pablo_sd_card.png}
\end{figure}
\vspace{0.1in}

\begin{packed_itemize}
\item {\em Model ID:} Kingston 16gb (SDC4/16GBET)
\item {\em Description:} 16gb Class 4 microSDHC 
\item {\em Purpose:} Data storage for the Raspberry PI
\item {\em Purchase:} 1 x \$5 ea
\item {\em Notes:} Any 16gig microSDHC card can be used. Beware of counterfeit 
microSD cards.
\item \urlx{http://www.amazon.com/dp/B00DYQYLQQ}
\end{packed_itemize}

%====================================================================
\section{PABLO Cables and Wiring}
%====================================================================
\label{sec_pablo_computer}

Manufactured cables are used to connect the computer to the
enclosure-mounted waterpoof USB and Ethernet
connectors. Unfortunately, no existing cables meet the needs for
powering the computer, with a waterproof barrel connector outside the
box and a micro-USB within. Therefore, these are purchased separately
and custom-joined during Pablo assembly.

%====================================================================
\subsection{Waterproof Power Connector}

\vspace{0.1in}
\begin{figure}[H]
  \includegraphics[width=0.85\textwidth]{figures/pablo_waterproof_dc_power.png}
\end{figure}
\vspace{0.1in}


\begin{packed_itemize}
\item {\em Model ID:} Adafruit Industries 743
\item {\em Description:} Waterproof DC Power Cable Set, 5.5/2.1mm
\item {\em Purpose:} Connect to an external regulated 5V power source.
\item {\em Purchase:} 1 x \$3 ea 
\item {\em Notes:} Can be purchased as a 10-pack for lower per-unit cost.
\item \urlx{https://www.adafruit.com/products/743?gclid=CjwKEAjw_LG8BRDb1JTxm8uP_UwSJADu_8pWwcVIcvts4PvYkEisCA2uOCgV-nf9aue6t-gyB95PwRoCrHvw_wcB}
\end{packed_itemize}

%====================================================================
\subsection{MicroUSB Cable for Raspi Power}

\vspace{0.1in}
\begin{figure}[H]
  \includegraphics[width=0.2\textwidth]{figures/pablo_usb_power_cable.png}
\end{figure}
\vspace{0.1in}

\begin{packed_itemize}
\item {\em Model ID:} Stellar Labs HK-MUS11
\item {\em Description:} 3' USB A Male to Micro B Male Cable
\item {\em Purpose:} Connect power to the internal computer.
\item {\em Purchase:} 1 x \$1 ea
\item {\em Notes:} The USB-A end of the cable will be cut off during 
installation.
\item \urlx{http://www.mcmelectronics.com/product/83-16412}
\end{packed_itemize}

%====================================================================
\subsection{6" Ethernet Cable}

\vspace{0.1in}
\begin{figure}[H]
  \includegraphics[width=0.2\textwidth]{figures/pablo_ethernet_cable.png}
\end{figure}
\vspace{0.1in}


\begin{packed_itemize}
\item {\em Model ID:} TE Connectivity 1487586-2
\item {\em Description:} USB A to B cable, 0.25M
\item {\em Purpose:} Connect the Raspi to the external waterproof USB 
connectors.
\item {\em Purchase:} 1 x \$13 ea
\item {\em Notes:} This item is a 10-pack of 6" ethernet cables.
\item \urlx{http://www.amazon.com/dp/B00OQQQLCK}
\end{packed_itemize}

%====================================================================
\subsection{Butt Splice}

\vspace{0.1in}
\begin{figure}[H]
  \includegraphics[width=0.2\textwidth]{figures/pablo_butt_splices.png}
\end{figure}
\vspace{0.1in}

\begin{packed_itemize}
\item {\em Model ID:} TE CONNECTIVITY / AMP  321026
\item {\em Description:} TERMINAL, BUTT SPLICE, 26-22AWG, YELLOW
\item {\em Purpose:} Connect the input power and microUSB cables.
\item {\em Purchase:} 2 x \$0.18 ea 
\item {\em Notes:} Butt splices can be replaced by proper soldering with 
adequate heat shrink.
\item 
\urlx{http://www.newark.com/te-connectivity-amp/321026/terminal-butt-splice-26-22awg/dp/24Y9956}
\end{packed_itemize}

%====================================================================
\subsection{Shore Power Supply}

\vspace{0.1in}
\begin{figure}[H]
  \includegraphics[width=0.25\textwidth]{figures/pablo_shore_power_supply.png}
\end{figure}
\vspace{0.1in}


\begin{packed_itemize}
\item {\em Model ID:} TRIAD MAGNETICS WSU050-3000
\item {\em Description:} AC/DC Power Supply, Switch Mode, 100-240V, 5V, 3A
\item {\em Purpose:} 5V power source when AC is available or working away
  from the field vehicle.
\item {\em Purchase:} 1 x \$13 ea
\item {\em Notes:} Any converter with a barrel plug of 5.5 x 2.1mm can be used 
that supplies regulated 5V at a minimum of 2.5A. This particular unit was 
selected as the least expensive unit from a reputable manufacturer with a 
published datasheet.
\item 
\urlx{http://www.newark.com/triad-magnetics/wsu050-3000/ac-dc-converter-external-plug/dp/83T4304}
\end{packed_itemize}

%====================================================================
\section{PABLO Internal Mounting Components}
%====================================================================
\label{sec_pts_mounting}

The computer installed on a mounting plate, which is then affixed to
the inside bottom of the enclosure. The enclosure has bosses for M3
screws. Holes in the Raspi accept up to 2.5mm diameter screws.

%====================================================================
\subsection{Mounting Plate}

\vspace{0.1in}
\begin{figure}[H]
  \includegraphics[width=0.3\textwidth]{figures/pablo_mounting_plate.png}
\end{figure}
\vspace{0.1in}

\begin{packed_itemize}
\item {\em Model ID:} MIT Pablo Raspberry Pi Mounting Plate
\item {\em Purpose:} Attaches the Raspi inside the enclosure.
\item {\em Purchase:} 1 x \$25 ea 
\item {\em Ordering URL:} \urlx{http://www.ponoko.com/showroom/MITPablo}
\item {\em Notes:} The file is a free download from Ponoko and can be
  cut on any laser cutter or customized and uploaded back to Ponoko to
  be created. More than one plate can be cut from the same P2-sized
  sheet of acrylic.
\end{packed_itemize}

%====================================================================
\subsection{Raspi Mounting Screws}

\vspace{0.1in}
\begin{figure}[H]
  \includegraphics[width=0.45\textwidth]{figures/pablo_raspi_mounting_screws.png}
\end{figure}
\vspace{0.1in}

\begin{packed_itemize}
\item {\em Description:} M2.5 x 6mm Thread Rod Insulation Nylon Cross
  Head Screws Bolts
\item {\em Purpose:} Affixes the Raspi to the mounting plate.
\item {\em Purchase:} 1 x \$7.46 ea (100 screws in package, 4 used in
  PABLO unit)
\item \urlx{https://www.amazon.com/gp/product/B00UJ9BYY8/}
\end{packed_itemize}

%====================================================================
\subsection{Raspi Mounting Screw Spacers}

\vspace{0.1in}
\begin{figure}[H]
  \includegraphics[width=0.45\textwidth]{figures/pablo_raspi_mounting_spacers.png}
\end{figure}
\vspace{0.1in}

\begin{packed_itemize}
\item {\em Description:} Nylon Hex Standoff Spacer M2.5 Female to Male 12mm+6mm
\item {\em Purpose:} Affixes the Raspi to the mounting plate.
\item {\em Purchase:} 1 x \$10.40 ea (100 screws in package, 4 used in PABLO unit)
\item \urlx{https://www.amazon.com/gp/product/B00NQBDHOG/}
\end{packed_itemize}

%====================================================================
\subsection{Raspi Mounting Screw Spacers}

\vspace{0.1in}
\begin{figure}[H]
  \includegraphics[width=0.45\textwidth]{figures/pablo_raspi_nylon_hex_nut.png}
\end{figure}
\vspace{0.1in}

\begin{packed_itemize}
\item {\em Description:} M2.5 Thread Nylon Hex Nut Threaded Spacer
  Support for PCB Board
\item {\em Purpose:} Nuts for the nylon bolts holding the RasPi bard
  the PABLO mounting plate.
\item {\em Purchase:} 1 x \$6.84 ea (50 nuts in package, 4 used in
  PABLO unit)
\item \urlx{https://www.amazon.com/gp/product/B00UBUBJL8/}
\end{packed_itemize}

%====================================================================
\subsection{Plate Mounting Screws}

\vspace{0.1in}
\begin{figure}[H]
  \includegraphics[width=0.2\textwidth]{figures/pablo_plate_mounting_screws.png}
\end{figure}
\vspace{0.1in}


\begin{packed_itemize}
\item {\em Description:} Steel Machine Screw, Zinc Plated Finish, Flat Head, Phillips Drive, 6mm Length, M3-0.5 Metric Coarse Threads
\item {\em Purpose:} Affixes the mounting plate and Raspi.
\item {\em Purchase:} 1 x \$2.40 ea (100 screws in package)
\item \urlx{https://www.amazon.com/gp/product/B000NHVQTO}
\end{packed_itemize}

%====================================================================
\section{PABLO Power}
%====================================================================
\label{sec_pts_power}

%====================================================================
\subsection{Field DC-DC Power Supply}

\vspace{0.1in}
\begin{figure}[H]
  \includegraphics[width=0.2\textwidth]{figures/pablo_power_converter.png}
\end{figure}
\vspace{0.1in}


\begin{packed_itemize}
\item {\em Model ID:} SINOLLC DC 12V 24V to 5V 3A Converter Step Down
  Regulator
\item {\em Purpose:} 5v power source on the field vehicle or from
  other DC source.
\item {\em Purchase:} 1 x \$8ea
\item {\em Notes:} One DC-DC power supply is required for each vehicle.
\item \urlx{https://www.amazon.com/Converter-Regulator-Regulated-Supplies-Transformer/dp/B00J3MHRNO}
\end{packed_itemize}

%====================================================================
\subsection{PABLO Battery}

\vspace{0.1in}
\begin{figure}[H]
  \includegraphics[width=0.25\textwidth]{figures/pablo_battery.png}
\end{figure}
\vspace{0.1in}


\begin{packed_itemize}
\item {\em Model ID:} Tenergy 9.6V 2000mAh NiMH High Capacity Battery Pack
\item {\em Purpose:} Battery for PABLO on the vehicle
\item {\em Purchase:} 1 x \$14.99
\item {\em Notes:} One battery is required for each vehicle, spares are good.
\item \urlx{https://www.amazon.com/gp/product/B001BA292A/}
\end{packed_itemize}

%====================================================================
\section{PABLO Cable to M200 Payload Port}
%====================================================================
\label{sec_pablo_M200cable}

%====================================================================
\subsection{Waterproof Ethernet Connector}

\vspace{0.1in}
\begin{figure}[H]
  \includegraphics[width=0.18\textwidth]{figures/pablo_waterproof_ethernet_connector.png}
\end{figure}
\vspace{0.1in}

\begin{packed_itemize}
\item {\em Model ID:} Conec 17-10001 RJ45 waterproof
\item {\em Purpose:} Connect to the waterproof Ethernet receptacle on the 
Kingfisher M200.
\item {\em Purchase:} 1 x \$7ea
\item 
\urlx{http://www.mouser.com/ProductDetail/CONEC/17-10001/?qs=sGAEpiMZZMuG6\%2fXKM6MUafUhtttQiSal}
\end{packed_itemize}

%====================================================================
\subsection{Ethernet Cable Tip Crimp Tool}


\vspace{0.1in}
\begin{figure}[H]
  \includegraphics[width=0.35\textwidth]{figures/pablo_crimp_tool.png}
\end{figure}
\vspace{0.1in}


\begin{packed_itemize}
\item {\em Model ID:} Klein Tools VDV226-011-SEN Ratcheting Modular 
Crimper/Stripper/Cutter
\item {\em Purpose:} Crimp connector onto end of Ethernet cable.
\item {\em Purchase:} 1 x \$33ea
\item \urlx{http://www.amazon.com/dp/B002D3B97U}
\end{packed_itemize}

%====================================================================
\subsection{Spare Ethernet Cable Tips}

\vspace{0.1in}
\begin{figure}[H]
  \includegraphics[width=0.35\textwidth]{figures/pablo_cat5_connectors.png}
\end{figure}
\vspace{0.1in}


\begin{packed_itemize}
\item {\em Model ID:} C\&amp;E Cat6, Cat5e crimp connectors
\item {\em Purpose:} Spare Ethernet connector to replace those damaged
  during installation or use.
\item {\em Purchase:} 1 x \$9ea
\item {\em Notes:} Contains 50 connectors in the bag for this price.
\item \urlx{http://www.amazon.com/dp/B00BS92DCA}
\end{packed_itemize}


%====================================================================
\section{PABLO Parts No Longer Used}
%====================================================================
\label{sec_pts_unused}


%====================================================================
\subsection{TFT Display}
\begin{packed_itemize}
\item {\em Model ID:} Adafruit Model 1601 (or 1601B)
\item {\em Description:} PiTFT 320x240 2.8 inch with touchscreen
\item {\em Purpose:} User interface display to simplify terminal
  access to the Raspi and to assist with system troubleshooting.
\item {\em Purchase:} 1 x \$34 ea
\item {\em Notes:} An internal display is optional but highly
  recommended.  Alternatives include installing a waterproof HDMI port
  and pigtail; opening the lid of the enclosure to connect an HDMI
  cable.
\item 
\urlx{http://www.newark.com/adafruit-industries/1601/pitft-lcd-screen-touchscreen/dp/42X0914}
\end{packed_itemize}


%====================================================================
\subsection{Raspi Mounting Screws}
\begin{packed_itemize}
\item {\em Model ID:} Small Parts B00F33LFTE
\item {\em Description:} Slotted Nylon Machine Screw, 6/6 M2.5-0.45 x 25mm
\item {\em Purpose:} Affixes the Raspi to the mounting plate.
\item {\em Purchase:} 1 x \$4 ea (100 screws in package, 4 used in PABLO unit)
\item \urlx{http://www.amazon.com/dp/B00F33LFTE}
\end{packed_itemize}

%====================================================================
\subsection{Raspi Mounting Hex Nuts}
\begin{packed_itemize}
\item {\em Model ID:} Small Parts B00DGB9SWG
\item {\em Description:} Nylon 6/6 M2.5-0.45 hex nut, 5mm driver
\item {\em Purpose:} Affixes the Raspi to the mounting plate.
\item {\em Purchase:} 1 x \$5 ea (100 screws in package, 4 used in PABLO unit)
\item \urlx{http://www.amazon.com/dp/B009EFSCN4}
\end{packed_itemize}

%====================================================================
\subsection{Raspi Elevating Spacers}
\begin{packed_itemize}
\item {\em Model ID:} Small Parts B00DIHVJD4
\item {\em Description:} Round Nylon, 8mm Screw Size, 8mm OD, 3.2mm ID, 5mm
\item {\em Purpose:} Spacers to elevate the Raspi mounting.
\item {\em Purchase:} 1 x \$7 ra (100 spacers in package)
\item \urlx{www.amazon.com/dp/B00137U7I4}
\end{packed_itemize}

\end{document}

</pre></body></html>