Difference between revisions of "F14: Self Driving Undergrad Team"

Revision as of 02:46, 1 December 2014 (view source) Proj user8 (talk | contribs) (→‎Motor Controller Design Components) ← Older edit		Revision as of 02:48, 1 December 2014 (view source) Proj user8 (talk | contribs) (→‎Geographical Controller Team Hardware Design) Newer edit →
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	Discuss your hardware design of Geographical Controller		Discuss your hardware design of Geographical Controller
	*INCLUDE BLOCK DIAGRAM and PIN CONNECTIONS		*INCLUDE BLOCK DIAGRAM and PIN CONNECTIONS
		+
		+	==== Geographical Controller Hardware Design Components ====
		+	<table>
		+	<tr>
		+	<td valign="top" align="justify" width=400px>
		+	<b>Adafruit MTK3339 GPS:</b>
		+	<br>
		+	INSERT DESCRIPTION HERE
		+	</td>
		+	<td>
		+	[[File:CmpE243_F14_TeamUndergrad_AdafruitMTK3339GPS.jpg|200px]]
		+	</td>
		+	</tr>
		+
		+	<tr>
		+	<td valign="top" align="justify" width=400px>
		+	<b>Adafruit LSM303 Compass:</b>
		+	<br>
		+	INSERT DESCRIPTION HERE
		+	</td>
		+	<td>
		+	[[File:CmpE243_F14_TeamUndergrad_CompassLSM303.jpg|200px]]
		+	</td>
		+	</tr>
		+	<table>
		+
	==== Master Controller Team Hardware Design ====		==== Master Controller Team Hardware Design ====
	Discuss your hardware design of Master Controller		Discuss your hardware design of Master Controller

---

Revision as of 02:48, 1 December 2014

Grading Criteria

• How well is Software & Hardware Design described?
• How well can this report be used to reproduce this project?
• Code Quality
• Overall Report Quality:
  • Software Block Diagrams
  • Hardware Block Diagrams

    Schematic Quality

  • Quality of technical challenges and solutions adopted.

In Memory of Chi Lam

June 7th, 1991 - October 27th, 2014

This project is dedicated to Chi Lam, a beloved friend, dedicated Computer Engineering student, and member of this team.

You will be missed, friend.

Self-Driving Autonomous Car

Abstract

The objective of the project is to create a self-driving autonomous car in a 15 person team. The car utilizes several components and sensors in order to get from Point A to Point B. Implementation of the car involves multiple SJONE processor boards using FreeRTOS to communicate with each other via CAN bus.

Objectives & Introduction

Show list of your objectives. This section includes the high level details of your project. You can write about the various sensors or peripherals you used to get your project completed.

Team Members & Responsibilities

Master Controller Team
Charles Pham	Joshua Ambion	Michael Schneider
- Overall vehicle logic - Overall software vehicle Integration - CAN TX/RX messages architecture	- Vehicle hardware - Assistant to other teams - Module specific logic	- Module specific logic - CAN RX processing

Motor Controller Team
Nikko Esplana	Chi Lam
- Motor/steering control via PWM signals - interface/test/attach wheel encoder	- Rest in peace Chi!

Sensor Controller Team
Sanjay Maharaj	Wei-chieh "Andy" Lo
-	-

Geographical Controller Team
Carlos Fernandez-Martinez	Zach Baumgartner	Albert Chen
- Compass calibration/integration	- GPS testing/integration	- CAN communication

Bridge Controller Team
Robert Julius	Tim Martin	Joseph Bourne
- Android Application	- Bluetooth Message Interface	- Board to CAN Communication

IO Controller Team
Devin Villarosa	George Sebastian
- Receive Task - GUI Interface - Headlights Task - uLCD Library	- Event Handle Task - GUI Interface - Headlights Task - uLCD Library

Schedule

Show a simple table or figures that show your scheduled as planned before you started working on the project. Then in another table column, write down the actual schedule so that readers can see the planned vs. actual goals. The point of the schedule is for readers to assess how to pace themselves if they are doing a similar project.

Final Product Schedule

Week#	Date	Task	Actual
1	10/12	CAN Network Benchtest	Complete
2	10/15	Basic CAN Communication	Complete
3	10/31	Secure devices to R/C car	Complete
4	11/7	Basic Vehicle Self-Driving Test	In progress
5	11/14	P2P testing and improved obstacle avoidance	In progress
6	11/31	Buffer time for previous tasks and increased vehicle speed	In progress

Sensor Controller Schedule

Week#	Date	Task	Actual
1	10/13	Sensor Input Distance Calibration	Incomplete: Sonar is mostly calibrated, IR still needs work. Need sensor value "filtering" logic.
2	10/17	Off car CAN network test (full team)	Completed. Able to send raw sensor value to master.
3	10/20	Interface Sensors with CAN	Completed. Updates to the formatting of data being sent is ongoing.
4	10/27	Mount Sensors and test coverage	Completed. Still need to mount with actual brackets.
5	10/31	Mount Sensors with 3d printed brackets	Completed. IR brackets to be printed based on offset.
6	11/1	Implement diagnostic LED patterns	In progress.
7	11/3	Send obstacle avoidance decisions to master	Completed. Raw values sent to master for processing.
8	11/4	Add RJ11 cabling to all sensors	Completed. Still need to make neat and tidy.
9	11/10	Implement speed sensitivity	In progress
10	11/13	Test sensors during outdoor runs	In progress
11	11/17	Check wiring and label parts	In progress
12	11/24	Continue testing and tuning as necessary	In progress

Motor Controller Schedule

Week#	Date	Task	Actual
1	10/12	Open up servo and motor modules, find a speed sensor	Complete
2	10/19	Interface/test PWM bus to steering servo and DC motor	Complete
3	10/26	Allow self-driving capability with master/bridge/sensor teams	Incomplete, only partial self-driving achieved
4	11/2	Improve fine motor movements with master/sensor teams	In progress
5	11/9	Once wheel encoder comes in, learn/test/implement onto car	In progress
6	11/16	Integrate wheel encoder with rest of car	In progress
7	11/23	Test for proper operation	In progress
8	11/30	Continue testing until proper operation	In progress

I/O Schedule

Week#	Date	Task	Actual
1	10/4	Create LCD Screen Library (create ability to set value, get value, and write string to LCD screen)	10/4 (String function completed on ~10/18)
2	10/4	Create LCD Screen GUI (generate forms for debugging and general usage)	10/4
3	10/11	LCD Library Test (Do unit tests on individual functions for LCD library) Ability to get value from gauge on screen. Ability to set value to gauge on screen. Ability to send a string value to screen.	10/11 (Finished string function on ~10/18)
4	10/11	Interface LCD with CAN Create task for LCD event loop. Create task for Receiving on CAN.	Complete (Completed on 10/26/2014)
5	10/18	Test LCD with CAN Process CAN Messages from system	Complete (Completed on 10/25/2014)
6	10/25	Implement onto Final Product	Incomplete (ready for implementation)
7	11/2	Headlights for car (hardware and software) + Aesthetics for GUI + Clean up code

Communication Bridge and Android Schedule

Week#	Date	Task	Actual
1	10/13	CAN Network Test	Complete
2	10/20	Interface Bluetooth Module with CAN	Complete
3	10/27	Mount PCB on car	In progress
4	11/3	Create basic Android application	Completed on 10/18
5	11/10	Add map onto the Android application	In Progress
6	11/17	Send/receive CAN Messages via Android Application	Sending completed on 10/18, receiving in progress
7	11/24	Debug and Optimize Android Application	In progress
8	12/1	Continue Debugging and Optimizing as Necessary	In progress

Geographical Controller Schedule

Week#	Date	Task	Actual
1	10/8	Interface with GPS/Compass	Completed no issues encountered
2	10/15	Finish core API	In progress
3	10/22	GPS get fix and receive raw data	In progress
4	10/22	Compass determine heading	In progress
5	10/29	Self calibration completed	In progress
6	10/29	GPS parse raw data to extract needed data	In progress
7	10/29	Compass use heading from GPS to improve accuracy	In progress
8	11/5	Improve GPS satellite procurement (antennae?)	In progress
9	11/12	Improve boot up time of GPS module via warm start	In progress
10	11/12	Fine tune compass calibration technique for accuracy	In progress
10	12/3	Buffer time for completion of previous tasks	In progress

Master Controller Schedule

Line Item #	Expected End Date	Task	Status
1	10/15/14	Decide on raw CAN struct architecture	Early completion
2	10/18/14	Develop and layout general common CAN messages	On-time completion
3	10/20/14	Design vehicle initialization procedure	Early completion
4	10/23/14	Develop and layout Inter-Controller Communication - Each Module's CAN messages	Early completion
5	10/25/14	Design vehicle initial running freed drive mode procedure - Controlled via Phone, no object detection and avoidance, no GPS, no Heading	Early completion
6	10/28/14	Complete design on vehicle running free drive mode procedure	On-time completion
7	10/30/14	Design vehicle initial running indoor drive mode procedure - Timed autonomous drive , object detection and avoidance, (possibly heading), and no GPS	In progress
8	11/01/14	All CAN message definitions complete	Early Completion
9	11/02/14	Design vehicle initial running gps drive mode procedure - Full autonomous drive , object detection and avoidance, heading and GPS	In progress
10	11/05/14	All CAN message receive processing complete	On-time completion
11	11/14/14	All basic vehicle functionality state machines implemented and verified	On-time completion
12	11/15/14	Complete design on vehicle running indoor drive mode procedure	In progress
13	11/20/14	Complete design on vehicle running gps drive mode procedure	In progress
14	11/30/14	Any additional advanced functionality implemented and verified	In progress

Parts List & Cost

Line Item#	Part Desciption	Vendor	Part Number	Qty	Cost ($)
1	CAN Board	Waveshare International Limited	SN65HVD230	15	92.00
2	Traxxas Slash Pro 2WD Short-Course R/C Truck	Traxxas	58034 Slash	1	337.00
3	Adafruit Ultimate GPS Breakout	Adafruit	MTK3339	1	39.95 + (4.685 Shipping)
4	Triple-axis Accelerometer+Magnetometer (Compass) Board	Adafruit	LSM303	1	14.95 + (4.685 Shipping)
5	3.5" Intelligent module w/ Touch	4D Systems	uLCD 35DT	1	89.00
6	2GB microSD Card
7	uUSB-PA5 Programming Adaptor
8	150mm 5 way Female-Female jumper cable
9	5 way Male-Male adaptor
10	Sharp Infrared Range Finder	4D Systems	GP2Y0A21	2	9.95 + 3.32 Shipping
12	SainSmart Sonar Ranging Detector	Amazon	HC-SR04	3	5.59
13	RC LED Headlights	Amazon Prime		2	5.99
14	XBee Bluetooth
15
	Additional Shipping				$$$.$$
	Total Cost				$$$.$$

Design & Implementation

The design section can go over your hardware and software design. Organize this section using sub-sections that go over your design and implementation.

Hardware Design

    Discuss System Level Hardware Design
    *INCLUDE BLOCK DIAGRAM and PIN CONNECTIONS

Hardware Design Components

58034 Traxxas Slash RC Truck: INSERT DESCRIPTION HERE
SN65HVD230 CAN Board Transceiver: INSERT DESCRIPTION HERE
Adafruit MTK3339 GPS: INSERT DESCRIPTION HERE
Adafruit LSM303 Compass: INSERT DESCRIPTION HERE
HC-SR04 Ultrasonic Distance Sensor: INSERT DESCRIPTION HERE
LV-MaxSonar-EZ-0 Ultrasonic Range Sensor: INSERT DESCRIPTION HERE

Sensor Controller Team Hardware Design

    Discuss your hardware design of Sensor Controller
    *INCLUDE BLOCK DIAGRAM and PIN CONNECTIONS

Sensor Controller Hardware Design Components

HC-SR04 Ultrasonic Distance Sensor: INSERT DESCRIPTION HERE
LV-MaxSonar-EZ-0 Ultrasonic Range Sensor: INSERT DESCRIPTION HERE

Motor Controller Team Hardware Design

    Discuss your hardware design of Motor Controller
    *INCLUDE BLOCK DIAGRAM and PIN CONNECTIONS

Motor Controller Hardware Design Components

58034 Traxxas Slash RC Truck: INSERT DESCRIPTION HERE

Motor Pin Connections

Line Item#	Pin	SJONE Board Pin	Description
1	3.3V	3V3	SJOne Power
2	GND	GND	SJOne Ground
3	CAN Tx	P0.1 (Tx)	SJOne - CAN Tx
4	CAN Rx	P0.0 (Rx)	SJOne - CAN Rx
5		P2.0 PWM	Steering
6		P2.1 PWM	Motor
7	ESC Ground	GND	SJONE - ESC Ground

I/O Team Hardware Design

    Discuss your hardware design of I/O
    *INCLUDE BLOCK DIAGRAM and PIN CONNECTIONS

I/O Pin Connections

Line Item#	Pin	SJONE Board Pin	Description
1	1 (LCD +5V)	5.5V	uLCD 35DT LCD Power
2	7 (LCD GND)	GND	uLCD 35DT LCD Ground
3	5 (LCD RX)	RX3	uLCD 35DT LCD Receive Pin
4	3 (LCD TX)	TX3	uLCD 35DT LCD Transmit Pin
5	+3.3V	3V3	SJOne Power
6	GND	GND	SJOne Ground
7	UART2 RX	P2.9	SJOne RX
8	UART2 TX	P2.8	SJOne TX
9	+5V	GPIO P2.0	White LED1
10	+5V	GPIO P2.1	White LED2
11	+5V	GPIO P2.2	Red LED1
12	+5V	GPIO P2.3	Red LED2
13	CAN Tx	P0.1 (Tx)	SJOne - CAN Tx
14	CAN Rx	P0.0 (Rx)	SJOne - CAN Rx
15	CAN Power	3.3V	SJOne - CAN Power
16	CAN Ground	GND	SJOne - CAN Ground

Communication Bridge + Android Hardware Design

    Discuss your hardware design of Communication Bridge and Android
    *INCLUDE BLOCK DIAGRAM and PIN CONNECTIONS

Communication Bridge Pin Connections

Line Item#	Pin	SJONE Board Pin	Description
1	Tx (Bluetooth)	P0.10 (TXD2)	Bluetooth Transmit
2	Rx (Bluetooth)	P0.11 (RXD2)	Bluetooth Receive
3	CAN Tx	P0.1 (Tx)	SJOne - CAN Tx
4	CAN Rx	P0.0 (Rx)	SJOne - CAN Rx
5	CAN Power	3.3V	SJOne - CAN Power
6	CAN Ground	GND	SJOne - CAN Ground

Geographical Controller Team Hardware Design

    Discuss your hardware design of Geographical Controller
    *INCLUDE BLOCK DIAGRAM and PIN CONNECTIONS

Geographical Controller Hardware Design Components

Adafruit MTK3339 GPS: INSERT DESCRIPTION HERE
Adafruit LSM303 Compass: INSERT DESCRIPTION HERE

Master Controller Team Hardware Design

    Discuss your hardware design of Master Controller
    *INCLUDE BLOCK DIAGRAM and PIN CONNECTIONS

Master Pin Connections

Line Item#	Pin	SJONE Board Pin	Description
1	3.3V	3V3	SJOne Power
2	GND	GND	SJOne Ground
3	CAN Tx	P0.1 (Tx)	SJOne - CAN Tx
4	CAN Rx	P0.0 (Rx)	SJOne - CAN Rx

Hardware Interface

In this section, you can describe how your hardware communicates, such as which BUSes used. You can discuss your driver implementation here, such that the Software Design section is isolated to talk about high level workings rather than inner working of your project.

SYSTEM LEVEL HARDWARE INTERFACE INTERFACE GOES HERE

Sensor Controller Team Hardware Interface

    Describe how your hardware communicates. WHAT BUSes were used
    *SHOW HOW FRAMES ARE SENT

Motor Controller Team Hardware Interface

    Discuss your hardware design of Motor Controller
    *SHOW HOW FRAMES ARE SENT

I/O Team Hardware Interface

    Discuss your hardware design of I/O
    *SHOW HOW FRAMES ARE SENT

Communication Bridge + Android Hardware Interface

    Discuss your hardware design of Communication Bridge and Android
    *SHOW HOW FRAMES ARE SENT

123

Geographical Controller Team Hardware Interface

    Discuss your hardware design of Geographical Controller
    *SHOW HOW FRAMES ARE SENT
    

Master Controller Team Hardware Interface

    Discuss your hardware design of Master Controller
    *SHOW HOW FRAMES ARE SENT

Software Design

Show your software design. For example, if you are designing an MP3 Player, show the tasks that you are using, and what they are doing at a high level. Do not show the details of the code. For example, do not show exact code, but you may show psuedocode and fragments of code. Keep in mind that you are showing DESIGN of your software, not the inner workings of it.

SYSTEM LEVEL SOFTWARE DESIGN GOES HERE

Sensor Controller Team Software Design

    Describe how your hardware communicates. WHAT BUSes were used
    *SHOW SOFTWARE FLOWCHART DIAGRAM

Motor Controller Team Software Design

    Discuss your hardware design of Motor Controller
    *SHOW SOFTWARE FLOWCHART DIAGRAM

I/O Team Software Design

The I/O Software is based off of two tasks: The Event Handler Task and the RX Task.

Event Handler Task (High Priority):

This Task receives any immediate messages sent from the uLCD, processes the message, and sends the message to the CAN BUS.

This task enables the system to: Turn On/Off the Vehicle and Change Vehicle Modes.

RX Task (Low Priority):

This task receives all messages from the CAN BUS, and outputs message data onto the uLCD

High Level IO Software Logic

Event Handler Task Logic

RX Task Logic

Communication Bridge + Android Software Design

    Discuss your hardware design of Communication Bridge and Android
    *SHOW SOFTWARE FLOWCHART DIAGRAM

Geographical Controller Team Software Design

    Discuss your hardware design of Geographical Controller
    *SHOW SOFTWARE FLOWCHART DIAGRAM
    

Master Controller Team Software Design

    Discuss your hardware design of Master Controller
    *SHOW SOFTWARE FLOWCHART DIAGRAM

Software Interface

This section includes implementation, but again, not the details, just the high level. For example, you can list the steps it takes to communicate over a sensor, or the steps needed to write a page of memory onto SPI Flash. You can include sub-sections for each of your component implementation.

SYSTEM LEVEL SOFTWARE IMPLEMENTATION GOES HERE

Sensor Controller Team Software Interface

    Describe steps to communicate hardware
    

Motor Controller Team Software Interface

    Describe steps to communicate hardware

I/O Team Software Interface

    Describe steps to communicate hardware

Communication Bridge + Android Software Interface

    Describe steps to communicate hardware

Geographical Controller Team Software Interface

    Describe steps to communicate hardware
    

Master Controller Team Software Interface

    Describe steps to communicate hardware

CAN Communication Table

Master CAN Communication Table

TX Message ID	TX Message Transmit Rate	TX Message Description	RX Response Message ID	RX Listening Module
0x100	1hz Periodic	Request Heartbeat (Module state and Timestamp)	0x200, 0x300, 0x400, 0x500, 0x600 (Respectively)	Motor, Sensor, Geo, Bridge, IO (Respectively)
0x101	1hz Periodic	Send Vehicle State	N/A	Motor, Sensor, Geo, Bridge, IO
0x124	Spontaneous	Set Torque and Steering	N/A	Motor
0x140	Spontaneous	Send Destination GPS	N/A	Geo
0x14A	Spontaneous	Request Calibrate Compass	N/A	Geo
0x14B	Spontaneous	Request Compass Heading	N/A	Geo
0x14C	Spontaneous	Request Current GPS	N/A	Geo
0x14D	Spontaneous	Request Current Time	N/A	Geo

Motor CAN Communication Table

TX Message ID	TX Message Transmit Rate	TX Message Description	RX Response Message ID	RX Listening Module
N/A	N/A	N/A	N/A	N/A

Sensor CAN Communication Table

TX Message ID	TX Message Transmit Rate	TX Message Description	RX Response Message ID	RX Listening Module
0x330	10hz Periodic	Transmit all sensor's distances	N/A	Master, IO

Geo CAN Communication Table

TX Message ID	TX Message Transmit Rate	TX Message Description	RX Response Message ID	RX Listening Module
0x441	10hz Periodic	Transmit Current GPS Coordinates	N/A	Master, IO
0x445	10hz Periodic	Transmit Current Heading and Bearing	N/A	Master, IO

Bridge CAN Communication Table

TX Message ID	TX Message Transmit Rate	TX Message Description	RX Response Message ID	RX Listening Module
0x050	Spontaneous	Request Drive Mode change to Free Drive	N/A	Master
0x051	Spontaneous	Request Drive Mode change to GPS Drive	N/A	Master
0x052	Spontaneous	Request Drive Mode change to Indoor Drive	N/A	Master
0x053	Spontaneous	Transmit Destination GPS Coordinates	N/A	Master
0x055	Spontaneous	Request Vehicle Start Driving Command	N/A	Master
0x056	Spontaneous	Request Vehicle Turn Off	N/A	Master
0x057	Spontaneous	Request Vehicle Turn On	N/A	Master
0x058	Spontaneous	Send Free Drive Turn Left	N/A	Master
0x059	Spontaneous	Send Free Drive Straight	N/A	Master
0x05A	Spontaneous	Send Free Drive Turn Right	N/A	Master
0x05B	Spontaneous	Send Free Drive Stop	N/A	Master
0x05C	Spontaneous	Send Free Drive Reverse Left	N/A	Master
0x05D	Spontaneous	Send Free Drive Reverse Straight	N/A	Master
0x05E	Spontaneous	Send Free Drive Reverse Right	N/A	Master

IO CAN Communication Table

TX Message ID	TX Message Transmit Rate	TX Message Description	RX Response Message ID	RX Listening Module
0x060	Spontaneous	Request Drive Mode change to Free Drive	N/A	Master
0x061	Spontaneous	Request Drive Mode change to GPS Drive	N/A	Master
0x062	Spontaneous	Request Drive Mode change to Indoor Drive	N/A	Master
0x063	Spontaneous	Request Vehicle Turn On	N/A	Master
0x064	Spontaneous	Request Vehicle Turn Off	N/A	Master
0x065	Spontaneous	Transmit Destination GPS Coordinates	N/A	Master
0x066	Spontaneous	Request Vehicle Start Driving Command	N/A	Master

Testing

---

Sensor Controller Testing

Sensor Controller Testing #1

Describe how you tested the Sensors

---

Motor Controller Testing

Motor Controller Testing #1

Describe how you tested the motors

---

I/O Testing

I/O Testing #1

Describe how you tested the I/O Device

---

Communication Bridge + Android Testing

Communication Bridge + Android Testing #1

Describe how you tested the Communication Bridge + Android

---

Geographical Controller

Geographical Controller

Describe how you tested the Geographical Controller

---

Master Controller

Master Controller Testing #1

Describe how you tested the Master Controller

---

Technical Challenges

Sensor Controller Team Issues

MY ISSUE #1 TITLE

PROBLEM:

RESOLUTION:

FUTURE RECOMMENDATIONS:

MY ISSUE #2 TITLE

PROBLEM:

RESOLUTION:

FUTURE RECOMMENDATIONS:

Motor Controller Team Issues

Motor Controller Issue #1

PROBLEM:

RESOLUTION:

FUTURE RECOMMENDATIONS:

Motor Controller Issue #2

PROBLEM:

RESOLUTION:

FUTURE RECOMMENDATIONS:

I/O Team Issues

I/O Team Issue #1

PROBLEM:

Tasks blocking each other, thus slowing down performance

RESOLUTION:

Restructured task architecture

FUTURE RECOMMENDATIONS:

Draw out architecture first, then code

I/O Team Issue #2

PROBLEM:

RESOLUTION:

FUTURE RECOMMENDATIONS:

Communication Bridge + Android Team Issues

Communication Bridge + Android Issue #1

PROBLEM:

RESOLUTION:

FUTURE RECOMMENDATIONS:

Communication Bridge + Android #2

PROBLEM:

RESOLUTION:

FUTURE RECOMMENDATIONS:

Geographical Controller Issues

Geographical Controller #1

PROBLEM:

RESOLUTION:

FUTURE RECOMMENDATIONS:

Geographical Controller #2

PROBLEM:

RESOLUTION:

FUTURE RECOMMENDATIONS:

Master Controller Team Issues

Master Controller Issue #1

PROBLEM:

RESOLUTION:

FUTURE RECOMMENDATIONS:

Master Controller#2

PROBLEM:

RESOLUTION:

FUTURE RECOMMENDATIONS:

Conclusion

Conclude your project here. You can recap your testing and problems. You should address the "so what" part here to indicate what you ultimately learnt from this project. How has this project increased your knowledge?

Project Video

Upload a video of your project and post the link here.

Project Source Code

• Sourceforge Source Code Link

References

Acknowledgement

Any acknowledgement that you may wish to provide can be included here.

References Used

List any references used in project.

Appendix

You can list the references you used.