launching station for sensor deployment team members: brian molnar, shawn mcgrady, joe liquore, ken...

Launching Station Launching Station for Sensor for Sensor

DeploymentDeploymentTeam Members:Team Members:

Brian Molnar, Shawn McGrady, Joe Liquore, Ken SchroederBrian Molnar, Shawn McGrady, Joe Liquore, Ken Schroeder

Faculty Advisor: Faculty Advisor: Dr. Jeff Dr. Jeff Kozak

Team Consultant: Michael ShahenMichael Shahen

Team 02010

Sponsor:Sponsor:R•I•T Mechanical Engineering DepartmentR•I•T Mechanical Engineering Department

Midterm Design ReviewMidterm Design Review

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MotivationMotivation

Smart Dust Module Animal Tag Transponder

Applications:1. Department of Defense2. Civilian3. Space

Performance ParametersPerformance Parameters

• Launching station shall be mounted to a remotely controlled vehicle

• Overall size less than 12” x 12”

Minimum Required Performance

• Wind Sensor

• Global Position System (G.P.S.)

Desired Performance

• Self-contained power supply

• Reloading System

• Launching station should be as small as possible

• Operate in atmospheric conditions ranging from 0°C to 50°C

Initial Brainstorming Initial Brainstorming ResultsResultsMethod of Propulsion Type of Loading

Compressed Air Gravity Feed MagazineSpring Spring Loaded MagazineCO2 RevolverRubber Band Gatling GunImpact Hammer Muzzle LoaderChemical Machine GunGun PowderRocket Fuel Modification of Launch Trajectory AngleCatapult ActuatorSport and Clave Thrower Vary Propulsion PowerCombustion Actuator and Vary Propulsion PowerCentrifugal ForceInertial drive Method of Rotating Launch PlatformWheel Drive Turn Entire Robot with Robot WheelsWater Power Gear Driven TurretCross Bow

Brainstorming Results After VotingBrainstorming Results After Voting•••• Compressed Air/CO2 •••• Gravity Feed Magazine•••• Spring ••• Spring Loaded Magazine

• Rubber Band • RevolverImpact Hammer Gatling Gun

• Chemical Muzzle LoaderGun Powder Machine GunRocket FuelCatapultSport and Clave Thrower ActuatorCombustion • Vary Propulsion PowerCentrifugal Force ••• Actuator and Vary Propulsion PowerInertial drive

•• Wheel DriveWater Power •• Turn Entire Robot with Robot WheelsCross Bow •• Gear Driven Turret

Method of Propulsion Type of Loading

Modification of Launch Trajectory Angle

Method of Rotating Launch Platform

Compressed Air/CO2 Concept

Initial Design Initial Design ConceptsConcepts

Rubber-band Launched Concept

Spring Launched Concept

Wheel Drive Concept

Feasibility AssessmentFeasibility Assessment

1. Technical2. Economic3. Market4. Schedule5. Performance

0

1

2

3T1

T2

E1

E2

M1

M2

S1

S2

P1

P2

P3

P4

Spring Launch

Rubber Band Launch

Wheel Friction Launch

Pneumatic Launch

Microrockets (Base Concept)

Components of Initial Components of Initial DesignDesign

Wind SensorMechanical Components

Tilting SystemPneumaticsG.P.S.

PneumaticsPneumatics

Regulator

Actuator Valve

Bolt Valve

BoltActuator

Tank

Bolt, Barrel, Magazine Bolt, Barrel, Magazine &Receiver&Receiver

Magazine

Actuator

Bolt

Receiver

Barrel

Finite Element Finite Element AnalysisAnalysis

€

σθ =pi ⋅ ri

2 + ro2

( )

ro2 − ri

2

€

σθ =800

lb

in 2⋅ 0.252in2 + 0.334 in2( )

0.334in 2 − 0.252in 2

€

σθ =2,903lb

in2

€

σY = 35,000lb

in 2 6061- T6 Aluminum

€

σr = − pi

€

σr = −800p.s.i.

€

σθ =3.056lb

in2

Tilting MechanismTilting MechanismReceiver

Barrel

GearsStepper Motor

Fork

POSITION 2: BOLT CLOSED, READY TO FIRE• Inserted into 0.5 inch spheres

•Allows for sensor protection during deployment

•Allows for various types of sensors to be launched

•Simplifies Aerodynamics (constant projected area)

•Allows for easier reloading

Sensor EncapsulationSensor Encapsulation

Sensor 0.5” Sphere

• Air Resistance or Drag - decreases overall range of sensor

• Effects of Wind• Crosswind – Causes deflection of flight path• Headwind/Tailwind – Reduces/increases overall range

• Rotation/Spin – Deflection of flight path and/or changes in range (Magnus Effect)

•Sensor Mass – Reduces or increases range.

Sensor AerodynamicsSensor Aerodynamics

Mass Effects

30.4

30.6

30.8

31

31.2

31.4

31.6

31.8

1

Material

Range (ft)

Polycarbonate (m=.00071 slugs) White Delrin (m=.00083 slugs) Steel (m=.00462 slugs)

Range

0.0

1.0

2.0

3.0

4.0

5.0

6.0

7.0

8.0

9.0

10.0

0.0 5.0 10.0 15.0 20.0 25.0 30.0 35.0

Distance (ft)

Height (ft)

G.P.S.G.P.S.

• Allows the system Allows the system to determine to determine current locationcurrent location

• OEM style GPS OEM style GPS sensor utilizedsensor utilized• Low power Low power • Small sizeSmall size• Requires an Requires an

external antennaexternal antenna

Antenna

G.P.S. Sensor

Wind SensorWind Sensor

• Allows the robot to Allows the robot to compensate for compensate for wind by wind by determining determining magnitude and magnitude and direction of direction of maximum sustained maximum sustained gustgust

• Utilizes 3 pressure Utilizes 3 pressure sensors sensors • 0-3 inches of water0-3 inches of water

Wind Sensor

Pressure Sensor

Next Quarter GoalsNext Quarter Goals

1. Build a fully functional prototype on 12” x 12” base.2. Test functionality of all components and interaction with

other parts.3. Calibrate wind sensor in the R.I.T. closed circuit wind

tunnel.4. Integrate all possible components onto 10cm robot, and

conduct tests with robot/launching station assembly.

Launching Station Launching Station for Sensor for Sensor

DeploymentDeployment

Questions?Questions?

Team 02010

Sponsor:Sponsor:R•I•T Mechanical Engineering DepartmentR•I•T Mechanical Engineering Department

Midterm Design ReviewMidterm Design Review

WWWA A A NNN D D D EEE R R R III N N N G G G BBB R R R OOO O O O K K K DDD E E E SSS I I I GGG NNN