project windbot

1

Project WindBot

Mikhail BrukAnton Talalayev

Momchil Dimchev

Mechatronics Design Project 2008

Mechatronics Design Project 2008

Mechatronics Design Project 2008 2

Wind Power

Wind Turbine Sites◦Satellite data inaccurate◦Human testing impractical

Cost efficient method for data acquisition◦Little supervision required◦Better precision◦Reliable data

Mechatronics Design Project 2008 3

Project ProposalDesign an autonomous robot

Navigate through a predetermined path

Collect wind velocity measurements

Obtain wind direction

Return to starting point

Display optimal locations for a wind turbine

Mechatronics Design Project 2008 4

Initial DesignFeatures:

• Propeller & Vanes

• Direction Sensor

• Tachometer

• Wheel Encoder

• Accelerometer or Compass

• LCD Display

Mechatronics Design Project 2008 5

Mechanical ComponentsAerovane

◦Propeller and vanesMaterialsSensor casings

Mechatronics Design Project 2008 6

Electrical ComponentsActuators

◦Two continuous servo motors

◦Controlled via 555 Timer

Mechatronics Design Project 2008 7

Electrical ComponentsAnalog Sensor

◦RCTime circuit

◦Photoresistor and LED pair

Mechatronics Design Project 2008 8

Electrical ComponentsDigital Sensor

◦Rotational Encoder

◦IR LED and Receiver pair

Mechatronics Design Project 2008 9

Electrical ComponentsDigital Sensor

◦Wheel Encoders

Mechatronics Design Project 2008 10

Project AnalysisPriority:

◦Wind Measurement◦Precise navigation◦Versatility

Testing:◦Variable conditions◦Repetitive data

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Project AnalysisDesign Approach

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Project Analysis

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Programming and TestingCalibration Programs

◦Wheel alignment◦Speed adjustment◦Velocity calibration◦Encoder adjustment

Main Routine◦Follow the grid◦Record and save data◦Retrieve data

Mechatronics Design Project 2008 14

Programming and TestingSubroutine approach

Easy modification

Reused variables

Fail-safe encoders

Mechatronics Design Project 2008 15

Velocity Calibration

VIDEO

Mechatronics Design Project 2008 16

Data from Velocity CalibrationPlot velocity vs.

Tachometer Value

Obtain a conversion factor

200 250 300 350 400 450 500 550 600 6501

1.2

1.4

1.6

1.8

2

2.2

2.4

2.6

2.8

3

f(x) = 0.00219794832254518 x + 1.3159588170749

Calibration for Wind Velocity

Tachometer Value (RPM)

Velo

city

(m/s

)

Mechatronics Design Project 2008 17

Cost•Boe-Bot Robot $ 159.95

•555 Timer IC (2) $ 2.95

•Power Supply: (4 AA’s) $ 2.99

•Breadboard (1) $ 7.99

•LCD Terminal $ 29.95

•Hitachi HM55B Compass Module (1) $ 29.95

•Balsa Wood (1/8” x 6” x 36”) (1) $ 3.95

•Tube Fitting (1) $ 2.95

•Aluminum Rod (1/16” x 12” x ¼”) (1) $ 2.36

•Stainless Steel Propeller (1) $ 10.95

•Miscellaneous $ 12.00

Total: $ 253.99

Mechatronics Design Project 2008 18

Major ChallengesFollow the preset trajectory Sensor reliabilityProgram – sensor connectionRelative Angle MeasurementBasic Stamp limitations:

◦RAM and EEPROM

Mechatronics Design Project 2008 19

Major Challenges

Memory Map

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Full Demo

VIDEO

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Demo Data

Mechatronics Design Project 2008 22

Prototype SuggestionsGPS navigationMeteorological equipmentObstacle Avoidance ProgramVideo camera (human operator)Larger Memory

Mechatronics Design Project 2008 23

ConclusionSystematic testing approach

Acquire more memory

Increase project cost for better accuracy

Mechatronics Design Project 2008 24

Acknowledgements

The Italians

Prof. Sean Peterson

Thank you!