concept design review the dukes of hazard camille legault, neil kennedy, omar rojas, fernando...
TRANSCRIPT
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Concept Design Review
THE DUKES OF HAZARDCAMILLE LEGAULT, NEIL KENNEDY, OMAR ROJAS,
FERNANDO QUIJANO, AND JIMMY BUFFI
April 24, 2008
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The Dukes of Hazard
Bumper System
Rotating Sensor Arm System
Electronic Components Box
R/C Car Chassis
Autonomous Control (GPS)
Seek Hazardous Material Locations
Quickly Search, Find and Return
Avoid Obstacles
Markets: Civil Service (Meth Labs)Military (Minesweeping)
Commercial (Pest Control)
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Key Design Requirements
Accuracy within 1 m
Able to operate on concrete and grass
Visual display of results
Reach and evaluate target within 2 minutes
Weigh 15 pounds or less
Avoid obstacles 3” or higher
Proof-of-Concept prototype is a GPS-guided vehicle that locates and identifies an IR transmitter
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Final Concept
Tracks vs. Wheels Cost Simplicity
Obstacle Avoidance ‘Seeing’ the Target Chassis Decision…
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Buy vs. Build
Cost True Robot chassis = $$$$ or too small Building a chassis ~ $240 Buying Traxxas Stampede = $196.10
Most Valuable Asset – TIME Main challenges Coding Wiring
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Organization
I. Vehicle Feature DesignA. Platform & Enclosure
B. Sweeping Arm & Sensors
C. Bumper
D. Suspension
II. Wiring & Circuitry
III. Programming
IV. Prototype Performance & Feasibility
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I - Vehicle Design
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Platform and Enclosure
Improvements and/or Alternatives: Permanent platform Compartmentalize circuitry Weatherproofing
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Sensor Arm
Dimensions: 17”x 2”x 3/8”
Material: 3/8” Gray PVC Features:
Shelled out Sensor
slots
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Sensor Arm
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Servo Selection
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Signaling
Hazardous: Red lights
Non-Hazardous: Green lights
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Signaling
Improvements and/or Alternatives Audio signaling
Speaker Siren
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Sensor Placement
Detect transmitter within a foot or less away Rotating arm Effective height and angle for sensor
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Sensor/Transmitter System
Maximum range of sensor/transmitter system ~50 feet
Transmitter: ~9° lobe Sensor: ~180° range of view
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Experimental Results
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Sensor Holder Design
30°
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Sensor Arm Mechanism
Improvements and/or Alternatives: Weatherproofing of sensors More supports for arm at rotation point Stepper Motor Height adjustable
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Bumper System
Detect and avoid obstacles higher than 3”
Absorb impact Appropriate
spring
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Bumper System
Bumper System
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Bumper System
Improvements and/or Alternatives: Permanently attach bumper Softer springs Ultrasonic range-finder
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Suspension System
Suitable shocks to: Handle various terrains Maintain desired ground clearance: ~3”
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Suspension System
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II - Electronics
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Improvements
Multiple Power Sources Concept Phase - Make into single source Stabilize voltage during signaling
Simplify interfacing with microcontroller 5 V circuits, or voltage regulators
Electronic noise filters Internal Circuitry Protection
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III - Programming the Vehicle
MAJOR ISSUES Interfacing with the
chassis Interfacing with the GPS Creating a search
algorithm Avoiding obstacles
PROGRAM FLOW1. Wait for GPS to fix.
2. Store coordinates of transmitter.
3. Move vehicle to new location.
4. Begin Search Algorithm.
5. Stop if transmitter is found or perform avoidance routine if obstacle is encountered.
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User Interface1. “Waiting” Mode
2. Store coordinates
3. “Preparing for movement” mode
4. Activate the car and begin search
5. Car will display “Hazardous Material Found”
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Is x1 > x2?
Is y1 > y2?Is y1 > y2?
Is x1 > xold or y1 > yold?
Is x1 < xold or y1 > yold?
Is x1 > xold or y1 < yold?
Is x1 < xold or y1 < yold?
Turn.Go
straight.Turn. Turn. Turn.Go
straight.
Go straight.
Go straight.
Go forward and straight.
YES NO
NO
NONONONO
NOYES
YES YES YESYES
YES
Is sensor activated?Stop. Keep Going.
X1 = current car
X2 = transmitter
Xold = car 2 sec. ago
Search Algorithm
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Programming Areas to Improve
More precise pulse width modulation. More efficient search algorithm.
Use a digital compass. More speed variation.
Streamline programming with functions. Reverse the search algorithm to make the car
return to the starting point after the “hazardous material” is found.
Storing multiple locations
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IV - Proof of Concept Demonstration
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IV - Proof of Concept Demonstration
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IV - Performance Evaluation
Score based on the Prototype Requirements
83/90
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IV - Performance Requirements
Hazard Sensor Accuracy (10/10) Sensor activated consistently within 1 foot of
transmitter Vehicle Accuracy (15/15)
Reached locations within 1 meter of transmitter
Obstacle Avoidance (15/15) Successfully avoids obstacles
Time to reach transmitter (10/10) Successfully reaches and evaluates target within 1
minute
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Performance Requirements
Vehicle Weight (10/10) Final Prototype Weight: 10.976 lbs
Audio/Visuals (6/10) No audio signal Visual signal detectable within 20-60 yards depending
on illumination. Incline Movement (7/10)
Able to move up a 30o incline Cost (10/10)
Proof of concept cost: ~ $375.00
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IV - Feasibility
Main objectives: Vehicle and Sensor Accuracy Obstacle Avoidance
Future Showstoppers Maneuvering through extreme terrain Work indoors Weather conditions
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Additional Information
www.nd.edu/~me463a18
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QUESTIONS?