1. Team 16: Mechanical Engineering Dalhousie University Senior Design Project Supervisor: Dr. WarkentinDec. 4 th 2012

2. Navigation Introduction Project Background Not your average Launching Machine Requirements Criteria Initial Velocity Angles Testing Phase One: Compression Phase Two: Deformation Analysis Compression Functions Energy Balance Design Final Design MechanicalElectricalSafety Conclusion Budget Further Considerations AGENDA

3. Navigation TEAM ROSTER NADA EL SAYED Born: April 1, 1991 From: Port Said Height: 5"10 Position: Striker KEVIN BOUTILIER Born: Nov. 12, 1989 From: Williamwood Height: 6"1 Position: Goalie GREG PELLY Born: Oct. 10, 1989 From: Antigonish Height: 5" 7 Position: Sweeper JUSTIN COLWILL Born: Apr 30 1990 From: L-town Height: 62 Position: Midfield

4. Navigation PROJECT BACKGROUND Oldest & Universal Sport 3.5 Billion Fans Vital Component Ref: 1,2,3

5. Navigation o Penalty kick stat: Only 12% goalie save rate! Our project will attempt to aid in the solo soccer training process to improve the chances of successfully saving a goal. PROJECT BACKGROUND Ref: 4

6. Navigation HOWS IT DIFFERENT?? o Many sports machines. Ref: 5,6,7

7. Navigation HOWS IT DIFFERENT?? o Many sports machines. o Previous design projects. Ref: 8,9

8. Navigation o Many sports machines. o Previous design projects. Differences: Largest object launched Largest object launched Only the goalie Only the goalie Randomized Randomized Automatic Automatic Self Feed Self Feed HOWS IT DIFFERENT?? Ref: 10

9. 9IntroRequirementsTestingAnalysisDesignConclusion

10. Navigation CRITERIA o The device should be able to launch the soccer ball into 5 set launch points (top left, top right, bottom left, bottom right and center). o The device should be able to launch a soccer ball to a random order of set points.

11. Navigation CRITERIA o The device should be able to launch a soccer ball to a random order of set points. o The device should be able to launch the soccer ball into 5 set launch points (top left, top right, bottom left, bottom right and center). o The device should be able to launch from the penalty line36 ft (11 m) from net. 36 ft

12. Navigation The device should be able to launch a soccer ball in a random manner. o The device should be able to launch a soccer ball in a random manner. o The device should be able to launch the soccer ball into 5 set launch points (top left, top right, bottom left, bottom right and center). o The device should be able to launch from the penalty line36 ft (11 m) from net. o The device should be able to be set up by a single person. o The device should be transportable by truck and movable a single person. o The cost to build device should be no more than $2000 CND. o The device should operate at a reasonable shot interval of no more than 20 seconds. o The device should be safe. CRITERIA

13. Navigation Top Corners: V =19 m/s θ = 17° Bottom Corners: V =18 m/s θ = 5° Side view VELOCITIES & ANGLES

14. Navigation VELOCITIES & ANGLES 36 ft Top View 18°

15. Navigation TIMEOUT: GENERAL DESIGN IDEA Soccer Ball DualSpinningDisks

16. 16IntroRequirementsTestingAnalysisDesignConclusion

17. Navigation Instron Machine Measure Compression Normal Force PHASE ONE: COMPRESSION

18. Navigation 18 PHASE ONE: COMPRESSION

19. Navigation PHASE TWO: DEFORMATION

20. Navigation F pull F friction F deformation (μ s + κ)F N F friction + F deformation = F pull (μ s + κ)F N F friction + F deformation = F pull PHASE TWO: DEFORMATION

21. Navigation PHASE TWO: DEFORMATION

22. Navigation F deformation function of the shapes. F friction function of materials. FBD of kinetic system TIMEOUT: DEFORMATION RELATION

23. IntroRequirementsTesting Analysi s Design Conclusio n

24. Navigation DEAD CENTRE FBD F deformation F kinetic F thrust = F coulomb + F viscous =βV=βV

25. Navigation FRICTION & VELOCITY β slope Ref 11 : Ref 11 : US Dept of Transportation: Friction: Analytical and Field Investigation

26. Navigation F thrust = F coloumb + F viscous + F deformation Deformation Force Coulomb Friction Force Contact Distance FORCES & WORK

27. Navigation ω i = 960 rpm Vthrust = 20.5 m/s @ 18% Compression REQUIRED RPM

28. IntroRequirementsTestingAnalysisDesign Conclusio n MECHANICAL

29. Navigation FINAL DESIGN Frame 1.5x1.5x.188 steel or aluminum tubing Wheels Overall Dimensions: LxWxH 48"x40"x27 LxWxH 48"x40"x27 " Motors Actuators Feed Mechanism Mobility Locking Wheels

30. Navigation MECHANICAL : TIRES Cheap energy storage Radius effects width Radius/Mass effect energy Rated at our speeds Opportunity for tuning Ref: 12

31. Navigation Energy source Shot recovery Launch speed 2 Motors (Spin?) AC (Plug In) Electrically Reversible (VFD) 0-1800 RPM 0.5HP MECHANICAL : MOTORS Ref: 13

32. Navigation MECHANICAL : ACTUATORS MECHANICAL : ACTUATORS Stroke 9 Pitch 0° to 20° Stroke 12 Yaw -23° to +23°

33. Navigation MECHANICAL : FEED Gear Motor Lead Screw Rail Design Slider

34. IntroRequirementsTestingAnalysisDesign Conclusio n ELECTRICAL & CONTROL

35. Navigation CONTROL SYSTEM

36. Navigation RANDOMLY SELECT TARGET ON NET MEASURE EXTENDED LENGTH (PITCH ANGLE) MEASURE EXTENDED LENGTH (YAW ANGLE) PARAMETER LOOK-UP TABLE: LAUNCH MOTOR SPEED YAW ACTUATOR LENGTH PITCH ACTUATOR LENGTH COMPARE ACTUAL EXTENDED LENGTH TO DESIRED VALUE (PITCH ANGLE) MICROCONTROLLER LOGIC OUTPUTS TO DRIVER SYSTEMS SET LAUNCH MOTORS ANGULAR VELOCITIES SET YAW ACTUATOR EXTENDED LENGTH SET PITCH ACTUATOR EXTENDED LENGTH ENGAGE LOADING MECHANISM (LEAD SCREW) SINGLE BALL IS LAUNCHED RETURN TO START START COMPARE ACTUAL EXTENDED LEGNTH TO DESIRED VALUE (YAW ANGLE)

37. Navigation CONTROL FEEDBACK

38. Navigation SAFETY CONSIDERATIONS Emergency Stop. Safe Guarding. -Tire Enclosure -Electrical Enclosure Ref: 14

39. Navigation ELECTRICAL PartUnit CostQuantityTotal Cost AC Motor VFD $120.002$ 240.00 1/2 HP AC Motors $100.002$ 200.00 10 A DC Motor Driver $15.003$ 45.00 Arduino Due Microcontroller $50.001 IR Distance Sensor $15.003$ 45.00 Desktop PC Power Supply $50.001 DIN Rail $10.001 1/100 HP Gear Motor $50.001 Electrical Enclosure $ 75.001 Assorted Electrical Components $ 150.001 ELECTRICAL TOTAL (with tax) $ 1052.25 IntroRequirementsTestingAnalysisDesign Conclusio n BUDGET: ELECTRICAL

40. Navigation MECHANICAL PartUnit CostQuantityTotal Cost Gear MotorLoan1 $ 0.00 $ 0.00 12" Stroke Linear ActuatorLoan1 $ 0.00 $ 0.00 9" Stroke Linear ActuatorLoan1 $ 0.00 $ 0.00 16" Drive Wheels $ 40.002 $ 80.00 Heavy Duty Turn Table (non-lockable) $ 65.001 Mobility Tires $ 17.004 $ 68.00 Assorted Hardware $ 120.001 Lead Screw $ 12.00 1 1.50" x 1.50" x 1/8" Square Tubing $ 47.00 2 $ 94.00 Frame Paint $10.001 MECHANICAL TOTAL (with tax) $ 516.35 Grand Total (with shipping) $ 1803.89 IntroRequirementsTestingAnalysisDesign Conclusio n BUDGET: MECHANICAL

41. Navigation - FEM Analysis. - Building. - Physical Testing. -Practise, Practise, Practise! FURTHER CONSIDERATIONS Ref: 4

42. Navigation - One of a kind device. - No need for extra user. -Random -Automatic -Self Feed - Ample initial testing. - Great challenge for the winter! - Website & Contact http://poisson.me.dal.ca/~dp_12_16/ SUMMARY

44. Dr. Bauer Blair Nickerson Jesse Keane Peter Jones John Macdonald

45. Navigation 1.http://multipletext.com/2011/8-soccer-in-ancient- china.htm 2.http://soccerstl.net/2012/09/28/slu-billikens-host- uca-for-homecoming-saturday/slu-billikens-soccer- fans/ 3.http://tallhorsewines.wordpress.com/2010/04/21/ soccer-goalies-should-wear-red/ 4.http://www.footy.dk/2012/09/26/video-arets- redning/soccer-goalie-trying-to-block-goal/ 5.http://www.justbaseball.us/Qstore/Qstore.cgi?CM D=011&PROD=1129084852 6.http://www.sports-inter.com/en/football/jugs- football-machine-6662.details.html 7.http://www.fitness-sports.co.uk/tennis/TENNIS- TNTM-2.html 8.http://poisson.me.dal.ca/~dp_11_02/ 9.http://poisson.me.dal.ca/~dp_08_06/ 10.http://www.academy.com/webapp/wcs/stores/ser vlet/Product_10151_10051_347881_-1 11.http://www.fhwa.dot.gov/publications/research/inf rastructure/bridge/05083/appendf.cfm 12.http://www.canadiantire.ca/AST/browse/4/Auto/T owing/TrailerTires.jsp 13.http://www.gallantmotor.com/acvsdc 14.http://banat4today.blogspot.ca/2011/09/boys-will- be-boys.html 15.http://www.cox.com/support/cable/nopic_gothere.asp 16.http://www.google.com.ng/local/trader/listing/- /6ad652a88a7f42ec/_b7b61055202e8df1_ REFERENCES

47. Navigation Introduction Project Background (#4&5) Project Background (#4&5) Project Background Project Background Not your average Launching Machine (#8) Not your average Launching Machine (#8) Not your average Launching Machine Not your average Launching MachineRequirements Criteria (#10-12) Criteria (#10-12) Criteria Initial Velocity & Angles (#13 &14) Initial Velocity & Angles (#13 &14) Initial Velocity & Angles Initial Velocity & AnglesTesting Phase One: Compression (#16 &17) Phase One: Compression (#16 &17) Phase One: Compression Phase One: Compression Phase Two: Deformation (#18-20) Phase Two: Deformation (#18-20) Phase Two: Deformation Phase Two: Deformation Friction (#25) Friction (#25) Friction Backup Slides Backup SlidesAnalysis Kinetic FBD (#22-24) Kinetic FBD (#22-24) Kinetic FBD Kinetic FBD Energy Balance (#26-27) Energy Balance (#26-27) Energy Balance Energy BalanceDesign Final Design (#29) Final Design (#29) Final Design Final Design Mechanical (#30 - 33) Mechanical (#30 - 33) Mechanical Electrical (#34 - 37) Electrical (#34 - 37) Electrical Safety (#38) Safety (#38) Safety Conclusion Budget (#39 & 40) Budget (#39 & 40) Budget Further Considerations (#41) Further Considerations (#41) Further Considerations Further Considerations Summary (#42) Summary (#42) Summary NAVIGATION TABLE

48. Navigation Kinematic Equations Top Corner Analysis Bottom Corner Analysis Drag Thrust Force AC VFD DC Diagram Custom Hub AC Power BACK UP SLIDES

49. Navigation KINEMATIC EQUATIONS

50. Navigation Availability at test locations Cost WHY AC POWER?? Ref: 15, 16

51. Navigation TOP CORNER ANALYSIS

52. Navigation BOTTOM CORNER ANALYSIS

53. Navigation DRAG

54. THRUST FORCE EQUATIONS

55. Navigation THRUST FORCE ANALYSIS

56. Navigation 56 AC VFD

57. Navigation 57 DC DIAGRAM

58. Navigation MECHANICAL : HUB