1. Fire Fighting Robot Design The V-Team James Barnes – ME, ’04 Robert Kelbley – CpE, ’04 Christopher Pfeifer – CpE, ’04 Todd Stewart – CpE, ‘04 Advisors Dr. John-David Yoder Dr. Srinivasa Vemuru

2. Overview Problem Statement ComponentsMicrocontrollerSensors Vehicle Design Motors and Gearing ResultsConclusions

3. Problem Statement Objectives Design a robotic device to seek a candle flame within mock house and extinguish. Robot will be taken to Trinity College to compete in Firefighting Robot Contest Benefits Furthering robotics knowledge of group members and society. Small scale version could lead to improvements or a new design for a large scale firefighting robot. Allowing team to use engineering skills and teamwork to solve multidisciplinary tasks

4. Mock House

5. Microcontroller The microcontroller is the most important part of the design – acts as brain for robot Interfaces all sensors and motors Contains all code for robot operation

6. MC68HC11 Advantages HC11 and ModCon controller obtained – no expense Familiar usage Can be programmed in C 32 KB of RAM available in extended mode Disadvantages Non user friendly hardware interfacing

7. The Sensors Sensors were needed to detect vicinity of candle flame, exact location of candle flame, and robot’s proximity to maze walls Several sensors chosen Hamamatsu UVTron Flame detector Eltec Pyroelectric Sensor Sharp GP2D02 IR Sensors Optical Encoder

9. Hamamatsu UVTron Chosen due to close connection to Fire Fighting Robot Contest Detects vicinity of candle flame, NOT exact location Detects presence of flame by sensing emitted UV light Emits +5 V signal after UV source is sensed

10. Eltec Pyroelectric Sensor Activated after UVTron sensors detect flame in vicinity Used to guide robot to exact flame location Eltec emits constant +2.5 V analog signal when flame centered Signal voltage rises or falls depending on objects movement through sensor’s field of vision

11. Sharp GP2D02 Sensors Infrared range detector Generate IR light pulses Generate IR light pulses Determine distance objects are from robot Determine distance objects are from robot Range of 10 to 80 cm Use 2-wire serial interface 8-bit range value Only takes reading when requested

12. Range Sensor Arrangement Robot can detect obstacles in front Ensure robot stays in center of hallway Recognize doorways to enter rooms

13. Vehicle Design The robot needed to: move with adequate speed move with adequate speed maneuver through the rooms maneuver through the rooms avoid hitting the walls avoid hitting the walls extinguish the candle extinguish the candle be upgraded easily be upgraded easily

14. Round base This helps prevent the robot from jamming in corners This helps prevent the robot from jamming in corners Turning the robot is accomplished with a differential steering system Power is provided by 9.6 V rechargeable NiCd batteries Fan is used to extinguish fire Design Specifications

15. Chosen motors: Permanent magnet DC Available Available Cost effective Cost effective Adequate power Adequate power Chosen gearing: Worm gear Available Available Cost effective Cost effective Adequate gear reduction Adequate gear reduction Braking action Braking action Selected Motors and Gearing

16. Motors and Gearing Permanent magnet DC motors.05 Nm max torque with 1 amp max current draw.05 Nm max torque with 1 amp max current draw Maximum input voltage of 24v with maximum rotational speed of 3400 rpm Maximum input voltage of 24v with maximum rotational speed of 3400 rpm Rotational speed of 1400 rpm with 9.6V battery Rotational speed of 1400 rpm with 9.6V battery 20:1 gear reduction with worm gear Obtained from a previous project with the motors Obtained from a previous project with the motors Rotational speed from motors reduced to 70 rpm Rotational speed from motors reduced to 70 rpm 4 inch diameter wheels velocity of 14.7 in/sec with 9.6V battery velocity of 14.7 in/sec with 9.6V battery

17. Fall Quarter

18. Winter Quarter

19. Completed Robot

20. Contest Results Successfully completed qualifying trial to compete in main competition Failed during first two runs of competition from damages incurred in travel Successfully extinguished candle on last trial run in just under one minute

21. Conclusion Successfully navigates maze and extinguishes candle Uses combination of Dead Reckoning and Landmark Recognition for navigation Uses sensors to pinpoint exact location of candle and fan to blow out flame

22. Contest References: 1. http://www.trincoll.edu/events/robot/Rules/default.asp 2. http://www.trincoll.edu/events/robot/Results04/default.asp Robotics References: 3. http://members.verizon.net/~vze2b2zf/robotpage.html 4. http://abrobotics.tripod.com/Snuffy/snuffy.htm Part References: 5. http://bd.thrijswijk.nl/thrsim11/68hc11/about2.htm. 6. http://abrobotics.tripod.com/Snuffy/uvtron.htm 7. http://www.acroname.com Book References: 8. Software and Hardware Engineering, Fredrick M. Cady, Copyright 1997, Oxford University Press, Inc. http://www.trincoll.edu/events/robot/Rules/default.asphttp://www.trincoll.edu/events/robot/Results04/default.asphttp://members.verizon.net/~vze2b2zf/robotpage.htmlhttp://abrobotics.tripod.com/Snuffy/snuffy.htmhttp://bd.thrijswijk.nl/thrsim11/68hc11/about2.htmhttp://abrobotics.tripod.com/Snuffy/uvtron.htmhttp://www.acroname.comhttp://www.trincoll.edu/events/robot/Rules/default.asphttp://www.trincoll.edu/events/robot/Results04/default.asphttp://members.verizon.net/~vze2b2zf/robotpage.htmlhttp://abrobotics.tripod.com/Snuffy/snuffy.htmhttp://bd.thrijswijk.nl/thrsim11/68hc11/about2.htmhttp://abrobotics.tripod.com/Snuffy/uvtron.htmhttp://www.acroname.com The V-Team would to thank Dr. Vemuru, Dr. Yoder, Brad Hummel and Dr. Hurtig for their help and guidance throughout the project and the ECE Department and College of Engineering for providing funding for the robot and trip to Hartford.