Micro-CART SDongo3b Secondary Vehicle Team Daryl Belshan Tanasha Taylor Jeremy Renshaw

Presentation Outline Introduction Acknowledgements Background Problem statement Project Activity Description Activities Accomplishments Resources and Schedules Conclusion Project Evaluation Closing Summary

Acknowledgements Dr. Russell – EE Dr. Jacobson – Aero E Dr. McDaniel – Aero E Dr. Lamont – EE Prof. Patterson – EE

Thanks to our Sponsor

Background Primary team is nearing completion The Secondary Vehicle (SV) starts where the primary vehicle ends 3 possible competition scenarios Nuclear Reactor Tapestry in a Mausoleum Hostage Rescue

Problem Statement The purpose of the SV is to: Enter the building Safely navigate through the building Take and send digital images to the ground station All vehicle operations must be autonomous

Operating Environment Outside Wind Dust Obstacles Inside Walls People

Users and Uses Military Civilian Reconnaissance Combat operations Search and Rescue Research Transportation

Assumptions/Limitations Shared systems Size Primary vehicle capacity Competition scenario Limitations Combined weight of vehicles < 198 lbs Finances Time Team size

End Product Minimum weight Maneuverable Fully autonomous Able to take and send digital images

Previous Accomplishments No significant accomplishments

Present Accomplishments Design of Vehicle Preliminary designs Analysis of designs CAD modeling Calculations Weight Lift Components Final Design selection

The aerial vehicle design was chosen Preliminary Designs Aerial Vehicle Proper height for image capture Can easily enter building Slower Harder to navigate Ground Vehicle Too low for proper image capture Problems entering building Faster Easier to navigate The aerial vehicle design was chosen

Preliminary Designs Aerial Vehicles Ground Vehicles 4 propeller VTOL Wheeled Vehicle Blimp Treaded Vehicle

Four-propeller aerial platform with one electric directional propeller Design Decision Four-propeller aerial platform with one electric directional propeller Vehicle design Directional movement Propeller size Engine Body material Drive system for main propellers

Vehicle Design Directional Propeller for movement Puller Propeller Pusher Propeller Puller Propeller Propeller Pulley Drive Shaft Pulleys Carbon Fiber Body Directional Propeller for movement

Directional Movement DC Electric motor Turned using a servo motor Bi-Directional Variable speed Light weight Small Turned using a servo motor Low velocity needs

Propeller Size Requirements Minimum 8 pound thrust Maximum 12 pound thrust Maximum 28,358 RPM for 7” propeller Minimum power At least a 3,000 RPM range between thrust parameters

Propeller Size (Continued)

Propeller Size (Continued) 7 x 4 2 blade prop  hp thrust rpm 1.268 8 16650 2.361 12 20350

Engine O.S. Engine .46 VX-DF ABC 2.5 HP @ 23,000 RPM 16.6 oz

Drive System for Propellers Pulley system 4 individual pulleys on propellers Connected with belts to engine shaft 2 propellers revolve the opposite direction

Future Activities Finish CAD models Research and price parts Prototype the design Design a test plan Test the prototype Change and update the CAD model Implement automatic controls Build final Product

Approach Considered and Used Technology Advantages Disadvantages 2 propellers light weight, requires less power Unstable, not enough thrust, needs perfect balance 4 propellers Self stabilizing, can have enough thrust, light weight Needs more power, more parts Directional rudders Less parts, simple design Takes away thrust, causes vehicle to move Directional fan Slow speeds, reversible, doesn’t effect lift More parts, needs electric motor, more weight Blimp Automatically provides lift, simple design Slow, hard to control height, too large Final Design Choice 4 propellers with a directional fan design

Project Definition Activities Original Definition Open to a ground vehicle or aerial vehicle Designed to complete any of the three different real-world situations Modifications Currently defined as hovering aerial vehicle using four propellers Currently designed for the Hostage Rescue real-world situation

Research Activities Microprocessor systems Navigational systems Vision systems

Microprocessor Stand-alone microprocessor Capable of collecting information from sensors and sending controls to the servo motors Dimensions: 80 mm x 35 mm Chosen for small size, robotic applications, control of servos and sensors

Microprocessor Waysmall Basix is a processing unit Dimensions: 83mm x 36mm x 15mm Chosen for small size, expanded robotic applications of the Robostix, processing power to run the flight program

Navigation System Ultrasonic Range Finder uses low range sonar for object detection Center the vehicle in the center of the room and navigate through the building Dimensions: 43mm x 20mm x 17mm Range and angle of the Ultrasonic Range Finder

Vision System The Wireless Night Vision Camera Relay information to the primary vehicle in low light levels The Wireless Night Vision Camera Uses black and white images with infrared night vision technology The SpyCam miniature video camera Uses color video Both Dimensions: 0.8" x 0.8"x .75"

Design Activities Design Constraints Hostage Rescue real-world situation Camera considerations Component considerations Weight

Implementation Activities Provided consulting about issues and improvements to be made to reduce weight Provided carbon fiber board for component board

Testing and Modification Assisted the primary team group with flight testing

Analyzing/Prototyping Resources Personal Hours by group member and task Hours by team member Task Estimated hours Daryl Jeremy Tanasha Actual Initial Research 35 42 31 52 125 Initial Designs 30 12 15 10 37 Evaluation of Designs 25 11 9 Modeling in CAD 40 14 29 Analyzing/Prototyping 20 28 4 2 34 Documentation 50 45 145 Total 190 138 118 124 380

Financial Resources Total $4,402.77 Product Quoted Price each Quantity needed Actual Price O.S. Glow Plug Engine $130.00 1 Wireless Night Vision Camera $44.95 SpyCam miniature video camera @ 2.4 Ghz $74.95 waysmall basix $129.00 Robostix $49.00 Ultrasonic Range Finder $30.00 Radio controller and transmitter $150.00 Directional fan motor $20.00 Servo motors $18.00 2 $36.00 Carbon Fiber $0.00 Rubber belts $1.25 4 $5.00 APC 7" propellers $1.83 $7.32 APC 3.5" propeller $1.50 Daryl's hours $10/hour 138 $1,380.00 Tanasha's hours 124 $1,240.00 Jeremy's hours 118 $1,180.00 Total   $4,402.77

Fall 2005 Schedule

Spring 2006 Schedule

Overall Schedule

Project Evaluation Set goals at the beginning of the semester Timeline of goals and milestones Every milestone was exceeded or greatly exceeded Accomplished tasks on or before the time set on the Gantt chart Finished all goals set at the beginning of the semester

Lessons Learned Project planning Engineering design Digital signal processing Lift calculations Torque Speed Propeller Considerations

Risks and Risk Management Hostage situation Cannot have open rotors Could injure a hostage Launching a ground vehicle could Injure a hostage Damage/Destroy the ground vehicle

Closing Summary The project is a great success Strong design Accomplished all goals Set pace for finishing the project by May, 2007 Strong design Having fun while learning

Questions?