Team HazardHawk Team HazardHawk 2008 April 24, 2008
Presentation Outline Objective Project Overview Design Requirements Concept Selection Key Technical Challenges Performance Requirements Prototype: Materials / Fabrication / Assembly Electronics / Software Overview Design Status Feasibility Assessment Prototype Performance Questions
Objective Team HazardHawk 2008 Task: Develop an autonomously-controlled, electric-powered vehicle whose purpose is to demonstrate the integration of technologies needed to locate a “hazardous material” in an open field.
Project Overview Key Features Autonomous GPS Navigation Hazardous Materials Sensor to locate and sample hazards Main Considerations Can operate in a large open field Can locate a hazard and return to start point quickly Navigation of a variety of terrains with surface obstacles Team HazardHawk 2008
Design Requirements Autonomous, electric-powered GPS enabled, accurate to within 1 meter (3.28 ft) Maximum weight: 35 kg (77.1 lb) Maximum size: 1 meter (3.28 ft) in any dimension Top Speed: 8 m/s (17.89 mph) Hazard detection in under 1 minute when within 100 meters of hazard Team HazardHawk 2008
Concept Selection Individual Concepts Individual Concepts were developed Key Features of interest merged into group concept
Concept Selection Group Concept Target Market: Public Service Sector Fire Department, Police Department, Hazmat, and other public agencies
Prototype Design Features Key Features Included: Autonomous GPS Navigation Infrared ‘Hazard’ Sensors Retractable Oscillating Arm Tank Drive
Key Technical Challenges Establishing navigational precision and awareness of location using imprecise GPS data The Oscillating Robotic Arm: Material and geometry selection for a strong, lightweight arm Kinematics Hazard Sensing Methodology Determining optimum search height and orientation Developing logic for search algorithm
Key Technical Challenges Design of Arm Assembly Material Selection, Member Length, Oscillation Speed Materials Considered: Carbon Fiber, PVC, Plywood, and HDPE Longer-the-Better Factor of Safety of 4 Optimal: ○ 30 in members ○ ω = 2.3 rad/sec
Key Technical Challenges Sensor Sensitivity Goal: to search at a height where the conical infrared signal emitted by the hazard has a large diameter Height constrained by the vehicle size performance requirement Result: Search at the maximum height and a downward orientation Detection radius is 8.3 in at search height h= 42 in.
Key Technical Challenges GPS Navigation Sought to determine optimal search direction Due north most accurate approach direction Average deviation of 2.2 ft Due North Residuals: 1 ft/sec
Prototype Requirements Weight < 70 lbs Dimensions < 3 feet in any direction Complete Task < 8 minutes Responsive user interface Maneuvers autonomously via GPS Seeks and reaches hazard Identifies target as hazard Returns to start position Deactivates upon completion Team HazardHawk 2008
Prototype Design Fabrication Assembly CNC manufacturing for precise sizing of body panels, arm base, and mounts Custom Cut Shafts, Chain Wheel Assembly Mount Assembly Arm Assembly
Prototype Design Fabrication Assembly: Body Panels attached with corner braces Motor Mounts and Bearing Mounts attached to base with ¼” bolts to allow for adjustability Arm fabricated with PVC, assembled with ¼ in bolts.
Electronics Overview
Prototype Software Flowchart Acquire Hazard Coordinates Continue Straight Carry to Start Acquire Start Coordinates Within 3 ft of X-Cor. East or West of target Acquire New Coordinates dx increases? Add 1 to counter Counter > 2? Turn Around North or South Continue Straight Acquire New Coordinates dy increases? Add 1 to counter Counter > 2? Turn Around No Yes No Within 3 ft of Y-Cor. No Yes Rotate arm. When hazard is found return to start coordinates
Design Status Video Team HazardHawk 2008
Prototype Performance Weight < 70 lbs 60.7 Lbs 10/10 Dimensions < 3 feet in any direction 15 x 16 x 36 in 15/15 Complete Task < 8 minutes N/A 0/15 Responsive user interface Yes 10/10 Maneuvers autonomously via GPS w/out Arm 7/10 Seeks and reaches hazard w/out Arm 7/10 Identifies Hazard Yes 10/10 Returns to start position w/out Arm 7/10 Deactivates upon completion Yes 10/10 Total: 76/100
Prototype Team HazardHawk 2008
Feasibility Assessment GPS Navigation, Arm Mechanism, IR Hazard Detection are all feasible. Showstopper: Drive Train Sensing technology needs to be developed Further development is advised
Lessons Learned Importance of hardware/software integration Parallel Development Importance of a thorough CAD model Project planning and delegation of responsibilities Problems with outsourcing parts
Team HazardHawk 2008