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Micro-CART SDongo3b Secondary Vehicle Team
Daryl Belshan Tanasha Taylor Jeremy Renshaw
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Presentation Outline Introduction Acknowledgements Background
Problem statement Project Activity Description Activities Accomplishments Resources and Schedules Conclusion Project Evaluation Closing Summary
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Acknowledgements Dr. Russell – EE Dr. Jacobson – Aero E
Dr. McDaniel – Aero E Dr. Lamont – EE Prof. Patterson – EE
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Thanks to our Sponsor
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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
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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
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Operating Environment
Outside Wind Dust Obstacles Inside Walls People
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Users and Uses Military Civilian Reconnaissance Combat operations
Search and Rescue Research Transportation
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Assumptions/Limitations
Shared systems Size Primary vehicle capacity Competition scenario Limitations Combined weight of vehicles < 198 lbs Finances Time Team size
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End Product Minimum weight Maneuverable Fully autonomous
Able to take and send digital images
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Previous Accomplishments
No significant accomplishments
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Present Accomplishments
Design of Vehicle Preliminary designs Analysis of designs CAD modeling Calculations Weight Lift Components Final Design selection
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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
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Preliminary Designs Aerial Vehicles Ground Vehicles 4 propeller VTOL
Wheeled Vehicle Blimp Treaded Vehicle
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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
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Vehicle Design Directional Propeller for movement Puller Propeller
Pusher Propeller Puller Propeller Propeller Pulley Drive Shaft Pulleys Carbon Fiber Body Directional Propeller for movement
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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
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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
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Propeller Size (Continued)
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Propeller Size (Continued)
7 x 4 2 blade prop hp thrust rpm 1.268 8 16650 2.361 12 20350
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Engine O.S. Engine .46 VX-DF ABC 2.5 23,000 RPM 16.6 oz
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Drive System for Propellers
Pulley system 4 individual pulleys on propellers Connected with belts to engine shaft 2 propellers revolve the opposite direction
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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
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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
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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
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Research Activities Microprocessor systems Navigational systems
Vision systems
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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
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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
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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
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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"
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Design Activities Design Constraints
Hostage Rescue real-world situation Camera considerations Component considerations Weight
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Implementation Activities
Provided consulting about issues and improvements to be made to reduce weight Provided carbon fiber board for component board
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Testing and Modification
Assisted the primary team group with flight testing
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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
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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 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
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Fall 2005 Schedule
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Spring 2006 Schedule
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Overall Schedule
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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
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Lessons Learned Project planning Engineering design
Digital signal processing Lift calculations Torque Speed Propeller Considerations
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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
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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
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Questions?
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