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Concept Design Review THE DUKES OF HAZARD CAMILLE LEGAULT, NEIL KENNEDY, OMAR ROJAS, FERNANDO QUIJANO, AND JIMMY BUFFI April 24, 2008 The Dukes of Hazard Autonomous Control (GPS) Seek Hazardous Material Locations Quickly Search, Find and Return Avoid Obstacles

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Concept Design Review

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Concept design review l.jpg

Concept Design Review

THE DUKES OF HAZARD

CAMILLE LEGAULT, NEIL KENNEDY, OMAR ROJAS,

FERNANDO QUIJANO, AND JIMMY BUFFI

April 24, 2008


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The Dukes of Hazard

Autonomous Control (GPS)

Seek Hazardous Material Locations

Quickly Search, Find and Return

Avoid Obstacles

Markets: Civil Service (Meth Labs)

Military (Minesweeping)

Commercial (Pest Control)

Rotating Sensor Arm System

R/C Car Chassis

Electronic Components Box

Bumper System


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Key Design Requirements

Proof-of-Concept prototype is a GPS-guided vehicle that locates and identifies an IR transmitter


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Final Concept

  • Tracks vs. Wheels

    • Cost

    • Simplicity

  • Obstacle Avoidance

  • ‘Seeing’ the Target

  • Chassis Decision…


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Buy vs. Build

  • Cost

    • True Robot chassis = $$$$ or too small

    • Building a chassis ~ $240

    • Buying Traxxas Stampede = $196.10

  • Most Valuable Asset – TIME

    • Main challenges

    • Coding

    • Wiring


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Organization

  • Vehicle Feature Design

    • Platform & Enclosure

    • Sweeping Arm & Sensors

    • Bumper

    • Suspension

  • Wiring & Circuitry

  • Programming

  • Prototype Performance & Feasibility


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I - Vehicle Design


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Platform and Enclosure

  • Improvements and/or Alternatives:

    • Permanent platform

    • Compartmentalize circuitry

    • Weatherproofing


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Sensor Arm

  • Dimensions:17”x 2”x 3/8”

  • Material:

    3/8” Gray PVC

  • Features:

    • Shelled out

    • Sensor slots


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Sensor Arm


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Servo Selection


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Signaling

  • Hazardous: Red lights

  • Non-Hazardous: Green lights


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Signaling

  • Improvements and/or Alternatives

    • Audio signaling

      • Speaker

      • Siren


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Sensor Placement

  • Detect transmitter within a foot or less away

  • Rotating arm

  • Effective height and angle for sensor


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Sensor/Transmitter System

  • Maximum range of sensor/transmitter system ~50 feet

  • Transmitter: ~9° lobe

  • Sensor: ~180° range of view


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Experimental Results


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Sensor Holder Design

30°


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Sensor Arm Mechanism

  • Improvements and/or Alternatives:

    • Weatherproofing of sensors

    • More supports for arm at rotation point

    • Stepper Motor

    • Height adjustable


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Bumper System

  • Detect and avoid obstacles higher than 3”

  • Absorb impact

  • Appropriate spring


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Bumper System

Bumper System


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Bumper System

  • Improvements and/or Alternatives:

    • Permanently attach bumper

    • Softer springs

    • Ultrasonic range-finder


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Suspension System

  • Suitable shocks to:

    • Handle various terrains

    • Maintain desired ground clearance: ~3”


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Suspension System


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II - Electronics


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Improvements

  • Multiple Power Sources

    • Concept Phase - Make into single source

    • Stabilize voltage during signaling

  • Simplify interfacing with microcontroller

    • 5 V circuits, or voltage regulators

  • Electronic noise filters

  • Internal Circuitry Protection


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MAJOR ISSUES

Interfacing with the chassis

Interfacing with the GPS

Creating a search algorithm

Avoiding obstacles

PROGRAM FLOW

Wait for GPS to fix.

Store coordinates of transmitter.

Move vehicle to new location.

Begin Search Algorithm.

Stop if transmitter is found or perform avoidance routine if obstacle is encountered.

III - Programming the Vehicle


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User Interface

  • “Waiting” Mode

  • Store coordinates

  • “Preparing for movement” mode

  • Activate the car and begin search

  • Car will display “Hazardous Material Found”


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Go forward and straight.

Search Algorithm

X1 = current car

X2 = transmitter

Xold = car 2 sec. ago

NO

YES

Is x1 > x2?

Is y1 > y2?

Is y1 > y2?

YES

YES

NO

NO

Is x1 > xold or y1 > yold?

Is x1 > xold or y1 < yold?

Is x1 < xold or y1 > yold?

Is x1 < xold or y1 < yold?

NO

NO

YES

YES

NO

YES

NO

YES

Go straight.

Go straight.

Go straight.

Go straight.

Turn.

Turn.

Turn.

Turn.

Stop.

Keep Going.

Is sensor activated?


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Programming Areas to Improve

  • More precise pulse width modulation.

  • More efficient search algorithm.

    • Use a digital compass.

    • More speed variation.

  • Streamline programming with functions.

  • Reverse the search algorithm to make the car return to the starting point after the “hazardous material” is found.

  • Storing multiple locations


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IV - Proof of Concept Demonstration


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IV - Proof of Concept Demonstration


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IV - Performance Evaluation

Score based on the Prototype Requirements

83/90


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IV - Performance Requirements

  • Hazard Sensor Accuracy (10/10)

    • Sensor activated consistently within 1 foot of transmitter

  • Vehicle Accuracy (15/15)

    • Reached locations within 1 meter of transmitter

  • Obstacle Avoidance (15/15)

    • Successfully avoids obstacles

  • Time to reach transmitter (10/10)

    • Successfully reaches and evaluates target within 1 minute


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Performance Requirements

  • Vehicle Weight (10/10)

    • Final Prototype Weight: 10.976 lbs

  • Audio/Visuals (6/10)

    • No audio signal

    • Visual signal detectable within 20-60 yards depending on illumination.

  • Incline Movement (7/10)

    • Able to move up a 30o incline

  • Cost (10/10)

    • Proof of concept cost: ~ $375.00


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IV - Feasibility

  • Main objectives:

    • Vehicle and Sensor Accuracy

    • Obstacle Avoidance

  • Future Showstoppers

    • Maneuvering through extreme terrain

    • Work indoors

    • Weather conditions


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Additional Information

www.nd.edu/~me463a18


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QUESTIONS?


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