Sensors and Actuators Laboratory

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Sensors and Actuators Laboratory

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1. Sensors and Actuators Laboratory The University of Texas at Austin Department of Aerospace Engineering and Engineering Mechanics

2. Overview Purpose Laboratory set-up Description of each station Lego Mindstorms Educational Outreach Demonstrations

3. Purpose Provide hands-on experience using aerospace sensors and actuators in lab course format Emphasize interdisciplinary nature of hardware development and testing

4. History of S&A Lab Development Original Idea Proposed 2005 Using Academic Development Funds, Hardware was Procured* and Course Content was Developed in 2006 Course Offered ‘07, ‘08, ‘09 (~40 students) Now going to every-other-year offering Lab used for research in off-years

5. Course Concept Two agendas: Theory and technology of sensor and actuator hardware Practical experience operating physical systems and processing experimental data Students perform 4 labs and 1 project in a single semester Average 2 weeks per lab requires rapid competency on different workbenches NI’s LabVIEW and Compact RIO used as tools to interface with hardware

6. Set-Up Stations Thermocouple/Fan/Heater (NI Example) Magnetometer/Torque Rod Optical Navigation Control Moment Gyro Hexapod Robot Inertial Sensors Ni equipment Compact RIO Chassis Compact RIO I/O Modules (9211, 9205,….) Compact RIO NI-7811, NI-7813

7. Thermocouple Lab – LabVIEW Introduction Hands-on NI Tutorial Designed to familiarize students with LabVIEW and CompactRIO equipment Simple Thermal Control System highlights both sensors and actuators Thermocouple Fan Heater

9. Magnetometer Laboratory Introduces students to magnetic field theory and focuses on applications related to spacecraft attitude determination and control Designed to familiarize students Torque Rods, Torque Coils, and Magnetometers Teaches students how to build Torque Rods and Torque Coils Students use a 3 Axis magnetometer to test their actuators Introduces noise and sensor biases

10. Magnetometer Laboratory

11. Optical Navigation Laboratory Introduction to optical navigation for applications such as spacecraft rendezvous and docking Introduction to the primary components of imaging hardware, image acquisition, and image processing Familiarize the student with the basics of image acquisition and processing, especially in the NI Vision framework using LabVIEW Investigate static and dynamic properties of optical navigation tracking systems

12. Optical Navigation Laboratory

13. Optical Navigation Laboratory

14. Control Moment Gyro (CMG) Enable an understanding of the operation of the ECP Model 750 CMG through a LabVIEW real time computer Introduction to the Control Moment Gyroscope and its dynamics Review and Implementation of different types of controllers such as open-loop, P, PD, and PID closed loop controllers Explore and characterize different friction models that affect the CMG

15. Control Moment Gyro (CMG) CMG Video

16. Inertial Sensors Laboratory Designed to familiarize students with inertial sensors and the different type of operating principles they use Investigate differences in several types of sensors Perform calibration of sensors and compare against manufacturer specifications Students have to create all of the LabVIEW interface between the sensors and the CompactRIO, and Host Computer

17. Inertial Sensors Laboratory

18. Hexapod Robot Laboratory Introduction to embedded systems and robotic platforms Designed for students to become familiar with the BASIC Atom programming language Students have to write their own routines to make Hexapod follow patterns in several ways to get students thinking about autonomous systems

19. Hexapod Robot Laboratory Lab Equipment Lynxmotion CH3 Hexapod Robot BasicATOM Bot Board SSC-32 board Basic Atom Topic of Student Project in 2009 and Demo after this talk

20. Lego Mindstorms Educational Outreach Interest youth in engineering, science, and robotics Introduce NXT equipment and prepare students for 1st Year Lego League competition Familiarize students with NXT Lego Mindstorms software Write simple programs and download them to command the robot Use sensors to help a robot maneuver around objects

21. Conclusion The Aerospace Department’s Sensors and Actuators Lab uses NI tools and equipment to achieve its objectives A graduate course was created emphasizing hardware experimentation that has been highly rated by students (4.3/5.0) Lab development is ongoing and we welcome opportunities to work with National Instruments

22. Live Demo! You Will See: Inertial Measurement Unit Laboratory Hexapod Robot Final Project Lego NeXT Aerospace Robotics Course Contact Information Glenn Lightsey, Professor The University of Texas at Austin [email protected] (512) 471-5322

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