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Concept Design Review

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  1. Concept Design Review THE DUKES OF HAZARD CAMILLE LEGAULT, NEIL KENNEDY, OMAR ROJAS, FERNANDO QUIJANO, AND JIMMY BUFFI April 24, 2008

  2. 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

  3. Key Design Requirements Proof-of-Concept prototype is a GPS-guided vehicle that locates and identifies an IR transmitter

  4. Final Concept • Tracks vs. Wheels • Cost • Simplicity • Obstacle Avoidance • ‘Seeing’ the Target • Chassis Decision…

  5. 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

  6. Organization • Vehicle Feature Design • Platform & Enclosure • Sweeping Arm & Sensors • Bumper • Suspension • Wiring & Circuitry • Programming • Prototype Performance & Feasibility

  7. I - Vehicle Design

  8. Platform and Enclosure • Improvements and/or Alternatives: • Permanent platform • Compartmentalize circuitry • Weatherproofing

  9. Sensor Arm • Dimensions:17”x 2”x 3/8” • Material: 3/8” Gray PVC • Features: • Shelled out • Sensor slots

  10. Sensor Arm

  11. Servo Selection

  12. Signaling • Hazardous: Red lights • Non-Hazardous: Green lights

  13. Signaling • Improvements and/or Alternatives • Audio signaling • Speaker • Siren

  14. Sensor Placement • Detect transmitter within a foot or less away • Rotating arm • Effective height and angle for sensor

  15. Sensor/Transmitter System • Maximum range of sensor/transmitter system ~50 feet • Transmitter: ~9° lobe • Sensor: ~180° range of view

  16. Experimental Results

  17. Sensor Holder Design 30°

  18. Sensor Arm Mechanism • Improvements and/or Alternatives: • Weatherproofing of sensors • More supports for arm at rotation point • Stepper Motor • Height adjustable

  19. Bumper System • Detect and avoid obstacles higher than 3” • Absorb impact • Appropriate spring

  20. Bumper System Bumper System

  21. Bumper System • Improvements and/or Alternatives: • Permanently attach bumper • Softer springs • Ultrasonic range-finder

  22. Suspension System • Suitable shocks to: • Handle various terrains • Maintain desired ground clearance: ~3”

  23. Suspension System

  24. II - Electronics

  25. 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

  26. 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

  27. User Interface • “Waiting” Mode • Store coordinates • “Preparing for movement” mode • Activate the car and begin search • Car will display “Hazardous Material Found”

  28. 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?

  29. 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

  30. IV - Proof of Concept Demonstration

  31. IV - Proof of Concept Demonstration

  32. IV - Performance Evaluation Score based on the Prototype Requirements 83/90

  33. 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

  34. 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

  35. IV - Feasibility • Main objectives: • Vehicle and Sensor Accuracy • Obstacle Avoidance • Future Showstoppers • Maneuvering through extreme terrain • Work indoors • Weather conditions

  36. Additional Information www.nd.edu/~me463a18

  37. QUESTIONS?