fernandez roman lopez final report

7/23/2019 Fernandez Roman Lopez Final Report

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NYU-POLY

Firefighting Boe-Bot

Mechatronics Integrated Final Report

Carlos Fernandez, David Lopez, Andre Roman



Contents

Introduction......................................................................................................................................2

Mechanical esign..........................................................................................................................2

!lectrical esign.............................................................................................................................."

#oft$are esign...............................................................................................................................%

&ost 'nal(sis.................................................................................................................................)*

#afet( Operation............................................................................................................................))

Possi+le esign I,proe,ents......................................................................................................))

&onclusion.....................................................................................................................................)2

References......................................................................................................................................)"

&ode...............................................................................................................................................)

1



Introduction

uring fires in relatiel( large +uilding/ dousing the structure through $indo$s and roof

openings allo$s for control of the fire +ut re,aining fires $ithin the +uilding ,a( last. 0his

re1uires firefighters to enter said structure/ $hich ,a( hae +eco,e structurall( unsta+le/ insearch of suriing fires $hich ,a( endanger the firefighter due to lac of isi+ilit( and

+reatha+le air.

Re,oal of the hu,an factor in tas $here the user ,a( e3perience non-necessar(

danger has led to introduction of re,ote controller ehicles. 0hese deices are capa+le of doing

as the hu,an user desires through a series of interactions +et$een ,achine and user. 0he

possi+ilit( for these ro+ots to +e controlled re,otel( allo$s the user to hae e(es and ears in the

field $ithout the need to ph(sicall( endangering hi,4herself. Firefighting has +eco,e a curious

field $here ro+otics is +eing applied/ to the point $here co,petitions are held for handheld

ro+ots to e3tinguish rando,l( positioned fires 5)6/ as $ell as co,panies approaching the conceptas an untapped ro+otic ,aret 526.

0he proposed ro+ot design allo$s for sensing and dousing of s,all fires through ,anual

,eans. 0he ro+ot $ill +e a+le to sense a fire fro, an( position $ithin its $oring range

allo$ing for ,anual control of the ro+ot +( the user/ $ho in turn is a+le to 7interact8 $ith the

eniron,ent as necessar( $hile haing constant feed+ac $ithout the need of a co,puter screen.

Mechanical Design

0he ,echanical design of the s(ste, calls for a light and s,all s(ste, $hich $ill allo$

for ease in ,o+ilit(. 0he proposed design incorporates co,ponents $hich are relatiel( si,ple to

asse,+le $hile also +eing readil( aaila+le.

&hassis

0he $oring platfor, of the design $ill +e the Boe-Bot proided +( Paralla3 Inc 9Fig. ):. ue to

its si,plicit( in asse,+l( and +eing readil( aaila+le it $ill proide a sustaina+le chassis for the

proposed s(ste,.

2



Figure 1 - Boe-Bot lat!orm

0he chassis proided in the it fro, Paralla3 Inc. is ,ade fro, alu,inu,. It is specificall(

design to hold t$o continuous seros/ $hich sere as the actuators for ,oe,ent of the ro+ot.

0he +ac $heel is a free ,oing ru++er +all. 0he pegs seen in the figure/ are ,ounted on the

chassis/ proide support for the Paralla3 Board of !ducation/ $hich contains the Basic sta,p 2

,icrocontroller.

;ater 0an

0he $ater tan is constructed fro, Ple3iglas +o3 of di,ensions <= 3 ".2<= 3 2=/ sealed such as

to aoid leaing of $ater into the electrical s(ste,. 0he tan is positioned oer the electrical

co,ponents due to the aaila+le supports proided +( the Boe-Bot platfor, as $ell as the

increased range of haing the $ater +eing pu,ped fro, the highest position aaila+le/ allo$ing

for the ro+ot to +e farther fro, the fire.

;ater elier(

0he $ater delier( is achieed using an !d,und !lectronic ,iniature $ater pu,p placed inside

the tan. 0he pu,ps $oring range +eing ).<-"> allo$s for proper usage $ithin the s(ste,.

;ater is sent through a tu+e $hose free end is attached to a sero,otor allo$ing for $ider

displace,ent of $ater +( changing the angular position of the ,otor.

0he follo$ing figure 9Fig. 2: sho$s the asse,+l( of the s(ste, $ater s(ste, incorporating the

pu,p/ sero,otor and glass case as it8s placed in top of the Boe-Bot.

3



Figure " - #ater Deliver$ %$stem

&lectrical Design

0he electrical s(ste, proposed allo$s for proper interaction $ith the user through a

tethered s(ste,. 0he user receies feed+ac fro, the s(ste, in the for, of light signals through

light e,itting diodes 9L!s: to central hu+ fro, $hich the controller in connected. 0he oerall

s(ste, utili?es co,ponents aaila+le fro, the ,echatronics class it as $ell as e3tra

co,ponents ac1uired to ease the interaction +et$een the user and ,achine.

' general electrical sche,atic can +e seen in Fig. ".

4



Figure ' - &lectrical %cheme

Microcontroller

0he electrical s(ste, $ill +e controlled +( the 'rduino UNO R" ,icrocontroller. 0he

adantages of the 'rduino ,icrocontroller are its open source soft$are/ $hich allo$s for an

e3tensie li+rar( for different interfaces. ue to certain e1uip,ent used/ the 'rduino is faored

oer the Basic #ta,p 2 used during the class. 0he 'rduino contains ) digital I4O pins/ $hich

can proide < olts. !ach pin can source4sin *,' of current. 'lso/ @ of the pins hae pulse

$idth ,odulation 9P;M:. 0he Uno has @ analog input pins/ $ith )* +it accurac(. 0hese features

5



proided +( the 'rduino platfor, $ere reasons $h( the 'rduino $as chosen oer the Basic

#ta,p.

;ii Nunchuc

0he hu,an interaction co,ponent of the design $ill entail the use of the ;ii Nunchuc.0he Nunchuc uses a #0Microelectronics accelero,eter to detect changes in position as $ell as

the addition of a Ao(stic and +uttons for interaction.

0he purpose of the Nunchuc in this design uses the accelero,eter data to ,oe the

sero,otor controlling the hose fro, the pu,p. 0he Ao(stic allo$s for driing of the Boe-+ot in

an( desired direction and a +utton is used as a trigger ,echanis, for the $ater pu,p.

Infrared L!s

0he electrical design of the s(ste, calls for the application of the dualit( of diodes as

presented in class. ' L! placed in reerse +ias can act as a sensor to its e3pected output. Forthis proAect infrared L!s $ill +e used/ $hich detect infrared light $hen a fla,e is present. 0he

L!s are placed in series $ith a capacitor such as to a+le to utili?e the R&0i,e co,,and to

ac1uire a signal strength inersel( relating to the distance fro, the source.

Figure ( - )a* hotodiode in reverse +ias, )+* %ignal strength in relation to distance

0ransistor

0he PNP transistor utili?ed in this s(ste, allo$s for control of the $ater delier( s(ste,.

epending on the input supplied to the diode the pu,p $ill +e actiated or shut off. 0he

follo$ing diagra, graphicall( represents the a+oe 9Fig. <:.

6



Figure - Circuit diagram o! pump and B.

#ero,otors

0he Boe-Bot it proides t$o continuous sero,otors $hich are used to drie the ehicle

as desired. 'n additional standard sero,otor is used to position the hose as desired $ithout the

need to reposition the Boe-+ot.

Indicators

0hree L!s $ill act as indicators to ,onitor the current status of the firefighting ro+ot.

0he left and right L!s are red/ $hich $ill indicate that the fire is currentl( to the left or right of

the +oe-+ot. 0he center L! is a +i-color L! 9red4green:/ $hich $ill displa( red $hen the fire

is sensed +( the center infrared detector. Once the ro+ot is in position/ all three L!s $ill +e lit.

;hen the fire is put out/ green $ill +e lit.

Figure 6: Indicators

%o!t/are Design

0he soft$are for the proposed proAect re1uired a logic +ased s(ste, due to the

i,ple,entation of seeral sensors to feed+ac into the user the relatie position of the fire in

7



relation to the front of the Boe-Bot. Note that the soft$are accounts for proper allocation of

signals into the follo$ing hu+/ $here the controller is connected.

Figure 7 - Signal Plant for User Interaction

The following are excerpts of the code which are of interest. Initially it should be

noted that there is lac of the !"Ti#e function within the $rduino syste# as such

the function is de%ned as follows &'ig. 7(. The function set the pin as initially )I*)

such as to allow for discharge of the capacitor into ground+ after which the pin is set

as input and de%ned ,- during which the results is continuously increasing until

the pin physically ,-.

;ith the a+ilit( to ac1uire data relating to the fire the follo$ing code is a +reado$n of the logic used to

tell the user $here the fire is/ $hich is done +( the flashing of L!s in a respectie ,anner 9recall Fig.@:

0he follo$ing is a snippet of code that $e used to ,ae the +oe-+ot autono,ous. 0here $ere pro+le,s

i,ple,enting autono,ous control +ecause the alues of R&ti,e aried greatl( $ith the a,ount of light

the fire $as e,itting. Precision $as not o+taina+le $ith the current setup.

/



'ccounting that the user no$ no$s $here the fire is s4he ,a( properl( react +( using the ;ii

Nunchuc accordingl(. 0he data is read and set as the right constants to denote direction of trael.

0he ,icrocontroller then applies the defined s(ste, constant for that instant into the respectie tires/

appl(ing ,otion to the Boe-Bot.

0he follo$ing represents the ,ain loop of the s(ste, in logical succession sensors are checed/ $hich

feeds data to the user through L!s/ follo$ed +( the checing Nunchuc state/ depending the state of the

?-+utton turn pu,p on finall( ,oing the Boe-Bot if re1uired +( Nunchuc input +( defining turning and

speed then appl(ing to seros.

0



"o#plete code is aailable at the end of the report.

'inal rototype

Figure 8: Prototype

1



Cost Analysis.a+le 1 - arts Cost

Ite

m

Description 0endor art o2 3uantit

$

rice

per

rotot$p

e

roduction

1 Boe-Bot Ro+ot Cit Paralla3 Inc. 2D)"2 ) ED). ED). E@<.< )4)@G cotter pin %**-***2"

)G tail $heel %**-****

9: ru++er +and tires %2)-****2

92: plastic $heels %2)-****)

9D: "4DG -* pan head scre$s %**-****2

92: -* flathead scre$s %**-***)@

9D: %4DG -* pan head scre$s %**-***2D

92: %4DG -* pan head scre$s %)*-****%

9)*: -* ?inc-plated nuts %**-****"

9: )G round -* standoff %**-***@*

92: spacer/ )42G round %)"-****%

)"4"2G ru++er gro,,et %**-***2<

92: n(lon $ashers 9scre$ si?e H: %**-***)<

92: "-pin headers <)-**"*"

92: Paralla3 continous rotation seros **-****D

92: infrared L!s "<*-****"

92: L! standoffs "<*-****

92: L! shields for "<*-**** "<*-***)

u,per $ires 92 +ags of )*: D**-***)@

'lu,inu, chassis %**-***22

+atter( holder $ith ca+le and +arrel plug %**-***"D

" 'rduino Uno R" #,artProAects ) E2<.** E2<.** E2<.**

' infrared L!s Paralla3 Inc. "<*-****" 2 E*. E).D E).<2

( ;ii Nunchu &ontroller Nintendo ) E2*.** E2*.** E2*.**

;ii&huc 'dapter #parfun !lectronics !>-*2D) ) E).< E).< E).<@

4 )* pf &apacitors Mouser !lectronics )*-<**N2-

)**-R&

" E*.)* E*."* E*.2@

5 Bread+oard #parfun !lectronics PR0-*<@% 2 E<.< E)).)D E.<2

6 Ple3iglass &ase Proffesional Plastics ) E2*.** E2*.** E2*.**

7 #tandard #ero Paralla3 Inc. **-****< ) E)2. E)2. E)).@

18 Pu,p Lighto+Aect !JP-%L ) ED.< ED.< E@.%*11 Resistor Cit - )4 ; #parfun !lectronics &OM-)*@ ) E%.< E%.< E@."@

1" Brea '$a( Keaders #parfun !lectronics PR0-**))@ ) E).<* E).<* E).2*

1' Red L! Paralla3 Inc. "<*-****@ 2 E*.<* E).** E*.D*

1( Bi-color L! Paralla3 Inc. "<*-****< ) E*. E*. E*.%

.9.AL :17256 :158277

11

http://www.mouser.com/ProductDetail/Xicon/140-500N2-100J-RC/?qs=sGAEpiMZZMsh%252b1woXyUXj3vaHGRyT6H%2FbJtewaJjAq0%3D






0he price of the Firefighting Boe-Bot is finali?ed at E )<.%D for the protot(pe $ith a

,ass production price esti,ated at E )%*. ac1uired +( looing into ,ass production of )**

units at once. ' price drop of )2 is e3pected for ,ass production/ the nu,+er ,ight increase if

contact is done $ith ,aAor ,anufacturers of the ,aAor pieces such as Nintendo and

#,artProAects for the ;ii Nunchuc and 'rduino/ respectiel(.

%a!et$ 9peration

0he Firefighting Boe-Bot allo$s for re,ote e3tinguishing of fires/ placing the user in a

har, free eniron,ent. 0herefore safet( para,eters are onl( applied to the ro+ot and care should

+e taen $hen using it due to its pro3i,it( to fire and $ater.

0he signals sent +ac to the user through the L!s should +e taen seriousl( $hen

pro3i,it( to the fire is detected/ as the infrared sensors lead the Boe-Bot and therefore da,age

can +e done to the, in $hich case operation should +e stopped. 0he possi+ilit( of $ater da,age

during loading is also a real possi+ilit( due to the e3posed electronics under the tan and an( possi+le leas should +e addressed. Finall( it should also +e taen into account that at lo$ $ater

leels the Boe-Bot ,a( not oerco,e the sensors under the hose especiall( $hile in ,otion

therefore the tan should +e full( filled +efore operation.

ossi+le Design Improvements

0he design allo$s for further i,proe,ent if desired for e3pansion into a ,ore co,ple3

s(ste,. I,proe,ents can +e done in the $ater delier( s(ste, as $ell as the sensing s(ste, of

fires. eneral i,proe,ents could include $ater proofing of electronics $hile also fire proofing

certain co,ponents.

' particular li,itation proposed s(ste, is the lac of a+ilit( to detect fires not in direct

e(e leel $ith the sensors/ particularl( at a higher leel. 0o oerco,e such case additional

infrared sensors can +e included at different heights allo$ing for higher range. 'n addition of a

te,perature sensor could also +e incorporated to +etter deter,ine the distance fro, a fire or heat

source as the current design uses plastic/ high heat eniron,ents could da,age electronics.

0he li,ited $ater suppl( due to the di,ensions of the tan could +e oerca,e if a

tethered design is preferred in $hich case a direct line to a greater $ater source is achieed. 'n

addition of a designed no??le can also allo$ for +etter $ater delier(/ opti,i?ing the surface area

of $ater applied.

12



Conclusion

0he Firefighting Boe-Bot $as successful in putting out fires through the aid of a user

re,otel( controlling the ro+ot. 0he ro+ot is a+le to +e ,aneuered using a ;ii Nunchuc

through tether $hile also sending signals +ac to the user to central hu+ fro, $hich the

Nunchuc can +e attached or detached as needed. #(ste, e3pansion to i,proe the design is

possi+le including the original desire for an autono,ous ,ode $hen the s(ste, is detached fro,

the tether. Ulti,atel( the proAect $as successful and proAect guidelines $ere ,et.

13



Re!erences

5)6 - http44$$$.trincoll.edu4eents4ro+ot4

526 - http44$$$.$ired.co,4dangerroo,42*)24)*4fire-fighting-ro+ots4

14

http://www.wired.com/dangerroom/2012/10/fire-fighting-robots/

http://www.wired.com/dangerroom/2012/10/fire-fighting-robots/



Code

Initiali?ation of aria+les/ setup/ and ,ain loop

15



Update sensors/ R&ti,e

16



Light L! indicators

getir9: and drie

17



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