project gulfstream curtis christiansen jordan hodge jordan lyford troy mills wilson schreiber...
Post on 20-Dec-2015
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Project Gulfstream
Curtis ChristiansenJordan HodgeJordan Lyford
Troy MillsWilson Schreiber
Project Gulfstream
Curtis ChristiansenJordan Hodge Jordan Lyford
Troy Mills
Wilson Schreiber
Agenda
• Background• Problem Statement• Solution Statement• System Overview• Design
o Mechanicalo Electricalo Software
• Assignments• Schedule• Budget
Background
Many barns that contain livestock require some method to contain the animal waste and make it easy to clean Wood shavings are typically spread to make cleanup easier
Problem Statement
Wood shavings may make cleanup easier, but it is still tedious.The shavings still need to be collected and removed.
Solution Statement
Our solution consists of
• Autonomously driven vehicle with a vacuum source to collect the material
• Spiraling navigation • Material collection storage area, with an auger disposal • Docking station for disposal (HomeBase)
For prototyping purposes, we are planning on testing and demonstrating the device in a controlled, "Lab" setting
System Overview
Vacuum Pump
Storage Bin
Vacuum Hose
Auger Out(when full & docked)
Mobility Platformw/ Micro-controller and on-board power
Collection Manifold
Sensors A: HomeBase Receiver B: Bin Full Sensor C: Bin Empty Sensor D-E: Obstacle Sensors
HomeBase Transmitter
if (Run_Autonomous) { if (Run_Autonomous == 2) { LeftMotorDuty = +30; RightMotorDuty = +75; Set_Left_Motor_Duty_Cycle (LeftMotorDuty); Set_Right_Motor_Duty_Cycle (RightMotorDuty); spiral_count = 350; Start_Motors(500); Run_Autonomous = 3; }
if (Run_Autonomous == 3) { if(spiral_count == 0) { ++LeftMotorDuty; Set_Left_Motor_Duty_Cycle (LeftMotorDuty); Set_Right_Motor_Duty_Cycle (RightMotorDuty); if (LeftMotorDuty == (RightMotorDuty-1)) { Stop_Motors(); LeftMotorDuty = 0; RightMotorDuty = 0; Set_Left_Motor_Duty_Cycle (LeftMotorDuty); Set_Right_Motor_Duty_Cycle (RightMotorDuty); Run_Autonomous = 0; }
Start_Motors(500); spiral_count = 350; //Defines the change in radius per unit step of duty cycle
Navigation Software - Spiral
Current Assignments
• Troy: Bin, Auger• Hodge: Navigation, CAD• Lyford: Vacuum, HomeBase software• Curtis: Obstacle detection software, CAD, Scoop• Wilson: Navigation, Bumper
Schedule
• Week 1 (8/30 - 9/3)o Brainstorming, Vacuum Testing, Sensor Bumper, MARV Wiring
• Week 2 (9/7 - 9/10)o MARV Training & Testing, Further concept development, Vacuum testing
• Week 3 (9/13 - 9/17)o MARV Navigation, Power systems, Vac. testing, Bin/Auger prototypes
• Week 4 (9/20 - 9/24)o MARV Nav., Bin construction, Implement nav. sensors, Vacuum testing
• Week 5 (9/27 - 10/1)o MARV Navigation, Bin construction, Mount vacuum and scoops
• Week 6 (10/4 - 10/8)o MARV Navigation, Implement bin sensors, Final mounting
• Week 7 (10/18 - 10/22)o Engineering Verification and Testing, Problem corrections
• Week 8 (10/25 - 10/29)o Engineering Verification and Testing, Problem corrections
Preliminary Budget
• Auger - $20• Vacuum Accessories - $40• Stock - $50• Fittings and Fasteners - $30• Bin - $25• Sensors - $60
Total - $225