team hazardhawk
DESCRIPTION
Team HazardHawk. CRITICAL DESIGN REVIEW. April 24, 2008. Presentation Outline. Objective Project Overview Design Requirements Concept Selection Key Technical Challenges Performance Requirements Prototype: Materials / Fabrication / Assembly Electronics / Software Overview - PowerPoint PPT PresentationTRANSCRIPT
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Team HazardHawk
Team HazardHawk 2008
April 24, 2008
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Presentation Outline Objective Project Overview Design Requirements Concept Selection Key Technical Challenges Performance Requirements Prototype: Materials / Fabrication / Assembly Electronics / Software Overview Design Status Feasibility Assessment Prototype Performance Questions
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Objective
Team HazardHawk 2008
Task: Develop an autonomously-controlled, electric-powered vehicle whose purpose is to demonstrate the integration of technologies needed to locate a “hazardous material” in an open field.
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Project Overview
Key FeaturesAutonomous GPS NavigationHazardous Materials Sensor to locate and sample hazards
Main ConsiderationsCan operate in a large open fieldCan locate a hazard and return to start point quicklyNavigation of a variety of terrains with surface obstacles
Team HazardHawk 2008
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Design Requirements
Autonomous, electric-powered GPS enabled, accurate to within 1 meter (3.28 ft) Maximum weight: 35 kg (77.1 lb) Maximum size: 1 meter (3.28 ft) in any
dimension Top Speed: 8 m/s (17.89 mph) Hazard detection in under 1 minute when within
100 meters of hazard
Team HazardHawk 2008
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Concept SelectionIndividual Concepts
Individual Concepts were developedKey Features of interest merged into group concept
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Concept SelectionGroup Concept
Target Market: Public Service SectorFire Department, Police Department, Hazmat, and other
public agencies
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Prototype DesignFeatures
Key Features Included:Autonomous GPS
NavigationInfrared ‘Hazard’ SensorsRetractable Oscillating
ArmTank Drive
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Key Technical Challenges
Establishing navigational precision and awareness of location using imprecise GPS data
The Oscillating Robotic Arm:Material and geometry selection for a strong,
lightweight armKinematics
Hazard Sensing MethodologyDetermining optimum search height and orientationDeveloping logic for search algorithm
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Key Technical ChallengesDesign of Arm Assembly
Material Selection, Member Length, Oscillation Speed Materials Considered: Carbon Fiber, PVC, Plywood, and HDPE Longer-the-Better Factor of Safety of 4 Optimal:
○ 30 in members○ ω = 2.3 rad/sec Normalzed Yield Stress vs. Member 2 Length - w = 5 rad/sec
0.0
2.0
4.0
6.0
8.0
10.0
12.0
18 20 22 24 26 28 30 32 34 36 38 40 42
Member 2 Length [in]
Norm
aliz
ed Y
ield
Stre
ss (s
_yie
ld /
s _m
ax)
Carbon Fiber
Plywood
HDPE
PVC
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Key Technical ChallengesSensor Sensitivity
Goal: to search at a height where the conical infrared signal emitted by the hazard has a large diameter
Height constrained by the vehicle size performance requirement
Result: Search at the maximum height and a downward orientation
Detection radius is 8.3 in at search height h= 42 in.
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Key Technical ChallengesGPS Navigation
Sought to determine optimal search direction
Due north most accurate approach direction
Average deviation of 2.2 ft
Due North Residuals: 1 ft/sec
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Prototype Requirements Weight < 70 lbs Dimensions < 3 feet in any direction Complete Task < 8 minutes Responsive user interface Maneuvers autonomously via GPS Seeks and reaches hazard Identifies target as hazard Returns to start position Deactivates upon completion
Team HazardHawk 2008
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Prototype DesignFabrication
AssemblyCNC manufacturing for precise
sizing of body panels, arm base, and mounts
Custom Cut Shafts, ChainWheel AssemblyMount AssemblyArm Assembly
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Prototype DesignFabrication
Assembly:Body Panels attached with
corner braces Motor Mounts and Bearing
Mounts attached to base with ¼” bolts to allow for adjustability
Arm fabricated with PVC, assembled with ¼ in bolts.
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ElectronicsOverview
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Prototype Software Flowchart Acquire Hazard
Coordinates
Continue Straight
Carry to Start
Acquire Start Coordinates
Within 3 ft of X-Cor.
East or West of target
Acquire New Coordinates
dx increases?
Add 1 to counter
Counter > 2?
Turn Around
North or South
Continue Straight
Acquire New Coordinates
dy increases?
Add 1 to counter
Counter > 2?
Turn Around
No No
Yes YesYes
YesYes
No NoNo
Within 3 ft of Y-Cor.
No
Yes
Rotate arm. When hazard is found return to start coordinates
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Design Status
Video
Team HazardHawk 2008
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Prototype Performance Weight < 70 lbs 60.7 Lbs 10/10 Dimensions < 3 feet in any direction 15 x 16 x 36 in 15/15 Complete Task < 8 minutes N/A 0/15 Responsive user interface Yes 10/10 Maneuvers autonomously via GPS w/out Arm 7/10 Seeks and reaches hazard w/out Arm 7/10 Identifies Hazard Yes 10/10 Returns to start position w/out Arm 7/10 Deactivates upon completion Yes 10/10
Total: 76/100
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Prototype
Team HazardHawk 2008
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Feasibility Assessment
GPS Navigation, Arm Mechanism, IR Hazard Detection are all feasible.
Showstopper: Drive Train Sensing technology needs to be developed Further development is advised
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Lessons Learned
Importance of hardware/software integration
Parallel Development Importance of a thorough CAD model Project planning and delegation of
responsibilities Problems with outsourcing parts
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QUESTIONS?
Team HazardHawk 2008