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Team HazardHawk

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

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Team HazardHawk

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  1. Team HazardHawk CRITICAL DESIGN REVIEW April 24, 2008 Team HazardHawk 2008

  2. 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

  3. Objective • 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. Team HazardHawk 2008

  4. Project Overview • Key Features • Autonomous GPS Navigation • Hazardous Materials Sensor to locate and sample hazards • Main Considerations • Can operate in a large open field • Can locate a hazard and return to start point quickly • Navigation of a variety of terrains with surface obstacles Team HazardHawk 2008

  5. 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

  6. Concept SelectionIndividual Concepts • Individual Concepts were developed • Key Features of interest merged into group concept

  7. Concept SelectionGroup Concept • Target Market: Public Service Sector • Fire Department, Police Department, Hazmat, and other public agencies

  8. Prototype DesignFeatures • Key Features Included: • Autonomous GPS Navigation • Infrared ‘Hazard’ Sensors • Retractable Oscillating Arm • Tank Drive

  9. 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 arm • Kinematics • Hazard Sensing Methodology • Determining optimum search height and orientation • Developing logic for search algorithm

  10. 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

  11. 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.

  12. 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

  13. 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

  14. Prototype DesignFabrication • Assembly • CNC manufacturing for precise sizing of body panels, arm base, and mounts • Custom Cut Shafts, Chain • Wheel Assembly • Mount Assembly • Arm Assembly

  15. 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.

  16. ElectronicsOverview

  17. Acquire Hazard Coordinates Add 1 to counter Turn Around Continue Straight Turn Around Add 1 to counter Rotate arm. When hazard is found return to start coordinates Continue Straight Acquire New Coordinates Acquire New Coordinates dy increases? North or South Within 3 ft of Y-Cor. Counter > 2? Within 3 ft of X-Cor. dx increases? Counter > 2? Prototype Software Flowchart East or West of target Carry to Start Acquire Start Coordinates No No No Yes Yes Yes No No Yes No Yes Yes

  18. Design Status • Video Team HazardHawk 2008

  19. 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

  20. Prototype Team HazardHawk 2008

  21. 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

  22. 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

  23. Questions? Team HazardHawk 2008

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