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EE1906: XYZ Positioning system for Cylindrical Coordinates

EE1906: XYZ Positioning system for Cylindrical Coordinates. Mechanical Team: Aidan Boyce Jesse Deluca Nick Alamora. Electrical Team: Aaron Adap Cullen Cole Jeremy Baouche. Project Overview:.

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EE1906: XYZ Positioning system for Cylindrical Coordinates

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  1. EE1906: XYZ Positioning system for Cylindrical Coordinates Mechanical Team: Aidan Boyce Jesse Deluca Nick Alamora Electrical Team: Aaron Adap Cullen Cole Jeremy Baouche

  2. Project Overview: Electric Boat wants a device that will allow them to inspect large sections of there subs in dry dock or in the water. Manual Inspection is expensive and time consuming • Cost EB millions to inspect in dry dock so operation in the water is very important • Needs to be easily assembled and able to be reconfigured easily to save on time.

  3. Specifications and Constraints • Usable in both wet and dry conditions • Able to be configurable without the help of divers • Should be accurate to 1 in. • Allows movement 120 degree radially • Should be able to be remotely controlled within 100 yards • Sensor must be kept 1 in. from sub hull TRACK RIB SENSOR 120° SUB 1in

  4. Design 1: • Track and rib system • The camera will be carried across an arching rib • Design is modular - can be segmented • Easy to attach rollers for support • Securing the device will be tricky

  5. Design 2: •Creates a volume of space for inspection •Conceptually similar to a 3D printer! •Can be attached to either the submarine or dock •Not as portable or modular, but easier to secure and implement

  6. Power Supply: The device will be powered from a 3 phase power socket so we can use power supplies to convert the 3 phase power to DC. 24V 30A Power Supply https://www.batterystuff.com/power-supplies/load-bearing-chargers/power-max/power-max-pm3-30-24.html?gclid=EAIaIQobChMI666y7o-d3gIVnEsNCh2O0w7eEAkYByABEgJPxfD_BwE

  7. Remote Control: To control our device 100 yards out, we would need to use a Radio Frequency transmitter instead of Bluetooth or WiFi. HiLetgo 315Mhz RF Transmitter and Receiver Module link kit for Arduino/ARM/MCU/Raspberry pi - Amazon

  8. Motor Selection: To meet the goal of 1 in. accuracy we will need to use high torque stepper motors to be able to move the ribs of our device. To increase the amount of torque the stepper motors output we will most likely need to use gearboxes while decreasing the speed of our device. Nema 34 w/ Gearbox(20:1): https://www.omc-stepperonline.com/geared-stepper-motor/nema-34-stepper-bipolar-l97mm-w-rear-shaft-and-gear-raio-201-spur-gearbox-34hs38-4004d-sg20.html?mfp=119-holding-torque-w-o-gearbox-ncm%5B450%5D

  9. Microcontroller • Implement a controller utilizing a Atmega328p microcontroller. • Motors currently driven by an EasyDriver motor driver board. https://store.arduino.cc/usa/arduino-uno-rev3 https://www.sparkfun.com/products/12779

  10. Project Timeline:

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