Myles Durkin Steve Kropp Ryan Ehid Kevin McHugh Brian Lepus

1. Villanova University Capstone Design Myles Durkin Steve KroppRyan Ehid Kevin McHugh Brian Lepus

2. Motivation • 20 minutes of Burn Time • Roofs will collapse • Every 32 minutes • Someone is injured in a Fire • Every 162 minutes • Someone is killed in a Fire • In 2007 • 118 Fire Fighters were killed • EVERY SECOND COUNTS!!!

3. Purpose • Quickly search through a building • Identify the source of the fire • Extinguish Fire • Transmit the information • Video, Proximity Sensors, Flame Detector

4. Problem Statement • Only 20 minutes to extinguish flames before roof collapses. • Even equipped with thermal sensors, finding flames in a house is difficult and dangerous for humans. • Robot could safely search for flames and people quickly, effectively and safely. • Design and build a concept robot that is both effective and affordable.

5. Requirements • The robot should weigh no more than 150 pounds • The robot should also be able to fit into a compartment of fire truck with dimensions • The robot must be able to climb stairs • The robot should efficiently and quickly navigate the structure and locate both fires and victims

6. Chassis Ryan Ehid

7. Chassis and Drive Train: Tasks Completed • Computed power requirement for robot • Show Power Requirement KM • Determined robot should be built using a treaded vehicle design • Recall: robot must climb stairs • Refined power requirement to include treaded vehicle • Determined motor specifications required for power requirement • Show determined motor specs

8. Chassis and Drive Train: Tasks Completed • Sized motors and gear boxes • Motors would be purchased with gearbox to give ratio of @@ KM • Ordered motors and gear boxes • Researched materials to use for chassis to maintain resistance to heat • Any Plastics are un-useable • Aluminum, Steel, Iron appropriate • Steel or aluminum would be used due to commercial availability and ease of welding

9. Chassis Design: Basic Framework

10. Chassis: Assignments • Chassis: Project Lead—Ryan Ehid • Design, size motors • Purchase motors, gear boxes • Given dimensions of motors, gear boxes, treads and drive wheels and given size develop preliminary chassis dimensions • Select adequate thermal protection • Recall design constraint, robot must function to 500°F • Select adequate water protection • Recall design constraint, robot must be waterproof • Chassis and drive train integration • Refine design based on drive train specifications

11. Chassis Assignments Cont. • Purchase Motors • Purchased NPC Motors from RobotMarketplace.com • Motors provide adequate torque to overcome stairs • Motors provide enough speed to search house in required 10 min • Motors pix: kevin

12. Chassis Assignments Cont. • Develop preliminary chassis design • Completed 1/26

13. Chassis Assignments Cont. • Thermal Protection • Robot will need thermal protection • Chassis must be built of material which will not melt • Aluminum • ~660°C • Steel • ~1400°C • Lexan • ~440°C

14. Chassis Assignments Cont. • Still To Be Completed: • Thermal insulation for electronics and motors selected • Waterproofing of chassis selected • Building of chassis • Integration of chassis with drive train

15. Drivetrain Kevin McHugh

16. Power Requirement

17. Motor Selection • The previous power calculation yielded a power requirement of 1685.75 W to achieve the desired speed up the stairs. • This is the equivalent of 2.26 hp. • NPC T74 was chosen because each of the two motors being used output 1.13 horsepower just before stall (under heavy loading).

18. Final Gearing • The NPC T74 is a geared motor. • Speed reduction and cost effectiveness. • The final drive mechanism will be a chain drive system • This will be used to fine tune the desired output speed as well as to relocate the power from the motor to the drive axels.

19. Final Gearing • The final, full throttle speed of the robot depends on several components. • Motor speed • 192 rpm • (battery power limited) • Tread drive wheel Diameter • 8 in • Final Gear Ratio • ≈2.188 (see right)

20. Driveshaft • The driveshaft has to be designed to handle the torque loads applied to it. • This is a simple matter of choosing the proper diameter and material for the shaft. • The diameter will be calculated using AISI 4000 Series Steel http://www.roymech.co.uk/Useful_Tables/Matter/shear_tensile.htm http://www.matweb.com/search/DataSheet.aspx?MatGUID=210fcd12132049d0a3e0cabe7d091eef&ckck=1

21. Electrical Components Myles Durkin

22. Electrical Prototyping • Prototype – No sensors

23. Electrical Prototyping • Motor Controller • Full H-Bridge

24. Electrical Prototyping • Tested Proximity Sensors • Uses Voltage Comparator Circuit • Hatamatsu UVTron Flame Detector

25. Electrical Prototyping • PIC Microcontroller programmed to control motors based on sensor input

26. Electrical Analysis • Using two 12V batteries in series (7Ah) NPC – T74 NPC – T64

27. Electrical Analysis • RPM vs Time • Steady state 192 rpm at 90 sec.

28. Electrical Analysis • At 192 RPM, needs 53 Amps • 7.8 min battery time powering one motor • 3.9 min battery time powering both motors

29. Turret System Brian Lepus

30. Turret System - Camera • 2.4 GHz Wireless Color Weatherproof Indoor Outdoor Camera and Receiver • Automatic IR night vision – 20 ft. range • 150 ft. total range

31. Turret System - Design • Positioned on top of robot • Connected to rotating 9-volt source • Controlled by continuous servo (360°) Servo

32. Fire Suppression Brian Lepus

33. Fire Suppression • Fire extinguisher canister • Dry chemical • Used only to suppress or control small fires that become an obstacle • Engaged with either a motor and gear train or actuator that closes the handle

34. Tread Design Steve Kropp

35. Tread Design • Design Requirements • Tread design must allow the robot to climb stairs and other obstacles. • Tread design must provide for maximum surface area when in operation • Tread design have the ability to become compact in order to fit robot in fire truck compartment. • Tread design must provide for maneuverability.

36. Tread Design • Tasks Completed • Built Tamiya Rescue Crawler Robot as prototype • Depicted three tread design adapted for Firebot.

37. Tread Design • Tasks Completed • Developed three tread design • Front and back tread can rotate up and down in order to satisfy requirements of maximum surface area as well as compact ability and maneuverability. • Story board created to illustrate abilities.

38. Obstacle Climbing Abilities Robot approaches step with front tread up, giving the robot leverage.

39. Obstacle Climbing Abilities The front tread then levels itself out and gains traction. This helps pull the rest of the robot up onto the stair.

40. Obstacle Climbing Abilities Maneuverability and Compact Design- Since the landing is too small for the fully extended robot to turn, the front and back tread tilt up. This allows the robot to turn successfully.

41. Obstacle Climbing Ability With all three treads extended, the robot maintains maximum surface area in contact with the stairs.

42. Tread Design • Material to be used • Steel • Kinetic Coefficient of Friction: .6 • Melting Temperature: 2500°F • Rubber • Kinetic Coefficient of Friction: .85 • Melting temperature: Varies

43. Tread Design

44. Tread Design • Future Milestones • Order tread materials • Rubber belts, flat chain, sprockets, servos, etc. • Install treads • Test treads • Must pass requirements.

45. Schedule Kevin McHugh

47. Budget Ryan Ehid

48. Budget • Major Sources of Funding • Engineering Alumni Society • Donation of $1000 • IBM Corporation • Donation of $1000 • ECE Day Best Project Award • Around $500 • Provided by College of Engineering • Standard funding for Capstone $300

49. Budget • Major Team Expenditures • Prototype Robot • Roughly $80 • Sensors and Electrical Components • Roughly $50 • Poster and PR material • Roughly $100 • Motors + Gear Box • Roughly $650

50. Budget