final proof of concept
TRANSCRIPT
PowerPoint Presentation
ProofOfConcept
VIDEOINTRODUCTION
VISIONCOMPANY
SUMMARY
EXECUTIVE
Advancement in TechnologyImprovement in SocietyIncrease in Efficiency
PURPOSE
Explore
Gather Data
Protect
Advance Robot
REQUIREMENTS
MISSION
EnterVolcanoIncrease in Efficiency
EndureLandslides
MeasureEnvironment
Provide LiveVideo Feed
DetectHeat SignatureIncrease in Efficiency
PreserveEmpirical Data
InitiateSeparation Sequence
TransmitData
APPROACH
ROBOT
COMPLETE
TESTINGIT WORKS! IT WORKS!
Conception
Performance
AnalysisTesting ApproachHolistic view of the robotFunctionalityDurabilityTest Process:Conception of TestPerforming the test and recording dataAnalyzing the results of the test
APPROACHTESTING
TESTING
DOCUMENTATION
TESTING
DOCUMENTATION
TESTING
MANAGEMENTRISKWhere we prefer our future to burnbrighter than our robot
OVERVIEW
PurposeMitigation of risk, enactment of opportunitiesCommunication of current events
PhilosophyDecision-makingSafety as a priorityRisk Tolerance
MANAGEMENTRISK
Table R1
Table R2
EVALUATION
MANAGEMENTRISK
IdentificationDescriptionAnalysisResolutionDOCUMENTATION
MANAGEMENTRISK
ARCHITECTURESYSTEMSWe arent a part of your system!
INTRODUCTIONWhy?Context: What does this encompass?
ARCHITECTURESYSTEMS
Architectural DesignSystem InterfaceResilience and AvailabilityARCHITECTUREPHYSICAL & LOGICAL
ARCHITECTURESYSTEMS
Modularity of systemWhy can we adapt with ease?How does it fit the specified criteria?
SCALABILITYPERFORMANCE &
ARCHITECTURESYSTEMS
Made decisions through testing of dataFinalized Architecture Complete System Interaction VerificationPROOFVERIFICATION OF
ARCHITECTURESYSTEMS
Track systemHard to manufactureHigh cost of resourcesBelt-driven systemSimpler, requires less partsAssembled within a much shorter timeDELTA
ARCHITECTURESYSTEMS
WireboxStarted as simple additionEvolved into a centralized pieceMulti-functional pieceDELTA
ARCHITECTURESYSTEMS
MECHANICALDESIGN &Blueprints to Success
DESIGN APPROACHUsed the design process to identify design problemsDivided the robot into subsystems in order to solve the various tasks Subsystems created through the use of design matricesFour different subsections: hatch, frame, drive, and entry system.
TECHNICAL
MECHANICALDESIGN &
SUBSYSTEMSHatchUses gravity as a passive action for the hatch plates to fall onto the sides. Takes minimal space FrameThe frame is designed to resist stress and protect the key components within the robotDrive Track system chosen for its ability to handle rough terrainEntry SystemA cutting mechanism that will carve out a hole for our robot to enter the volcano
MECHANICALDESIGN &
DesignInitial design: TracksChanged to Belt DriveMechanicalBelt DrivePendulum Suspension
DRIVE
MECHANICALDESIGN &
FRAMEExtensive Testing was done. Arch Truss shows superiority under 1000 lbs of force.Utilizes a circular frame design for rigidity
MECHANICALDESIGN &
HATCHUtilizes a Pin-Release MechanismPin is released from the base of the hatch structureFalls to the left and right side of the robot due to gravityHatch fits the front of the new frame No issue with its consistency
MECHANICALDESIGN &
ENTRY
Consistently makes accurate circlesSpring attached to the back of the cutterThe blade pushed forward in the proper position Ensure the cut of an accurate circle
MECHANICALDESIGN &
VECHICLEHave data uploaded to itEscape from volcano intactLand and transfer data to HQStarted with a quadcopter for power and stabilityCurrent design is a tricopter for small size
ESCAPE
MECHANICALDESIGN &
MATERIALAluminum 6061 for the main structure of the robotABS (Acrylonitrile butadiene styrene) Plastic - temporary material for the prototypes wirebox, will be replaced by aluminum Abandoned Carbon Fiber for realistic budget and manufacturability
SELECTION/USAGE OF
MECHANICALDESIGN &
MANUFACTURINGCut-by-cut to the final product"
BANDSAWAdvantagesDisadvantages
Machines stock to specific sizesEssential machining tool to creating many partsNot very accurateLimited to certain materials
MANUFACTURING
CNC MILLAdvantagesDisadvantages
Uses x, y, z, and fourth dimension rotational axisImprove tabs usage with MasterCamStructural integrity weakenedmachining multiple parts from single stock
MANUFACTURING
CNC LATHEAdvantagesDisadvantages
Uses 2 axesCuts cylindrical parts (roadwheels)Very accurate and versatileLimited to 2 axes
MANUFACTURING
DRILL PRESSAdvantagesDisadvantages
Used to machine holesCreates small holes that are usually inconvenient with other toolsLess efficient than the CNC mill
MANUFACTURING
LASER CUTTERAdvantagesDisadvantages
Build prototypes, frame supports, etc.Limited to cutting only acrylic
VERSA
MANUFACTURING
THE ENGINEERSAdvantagesDisadvantages
The most important part of the manufacturing teamThe greatest resource of Nova TechNothing
MANUFACTURING
ELECTRICALThe Road to Power
CIRCUIT BOARDPRINTED
TOPBOTTOM
ELECTRICAL
CIRCUIT BOARDPRINTED
Master Signal SiteBattery Eliminator Circuit (BEC)SensorsMethod of Connection
ELECTRICAL
SCHEMATICLAYOUT OF
ELECTRICAL
SCHEMATICLAYOUT OF
ELECTRICAL
WIREBOXMaterial:AluminumElectrical Epoxy
ELECTRICAL
Raspberry Pi9DoF on the origin of IRDEnvironment data collection sensors
PLACEMENTSENSOR
ELECTRICAL
1. Use 12 AWG Wire to connect battery to DC loader.2. Test Nano-tech 14.8V 2200mAh 25-50C 4 Cell Li-Po Battery by setting DC loader to draw Amperes: 1.5, 3, 5, 10,15, 20 3. Run each trial for 30 seconds.4. Record data and graph.
RESULTSBATTERY TEST
ELECTRICAL
Consistent CurrentVarious readings of different demands of power
RESULTSBATTERY TEST
ELECTRICAL
PROGRAMMINGSending in robots to Burn Brighter
PROGRAMMING
DEVICESTypesControl SensorsEnvironment SensorsUtility DevicesRequirementsGather data for the robots decision-making matrixGather data on the volcano environment and sampleTransfer data to the drone and relay to the master computer
PROGRAMMING
SENSORSADXL345 AccelerometerMonitors acceleration to help monitor orientationD6T ThermopileDesigned for thermal trackingHMC5883L CompassWill be used along with the gyro for gyro-compassing (Removed from robot)ITG3200 GyroWill be used to provide rotational control for the robotPING))) Ultrasonic SensorMeasures distance relative to the robot from solid bodiesLuminosity SensorMonitors location relative to the inside and outside of the volcano.CONTROL
PROGRAMMING
ACCELEROMETERADXL345
Numbers of Samples of Collected10Greatest Percent Error2238%Average Percent Error1232%
PROGRAMMING
ITG3200 GyroNumbers of Samples of Collected24Greatest Percent Error28.6%Average Percent Error12.7%Gyro Drift over Time0.8474 deg/sec
PROGRAMMING
ITG3200 Gyro
Numbers of Samples of Collected24Greatest Percent Error47.7%Average Percent Error16.9%Gyro Drift over Time1.235 deg/sec
PROGRAMMING
ULTRASONIC SENSORPARALLAX PING)))
Linear Slope Value (Unscaled)1st: 1.2522nd: 1.3643rd: 1.304Regression-Squared Value1st: .99792nd: .9993rd: .9987
Numbers of Samples of Collected12 (x3 Trials)Greatest Deviation from Scaled Data1st: 27.7%2nd: 21.5%3rd: 27.7%Average Deviation from Scaled Data1st: 10.4%2nd:14.8%3rd: 10.4%
PROGRAMMING
D6T ThermopileTSL2561 Luminosity SensorSENSORSCONTROL
PROGRAMMING
BMP180 BarometerMeasures the pressure within the volcanoHTU21D HygrometerMeasures both humidity and temperature1K ThermistorMeasures the temperature of the sample
SENSORSENVIRONMENT
PROGRAMMING
RFID TranscieverMCP3008 Analog-Digital Converter
DEVICESUTILITY
PROGRAMMING
FLOW CONTROLHIGH LEVEL
PROGRAMMING
INITIALIZATION PHASEAUTONOMOUS
PROGRAMMING
CREATION PHASETUNNEL
PROGRAMMING
LOCATION PHASESAMPLE
PROGRAMMING
COLLECTION PHASEDATA
PROGRAMMING
SHUTDOWN PHASEEMERGENCY
PROGRAMMING
ENDEAVORSFINANCIALLimited only by Imagination (and Funding)
Initial Budget for IRD (Investigative Robotic Device) : $1,253.55 USDSponsorships and GrantsCAMS PTSO Sponsorship: $500.00CARPA Funding: $256.00Various Team Dues: $357.00Toyota Motor Corporation, USA Sponsorship: $3,000.00Gardena Valley Kiwanis Club Donation : $175.00Martinez Family Trust Fund: $900.00
Total Budget for IRD: $5,188.00Total Expenditure (as of February 21, 2015): $2,308.09Remaining Account Balance (as of Feb. 21, 2015): $2,879.91
EXPENSESBUDGET &
FINANCE
EXPENSESBUDGET &
FINANCE
EXPENSESBUDGET &
FINANCE
EXPENSESBUDGET &
FINANCE
SPONSORSOUR ESTEEMED
FINANCE
STRATEGYMARKETINGNovas the name; selling the robots the game.
Who would want to buy a robot that has the capabilities of volcanic exploration as presented before you?VolcanologistsCollection of empirical dataObservation of inner chambers of unexplored volcanoesGeologistsExcavation of inner chambers of unexplored volcanoesArcheologistsExploration of inner chambers of unexplored volcanoesPreservation of sanctity and composition of volcanic and artifactsFire Engineers (Firefighters)Scout potentially fatal fire scenarios for safety of firefighters
MARKETTARGET
MARKETING