gopher tortoise scope
TRANSCRIPT
![Page 1: Gopher Tortoise Scope](https://reader034.vdocuments.net/reader034/viewer/2022042610/58a379a61a28abaa488b5bed/html5/thumbnails/1.jpg)
Gopher Tortoise Scope
Submitted By: Itiel Agramonte & Xiangzhen SunPresented On: 12/10/15
Mechatronics IIDr. Clark
![Page 2: Gopher Tortoise Scope](https://reader034.vdocuments.net/reader034/viewer/2022042610/58a379a61a28abaa488b5bed/html5/thumbnails/2.jpg)
Overview
Background Subsystems Challenges & Future Work Questions
![Page 3: Gopher Tortoise Scope](https://reader034.vdocuments.net/reader034/viewer/2022042610/58a379a61a28abaa488b5bed/html5/thumbnails/3.jpg)
Motivation
Species is experiencing an increasing rate of declining population
Florida Endangered Species list Population statistics for this
species are done by burrow scoping
![Page 4: Gopher Tortoise Scope](https://reader034.vdocuments.net/reader034/viewer/2022042610/58a379a61a28abaa488b5bed/html5/thumbnails/4.jpg)
Current Scoping Method
IR camera attached to 15 meter tether
Pushed through the borough manually
Hard to maneuver Dragged back out after each
use Conditions: Wet, Muddy, Low
visibility
![Page 5: Gopher Tortoise Scope](https://reader034.vdocuments.net/reader034/viewer/2022042610/58a379a61a28abaa488b5bed/html5/thumbnails/5.jpg)
Task & Requirements
Develop remote control vehicle to drive into the burrows to determine if the burrow is inhabited
IR camera feed Temperature and Humidity Data Weights less than forty lbs Max Dimensions: 4x6x10
![Page 6: Gopher Tortoise Scope](https://reader034.vdocuments.net/reader034/viewer/2022042610/58a379a61a28abaa488b5bed/html5/thumbnails/6.jpg)
Subsystems
![Page 7: Gopher Tortoise Scope](https://reader034.vdocuments.net/reader034/viewer/2022042610/58a379a61a28abaa488b5bed/html5/thumbnails/7.jpg)
Tether
50 feet long .75 inch Diameter Water Proof 0.21 lbs/ft: 10.5 lbs
![Page 8: Gopher Tortoise Scope](https://reader034.vdocuments.net/reader034/viewer/2022042610/58a379a61a28abaa488b5bed/html5/thumbnails/8.jpg)
User Interface
Microprocessor: Raspberry Pi Gamepad: Logitech Battery: 13.4-9v operating
range Step-up/Step down DCDC 12v Step-down DCDC 5v
![Page 9: Gopher Tortoise Scope](https://reader034.vdocuments.net/reader034/viewer/2022042610/58a379a61a28abaa488b5bed/html5/thumbnails/9.jpg)
Rover-Circuit Diagram
Temp/Humidity Sensor: DHT22 Stand-alone IR camera Microcontroller: Arduino Micro Motors with Encoders: 12v,
26RPM, 4.11N-m
![Page 10: Gopher Tortoise Scope](https://reader034.vdocuments.net/reader034/viewer/2022042610/58a379a61a28abaa488b5bed/html5/thumbnails/10.jpg)
DHT22
Reeds out: Humidity Temperature in fahrenheit Temperature in Celsius
![Page 11: Gopher Tortoise Scope](https://reader034.vdocuments.net/reader034/viewer/2022042610/58a379a61a28abaa488b5bed/html5/thumbnails/11.jpg)
Control
![Page 12: Gopher Tortoise Scope](https://reader034.vdocuments.net/reader034/viewer/2022042610/58a379a61a28abaa488b5bed/html5/thumbnails/12.jpg)
Vehicle Operation
Drive modes: Full & Half speed Forward Full & Half speed Backward Full & Half speed CW Rotation Full & Half speed CCW Rotation Break Left & Right Forward Left & Right Backward
5 positions per joy stick: Full Forward Half Forward Zero Half Backward Full Backward
![Page 13: Gopher Tortoise Scope](https://reader034.vdocuments.net/reader034/viewer/2022042610/58a379a61a28abaa488b5bed/html5/thumbnails/13.jpg)
PD control algorithm, control diagram:
Error= Desied Speed- Actual Speed; //scale to range 0~255 P = Error*kP; // calc proportional term I = Integral*kI; // integral term D = (Current Error-Last Error)*kD; // derivative term Drive = P + I + D; // Total drive = P+I+D
PID Controller Arduino H-Bridge Driver Motor
Encoder
Desired Angular speed Error Speed (PWM) Duty Cycle (PWM) Voltage Actual angular speed
2countstCPR
![Page 14: Gopher Tortoise Scope](https://reader034.vdocuments.net/reader034/viewer/2022042610/58a379a61a28abaa488b5bed/html5/thumbnails/14.jpg)
Controller installation: 2 Interrupts (Arduino PWM pin 2, pin 3)attachInterrupt(digitalPinToInterrupt(pin2), counter1++, Falling);attachInterrupt(digitalPinToInterrupt(pin3), counter2++, Falling);
Interrupt 1 Motor 1
Interrupt 2 Motor 2
Counter + 1 (if interrupt pin goes from HIGH to LOW)
![Page 15: Gopher Tortoise Scope](https://reader034.vdocuments.net/reader034/viewer/2022042610/58a379a61a28abaa488b5bed/html5/thumbnails/15.jpg)
Mechanical Design Body length: 8.3 inches Height: 3.7 inches Width: 6.5 inches (including tread)
Mechanical Design
![Page 16: Gopher Tortoise Scope](https://reader034.vdocuments.net/reader034/viewer/2022042610/58a379a61a28abaa488b5bed/html5/thumbnails/16.jpg)
Two wheel drives
![Page 17: Gopher Tortoise Scope](https://reader034.vdocuments.net/reader034/viewer/2022042610/58a379a61a28abaa488b5bed/html5/thumbnails/17.jpg)
Assembly
![Page 18: Gopher Tortoise Scope](https://reader034.vdocuments.net/reader034/viewer/2022042610/58a379a61a28abaa488b5bed/html5/thumbnails/18.jpg)
Challenges and Future Work
Physical Dimensions Body Shape Water Proofing Image Capture Tether
![Page 19: Gopher Tortoise Scope](https://reader034.vdocuments.net/reader034/viewer/2022042610/58a379a61a28abaa488b5bed/html5/thumbnails/19.jpg)
Questions
? ?? ?