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Final Proof of Concept
- 4. SUMMARY EXECUTIVE Advancement in Technology Improvement in Society Increase in Efficiency
- 6. REQUIREMENT S MISSION Enter Volcano Increase in Efficiency Endure Landslides Measure Environment Provide Live Video Feed Detect Heat Signature Increase in Efficiency Preserve Empirical Data Initiate Separation Sequence Transmit Data
- 7. APPROAC H
- 9. TESTING“IT WORKS! IT WORKS!”
- 10. Conception Performance Analysis • Testing Approach • Holistic view of the robot • Functionality • Durability • Test Process: • Conception of Test • Performing the test and recording data • Analyzing the results of the test APPROACH TESTING TESTING
- 13. MANAGEMEN T RISK “Where we prefer our future to burn brighter than our robot”
- 14. OVERVIEW Purpose • Mitigation of risk, enactment of opportunities • Communication of current events Philosophy • Decision-making • Safety as a priority • Risk Tolerance MANAGEMENT RISK
- 16. • Identification • Description • Analysis • Resolution DOCUMENTATION MANAGEMENT RISK
- 17. ARCHITECTUR E SYSTEMS “We aren’t a part of your system!”
- 18. INTRODUCTIO N• Why? • Context: What does this encompass? ARCHITECTURE SYSTEMS
- 19. • Architectural Design • System Interface • Resilience and Availability ARCHITECTURE PHYSICAL & LOGICAL ARCHITECTURE SYSTEMS
- 20. • Modularity of system • Why can we adapt with ease? • How does it fit the specified criteria? SCALABILITY PERFORMANCE & ARCHITECTURE SYSTEMS
- 21. • Made decisions through testing of data • Finalized Architecture • Complete System InteractionVerification PROOF VERIFICATION OF ARCHITECTURE SYSTEMS
- 22. Track system • Hard to manufacture • High cost of resources Belt-driven system • Simpler, requires less parts • Assembled within a much shorter time DELTAARCHITECTURE SYSTEMS
- 23. Wirebox • Started as simple addition • Evolved into a centralized piece • Multi-functional piece DELTAARCHITECTURE SYSTEMS
- 24. MECHANICAL DESIGN & “Blueprints to Success”
- 25. DESIGN APPROACH● Used the design process to identify design problems ● Divided the robot into subsystems in order to solve the various tasks ● Subsystems created through the use of design matrices ● Four different subsections: hatch, frame, drive, and entry system. TECHNICAL MECHANICAL DESIGN&
- 26. SUBSYSTEM SHatch ● Uses gravity as a passive action for the hatch plates to fall onto the sides. Takes minimal space Frame ● The frame is designed to resist stress and protect the key components within the robot Drive ● Track system chosen for its ability to handle rough terrain Entry System ● A cutting mechanism that will carve out a hole for our robot to enter the volcano MECHANICAL DESIGN&
- 27. Design • Initial design:Tracks • Changed to Belt Drive Mechanical • Belt Drive • Pendulum Suspension DRIVEMECHANICAL DESIGN&
- 28. FRAME ● Extensive Testing was done. ● Arch Truss shows superiority under 1000 lbs of force. ● Utilizes a circular frame design for rigidity MECHANICAL DESIGN&
- 29. HATCH ● Utilizes a Pin-Release Mechanism ● Pin is released from the base of the hatch structure ● Falls to the left and right side of the robot due to gravity ● Hatch fits the front of the new frame ● No issue with its consistency MECHANICAL DESIGN&
- 30. ENTRY ● Consistently makes accurate circles ● Spring attached to the back of the cutter ● The blade pushed forward in the proper position ● Ensure the cut of an accurate circle MECHANICAL DESIGN&
- 31. VECHICLE • Have data uploaded to it • Escape from volcano intact • Land and transfer data to HQ • Started with a quadcopter for power and stability • Current design is a tricopter for small size ESCAPE MECHANICAL DESIGN&
- 32. MATERIAL ● Aluminum 6061 for the main structure of the robot ● ABS (Acrylonitrile butadiene styrene) Plastic - temporary material for the prototype’s wirebox, will be replaced by aluminum ● Abandoned Carbon Fiber for realistic budget and manufacturability SELECTION/USAGE OF MECHANICAL DESIGN&
- 33. MANUFACTURIN G “Cut-by-cut to the final product"
- 34. BANDSAW Advantages Disadvantage s● Machines stock specific sizes ● Essential machining tool creating many parts ● Not very ● Limited to materials MANUFACTURING
- 35. CNC MILL Advantages Disadvantage s● Uses x, y, z, and fourth rotational axis ● Improve tabs with MasterCam ● Structural weakened ● machining parts from stock MANUFACTURING
- 36. CNC LATHE Advantages Disadvantage s● Uses 2 axes ● Cuts cylindrical parts ● Very accurate versatile ● Limited to 2 MANUFACTURING
- 37. DRILL PRESS Advantages Disadvantage s● Used to machine holes ● Creates small that are usually inconvenient other tools ● Less efficient the CNC mill MANUFACTURING
- 38. LASER CUTTERAdvantages Disadvantage s● Build frame supports, etc. ● Limited to only acrylic VERSA MANUFACTURING
- 39. THE ENGINEERS Advantages Disadvantage s● The most important part the team ● The greatest resource of Tech ● Nothing MANUFACTURING
- 40. ELECTRICAL“The Road to Power”
- 42. CIRCUIT BOARD PRINTED ● Master Signal Site ● Battery Eliminator Circuit (BEC) ● Sensors ● Method of Connection ELECTRICAL
- 46. ● Raspberry Pi ● 9DoF on the origin of IRD ● Environment data collection sensors PLACEMENT SENSOR ELECTRICAL
- 47. 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. RESULTS BATTERY TEST ELECTRICAL
- 48. ● ConsistentCurrent ● Various readings of different demands of power RESULTS BATTERYTEST ELECTRICAL
- 49. PROGRAMMIN G “Sending in robots to Burn Brighter”
- 50. PROGRAMMING
- 51. DEVICES Types • Control Sensors • Environment Sensors • Utility Devices Requirements • Gather data for the robot’s decision-making matrix • Gather data on the volcano environment and sample • Transfer data to the drone and relay to the master computer PROGRAMMING
- 52. SENSORSADXL345 Accelerometer • Monitors acceleration to help monitor orientation D6T Thermopile • Designed for thermal tracking HMC5883L Compass • Will be used along with the gyro for gyro-compassing (Removed from robot) ITG3200 Gyro • Will be used to provide rotational control for the robot PING))) Ultrasonic Sensor • Measures distance relative to the robot from solid bodies Luminosity Sensor • Monitors location relative to the inside and outside of the volcano. CONTROL PROGRAMMING
- 53. ACCELEROMETER ADXL345 Numbers of Samples of Collected 10 Greatest Percent Error 2238% Average Percent Error 1232% PROGRAMMING
- 54. ITG3200 Gyro Numbers of Samples of Collected 24 Greatest Percent Error 28.6% Average Percent Error 12.7% Gyro Drift over Time 0.8474 PROGRAMMING
- 55. ITG3200 Gyro Numbers of Samples of Collected 24 Greatest Percent Error 47.7% Average Percent Error 16.9% Gyro Drift over Time 1.235 deg/sec PROGRAMMING
- 56. ULTRASONIC SENSOR PARALLAX PING))) Linear Slope Value (Unscaled) 1st: 1.252 2nd: 1.364 3rd: 1.304 Regression- Squared 1st: .9979 2nd: .999 3rd: .9987 Numbers of Samples of Collected 12 (x3 Greatest Deviation Scaled Data 1st: 27.7% 2nd: 21.5% 3rd: 27.7% Average Deviation Scaled Data 1st: 10.4% 2nd:14.8% 3rd: 10.4% PROGRAMMING
- 57. • D6TThermopile • TSL2561 Luminosity Sensor SENSORS CONTROL PROGRAMMING
- 58. BMP180 Barometer • Measures the pressure within the volcano HTU21D Hygrometer • Measures both humidity and temperature 1K Thermistor • Measures the temperature of the sample SENSORS ENVIRONMENT PROGRAMMING
- 66. ENDEAVORS FINANCIAL “Limited only by Imagination (and Funding)”
- 67. ● Initial Budget for IRD (Investigative Robotic Device) : $1,253.55 USD Sponsorships and Grants • CAMS PTSO Sponsorship: $500.00 • CARPA Funding: $256.00 • VariousTeam Dues: $357.00 • Toyota Motor Corporation, USA Sponsorship: $3,000.00 • GardenaValley Kiwanis Club Donation : $175.00 • Martinez FamilyTrust Fund: $900.00 ● Total Budget for IRD: $5,188.00 ● Total Expenditure (as of February 21, 2015): $2,308.09 ● RemainingAccount Balance (as of Feb. 21, 2015): $2,879.91 EXPENSES BUDGET & FINANCE
- 72. STRATEGY MARKETING “Nova’s the name; selling the robot’s the game.”
- 73. Who would want to buy a robot that has the capabilities of volcanic exploration as presented before you? ● Volcanologists o Collection of empirical data o Observation of inner chambers of unexplored volcanoes ● Geologists o Excavation of inner chambers of unexplored volcanoes ● Archeologists o Exploration of inner chambers of unexplored volcanoes o Preservation of sanctity and composition of volcanic and artifacts ● Fire Engineers (Firefighters) o Scout potentially fatal fire scenarios for safety of firefighters MARKET TARGET MARKETING