asv senior design project midterm report fall 2012 team: leader: daniel becker treasurer: andrew...
TRANSCRIPT
![Page 1: ASV Senior Design Project Midterm Report Fall 2012 Team: Leader: Daniel Becker Treasurer: Andrew Hinojosa Manufacturing: Samantha Palmer Design/Assembly:](https://reader030.vdocuments.us/reader030/viewer/2022032313/56649e685503460f94b6454c/html5/thumbnails/1.jpg)
ASV Senior Design ProjectMidterm Report
Fall 2012
Team: Leader: Daniel Becker Treasurer: Andrew Hinojosa Manufacturing: Samantha Palmer Design/Assembly: Bradley Shallcross
![Page 2: ASV Senior Design Project Midterm Report Fall 2012 Team: Leader: Daniel Becker Treasurer: Andrew Hinojosa Manufacturing: Samantha Palmer Design/Assembly:](https://reader030.vdocuments.us/reader030/viewer/2022032313/56649e685503460f94b6454c/html5/thumbnails/2.jpg)
• Two servos are connected• Rangefinders are being added• Xbee communication is in the development
stage• Integration between Car/Crane/ASV on the way
Fabrication of Car
![Page 3: ASV Senior Design Project Midterm Report Fall 2012 Team: Leader: Daniel Becker Treasurer: Andrew Hinojosa Manufacturing: Samantha Palmer Design/Assembly:](https://reader030.vdocuments.us/reader030/viewer/2022032313/56649e685503460f94b6454c/html5/thumbnails/3.jpg)
• Logic for all the systems is still in the development phase.
– Logic paths are ready for programming.
– Need to learn the syntax of arduino to complete coding.
Logic of the Car/Crane
![Page 4: ASV Senior Design Project Midterm Report Fall 2012 Team: Leader: Daniel Becker Treasurer: Andrew Hinojosa Manufacturing: Samantha Palmer Design/Assembly:](https://reader030.vdocuments.us/reader030/viewer/2022032313/56649e685503460f94b6454c/html5/thumbnails/4.jpg)
Initial Search Pattern
Robot
Rotation 360°
Range finder detects puck and car heads straight for it
• Car rotates 360°
• Duel sensors recognize if
object is in front of car
• Car drives straight to object
![Page 5: ASV Senior Design Project Midterm Report Fall 2012 Team: Leader: Daniel Becker Treasurer: Andrew Hinojosa Manufacturing: Samantha Palmer Design/Assembly:](https://reader030.vdocuments.us/reader030/viewer/2022032313/56649e685503460f94b6454c/html5/thumbnails/5.jpg)
Failsafe Search Grid
• Car drives straight until edge
• Car follows edge
• On reaching a corner car
follows a sweep pattern
![Page 6: ASV Senior Design Project Midterm Report Fall 2012 Team: Leader: Daniel Becker Treasurer: Andrew Hinojosa Manufacturing: Samantha Palmer Design/Assembly:](https://reader030.vdocuments.us/reader030/viewer/2022032313/56649e685503460f94b6454c/html5/thumbnails/6.jpg)
Current Status on Retrieval Mechanism
• Due to no funding the work on this area has been postponed
• The work already done will be a good basis for future semesters to work with.
![Page 7: ASV Senior Design Project Midterm Report Fall 2012 Team: Leader: Daniel Becker Treasurer: Andrew Hinojosa Manufacturing: Samantha Palmer Design/Assembly:](https://reader030.vdocuments.us/reader030/viewer/2022032313/56649e685503460f94b6454c/html5/thumbnails/7.jpg)
Crane Progress
• Most of the structural material has arrived.
• Still waiting for the motors and belts/gears.
![Page 8: ASV Senior Design Project Midterm Report Fall 2012 Team: Leader: Daniel Becker Treasurer: Andrew Hinojosa Manufacturing: Samantha Palmer Design/Assembly:](https://reader030.vdocuments.us/reader030/viewer/2022032313/56649e685503460f94b6454c/html5/thumbnails/8.jpg)
Displacement Analysis
• A CAD analysis has been conducted.
• Each design has benefits and disadvantages.
• We need to have the least weight possible while keeping rigidity.
![Page 9: ASV Senior Design Project Midterm Report Fall 2012 Team: Leader: Daniel Becker Treasurer: Andrew Hinojosa Manufacturing: Samantha Palmer Design/Assembly:](https://reader030.vdocuments.us/reader030/viewer/2022032313/56649e685503460f94b6454c/html5/thumbnails/9.jpg)
“Cantaleiver Bar” or Supported?
Weight: 2.72lbDeflection: .26”
Weight: 3.57lbDeflection: .137”
![Page 10: ASV Senior Design Project Midterm Report Fall 2012 Team: Leader: Daniel Becker Treasurer: Andrew Hinojosa Manufacturing: Samantha Palmer Design/Assembly:](https://reader030.vdocuments.us/reader030/viewer/2022032313/56649e685503460f94b6454c/html5/thumbnails/10.jpg)
1” or 2” Diameter?
Weight: 3.57lbDeflection: .137”
Weight: 1.76lbDeflection: 2.34”
![Page 11: ASV Senior Design Project Midterm Report Fall 2012 Team: Leader: Daniel Becker Treasurer: Andrew Hinojosa Manufacturing: Samantha Palmer Design/Assembly:](https://reader030.vdocuments.us/reader030/viewer/2022032313/56649e685503460f94b6454c/html5/thumbnails/11.jpg)
Counter balance or no?
Weight: 3.57lbDeflection: .137”
Weight: 4.89lbDeflection: .136”
![Page 12: ASV Senior Design Project Midterm Report Fall 2012 Team: Leader: Daniel Becker Treasurer: Andrew Hinojosa Manufacturing: Samantha Palmer Design/Assembly:](https://reader030.vdocuments.us/reader030/viewer/2022032313/56649e685503460f94b6454c/html5/thumbnails/12.jpg)
• Normal Force
• Bending moment
• Inertial Moment(Hallow pipe)
• Shear Stress
Crane Stress Analysis
![Page 13: ASV Senior Design Project Midterm Report Fall 2012 Team: Leader: Daniel Becker Treasurer: Andrew Hinojosa Manufacturing: Samantha Palmer Design/Assembly:](https://reader030.vdocuments.us/reader030/viewer/2022032313/56649e685503460f94b6454c/html5/thumbnails/13.jpg)
• Normal Deflection
• Angular Deflection θ = L T / Ip G
= L T / (π D4/32) G
Crane Deflection Analysis
![Page 14: ASV Senior Design Project Midterm Report Fall 2012 Team: Leader: Daniel Becker Treasurer: Andrew Hinojosa Manufacturing: Samantha Palmer Design/Assembly:](https://reader030.vdocuments.us/reader030/viewer/2022032313/56649e685503460f94b6454c/html5/thumbnails/14.jpg)
Autonomous Surface VehicleGantt Chart
![Page 15: ASV Senior Design Project Midterm Report Fall 2012 Team: Leader: Daniel Becker Treasurer: Andrew Hinojosa Manufacturing: Samantha Palmer Design/Assembly:](https://reader030.vdocuments.us/reader030/viewer/2022032313/56649e685503460f94b6454c/html5/thumbnails/15.jpg)
Autonomous Surface VehicleWebsite
• For more information on the current project, visit:
http://dasp.mem.odu.edu:8080/~asv_fa12/index.htm
![Page 16: ASV Senior Design Project Midterm Report Fall 2012 Team: Leader: Daniel Becker Treasurer: Andrew Hinojosa Manufacturing: Samantha Palmer Design/Assembly:](https://reader030.vdocuments.us/reader030/viewer/2022032313/56649e685503460f94b6454c/html5/thumbnails/16.jpg)
Questions?