guiding a student team through the process of developing a robot for the atmae student competition
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SYNTHESIZING MANAGERIAL AND TECHNICAL KNOWLEDGE AND SKILLS:Guiding a Student Team Through the Process of Developing a Robot for the ATMAE Student Competition
OVERVIEW
Objectives for the project Review of the develop process Concepts and tools
OBJECTIVES
Develop a robot that can compete Limited timeline Limited experience Stringent requirements Small budget
Teach advanced concepts through application
Emergent objectives Continuity for future years Groundwork for continuous improvement
DEVELOPMENT PROCESS
Planning ConceptDevelopment
ConceptApproval
System LevelDesign
Detail Design DesignReview Build Test
Refine Test Ready forCompetition
PROJECT PLANNING
REQUIREMENTS AND CONSTRAINTS
Basic requirements: December 2009 Complete requirements: February 2010
Remotely-operated navigation from base to target area Autonomous operation within target area: Find and
retrieve a partially-submerged cylinder Return cylinder to base
Constraints Deadline = competition date Budget = $1,500 from CWU + out of pocket Limits of team expertise
ACTION PLAN1 1. Planning ------ --- ---
2 a. Gather requirements, determine constraints Team 4 ---
3 b. Create baseline plan Arthur 1 2
4 2. Concept Development ------ --- ---
5 a. Determine possible system configurations Team 2 3
6 b. Apply selection criteria Team 1 5
7 c. Define system configuration Team 1 6
8 d. Create design sketches Jose 1 7
9 e. Build and test alpha-level prototypes Team 2 8
10 3. System Level Design & Specification ------ --- ---
--- a. Electro-Mechanical Systems ------ --- ---
11 i. Chassis Jose 1 9
12 ii. Drive system Arthur 1 9
13 iii. Manipulator system Jonathan S. 2 9
--- b. Electronics systems ------ --- ---
14 i. Programmable controller Arthur, Jose 4 9
15 ii. Motor controls Arthur 2 14
16 iii. Sensor system Team 4 9
17 4. Detail Design ------ --- ---
18 a. Make-buy decisions Arthur, Jose 2 16
19 b. Specify purchased components Arthur 2 18
20 c. Design fabricated components Jose 4 18
21 5. Build ------ --- ---
22 a. Procure purchased systems & components Arthur 2 15, 16, 19
23 b. Build fabricated components Team 1.5 20
24 c. Assemble and test subsystems Team 0.5 22, 23
25 d. Refine Team 1 24
26 e. Assemble robot Team 1 25
27 f. Integrate electronics Byron, Austin 1 26
28 6. Final Adjustments ------ --- ---
29 a. Test Team 0.2 27
30 b. Refine Team 0.4 29
NETWORK DIAGRAM
GANTT CHART DATA
GANTT CHART
LINEAR RESPONSIBILITY CHART
Arth
ur M
orke
n (G
A)
Proj
ect M
anag
er
Jose
Mor
a (U
G)
De
sign
& b
uild
, mac
hini
st
Jona
than
Spi
ry (U
G)
De
sign
and
build
Jona
than
Hor
ner (
UG)
De
sign
and
build
Byro
n Ch
an (U
G)
Elel
ctro
nics
Austi
n Bo
yd (U
G)
Elec
tron
ics
Ted
Bram
ble
(GA)
Team
Con
sulta
nt
Establish Project Plan 1 1 = Actual responsibility
Platform Design 3 1 3 3 2 = General supervision
Manipulator Design 3 3 1 3 3 = Must be consulted
Manipulator integration 3 3 1 3 4 4 = May be consulted
Drive mechanism design 3 3 3 1 5 = Final approval
Drive mechanism integration 3 3 3 1 4
Selection of microprocessor system 1 4
Design of sensor system 1 3 3 3 3 3 4
Specification of sensors 3 1 1 4
Design of control system 1 3 3 3
Integration of control system 1 1 4
Integration of sensors 1 1 4
Programming of search and retrieval routines 1 1
CONCEPT DEVELOPMENT
CONCEPT DEVELOPMENT PHASE
Release ofCompetition
RulesIdentify Needs Establish
Specifications
GenerateConceptsSelect ConceptBegin Build
Phase
FUNCTION DIAGRAM: POSITION ROBOT
1. Execute Search Pattern2. Scan for Cylinders
3. Position Robot
Positioned RobotSensor Data
Program Directive
CONCEPT TREE: SEARCH PATTERN
SearchPattern
DirectPath
Sweep
Point andShoot
Guided Path
Latitudinal
Longitudinal
CONCEPT TREE: SCAN
Scan
Optical
Electro-Magnetic
Color
Size
MetalDetector
DirectContact
Bumper
Curb Feeler
Ultrasonic
CONCEPT TREE: POSITION ROBOT
PositionRobot
RelativeCoordinates
AbsoluteCoordinates
Corner ofSearch Area
Point onRobot
GPS
Triangulate
CONCEPT TABLE: POSITION ROBOT
Execute Search Pattern Scan for Cylinders Position Robot
Point and Shoot
Guided Path
Latitudinal Sweep
Longitudinal Sweep
Bumper
Curb Feeler
Color
Size
Metal Detector
Ultrasonic
RelativeCoordinates: Corner
of Search Area
RelativeCoordinates: Point
on Robot
GPS
Triangulate
FUNCTION DIAGRAM: RETRIEVE CYLINDER
1. Activate Mechanism2. Clear Away Excess Sand
3. Grasp Cylinder4. Load Cylinder
Loaded CylinderProgram Directive
CONCEPT TABLE: RETRIEVE CYLINDER
Activate Mechanism Clear Away Sand Grasp Cylinder Load Cylinder
Limit Switch
Signal fromProcessor
Dig
Sieve
Sweep
Blow
Vacuum
Bull Doze and Scoop
Grasp WithManipulator Arm
Crane Bucket
Expansion Anchoron a Spear
Pinch Rollers
Dig and Scoop
Manipulator
Linear Lift
Articulated Lift
SYSTEM-LEVEL DESIGN
DESIGN PLATFORM: SOLIDWORKS
SYSTEM DESIGN PRINCIPLES
Passive defensesHeavy & Low CGRigid structure
Use a drive-over strategy and a large capture bay (reduces required level of precision)
Ease of service & transport
DETAIL DESIGN:QFD
HOUSE OF QUALITY
Wei
ght
Ext
erio
r D
imen
sion
s
Tot
al H
orse
pow
er
Pre
cisi
on o
f T
orqu
e D
eliv
ery
Cha
ssis
Thi
ckne
ss
Pla
ting
Thi
ckne
ss
Typ
e of
Sen
sors
Num
ber
of S
enso
rs
Pla
cem
ent
of S
enso
rs
Typ
e of
Mic
roco
ntro
ller
Typ
e of
Circ
uit
Shi
eldi
ng
Typ
e of
Bat
tery
Cha
ssis
Mat
eria
l
Pla
ting
Mat
eria
l
Typ
e of
Driv
e S
yste
m
Met
hod
of L
ocom
otio
n
Typ
e of
Ret
rieva
l Mec
hani
sm
Customer Requirements 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17
1 Finds cylinder autonomously 11.49 9 9 9 3
2 Retrieves cylinder autonomously 11.49 3 9 9 3 9
3 Deposits cylinder autonomously 11.49 3 9
4 Completes task once within time limit 8.05 1 1 3 9 3 3 3 3 1 3 3 9
5 Can be driven remotely 5.75 3
6 Operator can drive without line of sight 5.75 9 1 9
7 Operator can initiate autonomous function 5.75 3
8 Avoids interference 3.45 3 9 9 3 3 3 3 3
9 Resists attack 3.45 9 1 9 3 3 9 3 3 3 3 9 9 3 3 3
10 Maintains traction 5.75 9 9 1 9 9
11 Can operate in the rain 5.75 9 9 3 1
12 Does not malfunction 11.49 3 3 3 3 9 9 3 3 9
13 Can maneuver well 3.45 3 3 9 3 3 3 9 9
14 Can be transported easily 3.45 9 9 1 9
15 Can be serviced easily 3.45 3 3 1 1 3 3 3 3 3 3 9 9
Importance Factor 143 74 55 248 24 34 293 302 348 217 176 145 55 41 172 210 430Percent of Total
I
mp
ort
ance
wt.
(b
y %
)
PARETO ANALYSIS: HOUSE OF QUALITY DATA
Type
of R
etrie
val M
echa
nism
Place
men
t of
Sen
sors
Numbe
r of
Sen
sors
Type
of S
enso
rs
Precision
of T
orqu
e Del
iver
y
Type
of M
icro
cont
rolle
r
Met
hod
of L
ocom
otio
n
Type
of C
ircui
t Shi
eldi
ng
Type
of D
rive
Syste
m
Type
of B
atte
ry
Wei
ght
Exte
rior Dim
ension
s
Chass
is M
ater
ial
Tota
l Hor
sepo
wer
Platin
g M
ater
ial
Platin
g Th
ickn
ess
Chass
is T
hick
ness
0
2
4
6
8
10
12
14
16
18
20
0
10
20
30
40
50
60
70
80
90
100
DESIGN REFINEMENT
DETAIL DESIGN PRINCIPLES
One successful iteration of task Increase reliability via simplicity
Minimize partsMinimize motionsLess sophisticated electronicsLess sophisticated programming
RISK ANALYSIS: PDPC/NAVIGATE ROBOT
Function Actions Risks Countermeasures
Sense cylinderlocation and
stop
Execute searchpattern
Sensors missthe cylinder
Insufficientprecision
Redundantsensors
(different type)
Use an array ofsensors totriangulate
Navigate robotDifficult to
create6 stick tocoord . system
Don't usecoordinate
system
Interferingrobot disruptssearch pattern
Systematicpattern too time
consuming
Aim robot fromoutside roped
area
Use a straightline search
path
Exit roped areaand re-aim
Use a large bay& a convergingpair of rollers
RISK ANALYSIS: PDPC/RETRIEVE CYLINDER
Function Actions Risks Countermeasures
Grasp cylinder
Load Cylinder
Not enoughsurface
exposed
Insufficientgrasping force
Add flaps orbristles to
rollers
Use tackymaterial on
rollers
Usescissor-jackmechanism
Retrievecylinder
Cylindercross-feeds
Foreignmaterial jams
mechanism
Roller's startingz-position =
ground level -d
Inspect andclean between
matches
Roller's startingz-position =
ground level -d
THANK YOU
Questions?
PowerPoint file available at: http://www.cwu.edu/~olsondar/robot