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W indBot W indBot Mikhail Bruk Anton Talalayev Momchil Dimchev - PowerPoint PPT Presentation

Mechatronics Design Project 2008 Project Project W indBot W indBot Mikhail Bruk Anton Talalayev Momchil Dimchev Mechatronics Design Project 2008 1 W ind Pow er W ind Pow er Wind Turbine Sites Satellite data inaccurate Human


  1. Mechatronics Design Project 2008 Project Project W indBot W indBot Mikhail Bruk Anton Talalayev Momchil Dimchev Mechatronics Design Project 2008 1

  2. W ind Pow er W ind Pow er � Wind Turbine Sites ◦ Satellite data inaccurate ◦ Human testing impractical � Cost efficient method for data acquisition ◦ Little supervision required ◦ Better precision ◦ Reliable data Mechatronics Design Project 2008 2

  3. Project Proposal Project Proposal � Design an autonomous robot � Navigate through a predetermined path � Collect wind velocity measurements � Obtain wind direction � Return to starting point � Display optimal locations for a wind turbine Mechatronics Design Project 2008 3

  4. I nitial Design I nitial Design Features: • Propeller & Vanes • Direction Sensor • Tachometer • Wheel Encoder • Accelerometer or Compass • LCD Display Mechatronics Design Project 2008 4

  5. Mechanical Com ponents Mechanical Com ponents � Aerovane ◦ Propeller and vanes � Materials � Sensor casings Mechatronics Design Project 2008 5

  6. Electrical Com ponents Electrical Com ponents � Actuators ◦ Two continuous servo motors ◦ Controlled via 555 Timer Mechatronics Design Project 2008 6

  7. Electrical Com ponents Electrical Com ponents � Analog Sensor ◦ RCTime circuit ◦ Photoresistor and LED pair Mechatronics Design Project 2008 7

  8. Electrical Com ponents Electrical Com ponents � Digital Sensor ◦ Rotational Encoder ◦ IR LED and Receiver pair Mechatronics Design Project 2008 8

  9. Electrical Com ponents Electrical Com ponents � Digital Sensor ◦ Wheel Encoders Mechatronics Design Project 2008 9

  10. Project Analysis Project Analysis � Priority: ◦ Wind Measurement ◦ Precise navigation ◦ Versatility Testing: ◦ Variable conditions ◦ Repetitive data Mechatronics Design Project 2008 10

  11. Project Analysis Project Analysis Design Approach Mechatronics Design Project 2008 11

  12. Project Analysis Project Analysis Mechatronics Design Project 2008 12

  13. Program m ing and Testing Program m ing and Testing � Calibration Programs ◦ Wheel alignment ◦ Speed adjustment ◦ Velocity calibration ◦ Encoder adjustment � Main Routine ◦ Follow the grid ◦ Record and save data ◦ Retrieve data Mechatronics Design Project 2008 13

  14. Program m ing and Testing Program m ing and Testing � Subroutine approach � Easy modification � Reused variables � Fail-safe encoders Mechatronics Design Project 2008 14

  15. Velocity Calibration Velocity Calibration VIDEO Mechatronics Design Project 2008 15

  16. Data from Velocity Calibration Data from Velocity Calibration � Plot velocity vs. Tachometer Value � Obtain a conversion factor Mechatronics Design Project 2008 16

  17. Cost Cost • Boe-Bot Robot $ 159.95 • 555 Timer IC (2) $ 2.95 • Power Supply : (4 AA’s) $ 2.99 • Breadboard (1) $ 7.99 • LCD Terminal $ 29.95 • Hitachi HM55B Compass Module (1) $ 29.95 • Balsa Wood (1/8” x 6” x 36”) (1) $ 3.95 • Tube Fitting (1) $ 2.95 • Aluminum Rod (1/16” x 12” x ¼”) (1) $ 2.36 • Stainless Steel Propeller (1) $ 10.95 • Miscellaneous $ 12.00 Total: $ 253.99 Mechatronics Design Project 2008 17

  18. Major Challenges Major Challenges � Follow the preset trajectory � Sensor reliability � Program – sensor connection � Relative Angle Measurement � Basic Stamp limitations: ◦ RAM and EEPROM Mechatronics Design Project 2008 18

  19. Major Challenges Major Challenges Memory Map Mechatronics Design Project 2008 19

  20. Full Dem o Full Dem o VIDEO Mechatronics Design Project 2008 20

  21. Dem o Data Dem o Data Mechatronics Design Project 2008 21

  22. Prototype Suggestions Prototype Suggestions � GPS navigation � Meteorological equipment � Obstacle Avoidance Program � Video camera (human operator) � Larger Memory Mechatronics Design Project 2008 22

  23. Conclusion Conclusion � Systematic testing approach � Acquire more memory � Increase project cost for better accuracy Mechatronics Design Project 2008 23

  24. Acknow ledgem ents Acknow ledgem ents � The Italians � Prof. Sean Peterson Thank you! Mechatronics Design Project 2008 24

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