SURFER Josue Araujo Hernandez Elisabeth Wilgenburg Rodolfo - - PowerPoint PPT Presentation

▶
surfer
SMART_READER_LITE
LIVE PREVIEW

SURFER Josue Araujo Hernandez Elisabeth Wilgenburg Rodolfo - - PowerPoint PPT Presentation

Oct 25, 2022 10 likes •234 views

SURFER Josue Araujo Hernandez Elisabeth Wilgenburg Rodolfo Barranco Kristen Biermayer Susan Su Udit Khandelwal Vibhav Gaur PROJECT GOALS Propeller driven vehicle Communication over distance Direct steering for front wheels

slide-1
SLIDE 1

SURFER

Josue Araujo Hernandez Elisabeth Wilgenburg Rodolfo Barranco Kristen Biermayer Susan Su Udit Khandelwal Vibhav Gaur

slide-2
SLIDE 2

PROJECT GOALS

  • Propeller driven vehicle
  • Communication over distance
  • Direct steering for front wheels
  • Ability to float on water
  • Be able to semi-autonomously move from

ground to the wall

  • Drive and turn on wall
slide-3
SLIDE 3

FINAL DESIGN

slide-4
SLIDE 4

FINAL DESIGN

Functionalities

  • Identifies the wall: capable of

steering itself perpendicular to the wall

  • Uses propellers as propulsion
  • RC comms using Xbee
  • Full remote controls
  • Remote control functional

Changes

  • Spherical to cylindrical wheels
  • Propeller size increase: from 6” to 9”
  • Propellers only use one degree of

freedom rather than two

  • Stopped Water
slide-5
SLIDE 5

ITERATIONS

slide-6
SLIDE 6

ITERATIONS: Propeller Housing

slide-7
SLIDE 7

ITERATIONS: Wheel Axle

slide-8
SLIDE 8

ITERATIONS: Wheel Mold

slide-9
SLIDE 9

ITERATIONS: Chassis Mold Production

slide-10
SLIDE 10

FIXES

  • Epoxied two propeller halves to make a

ring

  • The chassis was poured without the

steering motors in mind so we created a motor holder

  • Epoxied many parts that printed in two

parts

Steering Servo Holder Wooden Propeller Ring Carbon Fiber Ring

slide-11
SLIDE 11

ELECTRONICS and PROGRAMMING

XBee Communication

  • XBee Series 1 modules for communication between remote and robot
  • Some issues encountered:

○ Understanding how XBee communication worked! ○ Jitters in the servos and brushless motors due to interfering signals Ultrasonic sensors

  • Ultrasonic sensors to determine the robot’s distance from the wall
  • 2 sensors on the front of the robot, 1 sensor on the back

Joysticks, potentiometers, and buttons oh my!

  • Servos controlled by joystick
  • Brushless motors controlled by potentiometer
  • Buttons tell robot whether to mount or not
slide-12
SLIDE 12

ELECTRONICS and PROGRAMMING

slide-13
SLIDE 13
slide-14
SLIDE 14
slide-15
SLIDE 15
slide-16
SLIDE 16
slide-17
SLIDE 17
slide-18
SLIDE 18

THINGS WE learned

Planning stage

  • Coming up with a general and

detailed plan

  • Accommodating for mishaps

Designing stage

  • Component packaging
  • Steering links

Arduino programming

  • Steering
  • Propellers

Materials

  • ABS and PLA
  • Baltic Plywood
  • Epoxy
slide-19
SLIDE 19

THINGS WE enjoyed

  • Working together and figuring out

each other's strengths

  • Problem solving on our own instead
  • f book solving
  • Making an actual physical thing we

can see and touch

  • Successful results! Like the first time

the propellers moved the vehicle

  • We didn’t start a fire!! ...yet...
slide-20
SLIDE 20

THINGS WE disliked

  • 3D printing problems

○ Delay in part deliveries ○ Failed prints ○ Design flaws, like wheel molds and steering linkages

  • Location to work
  • Programming issues

○ Motor jitters ○ Mounting mechanism

  • Time crunch

The Printer Gives Up

slide-21
SLIDE 21

THINGS WE can improve (given more time)

  • Orientation detection using Inertial Measurement Unit (IMU)

○ Program feedback loops for accurate and real time thrust vectoring

  • Programming water navigation

○ Thrusting up on the surface of water to reduce apparent weight

  • Implementing turning on the wall using a combination of roll and pitch motor

control

○ Using feedback from the IMU and ultrasonic sensors

slide-22
SLIDE 22

THANK YOU!