Transcript Critical Design Review PPT File

TILAPI-UGGHHH
Group 5:
Gerardo Caicedo
Josey Nieto
Kaiyune Wu
Special thanks to the Center for Entrepreneurship &
Innovation!
Problem Statement


Pet owners of
today no longer
have time to feed
their pets
Fish everywhere
are finding their
way to the
porcelain throne
Goals & Objectives

To create a robotic, solar-powered,
autonomous fish.
 Rechargeable
 Self-aware
 Environmentally
aware and reactive
Requirements


Self-Sustained
Submersible electrical components
 Waterproofed


parts
Maintain neutral or slightly positive
buoyancy
Move free of human interference
 Artificial
 Avoid
Intelligence
objects / obstacles
 Seek light
 Self check battery level
Targeted Specifications

Body
 Weigh
less than 20 pounds
 Less than 20 inches from nose to tail
 Avoid obstacles from at least 8 inches

Power
 Regulate
and distribute at least 12V
 Provide and supply power for at least 1 hour
Block Diagram
 4 Main Systems
Motion
Sensors
A.I.
Solar
Motion
Unmanned, Underwater, Autonomous
Vehicle

UUAV Cycle
(Unmanned Underwater Autonomous Vehicle)
Charging Phase
6ft
Maneuvering Phase
UUAV Dynamics

Dynamical equation. Given “still” water could be assumed,
where: T is the thrust, b defines the constant of drag (Properties
of Fluid, dimensions of the object), m represent the mass of the
vehicle and v defines the velocity.
Buoyancy
Drag
Force
Thrust
Weight
Propeller
+12 V, 200 mA Iso.
Instrumentation

2800 ft depth capability

A/D Converter Needed to
Implement
2 lb net weight in air, 1.5 lb in
water

+/- 5 V analog speed
command



Thrust as a controlling
parameter
Performance Figures
• Input voltage Vs resulting
thrust.
• 0–24 vdc feed.
• 72 W Main.
• 2.4 W Instrumentation.
Movement

Fin Manipulation
The fin system design will directly
affect the ease of displacement,
especially when a change in
direction is to be implemented.
This system will be composed of
flat surfaces made of rigid
material, in order to withstand and
redirect the opposing forces due
to drag.
 The rotational angle of the fin
will vary on the range of 0o to 180o
with respect to the Z axis.
 Material will differ from the
general material used for the shell,
capable of redirecting constant
forces up to 3 lb.

Servomechanism

2.5 in
4.2 in
3.25 in
BL Series DC Brushless Motor from
Dynetic.

24 V feed, 560 Watts rated
power, 180 oz-in. Angular
position will be used as
controlling parameter.
Pulse of 1.5 ms width will set the
servo to neutral position, or 90°.
Pulse of 1.25 ms sets the servo
to 0° and a pulse of 1.75 ms
positions to 180°.
Weight Distribution


The vehicle will be designed
for stable positive buoyancy,
resistant to rolling motions,
creating the need to be
capable of rotating about its
horizontal axis to meet
optimal conditions for the
photovoltaic system.
The idea is to create a
clockwise or counterclockwise
angular momentum about
the central axis. The system
will be simulated with
individual actuators, that will
be responsible for displacing
a mass over a rail
Controlling Unit (Option)





ARMite PRO.
21 TTL compatible digital
I/Os shared with 7 10-bit A/D
pins.
Easy-to-use USB interface.
2.05 in
One particularly essential
feature of the board is to be
able to supply voltages (5,
3.3, and 1.8 V) to any output.
BASIC and C Compilers.
2.1 in
Controlling Unit (Choice)






dsPIC30F5015 from
Microchip.
Operating voltage range of
2.5 – 5 V
64 pin count.
8 channels for motor control
PWM.
16 channels for 10 bit
Analog to Digital at 1 Msps.
30 mA maximum output
current per pin.

TIP120 NPN transistor.

H-bridge
dsPICDEM MC1 from Microchip
Body


IMG work in
progress
Vast material
options
Motion Milestones
Component
Research
& Design
Parts
Ordered
Assembled &
Tested
Complete
Main Motor
100%
100%
0%
66.7%
Servomotors
100%
100%
0%
66.7%
Microcontroller
100%
100%
45%
81.7%
Body
70%
0%
0%
23.3%
Total Sensor Completion
59.6%
Sensors
Water Detection Sensor
Voltage Level Detector
Light Sensor
Orientation Sensor
Proximity Sensors


Whiskers

Sonar
Water Detection Sensor (WDS)

Initial Water
Detection Sensor
arrangement
 Will
most likely
reduce to 2
sensors (top &
bottom)
VCC
LED1
5V
VCC
Probes

WDS Circuitry
 Not
Finalized
R1
47Ω
1
3
Output
Q1
2
R2
47kΩ
2N3904
0
Voltage Level Detector (VLD)

LM3914 - Dot/Bar Display Driver
VLD set at 6V, 8V, and 10V
using basic components w/o the LM3914
U2
LM317LZ
11
LINE
VOLTAGE
VREG
R7
350kΩ
R1
D1
12
COMMON
V2
0V
R3
450kΩ
V1
24 V
R4
25kΩ
10kΩ
1N4148
D2
1N4148
19
9
1MΩ
U1A
8
U5
LM317LZ
8
LINE
VOLTAGE
1N4148
R6
1kΩ
4
0
C3
10uF
LTC1047CN8
R9
R10
10kΩ
1N4148
D4
1N4148
20
D8
9
1MΩ
U3A
8
22
1N4148
U6
LM317LZ
LINE
VOLTAGE
3
0
1N4148
D6
1N4148
R11
R14
10kΩ
21
8
1MΩ
U4A
9
R16
2kΩ
D7
1N4148
R15
90kΩ
R18
2
C2
10uF
23
U7
LM317LZ
LINE
VOLTAGE
6
VREG
R22
1kΩ
COMMON
R19
3
1
17
R21
1kΩ
LTC1047CN8
R12
30kΩ
18
5
4kΩ
2
4
D5
VREG
COMMON
1
15
3
4kΩ
R13
2kΩ
D3
R20
1kΩ
R17
3
2
13
R8
250kΩ
4
VREG
COMMON
1
7
10
R2
R5
2kΩ
D9
2
4
0
LTC1047CN8
4kΩ
1
C1
10uF
Light Sensor (LS)

Basic light trigger implementation
*One block = 1 cm
Orientation Sensor (OrS)

Triple Axis
Accelerometer
Breakout - ADXL335
 2.2
to 3.6 V
 500 uA
GS1
GS2
G-range
Sensitivity
GND
GND
1.5 g
800mV/g
GND
3.3 V
2.0 g
600mV/g
3.3 V
GND
4.0 g
300mV/g
3.3 V
3.3 V
6.0 g
200mV/g
Proximity Sensors

Whiskers (PSW)
 Problems:
 Sensitivityoo
 Solutions/Implementations:
that
the fish has
 Optimal Length
r enough so that
 Waterproofing
 Using
a higher gage spring
enough so that the fish has
8
to 10 inches

Or enough so that the fish has
enough time to react
 Insert
into a balloon tube
Proximity Sensors

Sonar (PSS)
 Requirements:
 Low
Voltage/power requirement
 Range up to 2 to 3 ft
 Waterproofed
MaxBotic Sonar
Proximity Sensors

LV-MaxSonar®-WR1
3 to 5.5 Volts
 Readings can occur up to every 50mS, (20-Hz
rate)

Final Sensor Arrangement
Version 1.0
Sensor Milestones
Sensors
Research &
Design
Parts
Ordered
Assembled &
Tested
Complete
WDS
100%
100%
0%
66.7%
VDL
100%
100%
0%
66.7%
LS
100%
100%
50%
83.3%
OrS
100%
50%
0%
50.0%
PSW
100%
100%
10%
70.0%
PSS
100%
100%
0%
66.7%
Total Sensor Completion
67.2%
Artificial Intelligence
A.I. State Machine
Battery Check
Modes
Startup
00
Standby
01
Dive
02
Calm Swim
03
Light Seeking
04
Battery Check
05
Surfacing
06
Death Roll
07
Regen
08
Resurrection
09
Critical Range Check
Modes
Indicators
Light
Detectors
Right
Left
Forward
Whisker
Trigger
Right
Left
Bottom
Battery Level
High
Med
Low
Water
Below
Above
Node
L1
L2
L3
W1
W2
W3
8
9
10
0
11
Motion
1
2
3
4
5
6
Forward
Slow
Turning
Modes
Startup
Standby
Dive
Calm Swim
Light Seek
Battery Chk.
Surface
Death Roll
Regen
Resurrection
7
A.I. Milestones
Programming
Research &
Design
Programmed &
Tested
Complete
Modes
100%
0%
50%
Sensor Protocol
100%
0%
50%
Motor Protocol
100%
0%
50%
Index/Library
100%
0%
50%
Total Sensor Completion
50%
Solar System
Solar Cells
Recharger
Batteries
Power Control

Solar Cells



37 x 33mm
Monocrystalline
Solar Cell
6.7V
31mA
*Not to scale


37mm
Reconfigurable
6 Cells Total
3
33mm
x 6.7 = 20.1V
 2 x 31 = 62mA
Recharging Circuit
To prevent
feedback
from the
battery to
the solar
cells

Keeps
voltages
high to
continue
delivering
current

Battery Choice
Ni-Mh SubC
Ni-Mh D
Li-ion
Voltage
1.2V
1.2V
3.6V
mAh
3800
5000
1300
Amount
18
18
6
Weight per Cell (g)
58
92
34
Total Weight (g)
1044
1656
204
Price
$63.00
$76.50
$25.50
Charge Cycles
> 750
> 750
> 300

Ni-Mh SubC
 Standard
Charge: 15 hours @ 300 mA
 Rapid Charge: 1.5 hours @ 3000 mA
Power Control

Series of isolated
systems
 2.6V
– 14V
Switching
Regulators
(AnyVolt Mico)
 5V Regulators
(L7805C)
 12V Regulators
(L7812CV)
Component
Voltage Current (A)
Power
(Watts)
Subtotal
(Watts)
2Water Sensors
5
0.01
0.05
0.1
3Whiskers
5
0.01
0.05
0.15
3Light Sensors
5
0.01
0.05
0.15
1Sonar
5
1*
5*
5*
12
0.0012*
0.0144*
0.0144*
1Voltage Sensor
Battery Life
Total, Pt
Component
5.4144
Voltage Current (A)
Power
(Watts)
Subtotal
(Watts)
1Motor
?
?
?
?
2Servos
?
?
?
?
Total, Pm
?
* Based off theoretical calculations
Battery Life (cont.)
Pending power required to run motor and
servos, Pm:
14.00
12.00
10.00
Time (Hours)

8.00
6.00
4.00
2.00
0.00
1
6
11
16
21
26
Total Power (Pm + Pt)
31
36
Solar System Milestones
Components
Research &
Design
Parts
Ordered
Assembled &
Tested
Complete
Solar Cells
100%
100%
0%
66.7%
Recharger
100%
100%
0%
66.7%
Batteries
100%
100%
0%
66.7%
Power Control
100%
100%
0%
66.7%
Total Solar System
Completion
66.7%
Tilapi-ugghhh
Estimated Project Budget
Component
Spent
Estimated
Actual
Est. Budget
Actual Cost
Solar Cells
$45.00
$37.50
Batteries
$48.00
$63.00
Tx/Rx
$44.00
$37.95
Regulators (Misc)
$200.00
$43.58
Orientation (Misc)
$200.00
$19.95
Sonar
$24.95
$99.95
Beginner Parts Kit
$24.95
$24.95
Light Sensors (Misc)
$200.00
$2.90
Whiskers (Misc)
Components Kit
(Misc)
$200.00
$5.00
$200.00
$9.07
Microcontroller
Control Station
(Misc)
$10.50
$17.00
$200.00
$39.95
Encoder
$37.85
$37.85
Thruster
$450.00
$440.00
$1,250.00
$438.65
Total
Current Progress
Sensors
67.2%
Motion
59.6%
Artificial Intelligence
50.00%
Solar
66.70%
Remaining
60.88%
Sensors
Motion
Artificial Intelligence
Solar
Remaining
Milestones
*T&I = Testing and Implementation
1
March
4
1
2
T&I
Solar
April
3
4
1
2
3
T&I
T&I
Building, T&I
T&I
T&I
T&I
T&I
T&I
T&I
T&I
T&I
Integration
T&I
A.I.
Sensors
Motion
Main Motor
Servomotors
Controlling Unit
Body
WDS
VDL
LS
OrS
PSW
PSS
Modes
Sensor Protocol
Motor Protocol
Index/Library
Solar Cells
Battery
Charger
Power Control
Protype
Aesthetics
February
2
3
T&I
T&I
T&I
T&I
T&I
Protype
Beautify
4
QUESTIONS?