Team HazardHawk
April 24, 2008
Team HazardHawk 2008
Presentation Outline
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Objective
Project Overview
Design Requirements
Concept Selection
Key Technical Challenges
Performance Requirements
Prototype: Materials / Fabrication / Assembly
Electronics / Software Overview
Design Status
Feasibility Assessment
Prototype Performance
Questions
Objective
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Task: Develop an autonomously-controlled,
electric-powered vehicle whose purpose is to
demonstrate the integration of technologies
needed to locate a “hazardous material” in an
open field.
Team HazardHawk 2008
Project Overview
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Key Features
 Autonomous GPS Navigation
 Hazardous Materials Sensor to locate and sample
hazards
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Main Considerations
 Can operate in a large open field
 Can locate a hazard and return to start point quickly
 Navigation of a variety of terrains with surface obstacles
Team HazardHawk 2008
Design Requirements
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Autonomous, electric-powered
GPS enabled, accurate to within 1 meter (3.28 ft)
Maximum weight: 35 kg (77.1 lb)
Maximum size: 1 meter (3.28 ft) in any
dimension
Top Speed: 8 m/s (17.89 mph)
Hazard detection in under 1 minute when within
100 meters of hazard
Team HazardHawk 2008
Concept Selection
Individual Concepts
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Individual Concepts were developed
 Key Features of interest merged into group concept
Concept Selection
Group Concept
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Target Market: Public Service Sector
 Fire Department, Police Department, Hazmat, and
other public agencies
Prototype Design
Features
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Key Features Included:
 Autonomous GPS
Navigation
 Infrared ‘Hazard’ Sensors
 Retractable Oscillating
Arm
 Tank Drive
Key Technical Challenges
Establishing navigational precision and
awareness of location using imprecise GPS data
 The Oscillating Robotic Arm:
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 Material and geometry selection for a strong,
lightweight arm
 Kinematics
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Hazard Sensing Methodology
 Determining optimum search height and orientation
 Developing logic for search algorithm
Key Technical Challenges
Design of Arm Assembly
Material Selection, Member Length, Oscillation Speed
Materials Considered: Carbon Fiber, PVC, Plywood, and HDPE
Longer-the-Better
Factor of Safety of 4
Optimal:
○ 30 in members
Normalzed Yield Stress vs. Member 2 Length - w = 5 rad/sec
○ ω = 2.3 rad/sec
12.0
10.0
8.0
s _max)
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Normalized Yield Stress ( s _yield /
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Carbon Fiber
Plywood
6.0
HDPE
PVC
4.0
2.0
0.0
18
20
22
24
26
28
30
32
34
Member 2 Length [in]
36
38
40
42
Key Technical Challenges
Sensor Sensitivity
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Goal: to search at a height
where the conical
infrared signal emitted by
the hazard has a large
diameter
Height constrained by the
vehicle size performance
requirement
Result: Search at the
maximum height and a
downward orientation
Detection radius is 8.3 in
at search height h= 42 in.
Key Technical Challenges
GPS Navigation
Sought to determine
optimal search
direction
 Due north most
accurate approach
direction
 Average deviation of
2.2 ft
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Due North Residuals: 1 ft/sec
Prototype Requirements
Weight < 70 lbs
 Dimensions < 3 feet in any direction
 Complete Task < 8 minutes
 Responsive user interface
 Maneuvers autonomously via GPS
 Seeks and reaches hazard
 Identifies target as hazard
 Returns to start position
 Deactivates upon completion
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Team HazardHawk 2008
Prototype Design
Fabrication
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Assembly
 CNC manufacturing for precise
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sizing of body panels, arm base,
and mounts
Custom Cut Shafts, Chain
Wheel Assembly
Mount Assembly
Arm Assembly
Prototype Design
Fabrication
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Assembly:
 Body Panels attached with
corner braces
 Motor Mounts and Bearing
Mounts attached to base with
¼” bolts to allow for
adjustability
 Arm fabricated with PVC,
assembled with ¼ in bolts.
Electronics
Overview
Prototype Software Flowchart
Acquire
Hazard
Coordinates
North or
South
East or West
of target
Carry to
Start
Continue
Straight
Continue
Straight
Acquire Start
Coordinates
Acquire New
Coordinates
Acquire New
Coordinates
Within 3 ft
of X-Cor.
No
dy increases?
No
dx
increases?
No
Yes
Yes
No
Add 1 to
counter
No
Yes
Within 3 ft
of Y-Cor.
Yes
Counter
> 2?
Yes
Turn
Around
Rotate arm. When hazard is found
return to start coordinates
Add 1 to
counter
No
Counter
> 2?
Yes
Turn
Around
Design Status
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Video
Team HazardHawk 2008
Prototype Performance
Weight < 70 lbs
 Dimensions < 3 feet in any direction
 Complete Task < 8 minutes
 Responsive user interface
 Maneuvers autonomously via GPS
 Seeks and reaches hazard
 Identifies Hazard
 Returns to start position
 Deactivates upon completion
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Total:
60.7 Lbs
15 x 16 x 36 in
N/A
Yes
w/out Arm
w/out Arm
Yes
w/out Arm
Yes
10/10
15/15
0/15
10/10
7/10
7/10
10/10
7/10
10/10
76/100
Prototype
Team HazardHawk 2008
Feasibility Assessment
GPS Navigation, Arm Mechanism, IR
Hazard Detection are all feasible.
 Showstopper: Drive Train
 Sensing technology needs to be developed
 Further development is advised
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Lessons Learned
Importance of hardware/software
integration
 Parallel Development
 Importance of a thorough CAD model
 Project planning and delegation of
responsibilities
 Problems with outsourcing parts
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Team HazardHawk 2008