Villanova University Capstone Design
Myles Durkin
Steve Kropp
Ryan Ehid
Kevin McHugh
Brian Lepus
Motivation
• 20 minutes of Burn Time
– Roofs will collapse
• Every 32 minutes
– Someone is injured in a Fire
• Every 162 minutes
– Someone is killed in a Fire
• In 2007
– 118 Fire Fighters were killed
• EVERY SECOND COUNTS!!!
Purpose
•
•
•
•
Quickly search through a building
Identify the source of the fire
Extinguish Fire
Transmit the information
– Video, Proximity Sensors, Flame Detector
Problem Statement
• Only 20 minutes to extinguish flames before
roof collapses.
• Even equipped with thermal sensors, finding
flames in a house is difficult and dangerous for
humans.
• Robot could safely search for flames and
people quickly, effectively and safely.
• Design and build a concept robot that is both
effective and affordable.
Requirements
• The robot should weigh no more than 150
pounds
• The robot should also be able to fit into a
compartment of fire truck with dimensions
• The robot must be able to climb stairs
• The robot should efficiently and quickly
navigate the structure and locate both fires
and victims
Chassis
Ryan Ehid
Chassis and Drive Train:
Tasks Completed
– Computed power requirement for robot
• Show Power Requirement KM
– Determined robot should be built using a treaded
vehicle design
• Recall: robot must climb stairs
– Refined power requirement to include treaded
vehicle
– Determined motor specifications required for
power requirement
• Show determined motor specs
Chassis and Drive Train:
Tasks Completed
– Sized motors and gear boxes
• Motors would be purchased with gearbox to give ratio
of @@ KM
– Ordered motors and gear boxes
– Researched materials to use for chassis to
maintain resistance to heat
• Any Plastics are un-useable
• Aluminum, Steel, Iron appropriate
– Steel or aluminum would be used due to
commercial availability and ease of welding
Chassis Design: Basic Framework
Design, size motors
purchase motors,
gear boxes
Based on Dimensions
of gears, motors
determine chassis
dimensions
Select Adequate
thermal protection
Select adequate
waterproofing
FINISHED CHASIS
Chassis: Assignments
• Chassis: Project Lead—Ryan Ehid
– Design, size motors
– Purchase motors, gear boxes
– Given dimensions of motors, gear boxes, treads and drive
wheels and given size develop preliminary chassis
dimensions
– Select adequate thermal protection
• Recall design constraint, robot must function to 500°F
– Select adequate water protection
• Recall design constraint, robot must be waterproof
– Chassis and drive train integration
– Refine design based on drive train specifications
Chassis Assignments Cont.
• Purchase Motors
– Purchased NPC Motors
from
RobotMarketplace.com
– Motors provide
adequate torque to
overcome stairs
– Motors provide enough
speed to search house in
required 10 min
• Motors pix: kevin
Chassis Assignments Cont.
• Develop preliminary chassis design
– Completed 1/26
Chassis Assignments Cont.
• Thermal Protection
– Robot will need thermal protection
– Chassis must be built of material which will not
melt
• Aluminum
– ~660°C
• Steel
– ~1400°C
• Lexan
– ~440°C
Chassis Assignments Cont.
• Still To Be Completed:
– Thermal insulation for electronics and motors
selected
– Waterproofing of chassis selected
– Building of chassis
– Integration of chassis with drive train
Drivetrain
Kevin McHugh
Power Requirement
Motor Selection
• The previous power
calculation yielded a power
requirement of 1685.75 W
to achieve the desired
speed up the stairs.
• This is the equivalent of
2.26 hp.
• NPC T74 was chosen
because each of the two
motors being used output
1.13 horsepower just before
stall (under heavy loading).
Final Gearing
• The NPC T74 is a geared motor.
– Speed reduction and cost effectiveness.
• The final drive mechanism will be a chain
drive system
– This will be used to fine tune the desired output
speed as well as to relocate the power from the
motor to the drive axels.
Final Gearing
• The final, full throttle
speed of the robot
depends on several
components.
– Motor speed
• 192 rpm
• (battery power limited)
– Tread drive wheel
Diameter
• 8 in
– Final Gear Ratio
• ≈2.188 (see right)
d  diameter
r  ratio
rpm  192
s  speed
s  rpm * r * d * 
s  192 * r * (8 / 12) * 
s  402.124r ( ft / s )
s  4.57 r (mph)
Driveshaft
• The driveshaft has to be designed to handle the torque loads
applied to it.
• This is a simple matter of choosing the proper diameter and
material for the shaft.
• The diameter will be calculated using AISI 4000 Series Steel
J  d 4 / 32
  T ( d / 2) / J
(.75)(70000 psi )  (1480in * lbs )( d / 2) /(d 4 / 32)
d 3  1.5in
d  1.15in
http://www.roymech.co.uk/Useful_Tables/Matter/shear_tensile.htm
http://www.matweb.com/search/DataSheet.aspx?MatGUID=210fcd12132049d0a3e0cabe7d091eef&ckck=1
Electrical Components
Myles Durkin
Electrical Prototyping
• Prototype – No sensors
Electrical Prototyping
• Motor Controller
• Full H-Bridge
Electrical Prototyping
• Tested Proximity Sensors
• Uses Voltage Comparator Circuit
• Hatamatsu UVTron Flame Detector
Electrical Prototyping
• PIC Microcontroller programmed to control
motors based on sensor input
Electrical Analysis
• Using two 12V batteries in series (7Ah)
NPC – T74
NPC – T64
Torque vs Angular Velocity
NPC T64
Torque vs Angular Velocity
NPC T74
y = -6.5238x + 174.6
150
100
50
y = -5.148x + 131.17
100
Torque (Nm)
Torque (Nm)
200
80
60
40
20
0
0
0
10
20
Angular Velocity (rad/sec)
30
0
10
20
Angular Velocity (rad/sec)
30
Electrical Analysis
• RPM vs Time
• Steady state 192 rpm at
90 sec.
Electrical Analysis
RPM v Current
y = -0.8191x + 210.93
Current (A)
250
200
150
100
50
0
0
100
200
300
RPM
• At 192 RPM, needs 53 Amps
• 7.8 min battery time powering one motor
• 3.9 min battery time powering both motors
Turret System
Brian Lepus
Turret System - Camera
• 2.4 GHz Wireless Color Weatherproof Indoor
Outdoor Camera and Receiver
• Automatic IR night vision – 20 ft. range
• 150 ft. total range
Turret System - Design
Servo
• Positioned on top of robot
• Connected to rotating 9-volt source
• Controlled by continuous servo (360°)
Fire Suppression
Brian Lepus
Fire Suppression
• Fire extinguisher canister
• Dry chemical
• Used only to suppress or control small fires that become an
obstacle
• Engaged with either a motor and gear train or actuator that
closes the handle
Tread Design
Steve Kropp
Tread Design
• Design Requirements
– Tread design must allow the robot to climb stairs
and other obstacles.
– Tread design must provide for maximum surface
area when in operation
– Tread design have the ability to become compact
in order to fit robot in fire truck compartment.
– Tread design must provide for maneuverability.
Tread Design
• Tasks Completed
– Built Tamiya Rescue Crawler Robot as prototype
• Depicted three tread design adapted for Firebot.
Tread Design
• Tasks Completed
– Developed three tread design
• Front and back tread can rotate up and down in order
to satisfy requirements of maximum surface area as
well as compact ability and maneuverability.
• Story board created to illustrate abilities.
Obstacle Climbing Abilities
Robot approaches step with front tread up, giving the robot leverage.
Obstacle Climbing Abilities
The front tread then levels itself out and gains traction. This helps pull
the rest of the robot up onto the stair.
Obstacle Climbing Abilities
Maneuverability and Compact Design- Since the landing is too small for
the fully extended robot to turn, the front and back tread tilt up. This
allows the robot to turn successfully.
Obstacle Climbing Ability
With all three treads extended, the robot maintains maximum surface
area in contact with the stairs.
Tread Design
• Material to be used
– Steel
• Kinetic Coefficient of Friction: .6
• Melting Temperature: 2500°F
– Rubber
• Kinetic Coefficient of Friction: .85
• Melting temperature: Varies
Tread Design
Tread Design
• Future Milestones
– Order tread materials
• Rubber belts, flat chain, sprockets, servos, etc.
– Install treads
– Test treads
• Must pass requirements.
Schedule
Kevin McHugh
Senior Design Gantt Chart
Firefighting Robot
Villanova University
Team Members: Miles Durkin, Kevin McHugh, Ryan Ehid, Brian Lepus, Steve Kropp
Today's Date: 2/4/2009
(Mon)
96
81%
68
77
19
2.1
Powertrain Calculations
9/25/08
10/30/08
36
100%
26
36
0
2.2
Circuit/Power Analysis
11/01/08
12/30/08
60
90%
42
54
6
2.3
Heat rejection Calculations
12/01/08
12/11/08
11
50%
9
5
6
2.4
Order Parts
12/01/08
12/30/08
30
50%
22
15
15
3
Build/Test
12/11/08
4/22/09
133
35%
95
46
87
3.1
Assemble Frame/Drivetrain
1/12/09
1/25/09
14
10%
10
1
13
1/12/09
2/09/09
29
33%
21
9
20
Dimension motors/battery, Design
1/14/09
1/23/09
10
100%
8
10
0
Select adequate Fireproofing
1/23/09
2/09/09
18
0%
12
0
18
1/23/09
2/09/09
18
0%
12
0
18
1/12/09
1/31/09
20
10%
15
2
18
Order parts
1/12/09
1/18/09
7
0%
5
0
7
Assemble Tread
1/18/09
1/24/09
7
0%
5
0
7
Preliminary testing
1/24/09
1/30/09
7
0%
5
0
7
2/01/09
3/02/09
30
0%
21
0
30
Fire extinguisher type
2/01/09
2/07/09
7
0%
5
0
7
Test actuator Motor
2/08/09
2/28/09
21
0%
15
0
21
22
Chassis
Ryan Ehid
Select adequate Waterproofing
Tread
Fire Supression
Drivetrain
Steve Kropp
Steve Kropp
Kevin McHugh
1/12/09
2/23/09
44
50%
31
22
Test purchased motors/target lbs
1/12/09
1/30/09
19
100%
15
19
0
Implement Tread
2/01/09
2/19/09
19
0%
14
0
19
2/05/09
2/23/09
19
75%
13
14
5
1/12/09
2/10/09
30
80%
22
24
6
Spec motor, materials
1/12/09
1/31/09
20
100%
15
20
0
Build/test
1/31/09
2/09/09
10
60%
6
6
4
1/12/09
2/28/09
48
37%
35
17
31
Put electronics on an IC
1/12/09
1/31/09
20
50%
15
10
10
Work to control robot wirelessly
1/12/09
2/28/09
48
75%
35
36
12
3/08/09
3/28/09
21
0%
15
0
21
3/08/09
3/28/09
21
0%
15
0
21
Test of Robot Mobility
3/15/09
3/19/09
5
0%
4
0
5
Heat/Fire Tests
3/20/09
3/24/09
5
0%
3
0
5
3/25/09
4/23/09
30
0%
22
0
30
Refine sprocket ratios for speed
Camera and Turret Design
Electrical Components
Combine Tread, Dirvetrain and Chassis
Test
Redesign/Retest
Brian Lepus
5 / 11 / 09
12/29/08
5 / 4 / 09
9/25/08
4 / 27 / 09
Design
4 / 20 / 09
0
2
4 / 13 / 09
11
4 / 6 / 09
8
3 / 30 / 09
100%
3 / 23 / 09
11
3 / 16 / 09
10/25/08
3 / 9 / 09
10/15/08
3 / 2 / 09
Preliminary Calculations
2 / 23 / 09
0
1.4
2 / 16 / 09
35
2 / 9 / 09
25
2 / 2 / 09
100%
1 / 26 / 09
35
1 / 19 / 09
10/14/08
1 / 12 / 09
9/10/08
1 / 5 / 09
Brainstorming
12 / 29 / 08
0
1.3
12 / 22 / 08
20
12 / 15 / 08
15
12 / 8 / 08
100%
12 / 1 / 08
20
11 / 24 / 08
9/20/08
11 / 17 / 08
9/01/08
11 / 10 / 08
Research Requirements
11 / 3 / 08
0
1.2
10 / 27 / 08
0
14
10 / 20 / 08
61
10
10 / 13 / 08
45
100%
10 / 6 / 08
100%
14
9 / 29 / 08
61
9/07/08
End
9 / 22 / 08
10/24/08
8/25/08
Start
9 / 15 / 08
8/25/08
Talk to Firemen
Task Lead
9 / 8 / 08
Days Remaining
Data Gathering
1.1
Tasks
9 / 1 / 08
Days Complete
1
WBS
8 / 25 / 08
Working Days
0
% Complete
Start Date: 8/25/2008
Duration (Days)
[42]
(vertical red line)
Budget
Ryan Ehid
Budget
• Major Sources of Funding
– Engineering Alumni Society
• Donation of $1000
– IBM Corporation
• Donation of $1000
– ECE Day Best Project
Award
• Around $500
– Provided by College of
Engineering
• Standard funding for
Capstone $300
Budget
• Major Team
Expenditures
– Prototype Robot
• Roughly $80
– Sensors and Electrical
Components
• Roughly $50
– Poster and PR material
• Roughly $100
– Motors + Gear Box
• Roughly $650
Budget
Cost Estimation Comparison
Description
Initial Cost Estimate
Current Cost
Estimate
Sensors, Materials,
Integrated Circuits, Camera
(Wheels/ Batteries)
Motors/Controlle Electrical Motors,
rs
Microcontrollers, Gears
$300
$300
$300
$800
Wheels/Belts
Wheels or Tank Threads
$200
$400
Base/Frame/
Parts and materials to make
the base and frame
$200
$500
Miscellaneous
Materials
Extinguishing agents and
other materials and parts
required to build the device
$300
$300
Deduction
Villanova College of
Engineering will provide
funds for each group
TOTAL COST
-($300)
-($300)
$1,000
$2,000
Prototype
Budget
Initial Cost Estimate
23%
23%
Prototype
Motors/Controllers
Wheels/Belts
Base/Frame/
15%
Miscellaneous Materials
23%
16%
Current Cost Estimate
13%
13%
22%
Prototype
Motors/Controllers
Wheels/Belts
Base/Frame/
Miscellaneous Materials
17%
35%
Budget
Excerpt from: FireFighting Robot Ledger(AS OF 1/29)
Transaction Type
ITEM NAME
Debit
CoE Donation
$
300.00
$
300.00
$
-
Debit
EAS Donation
$
1,000.00
$
1,000.00
$
-
Credit
Poster Board
$
95.39
$
-
$
95.39
Credit
Home Depot(Lock+Toolbox)
$
16.51
$
-
$
16.51
Credit
Tanya
$
77.40
$
-
$
77.40
Credit
Paralax
$
36.97
$
-
$
36.97
Credit
Amazon
$
99.87
$
-
$
99.87
Debit
IBM
$
1,000.00
$
1,000.00
$
-
Credit
Robot MarketPlace
$
684.40
$
-
$
684.40
Name
Debits Total
TOTAL DEBIT
TOTAL CREDIT
ACCOUNT TOTAL
$
TOTAL(INC TAX)
TOTAL DEBIT
Credits Total
TOTAL CREDIT
Account Total
2,300.00
$
1,010.54
$
1,289.46
Thank You!
Any Questions?
Please Visit Firebot.pbwiki.com