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Final Design Review Autonomous Hovercraft

Final Design Review Autonomous Hovercraft. Mechanical Engineering 8936 Term 8 Design Project April 3, 2012. INTRODUCING. SPROCKET. Agenda. Project Scope Development Design Specifications Execution Final Prototype Hardware Code Logic Diagram Risks Project Management

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Final Design Review Autonomous Hovercraft

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  1. Final Design ReviewAutonomous Hovercraft Mechanical Engineering 8936 Term 8 Design Project April 3, 2012

  2. INTRODUCING • SPROCKET

  3. Agenda • Project Scope • Development • Design Specifications • Execution • Final Prototype • Hardware • Code Logic Diagram • Risks • Project Management • Project Challenges • Future Considerations

  4. Project Scope The objective of the design team is to design and build a hovercraft that is: • Autonomous - Able to navigate a proposed path free of operating input. • Path should be free of: • Disturbances • Obstacles

  5. Development

  6. Design Specifications

  7. Execution

  8. Final Prototype Wall Detection IR’s Compass Range Finding IR Thrust Motors Drive Battery Control Board Control Board Battery Power MOSFET Top View

  9. Final Prototype Centrifugal Lift Fan Skirt Baffles Motor Bottom View

  10. Hardware • Romeo Control Board • Arduino Based • Integrated Motor Driver • Allows for Bluetooth, GPS, Servo Motor Future\ Expansion

  11. Code Logic • Travel Down Hallway • Identify Corners • Perform Turns in Sequence & Stop

  12. Code Logic Diagram

  13. Code Logic Diagram

  14. Risks

  15. Project Schedule

  16. Project Budget

  17. Project Challenges • Uncontrolled Environment • Non-uniform Test Surface • Pedestrian Traffic • Obstacles • Magnetic Interference • Battery Inconsistency

  18. Future Considerations • Bluetooth • Sensors • Cover • Prototype Size • Video Surveillance

  19. References • Beardmore, Roy. Root Locus Methods. Ed. Roy Beardmore. N.p., July. Web. 17 Jan. 2012. <http://www.roymech.co.uk/Related/Control/root_locus.html>. • Kalpakjian, Serope, and Steven Schmid. Manufacturing Engineering and Technology. Fifth ed. Upper Saddle River: Pearson Education, 2006. N. pag. Print. • Rethwisch, David G. Materials Science and Engineering An Introduction. Seventh ed. New York: John Wiley & Sons, 2007. Print.

  20. Project Website www.autonomoushovercraft.yolasite.com Please Visit!

  21. Thank You! Special Thanks to: Professor Michael Hinchey Tom Pike Steve Steele Craig Mitchell Please Feel Free To Ask Any Questions

  22. Back up

  23. Design Parameters • α = Hovercraft Angle Heading • β = Hovercraft Angle of Velocity • E = Drive Force • F = Friction Force • T = Yaw Torque • M = Mass • I = Yaw Inertia • K = Dart Effect • J = Yaw Drag • X = Prop Coefficient Relating Ramp up Speed • Y = Prop Coefficient Relating Maximum Torque • Z = Coefficient of Friction

  24. Governing Equations Equations of Motion Drive Equation Yaw Control Translation Control

  25. Simulation

  26. Sprocket in Deep Tank

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