The document outlines the design, development, and testing of a robot intended to explore volcanoes. It describes the robot's mechanical design including its frame, hatch, drive system, and entry mechanism. It also discusses the electrical systems, programming of sensors and devices, and budget and funding sources. The overall goal is to create a robot that can withstand extreme volcanic environments to gather data and transmit video feeds back to researchers.
10. Conception
Performance
Analysis
• Testing Approach
• Holistic view of
the robot
• Functionality
• Durability
• Test Process:
• Conception of Test
• Performing the test
and recording data
• Analyzing the results
of the test
APPROACH
TESTING
TESTING
14. OVERVIEW
Purpose
• Mitigation of risk,
enactment of
opportunities
• Communication
of current events
Philosophy
• Decision-making
• Safety as a priority
• Risk Tolerance
MANAGEMENT
RISK
19. • Architectural Design
• System Interface
• Resilience and Availability
ARCHITECTURE
PHYSICAL & LOGICAL
ARCHITECTURE
SYSTEMS
20. • Modularity of system
• Why can we adapt with
ease?
• How does it fit the
specified criteria?
SCALABILITY
PERFORMANCE &
ARCHITECTURE
SYSTEMS
21. • Made decisions through
testing of data
• Finalized Architecture
• Complete System
InteractionVerification
PROOF
VERIFICATION OF
ARCHITECTURE
SYSTEMS
22. Track system
• Hard to manufacture
• High cost of resources
Belt-driven system
• Simpler, requires less parts
• Assembled within a much
shorter time
DELTAARCHITECTURE
SYSTEMS
23. Wirebox
• Started as simple addition
• Evolved into a centralized piece
• Multi-functional piece
DELTAARCHITECTURE
SYSTEMS
25. DESIGN
APPROACH● Used the design process to
identify design problems
● Divided the robot into
subsystems in order to solve the
various tasks
● Subsystems created through the
use of design matrices
● Four different subsections: hatch,
frame, drive, and entry system.
TECHNICAL
MECHANICAL
DESIGN&
26. SUBSYSTEM
SHatch
● Uses gravity as a passive action for the
hatch plates to fall onto the sides. Takes
minimal space
Frame
● The frame is designed to resist stress
and protect the key components within
the robot
Drive
● Track system chosen for its ability to
handle rough terrain
Entry System
● A cutting mechanism that will carve out a
hole for our robot to enter the volcano
MECHANICAL
DESIGN&
28. FRAME
● Extensive Testing was done.
● Arch Truss shows superiority under 1000 lbs of
force.
● Utilizes a circular frame design for rigidity
MECHANICAL
DESIGN&
29. HATCH
● Utilizes a Pin-Release Mechanism
● Pin is released from the base of the hatch structure
● Falls to the left and right side of the robot due to
gravity
● Hatch fits the front of the new frame
● No issue with its consistency
MECHANICAL
DESIGN&
30. ENTRY
● Consistently makes accurate circles
● Spring attached to the back of the cutter
● The blade pushed forward in the proper position
● Ensure the cut of an accurate circle
MECHANICAL
DESIGN&
31. VECHICLE
• Have data uploaded to it
• Escape from volcano intact
• Land and transfer data to HQ
• Started with a quadcopter for power
and stability
• Current design is a tricopter for
small size
ESCAPE
MECHANICAL
DESIGN&
32. MATERIAL
● Aluminum 6061 for the main structure of the robot
● ABS (Acrylonitrile butadiene styrene) Plastic -
temporary material for the prototype’s wirebox,
will be replaced by aluminum
● Abandoned Carbon Fiber for realistic budget and
manufacturability
SELECTION/USAGE OF
MECHANICAL
DESIGN&
37. DRILL PRESS
Advantages Disadvantage
s● Used to machine
holes
● Creates small
that are usually
inconvenient
other tools
● Less efficient
the CNC mill
MANUFACTURING
46. ● Raspberry Pi
● 9DoF on the
origin of IRD
● Environment
data collection
sensors
PLACEMENT
SENSOR
ELECTRICAL
47. 1. Use 12 AWG Wire to connect battery to DC loader.
2. Test Nano-tech 14.8V 2200mAh 25-50C 4 Cell Li-Po Battery by
setting DC loader to draw Amperes: 1.5, 3, 5, 10,15, 20
3. Run each trial for 30 seconds.
4. Record data and graph.
RESULTS
BATTERY TEST
ELECTRICAL
51. DEVICES
Types
• Control Sensors
• Environment Sensors
• Utility Devices
Requirements
• Gather data for the robot’s decision-making
matrix
• Gather data on the volcano environment and
sample
• Transfer data to the drone and relay to the
master computer
PROGRAMMING
52. SENSORSADXL345 Accelerometer
• Monitors acceleration to help monitor orientation
D6T Thermopile
• Designed for thermal tracking
HMC5883L Compass
• Will be used along with the gyro for gyro-compassing
(Removed from robot)
ITG3200 Gyro
• Will be used to provide rotational control for the robot
PING))) Ultrasonic Sensor
• Measures distance relative to the robot from solid bodies
Luminosity Sensor
• Monitors location relative to the inside and outside of the
volcano.
CONTROL
PROGRAMMING
54. ITG3200
Gyro
Numbers of Samples of Collected 24
Greatest Percent Error 28.6%
Average Percent Error 12.7%
Gyro Drift over Time 0.8474
PROGRAMMING
55. ITG3200
Gyro
Numbers of Samples of Collected 24
Greatest Percent Error 47.7%
Average Percent Error 16.9%
Gyro Drift over Time 1.235 deg/sec
PROGRAMMING
56. ULTRASONIC SENSOR
PARALLAX PING)))
Linear Slope
Value
(Unscaled)
1st: 1.252
2nd: 1.364
3rd: 1.304
Regression-
Squared
1st: .9979
2nd: .999
3rd: .9987
Numbers of
Samples of
Collected
12 (x3
Greatest
Deviation
Scaled Data
1st: 27.7%
2nd: 21.5%
3rd: 27.7%
Average
Deviation
Scaled Data
1st: 10.4%
2nd:14.8%
3rd: 10.4%
PROGRAMMING
58. BMP180 Barometer
• Measures the pressure within the volcano
HTU21D Hygrometer
• Measures both humidity and temperature
1K Thermistor
• Measures the temperature of the sample
SENSORS
ENVIRONMENT
PROGRAMMING
73. Who would want to buy a robot that has the
capabilities of volcanic exploration as presented
before you?
● Volcanologists
o Collection of empirical data
o Observation of inner chambers of unexplored volcanoes
● Geologists
o Excavation of inner chambers of unexplored volcanoes
● Archeologists
o Exploration of inner chambers of unexplored volcanoes
o Preservation of sanctity and composition of volcanic and
artifacts
● Fire Engineers (Firefighters)
o Scout potentially fatal fire scenarios for safety of
firefighters
MARKET
TARGET
MARKETING