Mechatronics Design Project 2008 Project Wind Bot Mikhail

Mechatronics Design Project 2008 Project Wind. Bot Mikhail Bruk Anton Talalayev Momchil Dimchev Mechatronics Design Project 2008 1

Wind Power �Wind Turbine Sites ◦ Satellite data inaccurate ◦ Human testing impractical �Cost efficient method for ◦ Little supervision required ◦ Better precision ◦ Reliable data Mechatronics Design Project 2008 2 data acquisition

Project Proposal �Design an autonomous robot �Navigate through a predetermined path �Collect wind velocity measurements �Obtain wind direction �Return to starting point �Display optimal locations for a wind turbine Mechatronics Design Project 2008 3

Initial Design Features: • Propeller & Vanes • Direction Sensor • Tachometer • Wheel Encoder • Accelerometer or Compass • LCD Display Mechatronics Design Project 2008 4

Mechanical Components �Aerovane ◦ Propeller and vanes �Materials �Sensor casings Mechatronics Design Project 2008 5

Electrical Components �Actuators ◦ Two continuous servo motors ◦ Controlled via 555 Timer Mechatronics Design Project 2008 6

Electrical Components �Analog Sensor ◦ RCTime circuit ◦ Photoresistor and LED pair Mechatronics Design Project 2008 7

Electrical Components �Digital Sensor ◦ Rotational Encoder ◦ IR LED and Receiver pair Mechatronics Design Project 2008 8

Electrical Components �Digital Sensor ◦ Wheel Encoders Mechatronics Design Project 2008 9

Project Analysis �Priority: ◦ Wind Measurement ◦ Precise navigation ◦ Versatility Testing: ◦ Variable conditions ◦ Repetitive data Mechatronics Design Project 2008 10

Project Analysis Design Approach Mechatronics Design Project 2008 11

Project Analysis Mechatronics Design Project 2008 12

Programming and Testing �Calibration Programs ◦ Wheel alignment ◦ Speed adjustment ◦ Velocity calibration ◦ Encoder adjustment �Main Routine ◦ Follow the grid ◦ Record and save data ◦ Retrieve data Mechatronics Design Project 2008 13

Programming and Testing �Subroutine �Easy approach modification �Reused variables �Fail-safe encoders Mechatronics Design Project 2008 14

Velocity Calibration VIDEO Mechatronics Design Project 2008 15

Data from Velocity Calibration velocity vs. Tachometer Value Calibration for Wind Velocity � Plot 3 2. 8 2. 6 � Obtain a conversion factor Velocity (m/s) 2. 4 2. 2 2 1. 8 1. 6 1. 4 1. 2 1 200 300 400 500 Tachometer Value (RPM) Mechatronics Design Project 2008 16 600 700

Cost • Boe-Bot Robot $ 159. 95 • 555 Timer IC (2) $ 2. 95 • Breadboard (1) $ 7. 99 • LCD Terminal $ 29. 95 • Hitachi HM 55 B Compass Module (1) $ 29. 95 • Balsa Wood (1/8” x 6” x 36”) (1) $ 3. 95 • Tube Fitting (1) $ 2. 95 • Aluminum Rod (1/16” x 12” x ¼”) (1) $ 2. 36 • Stainless Steel Propeller (1) $ 10. 95 • Miscellaneous $ 12. 00 • Power Supply: (4 AA’s) $ 2. 99 Total: Mechatronics Design Project 2008 $ 253. 99 17

Major Challenges �Follow the preset trajectory �Sensor reliability �Program – sensor connection �Relative Angle Measurement �Basic Stamp limitations: ◦ RAM and EEPROM Mechatronics Design Project 2008 18

Major Challenges Memory Map Mechatronics Design Project 2008 19

Full Demo VIDEO Mechatronics Design Project 2008 20

Demo Data Mechatronics Design Project 2008 21

Prototype Suggestions �GPS navigation �Meteorological equipment �Obstacle Avoidance Program �Video camera (human operator) �Larger Memory Mechatronics Design Project 2008 22

Conclusion �Systematic �Acquire testing approach more memory �Increase project cost for better accuracy Mechatronics Design Project 2008 23

Acknowledgements �The Italians �Prof. Sean Peterson Thank you! Mechatronics Design Project 2008 24