Automated Bridge Scour Inspection FSU/FAMU College of Engineering Team 7 Concept Design Review 12/1/2010

Revised System

Vertical Motion Design Updates / Improvements - Concepts considered - Selection criteria - Risks associated with selection Schedule / Budget Updates - Analysis time exceeded - Fabrication time overestimated - Proposed equipment within budgeted amount

Vertical Motion Analysis Method / Assumptions - Operating parameters for DC Motor -Critical Operation Point - Gearing for adequate ascent/descent speed Analysis Results - Minimum load torque: 6.5 N*m - 5:1 gear reduction ratio -Adequate speed: 20 cm/sec -Sufficient output torque: 32 N*m

Vertical Motion Revised Specification - System weight inflated 10%: 44 lbs. - Motor load under 80% Proposed Equipment - Maxon Motors RE 35 Brushed DC Motor -24V Operation - Maxon Motors 32 HP Planetary Gearhead -28:1 Reduction ratio - Combined Cost: $

Vertical Motor Performance

Circumferential Motion Design Updates / Improvements - Concepts considered - Selection criteria - Risks associated with selection Schedule / Budget Updates - Analysis time overestimated - Fabrication time overestimated - Proposed motor within budget amount - Guiderail cost pending

Circumferential Motion Analysis Method / Assumptions - Operation at low speed, low displacement -Low drag - Focus on precision positioning Analysis Results - 12 V DC Motor - Minimum 200 oz-in stall torque

Circumferential Motion Proposed Equipment - Pololu 12V 131:1 DC Gearmotor - Combined 64 CPR Encoder - Cost: $ 40.00

SONAR Tilt Design Updates - Maintain previous design - Lower priority - Low risk Schedule / Budget Updates - Analysis and specification pending - Budget on par

Design Structure Design Updates and Improvements Circular Guide Rail Component Housing Localization Risks

Design Updates and Improvements Circular Guide Rail Bishop-Wisecarver Single Edged PRT 24” Diameter 11.5 lbs Custom Hinge

Component Housings Locker 2 by Witz Size Pressure Localization Motor + Encoder Accuracy

Risks Ring Design Custom Waterproof Exit Holes Encoder Accuracy

Power Old Design Use 2 separate battery sources - DC Motors, Motor Controller - AGM battery - Microcontroller, Sensors - NiMH Better efficiency, less power loss The New Design - Motor Driver outputs 5V for Microcontroller,Sonar,servo. Eliminates 2 nd battery - Use 1 LiFePO4 or SLA Battery to power everything

Block Design for Powering Components - Motor Driver has a feature that can power the DC motors and also some low power components.

Sabertooth dual 25A motor driver Controls 2 Brushed DC Motors independently 5V Output Terminal for Microcontroller Power Lithium protection mode Built-in Overcurrent & Thermal Protection Screw-in Terminals for Easy,Secure Connections Continuous Output per channel 25 Amps Peak Output per channel 50 Amps Nominal input Voltage 6-24 Volts Max Voltage30 Volts Size 2.6''x3.2 ''x0.8''

DC motors Vertical motion motor - Nominal Voltage 24V - Starting Current 41A - Cont. Current 3.36A Circumferential motion motor - 12V ~300mA

Battery - Weight and Cost are issues - Lead Acid vs Lithium Polymer 1. Sealed Lead Acid Battery - Cheaper, but heavier 2. Polymer LiFePo4 Battery - More expensive, but lighter

Technical Risks - hook up battery to motor driver reverse polarity. This will damage and void the driver!! Add a diode to prevent this. Product is expensive ~$125 - Motor overheating, The motor driver peaks at 50Amps and has over- current protection built-in. DC motors are within the motor driver's capabilities...6V-24V continuous run < 25Amps. Starting run < 50Amps

The Next Step.. - Choose battery type and capacity Ah - Choose/Purchase DC Motors and Motor Controller - Purchase a Battery for testing purposes - More detailed design to integrate into system (wiring, positioning electronics in casing, protection, i.e.)

Microcontroller Beagle Board $149 ARM ® Cortex TM A8 1 GHz LPDDR RAM 512MB SD Card Expansion 3D graphics accelerator 5 Volts 16 I/O IC2 ports RS-232 Port Large active community

Autonomous Programming Language - C++ Computer Environments - Eclipse - Netbeans Beagle Board Packages - Bash task - Nativ-sdk - gdb - samba

Autonomous Programming 3 Modules - Vertical Movement - Circumference Movement - Sonar Servo Movement Outputs - Motor Controller - Servo Inputs - Encoders - Sonar

Current Progress - Preliminary pseudo code finished - Detailed information on I/0 Communication - Write Detailed pseudo code - Begin programming using Eclipse and/or Netbeans

Technical Risk Inefficient amount of I/O pins IC2 1.8V Tolerance Microcontroller shortage

SONAR Old Design: Test multiple sensors Use Fish Finder transducers Lower costs Compatibility issues w/ microcontroller Time Constraints New Plan: Only test 1 or 2 sensors SONAR altimeters Higher costs Connect directly to microcontroller via RS-232

Benthos PSA-916 Frequency: 200 kHz Beam Width: 14 degrees conical Range: 0.8 m – 100 m Output: RS-232 (digital) 0 – 5 VDC (analog) Resolution: RS-232: 1 cm Analog: 2.5 cm Power: 6 – 24 VDC; 6V Dimensions: 2.25” Diameter X 9.38” Long Weight: 1.4 lb (air); 0.8 lb (water)

Kongsberg 1007 Series Frequency: 675 kHz Beam Width: 2.5 degrees nominal Range: 0.61 m – m Output: RS-232; 9600 baud rate Resolution: 2.4 mm Power: 22 – 26 VDC; 250mA Dimensions: 3.49” Diameter X 7.75” Long Weight: 5.2 lb (air); 2.4 lb (water)

Tritech PA500 Frequency: 500 kHz Beam Width: 6 degrees conical Range: 0.3 m – 50 m Output: RS-232; 9600 baud rate Resolution: RS-232: 1 mm Analog: 0.025% Power: mA; mA Dimensions: 1.85” Diameter X 6.30” Long Weight: 2.43 lb (air); 1.76 lb (water)

Risks Physical Damage to sensor – O-ring – Abrasion from sediment Operation Angle Weak Signal Received Obstacles

Budget

Schedule