P09011 – Object Recognition - 1/9/2009

Functional Decomposition, Simplified by System Connecting Object Method Apparatus Connection Device Object Connection Device Raising/Lowering Object MethodPowerControl Hiding Objects from Trainer MethodLocation Removing/Switching Object Sets MethodTimingOperator

System for Connecting Object to Apparatus Method Rope Solid link (rod) Fishing line Coax Nylon webbing Apparatus Connection Device Hinge Knot Eyebolt Glue Robot hand Object Connection Device Magnet Spring clip Clevis pin Vacuum Master lock Handcuffs Suction cup Threaded rod Wire ties Velcro Snaps Hook Lasso Clothespins Robot hands Suction Squeeze-release buckles

System for Raising/Lowering Object Method Rope over pulley Chain Pivoting Arm Rolling Wheel Drop on Bungee Drop on Springs Lowering Cylinder Drive Screw Electromagnets Birds/Butterflies Spring Loaded Retraction Power Human Battery External (AC) Pneumatic Hydraulic Control Direct human power Foot pedal Handheld remote Crank Fishing Reel Pump

System for Hiding Objects from Trainer Method Canvas Shade Screen One-Way Mirror Cover Panel Umbrella Virtual Reality/Camera Location On face of trainer On apparatus On apparatus extension Independent of apparatus

System for Removing/Switching Object Sets Method By Hand Motorized Staged Attachment Timing After each object set (apparatus contains one set at a time) After both object sets (apparatus contains both sets at a time) Operator Trainer Experimenter

Primary Design Criteria  Operator and whale safe  Quiet  Durable & weatherproof  No external power  Able to hide sample from trainer  Compact  Able to block whale’s view of both object sets at once  35” total design width  3-5sec target time between object set display, 10sec max  10lb max object weight

Concept C: Overview  Objects sets raised and lowered independently on cables  Cable movement provided by separate electric winches  Winches controlled remotely  Object travel electronically limited  Powered by on-board 12V battery

Concept C: Overview

Concept F: Overview  Object sets raised and lowered independently on cables connected to pivoting arms  Pivoting arms are positioned 90 degrees to one another  Upper section of apparatus rotates on human-powered turntable to change object sets  Pivoting arm movement provided by electric linear actuators (expanding cylinder)  Linear actuators controlled remotely  Object travel electronically controlled by limit switches  Powered by on-board 12V battery

Concept F: Overview

Concept Feasibility Comparison Concept CConcept F Can our system be designed? Yes Do we understand what we are trying to do and have we decomposed the design adequately to insure our understanding and to enable the clear assignment of responsibilities? Yes Is the technology available and robust? Available, possibly robustAvailable, robust Is the design likely to meet all engineering specifications and satisfy the customer? Possibly Have we addressed all required features and functions? Yes Do we understand the performance limits of our design and whether these limits are acceptable?Yes Do we have the capabilities and resources (people, funds, time) to realize our design (before investing heavily in engineering activities)? Possibly

Feedback Received  Dr. Varela: Search McMaster and Grainger for off-the-shelf winches Avoid trying to build your own winch setup  Dr. Walter: When considering design feasibility, don’t forget to perform evaluation of battery requirements for electrically powered design Consider and evaluate safety concerns with electricity flowing through apparatus, remote control Look at MSD# P06606 (Remote Operated Aquatic Motorized Explorer) for underwater electronics shielding

Component Analysis Research into winches yielded that they: ○ Are designed for much higher loads and much slower speeds ○ Do not meet customer’s weight requirements – heavy ( lbs) ○ Do not meet customer’s time requirements – run too slow (3-40 feet per minute) ○ Do not meet duty cycle requirements ○ Have varying costs – some fall well within budget, some well outside  Look for servos, stepper motors, etc. that fit design.

Component Analysis Research into linear actuators yielded that they: ○ Are designed to meet our requirements for weight, load capacity, speed, and duty cycle ○ Have varying costs – some fall well within budget, some well outside  Get quotes to determine if component fits budget constraints

Next Steps  Complete Risk Assessment  Gain more information about components  Select single concept  Complete detailed design