1. Concept Design Review THE DUKES OF HAZARD CAMILLE LEGAULT, NEIL KENNEDY, OMAR ROJAS, FERNANDO QUIJANO, AND JIMMY BUFFI April 24, 2008

2. The Dukes of Hazard Bumper System Rotating Sensor Arm System Electronic Components Box R/C Car Chassis Autonomous Control (GPS) Seek Hazardous Material Locations Quickly Search, Find and Return Avoid Obstacles Markets: Civil Service (Meth Labs) Military (Minesweeping) Commercial (Pest Control)

3. Key Design Requirements Accuracy within 1 m Able to operate on concrete and grass Visual display of results Reach and evaluate target within 2 minutes Weigh 15 pounds or less Avoid obstacles 3” or higher Proof-of-Concept prototype is a GPS-guided vehicle that locates and identifies an IR transmitter

4. Final Concept Tracks vs. Wheels Cost Simplicity Obstacle Avoidance ‘Seeing’ the Target Chassis Decision…

5. Buy vs. Build Cost True Robot chassis = $$$$ or too small Building a chassis ~ $240 Buying Traxxas Stampede = $196.10 Most Valuable Asset – TIME Main challenges Coding Wiring

6. Organization I. Vehicle Feature Design A. Platform & Enclosure B. Sweeping Arm & Sensors C. Bumper D. Suspension II. Wiring & Circuitry III. Programming IV. Prototype Performance & Feasibility

7. I - Vehicle Design

8. Platform and Enclosure Improvements and/or Alternatives: Permanent platform Compartmentalize circuitry Weatherproofing

9. Sensor Arm Dimensions: 17”x 2”x 3/8” Material: 3/8” Gray PVC Features: Shelled out Sensor slots

10. Sensor Arm

11. Servo Selection

12. Signaling Hazardous: Red lights Non- Hazardous: Green lights

13. Signaling Improvements and/or Alternatives Audio signaling Speaker Siren

14. Sensor Placement Detect transmitter within a foot or less away Rotating arm Effective height and angle for sensor

15. Sensor/Transmitter System Maximum range of sensor/transmitter system ~50 feet Transmitter: ~9° lobe Sensor: ~180° range of view

16. Experimental Results

17. Sensor Holder Design 30°

18. Sensor Arm Mechanism Improvements and/or Alternatives: Weatherproofing of sensors More supports for arm at rotation point Stepper Motor Height adjustable

19. Bumper System Detect and avoid obstacles higher than 3” Absorb impact Appropriate spring

20. Bumper System

21. Improvements and/or Alternatives: Permanently attach bumper Softer springs Ultrasonic range-finder

22. Suspension System Suitable shocks to: Handle various terrains Maintain desired ground clearance: ~3”

23. Suspension System

24. II - Electronics

25. Improvements Multiple Power Sources Concept Phase - Make into single source Stabilize voltage during signaling Simplify interfacing with microcontroller 5 V circuits, or voltage regulators Electronic noise filters Internal Circuitry Protection

26. III - Programming the Vehicle MAJOR ISSUES Interfacing with the chassis Interfacing with the GPS Creating a search algorithm Avoiding obstacles PROGRAM FLOW 1. Wait for GPS to fix. 2. Store coordinates of transmitter. 3. Move vehicle to new location. 4. Begin Search Algorithm. 5. Stop if transmitter is found or perform avoidance routine if obstacle is encountered.

27. User Interface 1. “Waiting” Mode 2. Store coordinates 3. “Preparing for movement” mode 4. Activate the car and begin search 5. Car will display “Hazardous Material Found”

28. Is x1 > x2? Is y1 > y2? Is x1 > x old or y1 > y old ? Is x1 y old ? Is x1 > x old or y1 < y old ? Is x1 < x old or y1 < y old ? Turn. Go straight. Turn. Go straight. Go forward and straight. YES NO YES Is sensor activated? Stop. Keep Going. X1 = current car X2 = transmitter X old = car 2 sec. ago Search Algorithm

29. Programming Areas to Improve More precise pulse width modulation. More efficient search algorithm. Use a digital compass. More speed variation. Streamline programming with functions. Reverse the search algorithm to make the car return to the starting point after the “hazardous material” is found. Storing multiple locations

30. IV - Proof of Concept Demonstration

32. IV - Performance Evaluation Score based on the Prototype Requirements 83/90

33. IV - Performance Requirements Hazard Sensor Accuracy (10/10) Sensor activated consistently within 1 foot of transmitter Vehicle Accuracy (15/15) Reached locations within 1 meter of transmitter Obstacle Avoidance (15/15) Successfully avoids obstacles Time to reach transmitter (10/10) Successfully reaches and evaluates target within 1 minute

34. Performance Requirements Vehicle Weight (10/10) Final Prototype Weight: 10.976 lbs Audio/Visuals (6/10) No audio signal Visual signal detectable within 20-60 yards depending on illumination. Incline Movement (7/10) Able to move up a 30 o incline Cost (10/10) Proof of concept cost: ~ $375.00

35. IV - Feasibility Main objectives: Vehicle and Sensor Accuracy Obstacle Avoidance Future Showstoppers Maneuvering through extreme terrain Work indoors Weather conditions

36. Additional Information www.nd.edu/~me463a18

37. QUESTIONS?