1. Team HazardHawk Team HazardHawk 2008 April 24, 2008

2. Presentation Outline  Objective  Project Overview  Design Requirements  Concept Selection  Key Technical Challenges  Performance Requirements  Prototype: Materials / Fabrication / Assembly  Electronics / Software Overview  Design Status  Feasibility Assessment  Prototype Performance  Questions

3. Objective Team HazardHawk 2008  Task: Develop an autonomously-controlled, electric-powered vehicle whose purpose is to demonstrate the integration of technologies needed to locate a “hazardous material” in an open field.

4. Project Overview  Key Features Autonomous GPS Navigation Hazardous Materials Sensor to locate and sample hazards  Main Considerations Can operate in a large open field Can locate a hazard and return to start point quickly Navigation of a variety of terrains with surface obstacles Team HazardHawk 2008

5. Design Requirements  Autonomous, electric-powered  GPS enabled, accurate to within 1 meter (3.28 ft)  Maximum weight: 35 kg (77.1 lb)  Maximum size: 1 meter (3.28 ft) in any dimension  Top Speed: 8 m/s (17.89 mph)  Hazard detection in under 1 minute when within 100 meters of hazard Team HazardHawk 2008

6. Concept Selection Individual Concepts  Individual Concepts were developed Key Features of interest merged into group concept

7. Concept Selection Group Concept  Target Market: Public Service Sector Fire Department, Police Department, Hazmat, and other public agencies

8. Prototype Design Features  Key Features Included: Autonomous GPS Navigation Infrared ‘Hazard’ Sensors Retractable Oscillating Arm Tank Drive

9. Key Technical Challenges  Establishing navigational precision and awareness of location using imprecise GPS data  The Oscillating Robotic Arm: Material and geometry selection for a strong, lightweight arm Kinematics  Hazard Sensing Methodology Determining optimum search height and orientation Developing logic for search algorithm

10. Key Technical Challenges Design of Arm Assembly  Material Selection, Member Length, Oscillation Speed Materials Considered: Carbon Fiber, PVC, Plywood, and HDPE Longer-the-Better Factor of Safety of 4 Optimal: ○ 30 in members ○ ω = 2.3 rad/sec

11. Key Technical Challenges Sensor Sensitivity  Goal: to search at a height where the conical infrared signal emitted by the hazard has a large diameter  Height constrained by the vehicle size performance requirement  Result: Search at the maximum height and a downward orientation  Detection radius is 8.3 in at search height h= 42 in.

12. Key Technical Challenges GPS Navigation  Sought to determine optimal search direction  Due north most accurate approach direction  Average deviation of 2.2 ft Due North Residuals: 1 ft/sec

13. Prototype Requirements  Weight < 70 lbs  Dimensions < 3 feet in any direction  Complete Task < 8 minutes  Responsive user interface  Maneuvers autonomously via GPS  Seeks and reaches hazard  Identifies target as hazard  Returns to start position  Deactivates upon completion Team HazardHawk 2008

14. Prototype Design Fabrication  Assembly CNC manufacturing for precise sizing of body panels, arm base, and mounts Custom Cut Shafts, Chain Wheel Assembly Mount Assembly Arm Assembly

15. Prototype Design Fabrication  Assembly: Body Panels attached with corner braces Motor Mounts and Bearing Mounts attached to base with ¼” bolts to allow for adjustability Arm fabricated with PVC, assembled with ¼ in bolts.

16. Electronics Overview

17. Prototype Software Flowchart Acquire Hazard Coordinates Continue Straight Carry to Start Acquire Start Coordinates Within 3 ft of X-Cor. East or West of target Acquire New Coordinates dx increases? Add 1 to counter Counter > 2? Turn Around North or South Continue Straight Acquire New Coordinates dy increases? Add 1 to counter Counter > 2? Turn Around No Yes No Within 3 ft of Y-Cor. No Yes Rotate arm. When hazard is found return to start coordinates

18. Design Status  Video Team HazardHawk 2008

19. Prototype Performance  Weight < 70 lbs 60.7 Lbs 10/10  Dimensions < 3 feet in any direction 15 x 16 x 36 in 15/15  Complete Task < 8 minutes N/A 0/15  Responsive user interface Yes 10/10  Maneuvers autonomously via GPS w/out Arm 7/10  Seeks and reaches hazard w/out Arm 7/10  Identifies Hazard Yes 10/10  Returns to start position w/out Arm 7/10  Deactivates upon completion Yes 10/10 Total: 76/100

20. Prototype Team HazardHawk 2008

21. Feasibility Assessment  GPS Navigation, Arm Mechanism, IR Hazard Detection are all feasible.  Showstopper: Drive Train  Sensing technology needs to be developed  Further development is advised

22. Lessons Learned  Importance of hardware/software integration  Parallel Development  Importance of a thorough CAD model  Project planning and delegation of responsibilities  Problems with outsourcing parts

23. Team HazardHawk 2008