1. http://2.bp.blogspot.com/- v_poyNTLlVg/UJ7fgOux0tI/AAAAAAAAKpU/D8_9jtuRkFo/s1600/Volkswagen%2BAqua%2BHovercraft%2BConcept.jpg Milestone 9 Team 4thewin Section 0102

2. Table of Contents 1.Introduction a.Project Task b.Team Mission Statement 2.Gantt Chart 3.Preliminary Design 4.Final Design 5.Bill of Materials 6.Construction Details 7.Product Performance 8.Conclusion

3. Introduction Project Task: ● Autonomously navigate course ● Controlled by Arduino microcontroller ● Deliver payload to the correct bin Mission Statement: ● Unique hovercraft ● Clean, aesthetically-pleasing design ● Learn something new

4. Gantt Chart Key CompletedNeeds to be completed CriticalMilestone due

5. Preliminary Design Structure: ● Rectangular plenum (40cm x 60cm) ● Mass(deck): 0.596 kilograms ● Soft skirt + double deck ● Material: Balsa and Foam ● “Water Tank” ballast Payload Delivery: ● “Firetruck ladder” ● 2 whisker touch sensors → cut levitation, switch to payload only with pedestal contact ● “Bucket” for payload ● Light sensors to sense correct bin

6. Preliminary Design Levitation(1): Axial - 3212 JH3 (DC 12V) ● Mass: 0.280 kg ● 92 x 92 x 38 mm ● Airflow: 237 m^3/hr Propulsion(2): Axial - Q622-ND (DC 5V) ● Mass(1): 0.053 kg ● 60 x 60 x 25 mm ● Air Flow: 24.3 CFM (0.688m³/min) Electronics: ● Servos for payload delivery system (3) ● Light sensors w/shroud (3 in front) ● LEDs for ambient light underneath shroud ● Sensors for Payload Delivery System (1)

7. Preliminary Design Issues Structure, Skirt, and PDS: ●Materials for decks not suited for design ●Water Tank Ballast unneeded ●Original bucket idea impractical ●Vanes for Airflow unneeded ●Skirt location changed ●Payload Material changed Electronics: ●Reduced # of sensors ●Less servos on payload

8. Final Design: Structure ● 8 1”x1”x1” posts supporting top deck ● Hot glue to secure decks ● Original amount of holes did not provide enough pressure

9. Final Design: Fans ● Levitation Fan o Ebm-Pabst 4112NH3 Axial ● Propulsion Fans o Two Delta Electronics PFB0912UHE Axial ● Levitation Fan mounted at Center of pressure o Propulsion Fans mounted in line on each side of Levitation Fan

10. Final Design: Payload Delivery Toy ladder with bucket for payload storage: ● 2 servos o X-axis movement (forward/backward) o Z-axis movement (circular base) ● 1 Arduino Sidekick servo o opens the box on the ladder Movement: ● Ladder holds deliverable in place ● Shutoff timer ● Shut off levitation fan ● Ladder extends above pedestal ● Light sensors find correct bin due to reflectivity

11. Final Design: Power ● Levitation & Propulsion - 12V 4200 mAh battery ● Arduino, sensors, servos - 7.2V 3000 mAh battery ● Servo voltage regulation - 3 diodes in series ● Power control of fans - 3 MOSFETs

12. ●Sensors ○5 Light-to-Frequency Converters ○1 Photoresistor ●Actuators ○2 Hi-tec Servos ○1 Arduino Sidekick Servo Final Design: Sensors and Actuators

13. Final Design: Control Algorithm Middle sensor reads darkYesNo Left fan& Right fan= HIGH BACK RIGHT = dark OR FRONT RIGHT = dark BACK LEFT = dark OR FRONT LEFT = dark FRONT LEFT & BACK RIGHT = dark FRONT RIGHT & BACK LEFT = dark RIGHT fan = HIGH OR LEFT fan = HIGH OR RIGHT fan = HIGH LEFT fan = LOW & Right propulsion = HIGH Left fan = HIGH & RIGHT fan = LOW Continue until middle sensor reads dark

14. Final Design: Control Algorithm Does photoresistor read dark?YesNo Rotate 1→ 2 Rotate 2→ 1 Extend 1→ 4 Rotate 4→ 3 Rotate 3→ 4 Unextend 4→ 1 Drop payload

15. Bill of Materials ItemManufacturerVendorQuantityCost Per Unit Wood (Sanded Plywood) N/A Home Depot1$9.97 Foamular Project PanelFoamularHome Depot1$5.48 Ripstop Nylon, grayN/AJoAnn's Fabrics1$7.99 VelcroVelcro USAHome Depot1$3.38 Spray paintRust-oleumHome Depot2$3.87 Ladder3D Printer at Mckeldin 1$1.2 CardboardN/A 1$.50 3D-printed payload delivery system 3D Printer at Mckeldin 1$20 TapeN/A 1$2 12V 4200mAh BatteryPowerizerbatteryspace.com1$49.95

16. Bill of Materials ItemManufacturerVendorQuantityCost Per Unit 7.2V BatteryVenom PowerHobbytown USA1$20.66 Arduino Uno ArduinoENES1001$25.00 TSL237 Sensors Parallax Inc. 5$2.99 DiodesN/ARadioshack3$1.00 MOSFETN/AENES1003$1.00 PhotoresistorN/ASeeedStudio1$0.50 PerfboardN/ARadioshack1$3.49 Heat SinksN/AENES1003$2.00 Hitec ServoN/AA Main Hobbies2$7.99 Tamiya Connectors N/APololu4$2.25 Propulsion Fans Delta ElectronicsDigikey2$31.82

17. Bill of Materials ItemManufacturerVendorQuantityCost Per Unit Leviation FanEBM-PapstMouser Electronics 1$68.57 Lev Fan GuardsOrion FansDigikey1$6.48 Prop. Fan GuardsEBM-PapstDigikey4$1.12 Total Cost$345.73

18. Construction Details: “Big Red” ● Hovercraft design was driven by an overarching theme ● “Big Red” alludes to a fire truck design ● 3D printed payload delivery system - ladder and bucket ● Red deck, red payload supports, chrome tape for skirt

19. Product Performance/Evaluation ●Almost made it to our design point ●Didn’t qualify for competition but the hovercraft almost works ●Team had good spirit but didn’t exactly follow Gantt chart, which led to missed milestones ●Subgroups didn’t work out how we expected

20. Conclusion/Lessons Learned ●Hovercraft does not accurately navigate the course ●Building a hovercraft is not easy ●Start planning earlier ●Test individual components more often and sooner ●Be willing to make sacrifices needed to remain on schedule ●Be flexible with switching roles within subgroups ●What is intended does not always happen Conclusion: ●Learned a lot about engineering and teamwork ●We grew as a team and as friends

21. Acknowledgements Thank you to Ms. Lopez-Roshwalb and Dan Sullivan for the advice and support!