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Dow: �Robot to Traverse Uneven Terrain

Team 514

March 26, 2024

Carson Clark, Roshard Jackson, Geraina Johnson III, Jacob Larkins, Katherine Lopez, David Ramos

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Team Introductions

2

Manufacturing & Design Engineer

Roshard Jackson

FAMU-FSU Student

Modeling & Simulation Engineer

Geraina Johnson III

FAMU-FSU Student

Systems Engineer

Carson Clark

FAMU-FSU Student

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Team Introductions

3

Test & Verification Engineer

Katherine Lopez

FAMU-FSU Student

Quality & Materials Engineer

David Ramos

FAMU-FSU Student

Mechatronics Engineer

Jacob Larkins

FAMU-FSU Student

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Team 514’s Sponsor

4

Engineering Advisor

Marcus Rideaux

Project Execution Leader

Katherine Lopez

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Objective

To reduce the risk of injury when inspecting and navigating potentially hazardous pipes.

5

Katherine Lopez

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Motivation

Source: The Mahone Firm, 2014

6

Katherine Lopez

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Motivation

7

100.0%

Katherine Lopez

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Motivation

8

50.0%

Katherine Lopez

100.0%

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Key Goals

9

Ability to be controlled

Withstand harsh environmental conditions

Traverse industrial pipes

Provide a reliable perspective of the environment

Be durable

Katherine Lopez

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Assumptions

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A hazard is defined as a gas leak or crack in a pipe wall

The operator has access to an external power source.

The device will not be operated in extreme weather conditions

The user must have sufficient knowledge about the gas being identified

The product will not resolve the gas leak or deformity detected

Katherine Lopez

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Concept Generation & Selection

11

Pugh Chart

House of Quality

Analytical Hierarchy

Process

Binary Pairwise

v

Final Selection

Concept

Generation

Jacob Larkins

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Conceptual Design

12

Luffy

Two Cameras

Extendable Arm with Springs

Sandpaper – Equipped Wheel

Tank Tracks

3 Gas Sensors

Jacob Larkins

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Final Design

13

Luffy

Two Cameras

2-Inch Stroke Linear Actuator

Sandpaper – Equipped Wheel

Tank Tracks

3 Gas Sensors

Jacob Larkins

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Parallel Build Phase

14

Physical

Software

Testing

Chassis Assembly
Arm Prototyping
CAD Modeling 30+ Parts

Python-Arduino Communication
Controller & Camera Control
Tank Movement Control

Basic Movement Testing
Component Testing
Pipe Traversal Test Rig Build

Roshard Jackson

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Telescoping Arm

15

Legend

Springs
Cable
Tension Sensor
Body
Wheels
Supporting Body

Roshard Jackson

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Differential Wheel Mount

16

David Ramos

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Linear Actuator

17

Procurement Issues

Back-Up Linear Actuator

Similar to Original Telescoping Arm Design

David Ramos

2-Inch Stroke Linear Actuator

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CAD Modeling – Final Design

Assembly Without Shroud

Assembly With Shroud

18

Carson Clark

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Chassis Strength Problems

Currently parts are individually screwed into the base plate in assembly
There is a high stress point at the base of the actuator

19

Carson Clark

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Chassis Strength Improvements

20

Embed mounts for all the components

Add gussets around the chassis

Include the chassis arms in the print

This can increase the moment of inertia and strength

Carson Clark

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Remote Controller

21

Carson Clark

Linear Actuator Control

Y – Actuator Up

A – Actuator Down

Camera Switching

B – Camera Switch

Motion Control

Y Axis – Forwards/ Backwards

X Axis – Motor Directionality

Sends controls data through a remote computer thus increasing user's range

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Controller Problems

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Joystick controller floods the Raspberry Pi with excessive information, leading to overload.

Implemented loop to lower signal frequency by selectively sending only every nth joystick input.

Arduino responds best to every 10^th joystick input

Carson Clark

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Future Software Improvements

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Currently we have inefficient processing due to float sending and storage

Controller Axis and buttons are sent and stored as floats

A single sent packet is 16 bits

Send and store the buttons as Integers

Compress button axis in python

Carson Clark

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Arduino Code

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Controls 2 driven motors and 1 motor for the arm

Takes a float from the raspberry pi joystick to map these values within –200 and 200 for motor duty

Sends these values to a PID controller that uses encoders on the motors to makes sure they are running at the correct speed

Uses PWM functions to set the direction and speed of the motors based on PID results

Gas Sensors will be connected to Arduino

Jacob Larkins

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Troubleshooting the Tank

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Trouble getting power to all parts

Must convert joystick values to motor duty

PID controller gains need to be further tuned

Trouble reading values from raspberry pi serial monitor

Jacob Larkins

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Battery

22.2V LiPo battery
Connects to PCB board that sends this current to the Buck Converter and the L298N motor driver
Buck converter send 12V to the linear actuator motor
9V battery sends power to Raspberry Pi and Arduino

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Jacob Larkins

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Results of Testing

27

Geraina Johnson III

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Wide-Angle Camera Lens

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Camera Communication

Maintained image quality
Displayed 720p at 30 FPS
Livestreaming lagged significantly

Geraina Johnson III

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MQ-135 Gas Sensor

Purpose:

Calibrate the sensor to detect Alcohol and CO2 as simulated hazardous gases.

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Geraina Johnson III

MQ-135

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MQ-135 Gas Sensor

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Geraina Johnson III

Alcohol Introduced

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Weight & Speed

Purpose:

To see if the motors can handle the 16-lb weight target.

Results:

The vehicle failed at a 29-lb due to loose fasteners.

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Vehicle handling 14-lb load.

Geraina Johnson III

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Track Friction

Purpose:

To find the sliding friction of the track when the vehicle is under a load.

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Geraina Johnson III

Chassis

Fish Weight Scale

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Future Testing

�Arm Validation Test:

To validate the robot arm can produce enough force to allow the robot to not fall in a pipe.

33

Geraina Johnson III

Pipe Traversal Testing:

To validate the robot can traverse a pipe angled from –90 to 90 degrees.

Under Construction

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Current Spending

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David Ramos

Given Budget: $2000.00
Current Spending: $1178.19
Currently Available: $821.81
Estimated Future Spending: $500.00

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Spending Breakdown

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David Ramos

Support	$155.30
Movement	$155.36
Identification	$201.33
Controls	$259.18
Testing	$232.02
Shipping	$175.00

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Lessons Learned

36

You cannot map a float in Arduino IDE

Start simple and mitigate ambition

Follow a naming convention for version history

David Ramos

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Lessons Learned

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Begin project documentation early

Develop a productive group dynamic

Time management

David Ramos

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Future Work – Senior Design Day

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Movement and Control

Integrate Controller with Linear Actuator

Create User Interface GUI

Telescoping Arm

Test Arm Movement

Adjust Design

Camera & Gas Sensors

Improve Video Stream Speed & Quality

Design and Integrate Monitor Display Screen

Complete System

Finish Testing

Adjust Design As Needed

David Ramos

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Thank You

Team 514 – Robot To Traverse Uneven Terrain

39

David Ramos

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Backup Slides

40

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Arduino improvements

mapFloat function to be able to map floats from the serial monitor
constrain to keep the motor duty from jumping to unexpected value
Byte buffer to store information from the serial monitor until it is ready to be used
Need to make the joystick values to motor duty conversion smoother and tune gains

41

Jacob Larkins

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Telescoping Arm

42

1st Iteration Designed and Printed (Failed) “Gear 1”

2nd Iteration Designed “Gear 2”

Roshard Jackson

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Vision & Control - Camera Module

43

Wide-Angle Camera & Mount

Decreases camera weight
Decreases complexity of mount
May decrease image quality
Greater cost-efficient system

720p Webcam & Gimbal

Increases camera weight
Requires more power
Controllable view of pipe
Increases complexity of mount

Carson Clark

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Maneuverability – Chassis Design

44

Upgraded Chassis – Tracks

Increased surface contact
Decreased risk of bottoming out
Condensed directional changes

Original Chassis – Wheels

Two wheeled drive
Large turn radius
Difficult to reverse user controls

Carson Clark

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Full System Control Diagram

45

Carson Clark

Raspberry

Pi

Sensors

Camera

Arduino

Right Wheel Motor

Left Wheel Motor

Linear Actuator

User

Controller

Screen

Computer

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Python Packages

46

Pygame – Lets the user interpret data from a controller

Socket – Lets the user communicate over wifi

JSON – Allows the Python script to encode, decode, and interpret data between multiple coding languages

Time - provides functions for accessing and manipulating time-related information

Carson Clark

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Remote Camera Streaming

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RTSP

Real Time Streaming Protocol

OpenCV

Capturing, processing, & analyzing video frames

Gstreamer

Building & handling multimedia pipelines & apps

Camera Live Streaming

Carson Clark

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Control Diagram – Motor System

48

Jacob Larkins

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CAD Modeling – Tank Arm

It took 7 iterations to get the geometry for the arms correct each one with their own lessons learned

49

Carson Clark

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Linear Actuator

Uses 'A' and 'Y' buttons to control if the linear actuator moves up or down.
Information is sent as floats
These commands sent the same way as the joystick values and is sent through the network to the arduino and through the motor driver to direct the linear actuator

50

Carson Clark

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Current Spending & Available Budget

51

OLD PIE Chart

David Ramos

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Customer Needs

52

Use visual feedback to alert the user

Be operated by a controller

Help detect gas leaks or deformities in pipes

Capable of traversing through rough, unlevel terrain

David Ramos

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Functional Decomposition

53

Presenter

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Functional Decomposition

54

Jacob Larkins

Power

Transfer Energy

Store Energy

Regulate Energy

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Functional Decomposition

55

Jacob Larkins

Support

Maintain Integrity

Balance

Fasten Components

Protect Internal Components

Regulate Temperature

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Functional Decomposition

56

Jacob Larkins

Accelerate

Maneuver Vehicle

Induce Friction

Movement

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Functional Decomposition

57

Jacob Larkins

Determine Location

Detect Hazards

Actuation

Identification

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Functional Decomposition

58

Jacob Larkins

Control Information

User Interface

Display Information

Receive Input

Communicate

Receive Input

Interpret Data

Prepare Data

Transmit Information

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Targets & Metrics

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Power

Store Energy

4800 – 6150 [mAh]

Transfer Energy

4.8 – 6.1 [Amps]

Regulate Energy

11.1 – 19.2 [Volts]

David Ramos

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Targets & Metrics

60

Support

Regulate Temperature

131.8 [°C]

Balance

90 [°]

David Ramos

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Targets & Metrics

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Movement

Accelerate

< 4 [s]

Coefficient of Friction

> 0.6

Turn Radius

0.5 [m]

Katherine Lopez

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Targets & Metrics

Identification

Determines Location

> 90 [%] Accuracy

David Ramos

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Targets & Metrics

63

Identification

Detects Hazards

< 2.1 [PPM per Min]

70 [%] Accuracy

63

David Ramos

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Targets & Metrics

64

Control Information

React to Command

50 [ms]

Receive Environment Input

< 40 [ms]

Transmit Information

< 40 [ms]

David Ramos

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Concept Generation & Selection

65

Pugh Chart

House of Quality

Analytical Hierarchy

Process

Binary Pairwise

v

Final Selection

Concept

Generation

Jacob Larkins

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House of Quality

66

Size

Weight

Maximum Slope of Terrain

Rate of Detection

Detection Accuracy

Energy Storage Capacity

Sound Feedback

Visual Feedback

Coefficient of Friction

Response Time From User Input

Response Time From Environmental Input

Location Accuracy

Vibration Feedback

Operation Time

Maintain Temperature

Speed

+

S

Geraina Johnson III

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Medium Fidelity

67

Charlotte

3

Thomas

1

Inspector Gadget

2

Charlie & Frank

5

PIC-Man

4

Katherine Lopez

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High Fidelity

68

Luffy

8

Norman

6

Steven

7

Shelby

9

Katherine Lopez

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Concept Selection:

69

Thomas

Charlotte

Luffy

Alternate Value

0.314

Alternate Value

0.459

Alternate Value

0.257

Presenter

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Prior Selection

70

Luffy

Camera on User-Controlled Gimbal

Extendable Arm using Linear Actuator

Sandpaper – Equipped Wheels

3 Gas Sensors

Presenter

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Pipe Traversal Test

71

Jacob Larkins

Proposed Procedures

Procure bendable plastic or metal
Acquire scrap wood
Build imitation pipe environment

Balance at 90 [°]

Friction Coeff. < 0.6

React < 50 ms

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Arm Design (Calculations)

72

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Overview

Introduction
Final Design
Introduce Construction Plan
Physical Build Phase

Chassis CAD
Telescoping Arm CAD
Differential Wheel Mount CAD
Linear Actuator Back-Up
Sensor & Camera Mounts

Software Build Phase (Python vs Arduino)

Tank Movement
Telescoping Movement
Controller Communication
Camera Livestreaming
Gas Sensor Calibration

Testing (Testing)

Weight Testing
Speed Testing
Pipe Traversal Testing

Budget
Lessons Learned
Future Work

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Overview

Carson

Raspberry Pi
Chassis CAD

Jacob

Arduino Tank
Battery Problems

David

Budget, Future Work
Wheel Mount

Kat

Introduction
Linear Actuator

Geraina

Entire Testing
Pipe Traversal Rig

Roshard

Telescoping Arm Iterations
Introduce Parallel Construction

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This is 10-point
This is 15–point Times
This is 20–point
This is 25–point
This is 30–point
This is 35–point
This is 40–point
This is 50–point
This is 60–point
This is 72–point

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College of Engineering Color Palette

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Fang

Orange

RGB: 238, 118, 36

Hex: #EE7624

CMYK:2, 66, 99, 0

1 2 3 4

White

Pantone: PMS 000C

RGB: 255, 255, 255

Hex: #FFFFFF

CMYK: 0, 0, 0, 0

1 2 3 4

Black

Pantone: Black C

RGB: 0, 0, 0

Hex: #000000

CMYK:0, 0, 0, 100

Garnet

Pantone: PMS 195 C

RGB: 120, 47, 64

Hex: #782F40

CMYK:19, 90, 50, 55

1 2 3 4

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Accent Color Palette

77

1 2 3 4

Tardis Blue

RGB: 0, 59, 111

Hex: #003B6F

CMYK:

1 2 3 4

Turquoise

RGB: 64, 224, 208

Hex: #40E0D0

CMYK:

1 2 3 4

American Orange

RGB: 255, 139, 0

Hex: #FF8B00

CMYK:

Rubine Red

RGB: 206, 0, 88

Hex: #CE0058

CMYK: 0, 100, 43, 12

1 2 3 4

Asagi-iro

RGB: 72, 146, 155

Hex: #48929b

CMYK:

1 2 3 4

Gainsboro

RGB: 220, 220, 220

Hex: #DCDCDC

CMYK:

1 2 3 4

Corn

RGB: 251, 236, 93

Hex: #FBEC5D

CMYK:

1 2 3 4

Timberwolf

RGB: 219, 215, 210

Hex: #DBD7D2

CMYK:

Imperial

RGB: 104, 40, 96

Hex: #682860

CMYK:

1 2 3 4

Tardis Blue

RGB: 0, 59, 111

Hex: #003B6F

CMYK:

Rubine Red

RGB: 206, 0, 88

Hex: #CE0058

CMYK: 0, 100, 43, 12

1 2 3 4

Corn

RGB: 251, 236, 93

Hex: #FBEC5D

CMYK:

1 2 3 4

Timberwolf

RGB: 219, 215, 210

Hex: #DBD7D2

CMYK:

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78

https://color.adobe.com/create/color-wheel

Analogous

F7AB19

D67F15

EE7624

D64615

F73119

Monochromatic

6E3610

F0A16C

EE7624

6E4931

BASB1C

Triad

A14508

4BED3B

EE7624

250CED

2010A1

Complementary

FF8C40

EE7624

0098A1

24E2ED

A1470C

Split Complementary

28A164

2FED8D

EE7624

0848A1

1871ED

Double Split Complementary

3BED93

EE7624

0C6AED

ED2F18

EDAC2F

Square

C7ED3B

EE7624

0CE1ED

A418ED

ED660C

Compound

87724A

EE7624

60EFCF

09BA61

BA7E09

Shades

6E3610

EE7624

FA7625

D46820

AD551A

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79

https://color.adobe.com/create/color-wheel

Analogous

85412D

8F3831

782f40

8F3176

792D85

Monochromatic

C44D69

8E626D

782F40

C48796

451B25

Triad

C43959

78743B

782F40

236178

43A2C4

Complementary

C46078

782F40

25C43D

2F783A

C43959

Split Complementary

93C460

577835

782F40

39C49D

297861

Double Split Complementary

5A783B

782F40

237860

6E2978

784435

Square

78683b

782F40

237830

293978

782337

Compound

DEBAAF

782F40

5D8555

70AB32

AB4D32

Shades

C44D69

782F40

853447

5E2532

38161E

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80

B135 Stage Right

A105

B135 Stage Left

B135

B134, A105

B136

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81

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82

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