Project WindBot

1

Project WindBot

Mikhail BrukAnton Talalayev

Momchil Dimchev

Mechatronics Design Project 2008

Mechatronics Design Project 2008

Mechatronics Design Project 2008 2

Wind Power

Wind Turbine Sites◦Satellite data inaccurate◦Human testing impractical

Cost efficient method for data acquisition◦Little supervision required◦Better precision◦Reliable data

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Project ProposalDesign an autonomous robot

Navigate through a predetermined path

Collect wind velocity measurements

Obtain wind direction

Return to starting point

Display optimal locations for a wind turbine

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Initial DesignFeatures:

• Propeller & Vanes

• Direction Sensor

• Tachometer

• Wheel Encoder

• Accelerometer or Compass

• LCD Display

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Mechanical ComponentsAerovane

◦Propeller and vanesMaterialsSensor casings

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Electrical ComponentsActuators

◦Two continuous servo motors

◦Controlled via 555 Timer

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Electrical ComponentsAnalog Sensor

◦RCTime circuit

◦Photoresistor and LED pair

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Electrical ComponentsDigital Sensor

◦Rotational Encoder

◦IR LED and Receiver pair

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Electrical ComponentsDigital Sensor

◦Wheel Encoders

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Project AnalysisPriority:

◦Wind Measurement◦Precise navigation◦Versatility

Testing:◦Variable conditions◦Repetitive data

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Project AnalysisDesign Approach

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Project Analysis

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Programming and TestingCalibration Programs

◦Wheel alignment◦Speed adjustment◦Velocity calibration◦Encoder adjustment

Main Routine◦Follow the grid◦Record and save data◦Retrieve data

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Programming and TestingSubroutine approach

Easy modification

Reused variables

Fail-safe encoders

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Velocity Calibration

VIDEO

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Data from Velocity CalibrationPlot velocity vs.

Tachometer Value

Obtain a conversion factor

200 250 300 350 400 450 500 550 600 6501

1.2

1.4

1.6

1.8

2

2.2

2.4

2.6

2.8

3

f(x) = 0.00219794832254518 x + 1.3159588170749

Calibration for Wind Velocity

Tachometer Value (RPM)

Velo

city

(m/s

)

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Cost•Boe-Bot Robot $ 159.95

•555 Timer IC (2) $ 2.95

•Power Supply: (4 AA’s) $ 2.99

•Breadboard (1) $ 7.99

•LCD Terminal $ 29.95

•Hitachi HM55B Compass Module (1) $ 29.95

•Balsa Wood (1/8” x 6” x 36”) (1) $ 3.95

•Tube Fitting (1) $ 2.95

•Aluminum Rod (1/16” x 12” x ¼”) (1) $ 2.36

•Stainless Steel Propeller (1) $ 10.95

•Miscellaneous $ 12.00

Total: $ 253.99

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Major ChallengesFollow the preset trajectory Sensor reliabilityProgram – sensor connectionRelative Angle MeasurementBasic Stamp limitations:

◦RAM and EEPROM

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Major Challenges

Memory Map

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Full Demo

VIDEO

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Demo Data

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Prototype SuggestionsGPS navigationMeteorological equipmentObstacle Avoidance ProgramVideo camera (human operator)Larger Memory

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ConclusionSystematic testing approach

Acquire more memory

Increase project cost for better accuracy

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Acknowledgements

The Italians

Prof. Sean Peterson

Thank you!