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projects:ideas:armadillo_scout
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projects:ideas:armadillo_scout [2013/09/25 11:56] claes [Assignments] |
projects:ideas:armadillo_scout [2021/08/14 04:21] |
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| - | ====== Armadillo Scout Projects ====== | ||
| - | [[projects: | ||
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| - | ===== Using the Armadillo Scout as a scarecrow ===== | ||
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| - | Detect birds on a field. Scare them away without harming the birds or the crops. | ||
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| - | ===== Modeling Odometri for tracked autonomous vehicles ===== | ||
| - | ==== Short Description ==== | ||
| - | Odometri for a autonomous vehicle running on tracks are different from odometri on wheels. The the dynamic changes of a track need to be invesitgated, | ||
| - | ==== Assignments ==== | ||
| - | The physical phenomenon that needs to be investigated and modelled are: | ||
| - | * Dynamic distance change during driving. The circumference of the track is not constant. | ||
| - | * Difference in tick counted between backwards and forwards driving. Hysterisis caused by the teeth in the sprocket wheel, because they do not have a tight fit in the track. | ||
| - | * Define kinematic model that where slip is accounted for. Can be based on "Mixed Kinematic and Dynamic Sideslip Angle Observer for Accurate Control of Fast Off-Road Mobile Robots" | ||
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| - | ===== Software ===== | ||
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| - | ===== Mechanical ===== | ||
| - | ==== Crawler vibration Measurement ==== | ||
| - | Moreover, please check the following factors. | ||
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| - | 1. | ||
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| - | 2. The dominant frequency of mechanical vibration of rubber crawler vehicle can estimate by driving speed / lug or (core bar) pitch of rubber crawler. | ||
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| - | In case lug or (core bar) pitch of rubber crawler is 0.084m and driving speed is 0.200m/s, dominant frequency of mechanical vibration of rubber crawler vehicle can estimate by 0.2/ | ||
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| - | Muneshi Mitsuoka fra Kyushu Universitet har skrevet PhD om vibrationer i baeltekoeretoejer. Han har ogsaa lavet noget software der kan simulere et design af baeltemodulerne. Jeg har uploadet praesentationen jeg har faaet af han [[http:// | ||
| - | Her er link til deres artikler: | ||
| - | === Observations so far === | ||
| - | *Kraftoverfoersel fra drivhjul til baelte: Hvis drivhjulet placeres nede i bageste hjoerne af baeltet, vil drivhjulet traekke i baeltet der ligger paa jorden mens det er belastet af hele robottens vaegt. Det burde goere baeltemodulet mere effektivt ved fremadkoersel., | ||
| - | *Baelte med stort drivhjul - Se ogsaa Armadillo 3 arbejdsdokument.\\ Det giver min 3 taender i baeltet hele tiden | ||
| - | *De 3 skiver/hjul i hvert modul der baere vaegten bevaeger sig op og ned hver gang de koerer hen over en af metal delene i baeltet og hullerne i mellem dem. Jo hurtigere man koere jo mindre er problemet, men ikke desto mindre er det med til at lave vibretioner i rammen. | ||
| - | *Vi har snakket med Prof. Meier fra TU Berlin. Han mete at vibrationerne kunne opstaa af flere grunde. | ||
| - | *Polygon effekt; jo stoerre drivhjulet er jo bedre. Det skal have et ulige antal taender, og det skal vaere 17 eller derover for at mindske effekten. | ||
| - | *Hvis huset er monteret paa daempere kan det skabe vibrationerne, | ||
| - | *Vibrationerne kan stamme fra alle tandhjul, og det kan vaere meget svaert at fidne ud af praecis hvor de opstaar henne. | ||
| - | *Observationer efter feltforsoeg: | ||
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| - | ==== Movement of entire house for weight displacement ==== | ||
| - | Adding an implement and balancing of weight | ||
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| - | ==== Beltmodule redesign ==== | ||
| - | We need a new design in order for the module to live up to our expectations. | ||
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| - | The official description is in this googledocs document [[https:// | ||
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| - | 1 slide short presentation of the project:\\ | ||
| - | [[https:// | ||
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| - | ===== Mechanical/ | ||
| - | ==== Dynamic change of height | ||
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| - | ==== Dynamic change of width ==== | ||
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| - | ==== Tilting of the beltmodules ==== | ||
| - | tilt the beltmodules and put a castor wheel on the ground | ||
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| - | ===== Update RHD for the new hardware ===== | ||
| - | The RHD in MobotWare needs to be updated so it can control the hardware on Armadillo 2. | ||
| - | ==== Sensors ==== | ||
| - | * Gyro/IMU | ||
| - | * Tiltmeter | ||
| - | * GNSS | ||
| - | * Sick LSM111 | ||
| - | * Stereo camera | ||
| - | * Encoders | ||
| - | ==== Actuators ==== | ||
| - | * Motorcontrollers - is almost done | ||
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| - | ===== Selector button like on the Hako for mode control ===== | ||
| - | - Remote - Bypass computer and go directly to the motorcontrollers | ||
| - | - WiiMote - (Using FroboMind)The software should start automatically based on the selected mode | ||
| - | - Automatic - The software should start automatically based on the selected mode | ||
| - | - MobotWare | ||
| - | - Frobomind | ||
| - | ===== Upgrade the Safety System for the Armadillo-Scout ===== | ||
| - | The Safety System need to be designed and implemented. It should follow the solution made for the Hako, so it is compliant with ISO 13849 - Machine Safety. | ||
| - | It includes the following assignments: | ||
| - | * Bumper like on the hako or something similar. | ||
| - | * Redundant wirering for all e-stop buttons | ||
| - | * Integrate the motorcontroller in the system, so the power is not just cut off and used a a motor/ | ||
| - | ===== Install Remote to connect directly to the motor controller ===== | ||
| - | It is possible to cennect a RC controller directly to the motor controller. This mean it can be controlled with ot the computer and software. | ||
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| - | Look for safety remote for this! | ||
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| - | ===== Control Panel ===== | ||
| - | Create a HW control panal with on/off switches for different components -> one switch for each 12/24 VDC connector. | ||
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| - | Two potensionmeters to change the output voltage on the powersupplys. voltmeter to show the voltage. | ||
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| - | https:// | ||
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| - | http:// | ||
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| - | http:// | ||
projects/ideas/armadillo_scout.txt · Last modified: 2021/08/14 04:21 (external edit)
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