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Table of Contents
Armadillo Scout Projects
Using the Armadillo Scout as a scarecrow
Detect birds on a field. Scare them away without harming the birds or the crops.
Software
Model the hysteresis of the drive wheel
There is a small gap in the belt, between the teeth of the drive wheel and the belt. So the teeth can move approximately 1-1,5 cm before the belt starts moving.
This phenomenon needs to be modeled in the software, to take the hysteresis in to account.
Odometri for beltdrive vehicles
- dynamic distance change during driving
- difference in tick between backwards and forwards driving
- define kinematic model that somehow includes slip. → maybe based on slip observer from france.
- model hysterese in the belt to optimise position estimation
Mechanical
Crawler vibration Measurement
Moreover, please check the following factors.
1. relation between lug or (core bar) pitch of rubber crawler and arrangement of track rollers.
2. The dominant frequency of mechanical vibration of rubber crawler vehicle can estimate by driving speed / lug or (core bar) pitch of rubber crawler.
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 0.2/0.084=2.831Hz
Movement of entire house for weight displacement
Adding an implement and balancing of weight
Beltmodule redesign
We need a new design in order for the module to live up to our expectations.
The official description is in this googledocs document https://docs.google.com/document/d/15SUUbbJXgN6iYc-X1sOzwHNXymfVn5B7BtMgI5sI8pY/edit
1 slide short presentation of the project:
https://docs.google.com/presentation/d/1-wKnQeWtGUCR7ve3ykrSo6PZMFH5SHc6yH-UTAcvjsA/edit
Mechanical/Electrical projects
Dynamic change of height
Dynamic change of width
Tilting of the beltmodules
tilt the beltmodules and put a castor wheel on the ground
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
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/motorcontroller reset. See documentaton for motor controllers on how to corretly implement the MC in the Safety System.
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.
Look for safety remote for this!
Control Panel
Create a HW control panal with on/off switches for different components → one switch for each 12/24 VDC connector.
Two potensionmeters to change the output voltage on the powersupplys. voltmeter to show the voltage.
