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projects:ideas:armadillo_scout
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projects:ideas:armadillo_scout [2012/07/05 15:49] claes [Armadillo Scout Projects] |
projects:ideas:armadillo_scout [2012/11/07 17:16] claes [Crawler vibration Measurement] |
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| Detect birds on a field. Scare them away without harming the birds or the crops. | Detect birds on a field. Scare them away without harming the birds or the crops. | ||
| - | ===== Mechanical | + | ===== 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 | ||
| + | |||
| + | 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. | ||
| + | |||
| + | 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/ | ||
| + | |||
| + | 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: | ||
| + | |||
| + | |||
| + | ==== Movement of entire house for weight displacement ==== | ||
| + | Adding an implement and balancing of weight | ||
| ==== Beltmodule redesign ==== | ==== 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:// | The official description is in this googledocs document [[https:// | ||
| - | We need a new design in order for the module to live up to our expectations | + | 1 slide short presentation of the project: |
| + | [[https:// | ||
| + | |||
| + | ===== Mechanical/ | ||
| ==== Dynamic change of height | ==== Dynamic change of height | ||
| ==== Dynamic change of width ==== | ==== Dynamic change of width ==== | ||
| - | ==== Movement of entire house for weight displacement ==== | ||
| - | Adding an implement and balancing of weight | ||
| ==== Tilting of the beltmodules ==== | ==== Tilting of the beltmodules ==== | ||
| Line 49: | Line 84: | ||
| Look for safety remote for this! | 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. | ||
| + | |||
| + | https:// | ||
| + | |||
| + | http:// | ||
| + | |||
| + | http:// | ||
projects/ideas/armadillo_scout.txt · Last modified: 2021/08/14 04:21 (external edit)
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