Project
| # | Title | Team Members | TA | Documents | Sponsor |
|---|---|---|---|---|---|
| 15 | special vehicle for transporting unstable chemicals Area Award: Controls |
Jun Ma Wenjia Zhou Zhangxiaowen Gong |
appendix0.zip design_document0.pdf final_paper0.pdf other0.7z photo0.jpg presentation0.pdf proposal0.pdf video0.htm |
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| Our team would like to implement a vehicle (robot) for transporting unstable chemicals. The major goal is to keep the chassis stable. The project will cover the following aspects: 1. Stableness control. To reach it, we first suggest a four-wheel omni-direction movement scheme. Instead of simply applying omni-wheels (http://en.wikipedia.org/wiki/Omni_wheel), we consider to use a servo to adjust the z-axis angle of each wheel. By designing the whole vehicle symmetric respecting to both x-axis and y-axis, the vehicle can adopt a new forward direction and shifts when it turns. This method protects the on-board chemicals by reducing the centrifugal force when turning. The other major apparatus is an active suspension system on each wheel. We may use (hydraulic) actuators to allow the wheels to adapt uneven ground surface actively. A control system based on accelerometer and gyroscope will instruct the suspensions to keep the chassis even. 2. Performance measurement In order to determine the effectiveness of the system described above, we decide to real-timely transmit the sensor data to a computer via wireless while the vehicle runs. The computer will then analyze the data by, for example, calculating the average and peak acceleration on each axis, etc. Currently we want to use a single processor for both the control system and the wireless transmission. As a result, a real-time operating system will be introduced so that the two distinct functions can run without interfering each other. |
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