AS-0.3200 Winter robot midterm report Group: O-P Osmala, Heidi Rintahaka, Jori Rintahaka.
-
Upload
jayson-lambert -
Category
Documents
-
view
216 -
download
0
Transcript of AS-0.3200 Winter robot midterm report Group: O-P Osmala, Heidi Rintahaka, Jori Rintahaka.
![Page 1: AS-0.3200 Winter robot midterm report Group: O-P Osmala, Heidi Rintahaka, Jori Rintahaka.](https://reader035.fdocuments.us/reader035/viewer/2022062518/56649ea95503460f94bacc07/html5/thumbnails/1.jpg)
AS-0.3200 Winter robot midterm report
Group: O-P Osmala, Heidi Rintahaka, Jori Rintahaka
![Page 2: AS-0.3200 Winter robot midterm report Group: O-P Osmala, Heidi Rintahaka, Jori Rintahaka.](https://reader035.fdocuments.us/reader035/viewer/2022062518/56649ea95503460f94bacc07/html5/thumbnails/2.jpg)
Assignment
Environment: ice and snow
Propulsion: wind power
Built using Lego
![Page 3: AS-0.3200 Winter robot midterm report Group: O-P Osmala, Heidi Rintahaka, Jori Rintahaka.](https://reader035.fdocuments.us/reader035/viewer/2022062518/56649ea95503460f94bacc07/html5/thumbnails/3.jpg)
Milestones completed 1: Ready to build first prototype
Due 2.2.2011, reached 1.2.2011 55h estimated, ~60h spent What was done:
Lots of research, sketch mathematical model constructed Propulsion method (sail) + steering method
(turning/tilting skis) selected Parts weighted, size estimated, skis acquired SDK installed, connection to robot established Missing parts ordered
Challenges: Aerodynamic model of a sail is very complex Everything affects everything in the mathematical model
![Page 4: AS-0.3200 Winter robot midterm report Group: O-P Osmala, Heidi Rintahaka, Jori Rintahaka.](https://reader035.fdocuments.us/reader035/viewer/2022062518/56649ea95503460f94bacc07/html5/thumbnails/4.jpg)
![Page 5: AS-0.3200 Winter robot midterm report Group: O-P Osmala, Heidi Rintahaka, Jori Rintahaka.](https://reader035.fdocuments.us/reader035/viewer/2022062518/56649ea95503460f94bacc07/html5/thumbnails/5.jpg)
Milestones completed (cont.’d) 2: First prototype
Due 22.2.2011, reached 1.3.2011 105h estimated, ~80h spent What was done:
Prototype built (without sail) Steering by tilting the skis instead of turning them Primitive Bluetooth interface Control loops for servos
Challenges: NXT built-in servo control is useless No debugger Jori & Heidi sick all the time Getting COMSOL license
![Page 6: AS-0.3200 Winter robot midterm report Group: O-P Osmala, Heidi Rintahaka, Jori Rintahaka.](https://reader035.fdocuments.us/reader035/viewer/2022062518/56649ea95503460f94bacc07/html5/thumbnails/6.jpg)
![Page 7: AS-0.3200 Winter robot midterm report Group: O-P Osmala, Heidi Rintahaka, Jori Rintahaka.](https://reader035.fdocuments.us/reader035/viewer/2022062518/56649ea95503460f94bacc07/html5/thumbnails/7.jpg)
Milestones completed (cont.’d) 3: Second prototype, intermediate demo
presentation Due 23.3.2011, reached 22.3.2011 100h estimated, ~140h spent What was done:
Built turning sail (needs 3-4m/s of wind to move) Shortened legs, strengthened chassis Nonlinear controller for servos Bluetooth remote control Lots of testing
Challenges: Incredibly calm period, no wind at all! Jori & Heidi sick again
![Page 8: AS-0.3200 Winter robot midterm report Group: O-P Osmala, Heidi Rintahaka, Jori Rintahaka.](https://reader035.fdocuments.us/reader035/viewer/2022062518/56649ea95503460f94bacc07/html5/thumbnails/8.jpg)
![Page 9: AS-0.3200 Winter robot midterm report Group: O-P Osmala, Heidi Rintahaka, Jori Rintahaka.](https://reader035.fdocuments.us/reader035/viewer/2022062518/56649ea95503460f94bacc07/html5/thumbnails/9.jpg)
Challenges Impact of weather conditions
Static friction on ice and dry snow: 0,03 – 0,14 Static friction on wet snow: 0,53-1,76 Required force differs by several orders of magnitude! Gusts of wind may be turbulent and over 10m/s
Difficulty building the body with Lego's Very difficult to build anything sturdy The NXT brick weighs more than all other parts
combined! Something will always get in the way Blu-tack and duct tape help a little
Very nonlinear servo behaviour Very inflexible communication interface