Myles DurkinSteve KroppRyan Ehid

Kevin McHughBrian Lepus

Villanova University Capstone Design

Motivation

• 20 minutes of Burn Time– Roofs will collapse

• Every 32 minutes– Someone is injured in a Fire

• Every 162 minutes– Someone is killed in a Fire

• In 2007– 118 Fire Fighters were killed

• EVERY SECOND COUNTS!!!

Purpose

• Quickly search through a building• Identify the source of the fire• Extinguish Fire • Transmit the information

– Video, Proximity Sensors, Flame Detector

Problem Statement

• Only 20 minutes to extinguish flames before roof collapses.

• Even equipped with thermal sensors, finding flames in a house is difficult and dangerous for humans.

• Robot could safely search for flames and people quickly, effectively and safely.

• Design and build a concept robot that is both effective and affordable.

Requirements

• The robot should weigh no more than 150 pounds

• The robot should also be able to fit into a compartment of fire truck with dimensions

• The robot must be able to climb stairs• The robot should efficiently and quickly

navigate the structure and locate both fires and victims

Chassis

Ryan Ehid

Chassis and Drive Train: Tasks Completed

– Computed power requirement for robot • Show Power Requirement KM

– Determined robot should be built using a treaded vehicle design

• Recall: robot must climb stairs

– Refined power requirement to include treaded vehicle

– Determined motor specifications required for power requirement

• Show determined motor specs

Chassis and Drive Train: Tasks Completed

– Sized motors and gear boxes• Motors would be purchased with gearbox to give ratio

of @@ KM

– Ordered motors and gear boxes– Researched materials to use for chassis to

maintain resistance to heat• Any Plastics are un-useable• Aluminum, Steel, Iron appropriate

– Steel or aluminum would be used due to commercial availability and ease of welding

Chassis Design: Basic Framework

Design, size motors

purchase motors, gear boxes

Based on Dimensions of gears, motors determine

chassis dimensions

Select Adequate thermal protection

Select adequate waterproofing

FINISHED CHASIS

Chassis: Assignments

• Chassis: Project Lead—Ryan Ehid– Design, size motors – Purchase motors, gear boxes – Given dimensions of motors, gear boxes, treads and drive

wheels and given size develop preliminary chassis dimensions– Select adequate thermal protection

• Recall design constraint, robot must function to 500°F

– Select adequate water protection• Recall design constraint, robot must be waterproof

– Chassis and drive train integration– Refine design based on drive train specifications

Chassis Assignments Cont.

• Purchase Motors– Purchased NPC Motors

from RobotMarketplace.com

– Motors provide adequate torque to overcome stairs

– Motors provide enough speed to search house in required 10 min

• Motors pix: kevin

Chassis Assignments Cont.

• Develop preliminary chassis design– Completed 1/26

Chassis Assignments Cont.

• Thermal Protection– Robot will need thermal protection– Chassis must be built of material which will not

melt• Aluminum

– ~660°C

• Steel– ~1400°C

• Lexan– ~440°C

Chassis Assignments Cont.

• Still To Be Completed:– Thermal insulation for electronics and motors

selected– Waterproofing of chassis selected– Building of chassis– Integration of chassis with drive train

Drivetrain

Kevin McHugh

Power Requirement

Motor Selection

• The previous power calculation yielded a power requirement of 1685.75 W to achieve the desired speed up the stairs.

• This is the equivalent of 2.26 hp.

• NPC T74 was chosen because each of the two motors being used output 1.13 horsepower just before stall (under heavy loading).

Final Gearing

• The NPC T74 is a geared motor.– Speed reduction and cost effectiveness.

• The final drive mechanism will be a chain drive system– This will be used to fine tune the desired output

speed as well as to relocate the power from the motor to the drive axels.

Final Gearing

• The final, full throttle speed of the robot depends on several components. – Motor speed

• 192 rpm • (battery power limited)

– Tread drive wheel Diameter

• 8 in

– Final Gear Ratio• ≈2.188 (see right)

)(57.4

)/(124.402

*)12/8(**192

***

192

mphrs

sftrs

rs

drrpms

speeds

rpm

ratior

diameterd

Driveshaft• The driveshaft has to be designed to handle the torque loads applied

to it.• This is a simple matter of choosing the proper diameter and material

for the shaft.• The diameter will be calculated using AISI 4000 Series Steel

ind

ind

ddlbsinpsi

JdT

dJ

15.1

5.1

)32//()2/)(*1480()70000)(75(.

/)2/(

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4

http://www.roymech.co.uk/Useful_Tables/Matter/shear_tensile.htm http://www.matweb.com/search/DataSheet.aspx?MatGUID=210fcd12132049d0a3e0cabe7d091eef&ckck=1

Electrical Components

Myles Durkin

Electrical Prototyping• Prototype – No sensors

Electrical Prototyping

• Motor Controller • Full H-Bridge

Electrical Prototyping

• Tested Proximity Sensors• Uses Voltage Comparator Circuit• Hatamatsu UVTron Flame Detector

Electrical Prototyping

• PIC Microcontroller programmed to control motors based on sensor input

Electrical Analysis

• Using two 12V batteries in series (7Ah)

NPC – T74 NPC – T64

Torque vs Angular Velocity NPC T74

y = -6.5238x + 174.6

0

50

100

150

200

0 10 20 30

Angular Velocity (rad/sec)

To

rqu

e (N

m)

Torque vs Angular Velocity NPC T64

y = -5.148x + 131.17

0

20

40

60

80

100

0 10 20 30

Angular Velocity (rad/sec)

To

rqu

e (N

m)

Electrical Analysis

• RPM vs Time• Steady state 192 rpm at

90 sec.

Electrical Analysis

• At 192 RPM, needs 53 Amps • 7.8 min battery time powering one motor• 3.9 min battery time powering both motors

RPM v Current

y = -0.8191x + 210.93

0

50

100

150

200

250

0 100 200 300

RPM

Cu

rren

t (A

)

Turret System

Brian Lepus

Turret System - Camera

• 2.4 GHz Wireless Color Weatherproof Indoor Outdoor Camera and Receiver

• Automatic IR night vision – 20 ft. range• 150 ft. total range

Turret System - Design

• Positioned on top of robot• Connected to rotating 9-volt source• Controlled by continuous servo (360°)

Servo

Fire Suppression

Brian Lepus

Fire Suppression

• Fire extinguisher canister• Dry chemical• Used only to suppress or control small fires that become an

obstacle• Engaged with either a motor and gear train or actuator that closes

the handle

Tread Design

Steve Kropp

Tread Design

• Design Requirements– Tread design must allow the robot to climb stairs

and other obstacles.– Tread design must provide for maximum surface

area when in operation– Tread design have the ability to become compact

in order to fit robot in fire truck compartment.– Tread design must provide for maneuverability.

Tread Design

• Tasks Completed– Built Tamiya Rescue Crawler Robot as prototype

• Depicted three tread design adapted for Firebot.

Tread Design

• Tasks Completed– Developed three tread design

• Front and back tread can rotate up and down in order to satisfy requirements of maximum surface area as well as compact ability and maneuverability.

• Story board created to illustrate abilities.

Obstacle Climbing AbilitiesRobot approaches step with front tread up, giving the robot leverage.

Obstacle Climbing AbilitiesThe front tread then levels itself out and gains traction. This helps pull the rest of the robot up onto the stair.

Obstacle Climbing AbilitiesManeuverability and Compact Design- Since the landing is too small for the fully extended robot to turn, the front and back tread tilt up. This allows the robot to turn successfully.

Obstacle Climbing AbilityWith all three treads extended, the robot maintains maximum surface area in contact with the stairs.

Tread Design

• Material to be used– Steel

• Kinetic Coefficient of Friction: .6• Melting Temperature: 2500°F

– Rubber• Kinetic Coefficient of Friction: .85• Melting temperature: Varies

Tread Design

Tread Design

• Future Milestones– Order tread materials

• Rubber belts, flat chain, sprockets, servos, etc.

– Install treads– Test treads

• Must pass requirements.

Schedule

Kevin McHugh

Senior Design Gantt Chart

Firefighting RobotVillanova University

Team Members: Miles Durkin, Kevin McHugh, Ryan Ehid, Brian Lepus, Steve Kropp

Today's Date: 2/4/2009 (vertical red line)

[42] Start Date: 8/25/2008 (Mon) 0

WBS Tasks Task Lead Start End Dur

atio

n (D

ays)

% C

ompl

ete

Wor

king

Day

s

Day

s C

ompl

ete

Day

s R

emai

ning

1 Data Gathering 8/25/08 10/24/08 61 100% 45 61 0

1.1 Talk to Firemen 8/25/08 9/07/08 14 100% 10 14 0

1.2 Research Requirements 9/01/08 9/20/08 20 100% 15 20 0

1.3 Brainstorming 9/10/08 10/14/08 35 100% 25 35 0

1.4 Preliminary Calculations 10/15/08 10/25/08 11 100% 8 11 0

2 Design 9/25/08 12/29/08 96 81% 68 77 19

2.1 Powertrain Calculations 9/25/08 10/30/08 36 100% 26 36 0

2.2 Circuit/Power Analysis 11/01/08 12/30/08 60 90% 42 54 6

2.3 Heat rejection Calculations 12/01/08 12/11/08 11 50% 9 5 6

2.4 Order Parts 12/01/08 12/30/08 30 50% 22 15 15

3 Build/Test 12/11/08 4/22/09 133 35% 95 46 87

3.1 Assemble Frame/Drivetrain 1/12/09 1/25/09 14 10% 10 1 13Chassis Ryan Ehid 1/12/09 2/09/09 29 33% 21 9 20 Dimension motors/battery, Design 1/14/09 1/23/09 10 100% 8 10 0 Select adequate Fireproofing 1/23/09 2/09/09 18 0% 12 0 18 Select adequate Waterproofing 1/23/09 2/09/09 18 0% 12 0 18Tread Steve Kropp 1/12/09 1/31/09 20 10% 15 2 18 Order parts 1/12/09 1/18/09 7 0% 5 0 7 Assemble Tread 1/18/09 1/24/09 7 0% 5 0 7 Preliminary testing 1/24/09 1/30/09 7 0% 5 0 7Fire Supression Steve Kropp 2/01/09 3/02/09 30 0% 21 0 30 Fire extinguisher type 2/01/09 2/07/09 7 0% 5 0 7 Test actuator Motor 2/08/09 2/28/09 21 0% 15 0 21Drivetrain Kevin McHugh 1/12/09 2/23/09 44 50% 31 22 22 Test purchased motors/target lbs 1/12/09 1/30/09 19 100% 15 19 0 Implement Tread 2/01/09 2/19/09 19 0% 14 0 19 Refine sprocket ratios for speed 2/05/09 2/23/09 19 75% 13 14 5Camera and Turret Design Brian Lepus 1/12/09 2/10/09 30 80% 22 24 6 Spec motor, materials 1/12/09 1/31/09 20 100% 15 20 0 Build/test 1/31/09 2/09/09 10 60% 6 6 4Electrical Components 1/12/09 2/28/09 48 37% 35 17 31 Put electronics on an IC 1/12/09 1/31/09 20 50% 15 10 10 Work to control robot wirelessly 1/12/09 2/28/09 48 75% 35 36 12Combine Tread, Dirvetrain and Chassis 3/08/09 3/28/09 21 0% 15 0 21 Test 3/08/09 3/28/09 21 0% 15 0 21 Test of Robot Mobility 3/15/09 3/19/09 5 0% 4 0 5 Heat/Fire Tests 3/20/09 3/24/09 5 0% 3 0 5 Redesign/Retest 3/25/09 4/23/09 30 0% 22 0 30

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Budget

Ryan Ehid

Budget

• Major Sources of Funding– Engineering Alumni Society

• Donation of $1000

– IBM Corporation • Donation of $1000

– ECE Day Best Project Award• Around $500

– Provided by College of Engineering

• Standard funding for Capstone $300

Budget

• Major Team Expenditures– Prototype Robot

• Roughly $80

– Sensors and Electrical Components

• Roughly $50

– Poster and PR material• Roughly $100

– Motors + Gear Box• Roughly $650

BudgetCost Estimation Comparison

  Description Initial Cost Estimate Current Cost Estimate

Prototype Sensors, Materials, Integrated Circuits, Camera (Wheels/ Batteries)

$300 $300

Motors/Controllers

Electrical Motors, Microcontrollers, Gears

$300 $800

Wheels/Belts Wheels or Tank Threads $200 $400

Base/Frame/ Parts and materials to make the base and frame

$200 $500

Miscellaneous Materials

Extinguishing agents and other materials and parts required to build the device

$300 $300

Deduction Villanova College of Engineering will provide funds for each group

-($300) -($300)

  TOTAL COST $1,000 $2,000

Budget23%

23%15%

15%

23%

Initial Cost Estimate

PrototypeMotors/ControllersWheels/BeltsBase/Frame/Miscellaneous Materials

13%

35%17%

22%

13%

Current Cost Estimate

PrototypeMotors/ControllersWheels/BeltsBase/Frame/Miscellaneous Materials

BudgetExcerpt from: FireFighting Robot Ledger(AS OF 1/29)

Transaction Type ITEM NAME TOTAL(INC TAX) TOTAL DEBIT TOTAL CREDIT

Debit CoE Donation $ 300.00 $ 300.00 $ -

Debit EAS Donation $ 1,000.00 $ 1,000.00 $ -

Credit Poster Board $ 95.39 $ - $ 95.39

Credit Home Depot(Lock+Toolbox) $ 16.51 $ - $ 16.51

Credit Tanya $ 77.40 $ - $ 77.40

Credit Paralax $ 36.97 $ - $ 36.97

Credit Amazon $ 99.87 $ - $ 99.87

Debit IBM $ 1,000.00 $ 1,000.00 $ -

Credit Robot MarketPlace $ 684.40 $ - $ 684.40

Name Debits Total Credits Total Account Total

TOTAL DEBIT $ 2,300.00

TOTAL CREDIT $ 1,010.54

ACCOUNT TOTAL $ 1,289.46

Thank You!Any Questions?

Please Visit Firebot.pbwiki.com