SYSTEM LEVEL DESIGN PROGRESS

REPORTP09011 – Object Recognition - 1/9/2009

Functional Decomposition,Simplified by System

Connecting Object

Method

Apparatus Connection Device

Object Connection Device

System for Connecting Object to Apparatus

Method•Rope•Solid link (rod)•Fishing line•Coax•Nylon webbing

Apparatus Connection

Device

•Hinge•Knot•Eyebolt•Glue•Robot hand

Object Connection

Device•Magnet•Spring clip•Clevis pin•Vacuum•Master lock•Handcuffs•Suction cup•Threaded rod•Wire ties•Velcro•Snaps•Hook•Lasso•Clothespins•Robot hands•Suction•Squeeze-release buckles

System for Raising/Lowering Object

Method•Rope over pulley•Chain•Pivoting Arm•Rolling Wheel•Drop on Bungee•Drop on Springs•Lowering Cylinder•Drive Screw•Electromagnets•Birds/Butterflies•Spring Loaded Retraction

Power•Human•Battery•External (AC)•Pneumatic•Hydraulic

Control•Direct human power•Foot pedal•Handheld remote•Crank•Fishing Reel•Pump

System for Hiding Objects from Trainer

Method•Canvas Shade•Screen•One-Way Mirror•Cover•Panel•Umbrella•Virtual Reality/Camera

Location•On face of trainer•On apparatus•On apparatus extension•Independent of apparatus

System for Removing/Switching Object

Sets

Method

•By Hand•Motorized•Staged Attachment

Timing• After each

object set (apparatus contains one set at a time)

• After both object sets (apparatus contains both sets at a time)

Operator

•Trainer•Experimenter

Primary Design Criteria

Operator and whale safe

Quiet Durable &

weatherproof No external power Able to hide sample

from trainer Compact

Able to block whale’s view of both object sets at once

35” total design width

3-5sec target time between object set display, 10sec max

10lb max object weight

Concept C: Overview

Objects sets raised and lowered independently on cables

Cable movement provided by separate electric winches

Winches controlled remotely

Object travel electronically limited

Powered by on-board 12V battery

Concept C: Overview

Concept F: Overview

Object sets raised and lowered independently on cables connected to pivoting arms

Pivoting arms are positioned 90 degrees to one another

Upper section of apparatus rotates on human-powered turntable to change object sets

Pivoting arm movement provided by electric linear actuators (expanding cylinder)

Linear actuators controlled remotely

Object travel electronically controlled by limit switches

Powered by on-board 12V battery

Concept F: Overview

Concept F: Overview

Concept Feasibility Comparison

  Concept C Concept FCan our system be designed?  Yes YesDo we understand what we are trying to do and have we decomposed the design adequately to insure our understanding and to enable the clear assignment of responsibilities?  Yes Yes

Is the technology available and robust? Available, possibly

robust Available, robustIs the design likely to meet all engineering specifications and satisfy the customer?  Possibly PossiblyHave we addressed all required features and functions?  Yes YesDo we understand the performance limits of our design and whether these limits are acceptable? Yes YesDo we have the capabilities and resources (people, funds, time) to realize our design (before investing heavily in engineering activities)?  Possibly Possibly

Feedback Received

Dr. Varela: Search McMaster and Grainger for off-the-shelf

winchesAvoid trying to build your own winch setup

Dr. Walter:When considering design feasibility, don’t forget to

perform evaluation of battery requirements for electrically powered design

Consider and evaluate safety concerns with electricity flowing through apparatus, remote control

Look at MSD# P06606 (Remote Operated Aquatic Motorized Explorer) for underwater electronics shielding

Component Analysis

Research into winches yielded that they:○ Are designed for much higher loads and much

slower speeds○ Do not meet customer’s weight requirements

– heavy (100-150lbs)○ Do not meet customer’s time requirements –

run too slow (3-40 feet per minute)○ Do not meet duty cycle requirements○ Have varying costs – some fall well within

budget, some well outside Look for servos, stepper motors, etc.

that fit design.

Component Analysis

Research into linear actuators yielded that they:○ Are designed to meet our requirements

for weight, load capacity, speed, and duty cycle

○ Have varying costs – some fall well within budget, some well outside

Get quotes to determine if component fits budget constraints

Next Steps Complete Risk Assessment Gain more information about

components Select single concept Complete detailed design