Group C – Teressa Pell, Madeline Shaffer, Joe Spinazze, Danny Tomaszewski Progress Report Lab 2
Instructor: Dr. Kecskemety, GTA: Isabel Fernandez 2/6/2017
Lab 2
Situation:
This week the group met to familiarize themselves with the external sensor hardware components. They also became familiar with troubleshooting techniques. The group also used program function calls for using external sensors with AEV control. By the end of lab 2a, the group understood the use of the reflectance sensors and installed it onto the AEV. They learned the usage and syntax surrounding the Arduino command of reflectanceSensorTest, goToRelativePosition, and goToAbsolutePosition. The lab gave the group two scenarios which utilized the newly learned commands to turn the AEV motors. The team successfully ran the program to have the AEV “run” around the outside of the track.While some of the team was working on lab 2a, one member of the team was called to the front of the class to observe the TA operating the wind tunnel. The voltage of the wind tunnel was set to 7.4V. 10% power was administered to the propeller in the wind tunnel. The voltage was slowly increased, and the RPM’s and the voltage was recorded. The force of the wind was measured using the scale. By analyzing the data from this experiment, the group was able to find the proper method and setup for the AEV propellers.
Results and Analysis:
To successfully complete the lab, there were several activities to first perform. Before coming to the lab, the AEV was assembled so it could run on the track. The arm needed to be reversed to not hit the rungs on the track, but besides that testing ran smoothly. While testing the motion sensors at the table, they were originally installed wrong and only gave a forward motion reading. After flipping a sensor right-side up, the readings from the serial monitor tracked the position correctly.
The code was written using functions motorSpeed, reverse, and also goToRelativePosition and goToAbsolutePosition. Implementing goToRelativePosition would send the AEV a specified distance from its current position, while goToAbsolutePosition would send the AEV to a distance measured from where the program began. In order to execute a pusher system, which was chosen due to its benefits from the wind tunnel data, the code was written to send the AEV in a negative direction. This route was chosen instead of switching the forward and reverse sensors on the AEV due to a lack of time remaining in the lab. Also, the power outputs were doubled for all commands to combat static friction and start to move the vehicle. The AEV then performed correctly on the track, stopping at the gate and reversing to where the ladder was placed for pickup. The AEV successfully ran the code written from the commands in the procedure. The vehicle approached the gate, reversed motors and travelled backwards slightly to where the ladder was placed for pickup. The TA advising the outer track let us know that our vehicle performed exceptionally, landing where it should have at the end of the run.
The data showed that for the same arduino power setting, the pusher method provided a larger current and thrust reading. From a 0% to a 60% arduino power setting for the puller system, the range of the current ranged from 0.06 to 0.72 amps and the range of the thrust scale reading ranged from 151.6 grams to 166 grams. From the same range, the pusher system outputted higher results, with a current that ranged from 0.08 to 1.18 amps and a thrust scale reading that ranged from 160.4 grams to 216.4 grams. Due to these results we went with the pusher system to be energy efficient.
The knowledge absorbed in this lab is a solid foundation for the challenge lying ahead. In order to pick up R2D2 and bring him back, energy will be taken into account with deciding when to push and when to pull the AEV. Since the brake function only stops the motors and not the vehicle, the reverse function may be needed in order to stop the vehicle before it reaches the R2D2 cart to attach to the magnet. Specific values for the goToRelativeFunction and goToAbsolutePosition functions will be necessary to make it through the gate and to the R2D2 without crashing into either object.
Takeaways:
The relationship between the Arduino Power setting and the Thrust Scale reading was observed to be a positive correlation. As the instructor increased the percent power, the thrust scale reading also increased. The largest thrust scale reading was from the 3030 puller, at maximum power. As the percent power increased, the thrust also increased. Therefore, to achieve the maximum thrust with the AEV, the Arduino power setting should be at 60% power. The relationship between propulsion efficiency and advance ratio was different for each propeller. According to the data, the most efficient for 2510 puller was the first data point collected and for 2510 pusher it was the last data point collected. The highest efficiency for was also the first data point. However both the 3030 pusher and the 3030 puller had their highest efficiency at a point in the middle of the data collection.
Lab 3
Situation:
This week the group will be brainstorming ideas to alter the design of the AEV in some way that they like. The design can be either for visual appeal or for improvement of the movement of the AEV. The group will be creative and first brainstorm by themselves. Each group member will complete a concept sketch in orthographic view. The alteration can either come from the AEV kit or can be 3D printed and attached. They must consider the list of design considerations listed in the Lab Manual when designing their part or alteration. Then the group will come together and decide together what they want the design to be. Together they will create a sketch in the orthographic view that reflects the components in the AEV kit or something that can be built from a 3D printer.
Weekly Goals:
- Brainstorm ideas for creative design
- Create a concept sketch on orthographic paper
- Find better meeting times
- Consider restraints when designing an AEV Part
- Update Project Portfolio
Weekly Schedule:
| Task | Teammates | Start Date | Due Date | Time Needed |
| Brainstorm Designs | All | 2/3/2017 | 2/3/2017 | 1 hr |
| Sketch Design | All | 2/3/2017 | 2/10/2017 | 2 hrs |
| Team Meeting | All | 2/8/2017 | 2/10/2017 | 1 hr |
| Update Portfolio | Danny | 2/3/2017 | 2/10/2017 | 1 hr |
| Lab 3 Progress Report | All | 2/7/2017 | 2/10/2017 | 4 hrs |
Appendix A
Code –
reflectanceSensorTest();
// 1. Run all motors at a constant speed of 25% power for 2 seconds.
motorSpeed(4,25);
goFor(2);
// 2. Run all motors at a constant speed of 20% and using the goToAbsolutePosition function travel a total distance of 16 feet (from the starting point).
motorSpeed(4,20);
goToAbsolutePosition(394);
// 3. Reverse motors.
reverse(4);
// 4. Run all motors at a constant speed of 30% power for 1.5 second.
motorSpeed(4,30);
goFor(1.5);
// 5. Brake all motors.
brake(4);
Wind Turbine Data:
Propeller Type EP-2510
Wind tunnel air speed: 3.1 m/s
Propeller Configuration: Pusher
Battery (Power Supply Setting): 7.4 volts
Table 1: Wind Tunnel Testing Data
| Current | Thrust Scale Reading | RPM | Arduino Power Setting |
| Amps | Grams | RPM | % |
| 0.0000 | 169.55 | 0.00 | 0 |
| 0.0400 | 168.50 | 1047.00 | 10 |
| 0.1200 | 168.50 | 1646.00 | 15 |
| 0.2100 | 168.90 | 2245.00 | 20 |
| 0.2800 | 169.50 | 2784.00 | 25 |
| 0.3700 | 170.90 | 3383.00 | 30 |
| 0.4400 | 171.80 | 4007.00 | 35 |
| 0.5000 | 173.40 | 4640.00 | 40 |
| 0.5500 | 175.20 | 5089.00 | 45 |
| 0.5900 | 177.20 | 5778.00 | 50 |
| 0.6200 | 179.70 | 6377.00 | 55 |
| 0.64 | 181.30 | 6900.00 | 60 |
Table 2: Wind Tunnel Data Analysis
| Thrust Calibration | RPM | Power Input | Power Output | Power Output | Propulsion Efficiency | Advance Ratio |
| g | RPM | watts | horsepower | watts | % | – |
| 0 | 0 | 0 | 0 | 0 | 0 | 0 |
| -0.43155 | 1047 | 0.0296 | -0.00179 | -1.35395 | -4574.16 | 2.797645 |
| -0.43155 | 1646 | 0.1332 | -0.00179 | -1.35395 | -1016.48 | 1.779547 |
| -0.26715 | 2245 | 0.3108 | -0.00111 | -0.83816 | -269.678 | 1.304737 |
| -0.02055 | 2784 | 0.518 | -8.5E-05 | -0.06447 | -12.4467 | 1.052131 |
| 0.55485 | 3383 | 0.8214 | 0.002307 | 1.740794 | 211.9302 | 0.865839 |
| 0.92475 | 4007 | 1.1396 | 0.003844 | 2.901324 | 254.5914 | 0.731004 |
| 1.58235 | 4640 | 1.48 | 0.006578 | 4.964488 | 335.4384 | 0.631279 |
| 2.32215 | 5089 | 1.8315 | 0.009654 | 7.285547 | 397.7913 | 0.575581 |
| 3.14415 | 5778 | 2.183 | 0.013071 | 9.864502 | 451.8782 | 0.506946 |
| 4.17165 | 6377 | 2.5234 | 0.017342 | 13.0882 | 518.673 | 0.459328 |
| 4.82925 | 6900 | 2.8416 | 0.020076 | 15.15136 | 533.1982 | 0.424512 |
Propeller Type EP-2510
Wind tunnel air speed: 3.1 m/s
Propeller Configuration: Puller
Battery (Power Supply Setting): 7.4 volts
Table 3: Wind Tunnel Testing Data
| Current | Thrust Scale Reading | RPM | Arduino Power Setting |
| Amps | Grams | RPM | % |
| 0.00 | 164.50 | 0.00 | 0 |
| 0.13 | 165.90 | 658.00 | 5 |
| 0.20 | 163.70 | 2035.00 | 10 |
| 0.28 | 163.80 | 3233.00 | 15 |
| 0.37 | 164.20 | 4311.00 | 20 |
| 0.45 | 164.80 | 5449.00 | 25 |
| 0.53 | 165.00 | 6646.00 | 30 |
| 0.60 | 166.80 | 7844.00 | 35 |
| 0.67 | 168.30 | 9041.00 | 40 |
| 0.73 | 169.80 | 10059.00 | 45 |
| 0.79 | 172.00 | 11197.00 | 50 |
Table 4: Wind Tunnel Data Analysis
| Thrust Calibration | RPM | Power Input | Power Output | Power Output | Propulsion Efficiency | Advance Ratio |
| g | RPM | watts | horsepower | watts | % | – |
| 0 | 0 | 0 | 0 | 0 | 0 | 0 |
| 0.5754 | 658 | 0.0481 | 0.002392 | 1.78374 | 3708.399 | 4.451571 |
| -0.3288 | 2035 | 0.148 | -0.00137 | -1.01928 | -688.703 | 1.439378 |
| -0.2877 | 3233 | 0.3108 | -0.0012 | -0.89187 | -286.959 | 0.906011 |
| -0.1233 | 4311 | 0.5476 | -0.00051 | -0.38223 | -69.8009 | 0.679456 |
| 0.1233 | 5449 | 0.8325 | 0.000513 | 0.38223 | 45.91351 | 0.537554 |
| 0.2055 | 6646 | 1.1766 | 0.000854 | 0.63705 | 54.14329 | 0.440736 |
| 0.9453 | 7844 | 1.554 | 0.00393 | 2.93043 | 188.5734 | 0.373423 |
| 1.5618 | 9041 | 1.9832 | 0.006493 | 4.84158 | 244.1297 | 0.323983 |
| 2.1783 | 10059 | 2.4309 | 0.009056 | 6.75273 | 277.7872 | 0.291195 |
| 3.0825 | 11197 | 2.923 | 0.012814 | 9.55575 | 326.9158 | 0.2616 |
Propeller Type EP-3020
Wind tunnel air speed: 2.9 m/s
Propeller Configuration: Puller
Battery (Power Supply Setting): 7.4 volts
Table 5: Wind Tunnel Testing
| Current | Thrust Scale Reading | RPM | Arduino Power Setting |
| Amps | Grams | RPM | % |
| 0.0000 | 125.30 | 0.00 | 0 |
| 0.2800 | 124.70 | 1796.00 | 10 |
| 0.3700 | 126.00 | 2814.00 | 15 |
| 0.4600 | 127.70 | 3832.00 | 20 |
| 0.5500 | 130.00 | 4730.00 | 25 |
| 0.6500 | 133.00 | 5688.00 | 30 |
| 0.7400 | 135.20 | 6526.00 | 35 |
| 0.8300 | 139.20 | 7425.00 | 40 |
| 0.9000 | 143.20 | 8263.00 | 45 |
| 0.9900 | 148.00 | 9041.00 | 50 |
| 1.07 | 153.00 | 9760.00 | 55 |
| 1.16 | 158.00 | 10538.00 | 60 |
Table 6: Wind Tunnel Data Analysis
| Thrust Calibration | RPM | Power Input | Power Output | Power Output | Propulsion Efficiency | Advance Ratio |
| g | RPM | watts | horsepower | watts | % | – |
| 0 | 0 | 0 | 0 | 0 | 0 | 0 |
| -0.2466 | 1796.00 | 0.2072 | -0.00096 | -0.71514 | -345.145 | 1.191953 |
| 0.2877 | 2814.00 | 0.4107 | 0.001119 | 0.83433 | 203.1483 | 0.760749 |
| 0.9864 | 3832.00 | 0.6808 | 0.003836 | 2.86056 | 420.1763 | 0.55865 |
| 1.9317 | 4730.00 | 1.0175 | 0.007512 | 5.60193 | 550.5582 | 0.452589 |
| 3.1647 | 5688.00 | 1.443 | 0.012307 | 9.17763 | 636.0104 | 0.376362 |
| 4.0689 | 6526.00 | 1.9166 | 0.015824 | 11.79981 | 615.6637 | 0.328034 |
| 5.7129 | 7425.00 | 2.4568 | 0.022217 | 16.56741 | 674.3492 | 0.288316 |
| 7.3569 | 8263.00 | 2.997 | 0.028611 | 21.33501 | 711.8789 | 0.259076 |
| 9.3297 | 9041.00 | 3.663 | 0.036283 | 27.05613 | 738.6331 | 0.236782 |
| 11.3847 | 9760.00 | 4.3549 | 0.044275 | 33.01563 | 758.126 | 0.219339 |
| 13.4397 | 10538.00 | 5.1504 | 0.052267 | 38.97513 | 756.7399 | 0.203146 |
Propeller Type EP-3030
Wind tunnel air speed: 3.1 m/s
Propeller Configuration: Pusher
Battery (Power Supply Setting): 7.4 volts
Table 7: Wind Tunnel Testing
| Current | Thrust Scale Reading | RPM | Arduino Power Setting |
| Amps | Grams | RPM | % |
| 0.0000 | 181.70 | 0.00 | 0 |
| 0.1200 | 181.90 | 778.00 | 5 |
| 0.1900 | 180.90 | 2151.00 | 10 |
| 0.2800 | 183.70 | 3053.00 | 15 |
| 0.3700 | 187.90 | 3892.00 | 20 |
| 0.4600 | 191.90 | 4670.00 | 25 |
| 0.5700 | 196.30 | 5449.00 | 30 |
| 0.6700 | 201.60 | 6167.00 | 35 |
| 0.7800 | 207.10 | 6886.00 | 40 |
| 0.9000 | 213.20 | 7485.00 | 45 |
| 1.0000 | 219.30 | 8200.00 | 50 |
Table 8: Wind Tunnel Data Analysis
| Thrust Calibration | RPM | Power Input | Power Output | Power Output | Propulsion Efficiency | Advance Ratio |
| g | RPM | watts | horsepower | watts | % | – |
| 0 | 0.00 | 0 | 0 | 0 | 0 | 0 |
| 0.0822 | 778.00 | 0.0444 | 0.000342 | 0.25482 | 573.9189 | 3.137461 |
| -0.3288 | 2151.00 | 0.1406 | -0.00137 | -1.01928 | -724.95 | 1.134795 |
| 0.822 | 3053.00 | 0.3108 | 0.003417 | 2.5482 | 819.8842 | 0.799523 |
| 2.5482 | 3892.00 | 0.5476 | 0.010593 | 7.89942 | 1442.553 | 0.62717 |
| 4.1922 | 4670.00 | 0.851 | 0.017428 | 12.99582 | 1527.123 | 0.522686 |
| 6.0006 | 5449.00 | 1.2654 | 0.024946 | 18.60186 | 1470.038 | 0.447962 |
| 8.1789 | 6167.00 | 1.7353 | 0.034001 | 25.35459 | 1461.107 | 0.395808 |
| 10.4394 | 6886.00 | 2.3088 | 0.043398 | 32.36214 | 1401.687 | 0.354479 |
| 12.9465 | 7485.00 | 2.997 | 0.053821 | 40.13415 | 1339.144 | 0.326112 |
| 15.4536 | 8200.00 | 3.7 | 0.064243 | 47.90616 | 1294.761 | 0.297676 |
Propeller Type EP-3030
Wind tunnel air speed: 2.8 m/s
Propeller Configuration: Puller
Battery (Power Supply Setting): 7.4 volts
Table 9: Wind Tunnel Testing
| Current | Thrust Scale Reading | RPM | Arduino Power Setting |
| Amps | Grams | RPM | % |
| 0.80 | 173.30 | 0.00 | 0 |
| 0.20 | 174.00 | 1976.00 | 10 |
| 0.29 | 176.40 | 2994.00 | 15 |
| 0.40 | 179.80 | 3892.00 | 20 |
| 0.50 | 184.30 | 4730.00 | 25 |
| 0.61 | 190.50 | 5568.00 | 30 |
| 0.72 | 196.00 | 6287.00 | 35 |
| 0.83 | 202.70 | 7065.00 | 40 |
| 0.93 | 208.50 | 7724.00 | 45 |
| 1.05 | 217.20 | 8383.00 | 50 |
| 1.08 | 225.00 | 9040.00 | 55 |
| 1.20 | 234.50 | 9760.00 | 60 |
Table 10: Wind Tunnel Data Analysis
| Thrust Calibration | RPM | Power Input | Power Output | Power Output | Propulsion Efficiency | Advance Ratio |
| g | RPM | watts | horsepower | watts | % | – |
| 0 | 0 | 0 | 0 | 0 | 0 | 0 |
| 0.2877 | 1976 | 0.148 | 0.00108 | 0.80556 | 544.2973 | 1.115751 |
| 1.2741 | 2994 | 0.3219 | 0.004784 | 3.56748 | 1108.257 | 0.736381 |
| 2.6715 | 3892 | 0.592 | 0.010031 | 7.4802 | 1263.547 | 0.566476 |
| 4.521 | 4730 | 0.925 | 0.016976 | 12.6588 | 1368.519 | 0.466115 |
| 7.0692 | 5568 | 1.3542 | 0.026544 | 19.79376 | 1461.657 | 0.395963 |
| 9.3297 | 6287 | 1.8648 | 0.035032 | 26.12316 | 1400.856 | 0.35068 |
| 12.0834 | 7065 | 2.4568 | 0.045371 | 33.83352 | 1377.138 | 0.312063 |
| 14.4672 | 7724 | 3.0969 | 0.054322 | 40.50816 | 1308.023 | 0.285438 |
| 18.0429 | 8383 | 3.885 | 0.067749 | 50.52012 | 1300.389 | 0.262999 |
| 21.2487 | 9040 | 4.3956 | 0.079786 | 59.49636 | 1353.544 | 0.243885 |
| 25.1532 | 9760 | 5.328 | 0.094447 | 70.42896 | 1321.865 | 0.225894 |
Sample Calculations:
Joe Spinazze- Sample Calculations
Appendix B
Date: 1/31/17
Time: 9:00 pm
Members Present: Teressa Pell, Madeline Shaffer, Joe Spinazze, Danny Tomaszewski
Topics Discussed: Assign jobs
Objective:
Today’s main focus was on meeting to sort out who in the group is writing which part of the progress report due to our busy schedules.
Tasks Completed:
- Each person in the group picked a section
- Expectations for this progress report were sorted out among the group
Tasks To Do:
- Work on the progress report individually throughout the week
- Have the progress report finished by friday morning
Timeline:
- Monday (Jan. 30th) through Thursday (Feb. 2nd) – progress report worked on throughout the week by the group
- Feb. 3rd (morning) – turn in progress report
- Feb. 3rd (day) – complete lab 3
Decisions:
- Joe will do the backwards looking situation
- Teressa will do appendix B, the takeaways, check grammar, and turn in the document
- Joe and Danny with work on the results and analysis
- Maddie will work on the forwards looking situation, goals, and schedule
- Each member will do their individual calculations
Reflections:
- Weeks with midterms will require the team to have to work on the progress report on their own time