*Work in progress
Battery Voltage Research
Objective
To normalize the time it takes to travel a fixed distance that the AEV travels when using batteries of different charge.
Equipment
- Batteries
- AEV
- USB Micro USB Cable
- Arduino Software
- MATLAB Software
Procedure
Using a fully charged battery, run the AEV for 3 feet and determine how long that takes. Repeat this multiple times using varying power. Continue to run the AEV as the voltage in the battery begins to drop from testing. If the speed and performance of the motors and in turn the AEV is constant, there should be no time loss between trials, despite the voltage of the battery decreasing.
This table shows the amount of power needed to run the AEV for 3ft at various battery Voltages.
| Trial* | Time (s) | Voltage (V)** | Power to Motors |
| 1 | 3.78 | 9.748 | 40 |
| 2 | 3.871 | 9.741 | 40 |
| 3 | 3.84 | 9.727 | 40 |
| 10 | 3.782 | 9.683 | 40 |
| 11 | 3.6 | 9.521 | 40 |
| 4 | 2.521 | 9.727 | 50 |
| 5 | 2.522 | 9.712 | 50 |
| 6 | 2.46 | 9.712 | 50 |
| 12 | 2.52 | 9.668 | 50 |
| 13 | 2.521 | 9.521 | 50 |
| 7 | 1.981 | 9.697 | 60 |
| 8 | 1.98 | 9.697 | 60 |
| 9 | 1.982 | 9.683 | 60 |
| 14 | 1.981 | 9.668 | 60 |
| 15 | 1.98 | 9.507 | 60 |
*Trials are disordered to organize voltages in descending order for each motor speed group
**voltage is averaged from the first 2 seconds of the Arduino run (AEV unmoving).
Based on the data collected, minor changes in voltage do not affect how effective the motors are at moving the AEV. As voltage decreased, time increased 5/12 times. This is not a very strong correlation of decreasing voltage to decreasing motor efficiency. Though during some trials decreases in voltage corresponded with increases in time, most of the trials showed inconclusive or contradictory results to the predicted outcome. This research suggests that the batteries we use are reliable and supply consistent power to the AEV despite small voltage drops.
Propeller Configuration Research
Objective
To determine which orientation of propellers will be the most effective at moving the AEV vehicle
Equipment
- Batteries
- AEV
- USB Micro USB Cable
- Arduino Software
- MATLAB Software
- Tape
Procedure
5 different kinds of propeller orientations will be compared on distance traveled with time and power to the motors being held constant. Motors will be run at a speed of 50 for 1 second. After 3 seconds, the AEV will coast a certain extra distance depending on how effective each configuration is. The base of the AEV will be the same for each trial to ensure that the weight is the same for each trial. Configurations are described below:
- (1) Contra-rotating propellers 1
- Motors facing inwards from AEV and are close together
- (2) Contra-rotating propellers 2
- Motors facing inwards from AEV and are far apart from each other
- (3) Contra-rotating propellers 3
- Motors facing outwards from AEV and are far apart from each other
- (4) Side-by-side propellers
- Motors side by side and facing the same direction
- (5) Facing the same direction
- Motors on Standoff in a line facing the same direction
- (6) Contra-rotating propellers 2
- Motors facing inwards from AEV and are close together, propeller facing proper direction
- (7) Contra-rotating propellers 3
- Motors facing inwards from AEV and are close together, propeller facing proper direction, reverse
| Propeller Configuration | Total Distance Traveled (sensor ticks) |
| 1 | 39 |
| 2 | 43 |
| 3 | 48 |
| 4 | 109 |
| 5 | 26 |
| 6 | 70 |
| 7 | 78 |
Conclusion:
Although the Side-by-Side propellers traveled the most distance, it would be more efficient to use the contra-rotating propellers so the AEV will have the same efficiency and distance traveled while approaching and proceeding from the gate.
Reflective Wheel
Objective
To determine how the starting position of the wheel affects the AEV’s travel distance.
Equipment
- AEV
- USB Micro USB Cable
- Arduino Software
- MATLAB Software
- Ruler
Procedure
The wheel with reflective tape will be started at various positions and the AEV will use a position function to attempt to reach a certain distance. The true distance traveled by the AEV will be measured with a ruler. The next trials will be conducted in the same way and compared to the original trial. This will be repeated for multiple wheel starting positions.
| Trial | Wheel Starting Position | Distance |
| 1 | Right | 157.0625 |
| 2 | Right | 145.375 |
| 3 | Right | 149.4375 |
| 4 | Right | 149.875 |
| 5 | Right | 113.375 |
| 6 | Left | 119.125 |
| 7 | Left | 123.0625 |
| 8 | Left | 141.875 |
| 9 | Left | 156.75 |
| 10 | Left | 155.9375 |
| 11 | Top | 163 |
| 12 | Top | 163.875 |
| 13 | Top | 162.5 |
| 14 | Top | 161.5 |
| 15 | Top | 168.75 |
| 16 | Right | 167.0625 |
| 17 | Left | 164.3125 |
| 18 | Bottom | 166.875 |
| 19 | Bottom | 165.3125 |
| 20 | Bottom | 130.75 |
| 21 | Bottom | 134.625 |
| 22 | Bottom | 150.25 |
Conclusion:
