| Team C: Nick Braun, Jeffrey Gaydos, Tiana Stussie, Samira Wehmann | Progress Report 1 |
| Bill Cohen | 2/15/19 |
Progress Report
Situation
Research was conducted to determine how to move forward in designing the AEV. Numerous tests were conducted with a sample AEV to become familiar with the Arduino code, interface, and abilities (MCR). Next, the group brainstormed prototypes of possible AEV designs. Four designs were created and then compared to each other and the sample AEV. Once each design was vetted, various aspects of the higher scoring designs were combined to create an optimal design.
Results and Analysis
Limitations of Arduino
Upon working with the motors for the first time, the team noticed that they did not move fully until a certain voltage level was reached. This was especially prominent when using the “celerate” function included in the OSU Arduino library. Other issues arose when physically implementing the code. For example, using the “brake” function merely brakes the motors, but the inertia of the AEV carries it past the expected position. This becomes especially problematic when considering the charge of the battery. In order to predict how far the AEV will coast, one needs to know the speed it is traveling. When batteries lose charge, they are likely to output less power, resulting in slower speeds than expected, and less coast distance. Additionally, the reflectance sensors are imprecise and may not give distances accurate enough for complex movements.
Collecting Data from the Arduino
A program was created to test the data collection MATLAB extension for Arduino. Figures from this test are shown below:
Figure 1: Power vs. Time of AEV moving forwards and backwards
Figure 1 shows the power being supplied to the motors over time as a result of the arduino code. Gradual increases in power are representative of the celerate function, constant levels of power occur when the vehicle maintains the same speed and the spike in the data occurs when the motor switches direction. The final part of the graph shows the power needed to maintain a speed in the other direction before stopping power at the end of the trial.
Figure 2: Power vs. Distance of AEV moving forwards and backwards
Figure 2 shows the power supplied to the motors depending on the distance traveled according to the reflectance sensors. The beginning of the trial displays a higher voltage in order to increase the speed of the motors in accordance with the “celerate” function. After accelerating the motors to the desired speed, the power output drops as it is easier to maintain motor speed that to increase it. The spike in power usage towards the middle represents the point at which the AEV changed direction. The final part of the graph shows the power needed to maintain a speed in the other direction before cutting power at the conclusion of the trial.
Designing the AEV
Each team member first designed a separate AEV vehicle, each were rated according to factors like cost and weight, and the best features from the best designs were combined to form a final AEV design.
Figure 3: Opposing Propeller AEV Design
This design costs $170,340 and weighs approximately 0.46 pounds (see Appendix A.1). It works by using the idea of contra-rotating propellers to increase the amount of thrust harvested from 2 motors. Each propeller spins in the opposite direction of the other, but the propellers are attached in a way that will ensure thrust in the same direction.The arduino and battery case are placed on opposite ends of the AEV to promote balance.
Figure 4: Airplane Design
This design is based off of a paper airplane. It costs $167,620 and weighs approximately 0.44 pounds(see Appendix A.2). The wings help to stabilize the AEV as it travels on the track. In addition, the battery holder is hanging from the vehicle along with two wheels on each side, with the battery holder providing support for the wheels. Finally, two motors will be added to the propellers on the back wings of the vehicle.
Figure 5: Tiana’s AEV Design
This design is very cost effective and costs $165,620 because it does not require a lot of materials and can be created using the parts found in the AEV kit (see Appendix A.3). Accordingly, it weighs approximately 0.44 pounds. Also this design would be very simple to make, which would be beneficial for mass production. Finally, the flat piece on the bottom should aid in stability by acting as a wing.
Figure 6: Mystic Macaw AEV Design
This aerodynamic design costs $169,120, weighs approximately 0.51 pounds, and features a removable shell and hanging battery cage with a door that slides down to secure the battery (see Appendix A.4). There are also 2 holes in the shell for the wires to exit from. These features are intended to increase efficiency of the vehicle while also cutting down on resources used to construct the vehicle and thus cutting down on the weight of the vehicle as well.
Figure 7: Final AEV Design – The Bullet
Figure 8: Partial assembly of AEV showing holes in aerodynamic shell
This design incorporated the contra-rotating propellers with the aerodynamic shell of the Mystic Macaw Design. It will cost $176,340 and weighs approximately 0.50 pounds (see appendix A.5). No designs opted to use a custom battery case, so the provided battery cases will be used. Additionally, holes were cut out of the Aerodynamic shell to accommodate easy usage and modification of the Arduino without removing the shell (see Figure 8).
Takeaways
Brainstorming for the AEV has pointed the group towards the bullet design. The opposed designs were less expensive and weighed less but much less efficient. Also, the components used in most designs could be found in the AEV kit or assembled to serve a similar purpose. Additionally, after debating some of the designs, it was decided that the medium sized rectangle (2” by 6.5”) base would be the best fit for what the group planned on designing.
Preliminary research and development of the AEV revealed that many aspects of the components the team had were imprecise or less usable than previously expected. Specifically, there is no way to measure speed directly on the AEV vehicle. Additionally, it was found that a considerable amount of power is needed to propel the AEV, even while using the larger propellers.
In terms of coding the AEV, basic operations can implemented with ease, but difficulty in code may increase if more features are needed to help define the AEV’s movement. Interfacing problems with the Arduino and the computer were also common. Selecting the wrong processor or board was a common mistake and easy to fix, but Arduino losing the location of the sketchbook proved to be a more difficult but to find and fix.
Situation
Assuming the grant is provided, the team plans to 3D print the shell for the vehicle and the parts that hang off the shell to support the propellers. The parts will be edited in SolidWorks then sent to the 3D printer to be added to the parts given. The hanging parts are needed to support the propellers allowing them to spin, without hitting the shell. The shell is needed to add efficiency, increase speed and aid in aerodynamics.
If the grant is not provided, the team plans to eliminate the shell and use the parts provided for the body. In addition, the team will use the metal attachments to create the hanging supports for the propellers, so the propellers do not hit the body. This will increase time and lower the AEV’s efficiency more than if the grant for the 3D printed parts are provided.
Goals
One goal of this project is to only use 75% of the budget given. The Bullet should also complete one path of the track in 10 seconds.
Future Schedule
*NOTE: in progress*
| Task | Start Date | Finish Date | Due Date | Primary Person | Secondary Person | Est. Hours | % Completed |
| Grant Proposal | 2/9/19 | 2/14/19 | 2/14/19 | Jeff, Nick | Tiana, Samira | 2 | 100 |
| Progress Report 1 | 2/9/19 | 2/14/19 | 2/15/19 | All | 4 | 100 | |
| Committee Meeting | Lab 5 | Lab 6 | |||||
| Advance R&D 1 | Lab 7 | Lab 9 | |||||
| Advance R&D 2 | Lab 9 | Lab 11 | |||||
| Performance Test 1 | Lab 12 | ||||||
| Advance R&D Presentation | Lab 13 | ||||||
| Performance Test 2 | Lab 15 | ||||||
| Advanced R&D 3 | |||||||
| Advance R&D 3 | Lab 18 | ||||||
| Final Deliverables | Lab 19 | ||||||
| Final Performance Test | Lab 21 | ||||||
| Oral Presentation | Lab 24 | ||||||
| Progress Report 2 | Lab 9 | ||||||
| Website 3 Update | Lab 11 | ||||||
| CDR (draft) | Lab 14 | ||||||
| Team Eval 2 | Lab 16 | ||||||
| Committee Meetings 2 | Lab 16 | ||||||
| Progress Report 3 | Lab 19 | ||||||
| Final Oral Presentation Draft | Lab 21 | ||||||
| Final Team Eval | Lab 25 | ||||||
| CDR | Lab 25 | ||||||
| Final Website | Lab 25 |
Appendices
Appendix A: Bills of Materials
Table A.1 – Opposing Propeller Design Bill of Materials
| Component | Amount | Unit Price | Total Price | Budget Unit Cost |
| Arduino | 1 | $100.00 | $100.00 | $100,000.00 |
| Electric Motors | 2 | $9.99 | $19.98 | $9,990.00 |
| Count Sensor | 2 | $2.00 | $4.00 | $2,000.00 |
| Count Sensor Connector | 2 | $2.00 | $4.00 | $2,000.00 |
| 2″x6″ Rectangle | 1 | $2.00 | $2.00 | $2,000.00 |
| Motor Clamps | 2 | $0.59 | $1.18 | $590.00 |
| L-Shape Arm | 1 | $3.00 | $3.00 | $3,000.00 |
| Wheels | 2 | $7.50 | $15.00 | $7,500.00 |
| Large Wheel Nut | 2 | $1.00 | $2.00 | $1,000.00 |
| Large Wheel Bolt | 2 | $1.00 | $2.00 | $1,000.00 |
| Battery Supports | 1 | $1.00 | $1.00 | $1,000.00 |
| Battery Risers | 4 | $1.00 | $4.00 | $1,000.00 |
| Propellers | 2 | $0.45 | $0.90 | $450.00 |
| Angle Brackets | 10 | $0.84 | $8.40 | $840.00 |
| Bulk Screws and Nuts | 1 | $2.88 | $2.88 | $2,880.00 |
| Total | $170.34 | $170,340.00 |
Table A.2 – Airplane Design Bill of Material
| Component | Amount | Unit Price | Total Price | Budget Unit Cost |
| Arduino | 1 | $100.00 | $100.00 | $100,000.00 |
| Electric Motors | 2 | $9.99 | $19.98 | $9,990.00 |
| Count Sensor | 2 | $2.00 | $4.00 | $2,000.00 |
| Count Sensor Connector | 2 | $2.00 | $4.00 | $2,000.00 |
| T-Shape | 1 | $2.00 | $2.00 | $2,000.00 |
| Custom Trapezoids | 2 | $2.00 | $4.00 | $2,000.00 |
| Motor Clamps | 2 | $0.59 | $1.18 | $590.00 |
| L-Shape Arm | 1 | $3.00 | $3.00 | $3,000.00 |
| Wheels | 2 | $7.50 | $15.00 | $7,500.00 |
| Large Wheel Nut | 2 | $1.00 | $2.00 | $1,000.00 |
| Large Wheel Bolt | 2 | $1.00 | $2.00 | $1,000.00 |
| Battery Supports | 1 | $1.00 | $1.00 | $1,000.00 |
| Battery Risers | 4 | $1.00 | $4.00 | $1,000.00 |
| Propellers | 2 | $0.45 | $0.90 | $450.00 |
| Angle Brackets | 2 | $0.84 | $1.68 | $840.00 |
| Bulk Screws and Nuts | 1 | $2.88 | $2.88 | $2,880.00 |
| Total | $167.62 | $167,620.00 |
Table A.3 – Tiana’s Bill of Materials
| Component | Amount | Unit Price | Total Price | Budget Unit Cost |
| Arduino | 1 | $100.00 | $100.00 | $100,000.00 |
| Electric Motors | 2 | $9.99 | $19.98 | $9,990.00 |
| Count Sensor | 2 | $2.00 | $4.00 | $2,000.00 |
| Count Sensor Connector | 2 | $2.00 | $4.00 | $2,000.00 |
| T-Shape | 1 | $2.00 | $2.00 | $2,000.00 |
| Trapezoids | 2 | $1.00 | $2.00 | $1,000.00 |
| Motor Clamps | 2 | $0.59 | $1.18 | $590.00 |
| L-Shape Arm | 1 | $3.00 | $3.00 | $3,000.00 |
| Wheels | 2 | $7.50 | $15.00 | $7,500.00 |
| Large Wheel Nut | 2 | $1.00 | $2.00 | $1,000.00 |
| Large Wheel Bolt | 2 | $1.00 | $2.00 | $1,000.00 |
| Battery Supports | 1 | $1.00 | $1.00 | $1,000.00 |
| Battery Risers | 4 | $1.00 | $4.00 | $1,000.00 |
| Propellers | 2 | $0.45 | $0.90 | $450.00 |
| Angle Brackets | 2 | $0.84 | $1.68 | $840.00 |
| Bulk Screws and Nuts | 1 | $2.88 | $2.88 | $2,880.00 |
| Total | $165.62 | $165,620.00 |
Table A.4 – Mystic Macaw Bill of Materials
| Component | Amount | Unit Price | Total Price | Budget Unit Cost |
| Arduino | 1 | $100.00 | $100.00 | $100,000.00 |
| Electric Motors | 2 | $9.99 | $19.98 | $9,990.00 |
| Count Sensor | 2 | $2.00 | $4.00 | $2,000.00 |
| Count Sensor Connector | 2 | $2.00 | $4.00 | $2,000.00 |
| T-Shape | 1 | $2.00 | $2.00 | $2,000.00 |
| Custom Shell | 1 | $11.00 | $11.00 | $11,000.00 |
| Motor Clamps | 2 | $0.59 | $1.18 | $590.00 |
| Wheels | 2 | $7.50 | $15.00 | $7,500.00 |
| Large Wheel Nut | 2 | $1.00 | $2.00 | $1,000.00 |
| Large Wheel Bolt | 2 | $1.00 | $2.00 | $1,000.00 |
| Battery Cage | 1 | $2.00 | $2.00 | $2,000.00 |
| Battery Door | 1 | $0.50 | $0.50 | $500.00 |
| Propellers | 2 | $0.45 | $0.90 | $450.00 |
| Angle Brackets | 2 | $0.84 | $1.68 | $840.00 |
| Bulk Screws and Nuts | 1 | $2.88 | $2.88 | $2,880.00 |
| Total | $169.12 | $169,120.00 |
Table A.5 – The Bullet Bill of Materials
| Component | Amount | Unit Price | Total Price | Budget Unit Cost |
| Arduino | 1 | $100.00 | $100.00 | $100,000.00 |
| Electric Motors | 2 | $9.99 | $19.98 | $9,990.00 |
| Count Sensor | 2 | $2.00 | $4.00 | $2,000.00 |
| Count Sensor Connector | 2 | $2.00 | $4.00 | $2,000.00 |
| 2″x6″ Rectangle | 1 | $2.00 | $2.00 | $2,000.00 |
| Custom Shell | 1 | $6.00 | $6.00 | $6,000.00 |
| Motor Clamps | 2 | $0.59 | $1.18 | $590.00 |
| L-Shape Arm | 1 | $3.00 | $3.00 | $3,000.00 |
| Wheels | 2 | $7.50 | $15.00 | $7,500.00 |
| Large Wheel Nut | 2 | $1.00 | $2.00 | $1,000.00 |
| Large Wheel Bolt | 2 | $1.00 | $2.00 | $1,000.00 |
| Battery Supports | 1 | $1.00 | $1.00 | $1,000.00 |
| Battery Risers | 4 | $1.00 | $4.00 | $1,000.00 |
| Propellers | 2 | $0.45 | $0.90 | $450.00 |
| Angle Brackets | 10 | $0.84 | $8.40 | $840.00 |
| Bulk Screws and Nuts | 1 | $2.88 | $2.88 | $2,880.00 |
| Total | $176.34 | $176,340.00 |
Appendix B: Team Meetings
Date: 1/11/19
Time: 9:35-10:55 (in class)
Members Present: All
Topics/Agenda: create u.osu.edu website, complete exercise 1-programing basics
Action Items with names assigned:
Jeff: complete exercise 1-programing basics
Nick: complete exercise 1-programing basics
Samira: complete exercise 1-programing basics
Tiana: complete exercise 1-programing basics
To be completed before next meeting:
Jeff: Reflection
Nick: Reflection
Samira: Meeting notes
Tiana: Website
Reflection:
Programming Arduino was explored and team members are prepared to begin the AEV project. Team members are beginning to brainstorm and think about a design that would be the most efficient for this project, as well as consider possible issues that could arise during this project.
Date 1/18/19
Time: 9:35-10:55 (in class)
Members Present: All
Topics/Agenda: complete exercise 2-external sensors
Action Items with names assigned:
Jeff: setup the AEV
Nick: program the code for adruino
Samira: setup the AEV
Tiana: setup the AEV
To be completed before next meeting:
Jeff: review AEV kit checklist/update website
Nick: review AEV kit checklist/update website
Samira: review AEV kit checklist/update website
Tiana: review AEV kit checklist/update website
Reflection:
Team members tested the reflectance sensors for the AEV, and familiarize themselves with senor hardware components and troubleshooting techniques
Date 1/25/19
Time: 9:35-10:55 (in class)
Members Present: All
Topics/Agenda: complete exercise 3-performance analysis tool
Action Items with names assigned:
Jeff: complete exercise 1-performance analysis tool
Nick: complete exercise 1-performance analysis tool
Samira: organize website
Tiana: organize website
To be completed before next meeting:
Jeff: Brainstorm AEV design
Nick: Brainstorm AEV design
Samira: Brainstorm AEV design
Tiana: Brainstorm AEV design
Reflection:
The AEV Data extraction program was explored and team members tested the motor of the vehicle. Team members also continued to develop and organize the website.
Date 2/8/19
Time: 9:35-10:55 (in class)
Members Present: All
Topics/Agenda: complete exercise 3, test motor, evaluate potential designs
Action Items with names assigned:
Jeff: complete exercise 3
Nick: complete exercise 3
Samira: update website
Tiana: update website
To be completed before next meeting:
Jeff: work on progress report
Nick: work on progress report
Samira: work on progress report
Tiana: work on progress report
Reflection:
Team members tested and fixed the program to run the vehicle. After the first two initial attempts to run the AEV failed due to poor connectivity and motor speed the team members fixed issues with the code and with the vehicle set up. Samira and Tiana worked on the criteria to test the potential designs.
Appendix C: Arduino Code
Exercise 1:
celerate(1,0,15,2.5); //accelerates motor 1 0-15% in 2.5 seconds
goFor(1); //holds the final speed for 1 second
brake(1); //stops motor 1
celerate(2,0,27,4); //accelerates motor 2 0-27% in 4 seconds
celerate(2,27,15,1); //decellerates otor 2 to 15% in 1 second
brake(2); //stops motor 2
reverse(2); //makes motor 2 reverse, all positive values will make it move back
celerate(4,0,31,2); //accelerates motor 1 forward to 31% in 2 seconds and motor backwards to 31% in 2 seconds
motorSpeed(4,35); //presets the motor to 35%
goFor(1); //holds this 35% speed for 1 second
brake(2); //brakes motor 2, motor 1 is still running forward at 35%…
goFor(3); //…for three seconds
brake(4);
goFor(1); //these lines brake all motors for 1 seconds
reverse(1); //currently motor 1 and 2 are reversed
celerate(1,0,19,2); //accelerates motor 1 0-19% in 2 seconds
motorSpeed(2,35); //sets the motor speed for motor 2 to 35%
goFor(2); //waits for 2 seconds. motor 1 is at 19% and motor 2 is at 35%
motorSpeed(2,19); //both motors are now 19%
goFor(2); //runs both motors at 19% for 2 seconds
celerate(4,19,0,3); //decellerates all motors to 0 from 19%
brake(4); //stops all motors
Exercise 2:
// Run all motors for 2 seconds at 25% power
motorSpeed(4,25);
goFor(2);
//decrease motor speeds to 20% and go 12 feet at this speed
motorSpeed(4,20);
goToAbsolutePosition(296); //goes to approximately 12′, which is actually 295.3846, rounded up to ensure it travels at least 12′
//reverse the motors and run them for 1.5 seconds at 30%
reverse(4);
motorSpeed(4,30);
goFor(1.5);
//stop all motors…
brake(4);
Exercise 3:
//accelerate all motors from 0-25% in 3 seconds
celerate(4,0,25,3);
//after accelerating, setting all motors to to 25% and waiting 1 second
motorSpeed(4,25);
goFor(1);
//running all motors 20% for 2 seconds
motorSpeed(4,20);
goFor(2);
//reverse all motors
reverse(4);
//set all motors to 25% for 2 seconds
motorSpeed(4,25);
goFor(2);
//brake all motors
brake(4);