Final Design

High Speed Sand Target Impact Testing

Senior Design 2009-2010 Group #3

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             As far as the physical set-up of the sensor guided feedback system, the following is a description of how the group intends to construct the system accordingly. 

 

6.1 Hardware Set-up

 

 

Figure 9: Operating Box

 

             Being the “brain” of the entire feedback system, the microcontroller supports all the other components within the system including motor controllers, encoders, and sensors.  The microcontroller will be placed within the current operating box as seen in Fig. 9. The motor controllers will be directly connected to each individual motor along with being connected to the microcontroller (Fig. 9).  These motor controllers will be placed within the same box as the microcontroller.  The encoders for the motors will be directly attached to the shaft of each individual motor on the apparatus (Fig.10).  The distance position sensors, as previously mentioned, will be placed on all four sides of the apparatus along with the infrared sensor being placed in front of the forward motion of the apparatus. 

Figure 10: Motors (noted in solid black)

 

 

6.2 C Programming Approach/Method

In order to properly maneuver the device in the box, a detailed program is needed to evaluate the data that is received from the sensors and encoders and respond accordingly.  Since the micah plates that are used in the experiments are removed before the sand is excavated, we decided to approach the task in a straight forward manner using a simple path.  When the operator is ready, they’ll press a start button on the main console to start the program.  We’ll then have the platform start at a corner we’ll designate as the “zero” point, and from there translate the length of the box till it reaches the end, at which point it will return to its starting point (Fig. 11a). When it reaches its starting point, it’ll move over a certain distance to a new starting point where it will repeat the previous movement, and this process will be repeated many times until it reaches the corner on the opposite side from the “zero” point (Fig 11b).  When the platform reaches the opposite corner, it will move down about a quarter of an inch to a new position where it will repeat the process described above, and this movement will be repeated many times, until it runs into the sand target.  When the sand target presents itself to one of the infrared sensors, the platform will stop, move up and over to the other side of the box (Fig. 11c).  When the platform has reached the other side of the box it will return to its original depth and continue with the above mentioned translational process.  When the sensors pick up the sand target again, it will repeat the process where it moves over to the other side of the box and resume its original depth to continue translating the length of the box.  If the platform follows this path, it will eventually reach the bottom of the box; however the researchers will want to stop the device once the sand target has been significantly unearthed, so there will be a stop button for them to push to halt the device’s progression.

 

Figure 11: Pathway of Motion Taken by the Excavator

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

Programming Flow Chart