Project Gulfstream

Curtis ChristiansenJordan HodgeJordan Lyford

Troy MillsWilson Schreiber

Project Gulfstream 

Curtis ChristiansenJordan Hodge Jordan Lyford

Troy Mills

Wilson Schreiber 

Agenda

• Background• Problem Statement• Solution Statement• System Overview• Design

o Mechanicalo Electricalo Software 

• Assignments• Schedule• Budget

Background

Many barns that contain livestock require some method to contain the animal waste and make it easy to clean  Wood shavings are typically spread to make cleanup easier

Problem Statement

Wood shavings may make cleanup easier, but it is still tedious.The shavings still need to be collected and removed.

Solution Statement

Our solution consists of  

• Autonomously driven vehicle with a vacuum source to collect the material

• Spiraling navigation • Material collection storage area, with an auger disposal • Docking station for disposal (HomeBase)

For prototyping purposes, we are planning on testing and demonstrating the device in a controlled, "Lab" setting

System Overview

Vacuum Pump

Storage Bin

Vacuum Hose

Auger Out(when full & docked)

Mobility Platformw/ Micro-controller and on-board power

Collection Manifold

Sensors  A: HomeBase Receiver  B: Bin Full Sensor  C: Bin Empty Sensor  D-E: Obstacle Sensors

HomeBase Transmitter

Mechanical

Mechanical

Current Design - Mechanical

Initial Prototype - Mechanical

Electrical

Electrical - Bin Full Sensor

Power 

Power - Inverter

Ratings (120vAC)560W Continuous

700W for 5-Minutes1000W Surge

Design Concepts - HomeBase

Design Concepts - HomeBase

HomeBase - Transmitter

Design Concepts - Navigation Software

System Overview - Navigation

System Overview - Navigation

if (Run_Autonomous)    {   if (Run_Autonomous == 2)        {                LeftMotorDuty = +30;        RightMotorDuty = +75;                Set_Left_Motor_Duty_Cycle (LeftMotorDuty);        Set_Right_Motor_Duty_Cycle (RightMotorDuty);                 spiral_count = 350;        Start_Motors(500);                Run_Autonomous = 3;       }    

if (Run_Autonomous == 3)    {     if(spiral_count == 0)      {       ++LeftMotorDuty;       Set_Left_Motor_Duty_Cycle (LeftMotorDuty);       Set_Right_Motor_Duty_Cycle (RightMotorDuty);             if (LeftMotorDuty == (RightMotorDuty-1))        {         Stop_Motors();         LeftMotorDuty = 0;         RightMotorDuty = 0;         Set_Left_Motor_Duty_Cycle (LeftMotorDuty);         Set_Right_Motor_Duty_Cycle (RightMotorDuty);         Run_Autonomous = 0;        }

      Start_Motors(500);      spiral_count = 350;                        //Defines the change in radius per unit step of duty cycle             

Navigation Software - Spiral

Navigation Software - Implementation

Current Assignments

• Troy: Bin, Auger• Hodge: Navigation, CAD• Lyford: Vacuum, HomeBase software• Curtis: Obstacle detection software, CAD, Scoop• Wilson: Navigation, Bumper

Schedule

• Week 1 (8/30 - 9/3)o Brainstorming, Vacuum Testing, Sensor Bumper, MARV Wiring

• Week 2 (9/7 - 9/10)o MARV Training & Testing, Further concept development, Vacuum testing

• Week 3 (9/13 - 9/17)o MARV Navigation, Power systems, Vac. testing, Bin/Auger prototypes

• Week 4 (9/20 - 9/24)o MARV Nav., Bin construction, Implement nav. sensors, Vacuum testing

• Week 5 (9/27 - 10/1)o MARV Navigation, Bin construction, Mount vacuum and scoops

• Week 6 (10/4 - 10/8)o  MARV Navigation, Implement bin sensors, Final mounting

• Week 7 (10/18 - 10/22)o  Engineering Verification and Testing, Problem corrections

• Week 8 (10/25 - 10/29)o  Engineering Verification and Testing, Problem corrections

Preliminary Budget

• Auger - $20• Vacuum Accessories - $40• Stock - $50• Fittings and Fasteners - $30• Bin - $25• Sensors - $60

 Total - $225

Expenses

Questions