Gopher Tortoise Scope

Submitted By: Itiel Agramonte & Xiangzhen SunPresented On: 12/10/15

Mechatronics IIDr. Clark

Overview

Background Subsystems Challenges & Future Work Questions

Motivation

Species is experiencing an increasing rate of declining population

Florida Endangered Species list Population statistics for this

species are done by burrow scoping

Current Scoping Method

IR camera attached to 15 meter tether

Pushed through the borough manually

Hard to maneuver Dragged back out after each

use Conditions: Wet, Muddy, Low

visibility

Task & Requirements

Develop remote control vehicle to drive into the burrows to determine if the burrow is inhabited

IR camera feed Temperature and Humidity Data Weights less than forty lbs Max Dimensions: 4x6x10

Subsystems

Tether

50 feet long .75 inch Diameter Water Proof 0.21 lbs/ft: 10.5 lbs

User Interface

Microprocessor: Raspberry Pi Gamepad: Logitech Battery: 13.4-9v operating

range Step-up/Step down DCDC 12v Step-down DCDC 5v

Rover-Circuit Diagram

Temp/Humidity Sensor: DHT22 Stand-alone IR camera Microcontroller: Arduino Micro Motors with Encoders: 12v,

26RPM, 4.11N-m

DHT22

Reeds out: Humidity Temperature in fahrenheit Temperature in Celsius

Control

Vehicle Operation

Drive modes: Full & Half speed Forward Full & Half speed Backward Full & Half speed CW Rotation Full & Half speed CCW Rotation Break Left & Right Forward Left & Right Backward

5 positions per joy stick: Full Forward Half Forward Zero Half Backward Full Backward

PD control algorithm, control diagram:

Error= Desied Speed- Actual Speed; //scale to range 0~255 P = Error*kP; // calc proportional term I = Integral*kI; // integral term D = (Current Error-Last Error)*kD; // derivative term Drive = P + I + D; // Total drive = P+I+D

PID Controller Arduino H-Bridge Driver Motor

Encoder

Desired Angular speed Error Speed (PWM) Duty Cycle (PWM) Voltage Actual angular speed

2countstCPR

Controller installation: 2 Interrupts (Arduino PWM pin 2, pin 3)attachInterrupt(digitalPinToInterrupt(pin2), counter1++, Falling);attachInterrupt(digitalPinToInterrupt(pin3), counter2++, Falling);

Interrupt 1 Motor 1

Interrupt 2 Motor 2

Counter + 1 (if interrupt pin goes from HIGH to LOW)

Mechanical Design Body length: 8.3 inches Height: 3.7 inches Width: 6.5 inches (including tread)

Mechanical Design

Two wheel drives

Assembly

Challenges and Future Work

Physical Dimensions Body Shape Water Proofing Image Capture Tether

Questions

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