Self-Correcting Projectile Launcher. Josh Schuster Yena Park Diana Mirabello Ryan Kindle
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1 Self-Correcting Projectile Launcher Josh Schuster Yena Park Diana Mirabello Ryan Kindle
2 Motivation & Applications Successfully reject disturbances without use of complex sensors Demonstrate viability of iterative learning to correct errors Commercial applications (i.e. batting cage, ping pong robot, etc.) Military applications (i.e. automated artillery, mortar targeting, etc.)
3 Objectives Identify the approximate location of the target Fire the projectile with sufficient accuracy to impact the touchscreen Based on location of impact, determine necessary orientation to successfully strike targeted point Repeat until successful shot fired
4 Specifications Range of Motion (Pan) -180 to +180 Range of Motion (Tilt) -45 to +45 Rotational Accuracy ±0.1 Rotational Velocity 30 / s Steady State Error 0% Noise Tolerance 98% Rise Time / Fall Time Settling Time < 0.1 s < 0.1 s Percent Overshoot < 15% Payload < 2 lbs
5 Design Strategy Signal from sensors Control System Pan and Tilt Motors Projectile Launcher Pan and Tilt Motors Control System Inverse Kinematics Data from Touchpad Complete Projectile Launcher
6 Design Strategy Modeling and Simulation Develop a complete model to simulate the physical behavior of the pan and tilt system Must be able to identify parameters such as friction and inertia tensors
7 Design Strategy Mechanical Mount the firing mechanism onto the pan and tilt system Power firing mechanism with a DC power supply Design a system for automated firing of the disc launcher
8 Design Strategy Control Design Develop a robust control system that is capable of aiming at the target by correctly and accurately positioning the disc launcher. Use of a touchpad sensor Learning Algorithm Inverse Kinematics
9
10 Verification (Disc Launcher) Using Toy Disc Launcher as Firing Mechanism Verifying the accuracy and consistency of the Discs Tested by firing Discs ten times from each set distance at target graph with origin level with barrel of launcher Tested between 0.5 and 1.5 meters. Distances before 0.5 and after 1.5 meters will be launched at an angle
11 Verification (Disc Launcher) Horizontal Position (x position) was very close to straight (origin). Maximum average deviation is only 1.1 cm. Plotted of distance of launcher from target vs. vertical displacement (y position) of disc at target. Close to linear. Linear approximation of Y = -9.5X This equation can be used to compute the vertical displacement of the disc at the target (Y in cm) given a known distance of the launcher to the target (0.5<=X<=1.5 in m)
12 Verification (Disc Launcher)
13 Friction Identification
14 Filtering
15 Coulomb Frictions and Viscous Frictions Axis Coulomb Friction (Nm) Viscous Friction (NmS/rad) Negative Positive Negative Positive Tile Pan
16 Plan of Action -Develop Complete Model (Ryan, Diana, Yena) - Develop learning algorithm - Programming (Diana and Josh) - Test algorithm and debug programming (Yena and Josh) - Test Complete System (All) - Re-evaluate Simulations and Models that fail Testing (Yena) - Adjust and Repair Physical System as needed during Testing (Josh) - Continue to develop and debug code as needed (Diana) - Continual Testing of System. (All)
17 Plan of Action Simulation and Modeling -Yena Park Mechanical Design - Josh Schuster Control - Diana Mirabello Testing - Ryan Kindle - Friction Identification - Inertia of Pan and Tilt Mechanism (Diana and Yena) - Trajectory of Disc after Launch (Josh) - Mounting of Gun on System - Design and Mounting of Firing Mechanism (Ryan and Josh) - Automated Firing of Disc Launcher (Diana and Yena) - Test of Mounted System and Automated Firing (Ryan and Josh) - Develop Model of System with Touchpad - Simulate System with Touchpad (Yena and Diana) - Integration of System with Touchpad (Yena and Ryan) - Programming of System with Touchpad (Diana and Josh) - Learn to use and calibrate touchpad (Yena and Ryan) - Test integration of touchpad with System (All) - Develop Model of System with IR sensor - Simulate System with IR sensor (Ryan and Josh) - IR Integration and calibration (Josh and Diana) - Program System to respond to IR sensor (Yena and Ryan) -Test IR System (Josh and Ryan) - Advanced Trajectory model (Josh) - Adjust Mounting of Gun to fit with new Advanced Trajectory Model (if necessary) (Ryan and Josh) -Adjust Firing Control of Gun to fit with new Advanced Trajectory (if necessary) (Yena and Diana) - Test new Trajectory and any changes made (Josh and Yena)
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