{"id":4247,"date":"2020-10-05T16:58:14","date_gmt":"2020-10-05T15:58:14","guid":{"rendered":"http:\/\/dronesonen.usn.no\/?p=4247"},"modified":"2020-12-09T23:44:38","modified_gmt":"2020-12-09T22:44:38","slug":"week-40","status":"publish","type":"post","link":"https:\/\/dronesonen.usn.no\/?p=4247","title":{"rendered":"week 40"},"content":{"rendered":"\n<p>Table of contents:<\/p>\n\n\n\n<ul class=\"wp-block-list\"><li>#1 Modelling progress (Daniel)<\/li><li>#2printing(Daniel)<\/li><li>#3 Search pattern in the making (David)<\/li><\/ul>\n\n\n\n<p>#1 <strong>modeling progress<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image\"><img loading=\"lazy\" decoding=\"async\" width=\"603\" height=\"612\" src=\"http:\/\/dronesonen.usn.no\/wp-content\/uploads\/2020\/10\/image-1.png\" alt=\"\" class=\"wp-image-4254\" srcset=\"https:\/\/dronesonen.usn.no\/wp-content\/uploads\/2020\/10\/image-1.png 603w, https:\/\/dronesonen.usn.no\/wp-content\/uploads\/2020\/10\/image-1-296x300.png 296w\" sizes=\"auto, (max-width: 603px) 100vw, 603px\" \/><figcaption>Here is what the assembly resembles at the time<\/figcaption><\/figure>\n\n\n\n<p>The prototyping and modeling of the cannon is going great.<br>As I am working on printing a physical cannon, so that the other guys can work with something more tangible.<br>Right now I have not figured out the final launching mechanism. But I have many ideas pending.<br><br>The control of the cannon is handled by 3 servos. 2 in the Y-axis, and 1 in the X-axis.<br>The reason for this split is that the &#8220;Y-servors&#8221; are set under more load and thus, more friction. My way of thinking is that it is better to overengineer that to have the mechanism fail.<br>The &#8220;X-servo&#8221; is placed into a separate wheel, and have a gear with the base so that it can rotate.<br><\/p>\n\n\n\n<figure class=\"wp-block-image is-resized\"><img loading=\"lazy\" decoding=\"async\" src=\"http:\/\/dronesonen.usn.no\/wp-content\/uploads\/2020\/10\/image-2.png\" alt=\"\" class=\"wp-image-4255\" width=\"358\" height=\"332\" srcset=\"https:\/\/dronesonen.usn.no\/wp-content\/uploads\/2020\/10\/image-2.png 767w, https:\/\/dronesonen.usn.no\/wp-content\/uploads\/2020\/10\/image-2-300x278.png 300w\" sizes=\"auto, (max-width: 358px) 100vw, 358px\" \/><figcaption>More dimensions on the wheel mentioned above<\/figcaption><\/figure>\n\n\n\n<p><br>The original method of launch was springs. They would be fitted into the 4 holes on the drawing shown under:<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"477\" src=\"http:\/\/dronesonen.usn.no\/wp-content\/uploads\/2020\/10\/image-3-1024x477.png\" alt=\"\" class=\"wp-image-4256\" srcset=\"https:\/\/dronesonen.usn.no\/wp-content\/uploads\/2020\/10\/image-3-1024x477.png 1024w, https:\/\/dronesonen.usn.no\/wp-content\/uploads\/2020\/10\/image-3-300x140.png 300w, https:\/\/dronesonen.usn.no\/wp-content\/uploads\/2020\/10\/image-3-768x358.png 768w, https:\/\/dronesonen.usn.no\/wp-content\/uploads\/2020\/10\/image-3.png 1436w\" sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>After actually printing the part og the cannon, I noticed that there where to much friction in the internal stabilization barrels for the springs to fit inside. To fix this I will ajust the inner diameter a bit to compensate. <\/p>\n\n\n\n<p class=\"has-medium-font-size\"><br>#2<strong>Printing<\/strong><br><br><\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"alignleft is-resized\"><img loading=\"lazy\" decoding=\"async\" src=\"http:\/\/dronesonen.usn.no\/wp-content\/uploads\/2020\/10\/image-4-804x1024.png\" alt=\"\" class=\"wp-image-4270\" width=\"349\" height=\"444\" srcset=\"https:\/\/dronesonen.usn.no\/wp-content\/uploads\/2020\/10\/image-4-804x1024.png 804w, https:\/\/dronesonen.usn.no\/wp-content\/uploads\/2020\/10\/image-4-235x300.png 235w, https:\/\/dronesonen.usn.no\/wp-content\/uploads\/2020\/10\/image-4-768x979.png 768w, https:\/\/dronesonen.usn.no\/wp-content\/uploads\/2020\/10\/image-4.png 864w\" sizes=\"auto, (max-width: 349px) 100vw, 349px\" \/><\/figure><\/div>\n\n\n\n<p><br>You can see there is a printing failure about halfway up the barrel. I do not know what caused this, but hope that next print will not have the same defect.<br><br><br><br><br><br><br><br><br><br><br><br><br><br><br><br><br><\/p>\n\n\n\n<p>#<strong>3 Making of a Search Pattern<\/strong><br><br><\/p>\n\n\n\n<figure class=\"wp-block-image is-resized\"><img loading=\"lazy\" decoding=\"async\" src=\"http:\/\/dronesonen.usn.no\/wp-content\/uploads\/2020\/10\/The-plain-train.png\" alt=\"\" class=\"wp-image-4259\" width=\"272\" height=\"154\" srcset=\"https:\/\/dronesonen.usn.no\/wp-content\/uploads\/2020\/10\/The-plain-train.png 606w, https:\/\/dronesonen.usn.no\/wp-content\/uploads\/2020\/10\/The-plain-train-300x171.png 300w\" sizes=\"auto, (max-width: 272px) 100vw, 272px\" \/><figcaption>The plain search pattern<\/figcaption><\/figure>\n\n\n\n<p>The lidar sensor needs to rotate\naround and look for a target. I imagine it something like this; &nbsp;Have\na servo motor move along its full range across the x-axis, then have another\nservo motor incrementally regulate the y-axis turn. <\/p>\n\n\n\n<p>It remains to be seen just how good of a datapoint collection we get using this pattern paired with the lidar.&nbsp; In the meantime, I\u2019ve also been toying with other ideas such as the one seen below. This has all been programmed in Arduino and tested on two independent servo motors. <\/p>\n\n\n\n<figure class=\"wp-block-image is-resized\"><img loading=\"lazy\" decoding=\"async\" src=\"http:\/\/dronesonen.usn.no\/wp-content\/uploads\/2020\/10\/Black-sheep-pattern-1.png\" alt=\"\" class=\"wp-image-4261\" width=\"234\" height=\"141\" srcset=\"https:\/\/dronesonen.usn.no\/wp-content\/uploads\/2020\/10\/Black-sheep-pattern-1.png 565w, https:\/\/dronesonen.usn.no\/wp-content\/uploads\/2020\/10\/Black-sheep-pattern-1-300x181.png 300w\" sizes=\"auto, (max-width: 234px) 100vw, 234px\" \/><figcaption>The black sheep pattern<\/figcaption><\/figure>\n\n\n\n<figure class=\"wp-block-video\"><video autoplay controls loop muted src=\"http:\/\/dronesonen.usn.no\/wp-content\/uploads\/2020\/10\/searching-servos.mp4\"><\/video><\/figure>\n\n\n\n<p><br><br><br><br><br><br><\/p>\n","protected":false},"excerpt":{"rendered":"<p>Table of contents: #1 Modelling progress (Daniel) #2printing(Daniel) #3 Search pattern in the making (David) #1 modeling progress The prototyping and modeling of the cannon is going great.As I am working on printing a physical cannon, so that the other guys can work with something more tangible.Right now I have not figured out the final [&hellip;]<\/p>\n","protected":false},"author":74,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[62],"tags":[82,73,74,75,70],"class_list":["post-4247","post","type-post","status-publish","format-standard","hentry","category-smartsystems2020","tag-fenrir","tag-modeling","tag-pattern","tag-printing","tag-servo"],"_links":{"self":[{"href":"https:\/\/dronesonen.usn.no\/index.php?rest_route=\/wp\/v2\/posts\/4247","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/dronesonen.usn.no\/index.php?rest_route=\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/dronesonen.usn.no\/index.php?rest_route=\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/dronesonen.usn.no\/index.php?rest_route=\/wp\/v2\/users\/74"}],"replies":[{"embeddable":true,"href":"https:\/\/dronesonen.usn.no\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=4247"}],"version-history":[{"count":6,"href":"https:\/\/dronesonen.usn.no\/index.php?rest_route=\/wp\/v2\/posts\/4247\/revisions"}],"predecessor-version":[{"id":4271,"href":"https:\/\/dronesonen.usn.no\/index.php?rest_route=\/wp\/v2\/posts\/4247\/revisions\/4271"}],"wp:attachment":[{"href":"https:\/\/dronesonen.usn.no\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=4247"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/dronesonen.usn.no\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=4247"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/dronesonen.usn.no\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=4247"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}