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P.A.C.O.

Tom Brady Christopher Cinti Tierney Griffin Nathan Laage Michael Luther

Advisor: Marco Janko Group ID: 101-09

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Problem Current Solutions Demonstration Design


Mechanical Code

Data

Light Sensor Accuracy

Budget Future Plans


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Factory pipes often develop defects over time, which can cause them to burst When a pipe breaks down, factory production halts until it is fixed

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Invocon Inc. created the Site Inspection of Gas Main by Helical Tomography (S.I.G.H.T.) Robot. Downsides:

Only tests straight pipes Not autonomous

Figure 1: Invocons S.I.G.H.T. Robot [1]

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Figure 2: Finished P.A.C.O. prototype

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Figure 3: PID flow chart [2]

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Figure 4: Hole detection flow chart [3]

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Figure 5: Graph of light sensor data

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Table 1: Robot accuracy

Run number
1 2 3 4 5 6 7 8

Holes Detected (out of 4)


4 3 3 3 4 3 4 4

Random Errors
0 1 0 0 0 0 0 0

Inaccuracies

are

due to uncontrollable variables such as varying light

9 10

4 4

2 0
82.5%

Percent Accuracy

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Table 2: Prototype budget Category NXT Kit PVC Piping Wood and Spray Paint Electrical Tape Painters Tape TOTAL $3.74 $8.29 $353.09 Projected Cost $294.95 $21.32 $15.82

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Add more sensors to detect different types of defects on multiple sides of the pipe Code P.A.C.O to self calibrate its thresholds

Integrate Bluetooth dongle component to allow communication to central computer


Incorporate location awareness system Build to-scale robot

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[1] Pipe_Inspection_Tool_medium.jpg in SIGHT 1995 Available: http://www.invocon.com/tech/sight.html

[Online].

[2] Jim Sluka. (2009). A PID Controller For Lego Mindstorms Robots. [Online] Available:

http://www.inpharmix.com/jps/PID_Controller_For_L ego_Mindstorms_Robots.html

[3] John Hansen. (2013, February 18). NXC Programmer's Guide. [Online]
Available: http://bricxcc.sourceforge.net/nbc/nxcdoc/nxcapi/index.html

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