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October 2016
PA M A N TA S A N N G L U N G S O D N G M AY N I L A
ACKNOWLEDGEMENT:
It was a great sigh and relief that we were able to finish everything about our research. After
having done such big accomplishments, on our part, it really means a lot! Our research study has
made us realize a lot of things... and one of those is that, we would not be able to complete it
without the help, aid, and inspiration of these remarkable people.
We would like to express our sincerest appreciation and gratitude to the following people and
institutions for helping us in accomplishing our research. This study would have not been possible
without their support and guidance.
First and foremost, we would like to thank our God Almighty, Jesus Christ our Saviour,
Mother Mary and the Holy Spirit for keeping us as their children, and for never ceasing to love,
comfort and guide us through all the years.
To our dearly beloved parents, who love us unconditionally. They are our forever an
inspiration, their love and support gets us going and theyre our source of strength. Thank you for
everything.
To our team, thank you for the patience, encouragements and the bright ideas as well as for
their house used for accommodation when conducting the study. Well surely cherish the
camaraderie that kept us together most especially during our critical moments.
To e-Gizmo Mechantronix Center, Deeco and Alexan for the supplies of the materials needed
in order to carry out our research successfully.
Best acknowledgement goes to the College of Engineering and Technology, which serves as
our comfort zone. To our college Alma Mater, Pamantasan ng Lungsod ng Maynila, our second
home, the perfect university in honing our capabilities, skills and talents.
And last but definitely not the least, to our beloved professor, Engr. Jenalyn Macarilay, for
not only technically inspiring us to give our very best to whatever we do but she also serves as an
icon, an inspiration for all of us to achieve more, to do more and be the better us, our heartfelt
gratitude for you Maam.
The Proponents
Vince Harrold A. Altura
Junel Paolo C. Aure
Wilson C. Paat
Francis Nicko D. Ricardo
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TABLE OF CONTENTS:
1. Introduction
A. Introduction
D. Objectives
F. Definition of Terms
10
14
3. Methodology
A. Procedures
15
B. Experiment Set-Up
17
22
B. Computation
22
24
B. Conclusions
24
C. Recommendations
25
Bibliography
26
Appendices
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LIST OF TABLES:
Table 1: Mathematical Relationship of Speed, Power and Charging Time
Table 2: Distance Measured For 5 Trials
Table 3: Summary of Findings
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LIST OF FIGURES:
Figure 1: The Sense-Plan-Act Paradigm
Figure 2: Motion Control System Block Diagram
Figure 3: Schematic of Typical Wind Turbine
Figure 4: Process Flowchart
Figure 5: Schematic Diagram
Figure 6: Input Set-up
Figure 7: Output Set-up
Figure 8: Calculation of Motors Speed
Figure 9: Propeller
Figure 10: Motor Driver Shield
Figure 11: Arduino board
Figure 12: Ultrasonic Sonar Sensor
Figure 13: Fixed Wheels on Motors
Figure 14: Connecting Wires
Figure 15: 6V DC Motor
Figure 16: Rechargeable Battery
Figure 17: Li-Poly Battery
Figure 18: Acrylic Board
Figure 19: Slider
Figure 20: Schottky diode
Figure 21: Construction of the wind generator
Figure 22: Construction of Chassis
Figure 23: Sandpapering the Chassis
Figure 24: Assembly of the robot car
Figure 25: Front view of the robot car
Figure 26: Top view of the robot
Figure 27: Side view of the robot car
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CHAPTER I
THE PROBLEM AND ITS BACKGROUND
A. Introduction
Energy is one of the most essential things that a human needed for survival. It is the reason
behind many activities in our daily life. Energy can be renewable and non-renewable. Primary
energy sources take many forms, including nuclear energy, fossil energy such as oil, coal and
natural gas and renewable sources like wind, solar, geothermal and hydropower. These primary
sources are converted to electricity, a secondary energy source, which flows through power lines
and other transmission infrastructure to your home and business.
Wind energy today is the cleanest and most reliable way to generate electricity. Wind power
neither produces any toxic emissions nor any heat-trapping emissions that contribute to global
warming. How fast, often and when the wind blows has an important role to play in power
generation.
In todays world Robotics is a fast growing and interesting field. It is part of todays
communication which is a part of the advancement of technology. Robot has sufficient
intelligence to cover the framework of a car. The proponents decided to work on robotics field to
design something which will benefit and give comfort to humans.
This research mainly focuses on showing a process of energy conversion from the mechanical
energy produced by the wind into an electrical energy to power the Arduino-based robot car
collision safety mechanism. Aside from the fulfillment of the partial requirement for the course of
Energy Conversion (Laboratory), this will also asses the importance of the course based to our
chosen field.
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This research deals with a wheeled Robot which uses an ultrasonic sonar sensor, a distance
measuring sensor with up to 3.5-meters range to detect the obstacle in between the path to slow
down and eventually stop the motors rotation with the help of microcontroller and motor shield.
The possibility of having sustainable energy produced while driving is the main concept of
the study, where there are miniature windmills that are easily placed and removed on our robot
cars. Driving the windmills would spin and produce energy that will be stored and will be further
used to power the designed system.
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The research mainly focus is about the principles of the processes of energy conversion,
specifically with the use generators. However, the researches will be limiting themselves to only
using wind energy.
The microcontroller used for programming the ultrasonic sonar sensor will be limited to
Arduino Uno. The capacity of the rechargeable battery to be used for the storage of the voltage
produced by generator will be limited to 6 Volts.
In verifying the power output generated, the researchers would test the generator on one
designed system, namely the Arduino-based robot car collision safety mechanism.
F. Definition of Terms
1. DC Motor - is any of a class of electrical machines that converts direct current electrical
power into mechanical power. The most common types rely on the forces produced by
magnetic fields.
2. Electric Battery - is a device consisting of one or more electrochemical cells with
external
connections
provided
to
power
electrical
devices
such
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CHAPTER II
REVIEW OF RELATED LITERATURES
A. Foreign Literature and Studies
The Sense-Plan-Act Paradigm:
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Sachin Modi (2002). The sense-plan-act paradigm is the general approach taken for mobile
vehicle navigation is shown in figure. The vehicle has a set of sensors which provide data for
modeling the environment. The world model interprets the sensor data and processes it until logical
prepositions about the state of the world are produced. These prepositional accounts of the world
state serve as inputs along with goals and possibly user preferences, to the planning process. The
planning process would evaluate the set of possible actions and determine the desired action. Each
step of this plan is passed to the control level for execution, which means that the plan includes
actions down to the actuator level. This model for mobile navigation is a reactive model, when a
vehicle is moving it will detect a change in the world map - for example a new obstacle - and then
will react to the new information by developing a new plan for navigation.
This approach gave way to that of mapping and navigation control. There are three basic questions
that define the mobile robot mapping and navigation.
Where am I?
How do I get to other places from here?
Where are the other places relative to me?
There are different approaches to representing and using spatial information. As such they
span a spectrum of options for mapping and navigation. On one side of this are purely metric maps.
In these the robots environment is defined by a single global coordinate system in which all
mapping takes place. Typically the map is a grid with each cell of the grid representing some space
in real world. These approaches work well in environments with little consistent structure. Here it is
easy for the robot to realign itself with the global coordinates by using external markers. On the
other side of the spectrum are qualitative maps; these represent the robots environment as places
and connection between places. These maps do not contain geometric information but have only
information about proximity and order. Qualitative maps can be more compact in their
representation of the space. They work well in structured environments where there are distinctive
goals that the vehicle must achieve.
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motor and Galil motion control system. Adjusting the Polaroid system parameters and
synchronizing them with the motion of the motor permits measuring distance values at known
angles with respect to the centroid of the vehicle. The distance value is returned through an RS232
serial port to the central controller. The central controller uses this input to drive the motion control
system. The range of this system is 40 feet.
Wind Energy System Design:
Manwell (2001) Converting the energy in wind into a socially useful electrical or
mechanical form involves many types of processes which all have their own particular
characteristics. Some of these processes are well developed, others less so. Modern turbines have
evolved primarily from what is known as the Danish concept. This design was based on a three
bladed, upwind, stall-controlled rotor which drove an induction generator via a gearbox. Todays
turbines have extended that concept; many of them now incorporate blade pitch control, power
electronic converters and use different types of generators. Some of the key features of modern
wind turbines are summarized below and are illustrated in figure.
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Figure 3: Schematic of Typical Wind Turbine
The first step in the extraction of energy is converting the kinetic energy of wind to
mechanical energy in a rotor via an aerodynamic lift. Rotors nowadays typically have three blades,
but having more or fewer is possible. Blades are constructed primarily of composite material. Most
rotors have a horizontal axis of rotation, although a vertical axis is also possible. The rotor is
generally oriented such that the blades are upwind of the tower, although downwind orientation has
sometimes been used.
Positioning of the rotor is provided by a yaw system. The rotor, which turns relatively slowly
(the more so for larger rotors), is connected to a main shaft which in turn connects (typically) to a
gearbox. The gearbox provides an increase in speed such that the speed of the gearboxs output
shaft is matched to the speed requirements of the generator. The generator, which is the next step in
the process, performs the conversion of mechanical energy to electrical energy. The shafts,
gearbox, generator and associated equipment are contained in a nacelle which is located on top of a
tower.
The tower keeps the rotor nacelle assembly well up into the air where the wind speed is
higher and less turbulent than it would be closer to the ground. The tower, which is normally made
of steel, is attached to a foundation (reinforced concrete for onshore turbines) or to a more
extensive support structure (as in the case of offshore turbines). Electricity is carried down the
tower via a droop cable. A control system, portions of which may be in the nacelle or on the
ground, performs a variety of functions. These include starting and stopping the rotor and
protecting the machine during extreme winds or faults. Most turbines today incorporate blade pitch
control where the blade may be turned about its long axis to change its aerodynamic properties.
Other devices may also play a significant role in the process. These include in particular power
electronic converters, which may facilitate variable speed operation of the rotor, while allowing the
output electricity to be of essentially constant voltage and frequency.
The electrical output of most turbines nowadays is directed into a conventional electrical
network. The voltage may be at the distribution level or higher, depending on the situation. In any
case, a transformer is normally used to convert the generators output (low voltage) to the electrical
line voltage (medium or high voltage). Various other electrical devices and switchgear are also
used to allow safe connection to the network and protection in the case of faults.
In some applications, such as where the grid is isolated or weak, or where there is large
amount of wind energy generation installed, the interconnection process may be more involved.
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Such applications can benefit from the use of short-term storage and supervisory control systems.
As an increasing amount of wind generation is added to grids of whatever type, more attention
must be given to the issues associated with interconnection. These could include demand side
management, longer-term storage or even fuel production (e.g. hydrogen via the electrolysis of
water).
B. Synthesis of Related Literature to the Case Study
The foreign literatures that were gathered in will be used in enriching the study. The
information that was gathered includes reviews of designing an obstacle avoiding robot car. It also
includes the components of needed for the construction. The simple concept of constructing wind
generator is also discussed. These were used by the researchers to support the data that were
gathered in the study.
CHAPTER III
METHODOLOGY
A. Procedures
The study was performed by generating a power through wind energy and converting it to
electrical energy to power the proposed system, Arduino-based robot car collision safety
mechanism.
The input system was constructed by connecting two motors in series attached to a
rechargeable battery. The battery is then connected to the output system which is a robot car.
The proponents calculated the mathematical relationship of the speed, power produced and the
charging time for the data analysis in the study.
After gathering the data essential to the study, we statistically computed the results to be used
as the basis for the analysis of the formulated problem. The results of the computation shows how
related each of the parameters are.
After acquiring all the requirements, it will become the basis of conclusion in answering the
power needed to carry out the designed output system.
1.
Algorithm
Input System:
1. Generation of power with the use of the made windmill generator.
2. Measure the speed of rotation of the windmill.
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3.
4.
5.
Measure distance
for 5 trials
Connect the
components
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N
Yes
a
Yes
b
3. Materials
1.
2.
3.
4.
5.
6.
7.
8.
9.
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Figure 5: Schematic Diagram
2. Set-up of prototype
Input System:
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void loop()
{
digitalWrite(utrigger, LOW);
delayMicroseconds(2);
digitalWrite(utrigger, HIGH);
cm = microsecondsToCentimeters(duration);
if(cm>=60)
{
analogWrite (9, 200);
analogWrite (10,200);
digitalWrite(11, LOW);
digitalWrite(8, LOW);
}
else if (cm>20 && cm<60)
{
analogWrite (9, 50);
analogWrite (10,50);
digitalWrite(11, LOW);
digitalWrite(8, LOW);
}
else
{
analogWrite (9, 0);
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analogWrite (10,0);
digitalWrite(11, LOW);
digitalWrite(8, LOW);
}
Serial.println(cm);
delay(5);
}
long microsecondsToInches(long microseconds)
{
return microseconds / 74 / 2;
}
long microsecondsToCentimeters(long microseconds)
{
return microseconds / 29 / 2;
}
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CHAPTER IV
DATA ANALYSIS
A. Presentation of Data Gathered
The following table shows the different relationship of the following parameters considered in
the study:
Table 1: Relationship of Speed, Power and Charging Time
No. of Trials
1
2
3
4
5
6
7
8
9
10
12000rpm = 7 V
12000rpm = 7 V
12000rpm = 7 V
12000rpm = 7 V
12000rpm = 7 V
12000rpm = 7 V
12000rpm = 7 V
12000rpm = 7 V
12000rpm = 7 V
12000rpm = 7V
battery)
12000rpm = 33.5 min
12000rpm = 33.5 min
12000rpm = 33.46 min
12000rpm = 33.4 min
12000rpm = 33.33 min
12000rpm = 33.3 min
12000rpm = 33.2 min
12000rpm = 33.15 min
12000rpm = 33.05 min
12000rpm = 33 min
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Based on the table shown above, a constant speed of 12000rpm is needed to produce the
required 7V input for the car collision safety mechanism. On the other hand, the average time
calculated in order to produce the voltage is 33 min and 17 seconds.
Table 2: Distance Measured For 5 Trials
Trials
1st
2nd
3rd
4th
5th
Average Distance:
Distance
19.8cm
20.1cm
20cm
19.9cm
19.8cm
19.92cm
Based on the table shown above, the distance measured varies from 19.8cm to 20.1cm with an
average distance of 19.92cm.
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CHAPTER 5
SUMMARY OF FINDINGS, CONCLUSIONS AND RECOMMENDATIONS
A. Findings
This research was conducted by applying the wind generator to an output device, Arduinobased car collision safety mechanism.
For the conclusion to be drawn, the mathematical relationship between the speed of the
motor and the power produced is calculated. The charging time of the battery is also recorded.
Table 3: Summary of Findings
Parameter
Speed Required
Time of Charging
Distance
Results
12000 rpm
33minutes 17 seconds
19.92cm
This table shows the average values calculated for the three different parameters needed in
the study.
B. Conclusion
Based on the data and results gathered, the proponents have concluded that:
I. The constructed wind-powered generator can indeed power the Arduino-based robot car
collision safety mechanism.
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The minimum amount of power needed for the output system is 5V.
II. The relationship between the speed and the power produced is directly proportional.
III. The relationship between time and speed is t=398400/s
Where: t = time (minutes)
s= speed (rpm)
IV. The accuracy of the designed robot car collision safety mechanism is 99.6% based on the
results gathered.
C. Recommendations
For those who will do parallel research studies, the researchers recommend other alternative
options and procedures that will help in improving the results.
produced.
Use another type of motor with different specifications in the input system so it will lessen
the amount of motor needed.
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BIBLIOGRAPHY:
1 Modi, Sachin. (2002). Comparison of three obstacle avoidance methods for an
autonomous guided vehicle. Manarashtra Institute of Technology, University of Pune,
India.
2 D. Kortenkamp, R.P. Bonasso, R. Murphy. (1998). Artificial intelligence and mobile
robots, the MIT press, pp. 3-20.
3 Devine-Wright P. (2005) Beyond NIMBYism: Towards an integrated framework for
understanding public perceptions of wind energy. Wind Energy, vol. 8, pp 125139.
4 Manwell J.F., McGowan J.G. and Rogers A.L. (2001) Wind Energy Explained: Theory
Design and Application. Wiley, Chichester, UK.
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APPENDIX:
Material used:
Figure 9: Propeller
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Process:
Input:
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Output:
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