Você está na página 1de 36

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

ARDUINO-BASED ROBOT CAR COLLISION SAFETY MECHANISM POWERED BY


WIND GENERATOR

A Case Study Presented to the Faculty of


College of Engineering and Technology
Pamantasan ng Lungsod ng Maynila

In Partial Fulfillment of the Course


ELE415.1 -1 Energy Conversion (Laboratory)

ALTURA, Vince Harrold A.


AURE, Junel Paolo C.
PAAT, Wilson C.
RICARDO, Francis Nicko D.
Bachelor of Science in Electronics and Communications Engineering

Engr. Jenalyn Macarilay

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

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
TABLE OF CONTENTS:
1. Introduction
A. Introduction

B. Background of the Study

C. Statement of the Problem

D. Objectives

E. Scope and Limitations

F. Definition of Terms

2. Review Of Related Literatures


A. Foreign Literatures and Studies

10

B. Synthesis Of Related Literature to the Study

14

3. Methodology
A. Procedures

15

B. Experiment Set-Up

17

4. Data and Computation


A. Presentation of Data Gathered

22

B. Computation

22

5. Summary of Findings, Conclusions and Recommendations


A. Findings

24

B. Conclusions

24

C. Recommendations

25

Bibliography

26

Appendices

27

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
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

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
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

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
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.

B. Background of the Study


The increasing number of accidents in the parking area leads the researchers to make a study
regarding an Arduino-based collision safety mechanism for robot cars powered by the electricity
produced by the wind.
First of all, mechanical energy is converted to electrical energy with the use of generators.
Generators are devices that convert mechanical energy to electrical energy. The output produced
will then be inputted to a device, robot car collision safety mechanism, for verification. Currently
the most prominent method of utilizing wind energy is through the use of windmills. Such
devices are very abundant in the northern part of the Philippines where there are strong winds.

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
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.

C. Statement of the Problem:


This research is conducted to show the basic principle of an energy conversion process. This
also answers the following questions:
1. Can the designed generator power enough to run the Arduino-based robot car collision
safety mechanism?
1.1 How much amount of power is needed to run the Arduino-based robot car
collision safety mechanism?
2. What is the relationship between the speed of the windmill and the power produced?
3. How long will wind generator supply the maximum power at a given speed to the
rechargeable battery?
4. How accurate is the car collision safety mechanism based on distance?
D. Objectives
General
The main goal of this study is to show the basic principle of an energy conversion process.
Specific
1. To determine whether the windmill can power enough to run the car collision safety
system.
1.1 If it is possible, to obtain the amount of power needed.
2. To formulate the relationship between the speed of the windmill and the power produced.
3. To calculate the time needed by the wind generator to supply the maximum power at a
given speed to the rechargeable battery.
4. To prove the accuracy of the car collision safety mechanism based on the distance of the
robot to the obstacle.
E. Scope and Limitations

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
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

as flashlights, smartphones, and electric cars.


3. Electrical Energy - is defined as an electric charge that lets work be accomplished. An
example of electrical energy is power from a plug outlet Generator- a thing that generates
something, in particular.
4. Lithium polymer battery - or more correctly lithium-ionpolymer battery (abbreviated
variously as LiPo, LIP, Li-polyand others), is a rechargeable battery of lithium-ion
technology in a pouch format.
5. Mechanical energy - is the sum of kinetic and potential energy in an object that is used
to do work. In other words, it is energy in an object due to its motion or position, or both.
6. Microcontroller - is a computer present in a single integrated circuit which is dedicated
to perform one task and execute one specific application. It contains memory,
programmable input/output peripherals as well a processor.
7. Schottky diode - also known as a hot carrier diode, is a semiconductor diode which has a
low forward voltage drop and a very fast switching action. There is a small voltage drop
across the diode terminals when current flows through a diode.
8. Ultrasound- sound or other vibrations having an ultrasonic frequency
9. Windmill- a building with sails or vanes that turn in the wind and generate power to
grind grain into flour.

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

CHAPTER II
REVIEW OF RELATED LITERATURES
A. Foreign Literature and Studies
The Sense-Plan-Act Paradigm:

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
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.

Figure 1: The Sense-Plan-Act Paradigm

10

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

Motion Control System:


Sachin Modi (2002). The motion control system shown in the figure enables the vehicle to
move along a path parallel to the track and to negotiate obstacles. Steering is achieved by applying
differential speeds to the left and right wheels. Manipulating the sum and difference of the speed
of the left and right wheels, the velocity and orientation of the vehicle can be controlled at any
instant. Two motors power the gear trains. The motor torque is increased by a factor of 40 using a
worm gear train. The power to each motor is delivered through an amplifier that amplifies the
signal from the Galil DMC motion controller. The data from the vision and obstacle avoidance
systems work as an input to the central controller to give commands to the motion control system
to drive the vehicle.

Figure 2: Motion Control System Block Diagram


Sonar System:
Sachin Modi (2002). The two main components of the ultrasonic ranging system are the
transducers and the drive motor. A 12 Volts DC, 0.5 Amps unit powers the sonar. The time of
flight approach is used to compute the distance from any obstacle. The sonar transmits sound
waves towards the target, detects an echo, and measures the elapsed time between the start of the
transmit pulse and the reception of the echo pulse. The transducer sweep is achieved by using a

11

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
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.

12

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
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.

13

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
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.

14

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
3.
4.
5.

Charge a battery using the generator.


Record Charging Time.
After charging the battery with the appropriate amount of power, turn on the

designed output system.


6. Compute if the power produced is sufficient to run the designed output system.
Output System:
7. Construct the chassis of the robot car by cutting the acrylic board into the desired
shape.
8. Fix the two wheels on each motor then attach it to the chassis.
9. Attach the motor shield to the Arduino Board.
10. Arrange the setup of the Arduino, Motor shield, Li-Poly battery and the breadboard
with ultrasonic sonar sensor on the chassis.
11. Connect the motors, battery and the ultrasonic sonar sensor to the motor shield.
12. Program the code for the desired operation.
13. Run the designed output system and measure the distance of the robot car from the
obstacle for five trials.
2. Flowchart

Construct the chassis

Measure distance
for 5 trials

Start of case study

Prepare the materials


needed

Generate power using


the windmill

Measure the speed of


rotation

Fix the wheels on the


motors

Attach the Motor


Shield to Arduino

Charge the battery

Arrange the setup of


the components

Record Charging Time

Connect the
components

15

End of case study

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

Program the code


Is it fully charged?
Is it working?

N
Yes
a

Yes
b

3. Materials

Figure 4: Process Flowchart

1.

Acrylic board it is used as the chassis of the system.

2.

Connecting Wires for connecting different components needed.

3.

Arduino Board used to program the system.

4.

Ultrasonic Sonar Sensor used for detecting the obstacles.

5.

Li-Poly Battery serves as the source of the motor shield.

6.

Motor-shield used to drive two DC motors independently.

7.

DC-motor connected to the wheels for the movement.

8.

Soldering iron for keeping the components connections firm.

9.

Lead for soldering different components.

10. Propellers used as the wind generator.


11. Slider used for support on the front end of the robot car for smooth movement.
B. Experimental Set-up
1. Schematic Diagram

Generate Energy and


charge a battery with
the use of the
windmill generator

Let the designed


prototype run using
the charged battery
16

Record and all the


necessary data for
analysis

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
Figure 5: Schematic Diagram

2. Set-up of prototype
Input System:

Figure 6: Input Set-up


Output system:

17

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

Figure 7: Output Set-up


3. Code
#define utrigger 13

// digital pin 13 of arduino for the

trigger or the transmitter module of the Ultrasonic sensor


#define uecho 12

// digital pin 12 of arduino for the

echo or the receiver module of the Ultrasonic sensor


long duration, inches, cm;
void setup()
{
Serial.begin(9200);
pinMode(utrigger, OUTPUT);
pinMode(uecho, INPUT);
pinMode(10, OUTPUT);
pinMode(11, OUTPUT);
pinMode(8, OUTPUT);
pinMode(9, OUTPUT);
}

18

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

void loop()
{
digitalWrite(utrigger, LOW);
delayMicroseconds(2);
digitalWrite(utrigger, HIGH);

//the Ultrasonic sensor will transmit

40 kHz ultrasonic burst


delayMicroseconds(10);
digitalWrite(utrigger, LOW);
duration = pulseIn(uecho, HIGH);

//getting the time of echo or the

reflected ultrasonic burst


inches = microsecondsToInches(duration);

// converting duration to Inches

cm = microsecondsToCentimeters(duration);

// result is converted to Centimeters

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);

19

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
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;
}

20

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

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

Speed vs. Power Output

Speed vs Charging Time (5 V

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

21

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
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.

22

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

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.

23

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
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.

Upgrade the code by commanding the robot car to move sideways.


Use other source of wind other than blower for comparison of the speed and power

produced.
Use another type of motor with different specifications in the input system so it will lessen
the amount of motor needed.

24

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

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.

25

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

APPENDIX:
Material used:

Figure 9: Propeller

26

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

Figure 10: Motor Driver Shield

Figure 11: Arduino board

27

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

Figure 12: Ultrasonic Sonar Sensor

Figure 13: Fixed Wheels on Motors

28

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

Figure 14: Connecting Wires

Figure 15: 6V DC Motor

29

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

Figure 16: Rechargeable Battery

Figure 17: Li-Poly Battery

30

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

Figure 18: Acrylic Board

Figure 19: Slider

31

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

Figure 20: Schottky diode

Process:
Input:

Figure 21: Construction of the wind generator

32

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
Output:

Figure 22: Construction of Chassis

Figure 23: Sandpapering the Chassis


33

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

Figure 24: Assembly of the robot car

Figure 25: Front view of the robot car


34

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

Figure 26: Top view of the robot car

Figure 27: Side view of the robot car

35

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

36

Você também pode gostar