Sponsored By
Efika 5200B Project
Autonomous Logging Industry Robotin category Robotics
proposed by mmeador on 29th October 2007 (accepted on 29th October 2007)
Project Summary
The current logging industry requires loggers to trim branches off of large trees to prevent both wind damage to the trunk, as well as fall damage when they are cut. During inclement weather as well as when trees are deemed unsafe to climb, this duty cannot be performed by workers due to the elevated health risk. The purpose of this project is to develop an Efika based autonomous robot capable of scaling a tree and avoiding collision with branches. The robot will traverse a tree trunk to a height preset by the operator, and then return to the ground. This robotic platform could later be modified to accommodate various tool attachments, such as a saw to perform tasks that currently put a human at risk of injury or even death.
Project Blog Entries
New Checkfs.sh
A new checkfs.sh for the init.d has been written and tested that will allow the boot process to proceed even if fsck fails or finds errors. The overall objective of this script is to log errors but not impede startup during autonomous testing later on. Unfortunately the used hard drive the University provided is already having errors and making very disturbing sounds, so a brain transplant to a USB thumb drive is soon to come.
Design Choices
The alternatives report consists of methods for approaching the different modules design (locomotion, branch detection, etc.) and our proposed solution. We ended up going with a caterpillar design, which includes a top and bottom clamp connected by a vertical segment. Horizontal movement will be achieved by bands on the clamps, and the detection system will be sonar based. This is a precursor to the prototype report, which is the initial specification of the design.
Prototype Specification
The culmination of the semester:
The Prototype Specification the group has compiled is an extension look at the design based on the choices made in the alternatives report.
Next Steps
Currently the project is gearing up for the next phases of the design process, construction and testing. The aim is to have every component ordered before winter break. Fortunately we already have our i2c from Diolan and our SRF02 sonar devices from Acroname, so hopefully the next post will include successful communication with these devices and a first iteration of tree-mapping.