OPPORTUNITY : There are numerous situations which require repetitive, material-handling processes which if they could be automated could yield improved efficiency and reliability at reduced costs. In order to make such systems available to a wide range of users it is desirable to explore the potential of developing an low-cost, autonomous system which can provide this capability. Along with the development of the necessary technology it is imperative that its efficient implementation in a form suitable for mass production, low-tech operation and inexpensive maintenance be determined. This project will involve the concept definition, product design study and documentation and finally prototype validation of an autonomous surface vehicle capable of performing the process of transporting hazardous fluids from portable "generation sites(GS)" to a "containment reservoir(CR)". This vehicle will be referred to herein as a Fluid Transport System (FTS). A demonstration of concept feasibility using a "proof-of-concept" prototype will be part of this development program.

PROJECT REQUIREMENTS: Each design team must:

• Develop a design for an autonomous FTS and document the design in the form of a detailed design proposal. The greatest measure of merit will be associated with meeting all project scheduling and cost goals and demonstrating a robust design. System modeling, performance analysis and simulation of the system and its operation are critical components of the design proposal. The proposal should not only detail the design of the vehicle but must identify the most critical technical, operational and economic factors associated with the design. The results of this project must also be presented in a Critical Design Review.
• Fabricate a "proof-of-concept" prototype for the system described by the proposal. The prototype must be capable of demonstrating the autonomous operation of the basic vehicle, its ability to locate generation sites, off-load fluid from the generation site, return to the containment reservoir and deposit the fluid in this reservoir. The prototype will also be used to demonstrate the durability, repairability and storage of the proposed design.
• Develop a validation test plan and be prepared to demonstrate the operation of the vehicle on or about April 23, 1998. This test plan is intended for testing in a controlled (in-door) environment.
• Follow established procedures for collecting and reporting engineering activity, time spent on the project and cost accounting records for the entire project.

SPECIAL CONSIDERATIONS AND SYSTEM PERFORMANCE REQUIREMENTS:

1. A generation site, GS, is a cylindrical container approximately 12 in. in diameter and 15 in. high. It has an open top and contains a liquid of the same density as water but highly corrosive. It will instantly evaporate any metal it comes in contact with, therefore containment and spillage avoidance is paramount. The generation site produces this liquid at a maximum rate of 0.015 ft3 per minute. A typical generation site will be available for you to study. The GS is portable and may move periodically.

2. The complete FTS must be able to be packed for shipping and ground handling in an 10" x 12" x 15" container. It must be able to be removed from its storage container, assembled and prepared for operation in 5 minutes by one person and have an empty weight of no more than 5 lbs. Though 5 lbs is the upper bound on the empty vehicle weight, low-weight along with low-cost are considered to be important design goals. Significant performance penalties will be assessed for exceeding this limit.

3. The vehicle when packed in its ground handling container (cardboard with size indicated above) must be able to be dropped from a height of 5 ft onto a cement surface.

4. During the prototype demonstration, the FTS will be positioned at the CR and oriented toward a half-plane which will contain the GS which will be within 20 ft of the CR. The FTS must be able to transport adequate amounts of the fluid from the GS to the CR to maintain or reduce the fluid level in the GS for the duration of the "test period" which will be 15 min and assuming the GS is producing fluid at its maximum capacity. All operations must be autonomous during this period. The CR is the same size as the GS.

5. The surface on which the retrieval is to be performed can contain loose or rigid cables, wires or hoses with diameters up to 2 inch, boards up to 1.5 in. thick and rocks with nominal diameters of 1 inch.

6. The FTS and all subsystems must be powered with electric or stored mechanical energy sources. No chemical (solid, liquid or gas) sources will be allowed.

7. All electronic components (i.e. motors, servos, computers, wiring, circuit boards, etc.) must be able to be removed from and reinstalled into the prototype vehicle in 30 minutes by two people with manual hand tools only.

8. Since environmental impact is an issue in all product development projects, the "recycle-ability" of the vehicle and the nature of all the proposed fabrication processes will be strongly considered in the product assessment.

SPECIAL CONSIDERATIONS FOR THE PROTOTYPE AND PROOF-OF-CONCEPT DEMONSTRATION The prototype system for the proof-of-concept demonstration should satisfy the following:

1. Each design team will be provided a Stamp II microprocessor, Serial servo controller (8 channel), electric motor, motor speed controller, 3 miniature servos, ultrasonic transmitter-receiver and rechargeable battery packs as well as appropriate manuals for this equipment.

2. Total prototype costs cannot exceed $200. - this includes $150. provided by ME470, Inc. and up to $50. from the design team. This cost includes all out-sourced parts and raw materials.

3. Component parts can be either fabricated in-house or purchased from outside vendors (out-sourced). All out-sourced parts must be accounted for in the overall cost at their full retail value. Groups cannot "out-source" fabrication processes.

4. All "in-house" parts must be fabricated by the design team using the facilities in B19.

5. The completed prototype is the property of the AME department.