Chapter 6 through Vita

This chapter summarizes the performance of NEVEL during testing and competition. Attention is given to the design goals set forth in chapter 3. Numerous challenges encountered during testing are also discussed. The mechanical, sensor and navigation issues will be covered in order. 6.1 Mechanical Performance NEVEL's mechanical construction proved to be quite robust. The " T-Frame " was fabricated from 3/16-inch steel and was more than adequate to support vehicle loads. The rigid frame also provides the accurate wheel shaft alignment necessary in a differential drive system. The shelving material, though somewhat difficult to machine and fasten, resulted in a strong, nonconductive support structure. The final assembled vehicle weighs 220 lbs. The use of CAD also provided an overall design that efficiently utilized space and required minimal rework. NEVEL is capable of achieving a top speed of 8.5 MPH but is limited to 5 MPH through software. NEVEL's drive train supplies approximately 600 ft-lbs of torque to each wheel at stall speed. The differential design proved to be extremely maneuverable even in cluttered environments. NEVEL is capable of performing zero-radius-turn maneuvers within a 3.5-foot diameter envelope. Several challenges were encountered during NEVEL's initial testing. The first challenge deals with vehicle stability. The majority of NEVEL's weight was centered about the two main drive wheels in an attempt to increase traction and lower NEVEL's center of gravity. The final design carries only 45 pounds on the rear support caster. While NEVEL is statically stable it was found that the vehicle