4. EGR 345 Project - Load Sway Compensation for Cranes (Fall 2003) - Revised Nov., 15, 20034.1 OVERVIEW4.1.1 The Objectives and Constraints4.2 MANAGEMENT4.2.1 Timeline - Tentative4.2.2 Teams4.3 DELIVERABLES4.3.1 Conceptual Design4.3.2 EGR 345/101 Contract4.3.3 Progress Reports4.3.4 Design Proposal4.3.5 The Final Report4.4 REPORT ELEMENTS4.4.1 Gantt Charts4.4.2 Drawings4.4.3 Budgets and Bills of Material4.4.4 Calculations4.5 APPENDICES4.5.1 Appendix A - Sample System4.5.2 Appendix B - EGR 345/101 Contract4.5.3 Appendix C - Formsegr345 lab guide - 4.14. EGR 345 Project - Load Sway Compensation for Cranes (Fall 2003) - Revised Nov., 15, 2003The project is intended to emphasize proper project management and team skills to produce a complex engineering system from concept to completion.4.1 OVERVIEWCranes are used to move large loads in industrial environments. To do this they normally lift a load and then move it to a new position. At the end of the motion the load is put down. If the load is swaying, the operator may have to pause before putting down the load. This delay is undesirable because it increases the total cycle time for the crane.This design project will endeavor to build a proof-of-concept prototype for an anti-sway system for a gantry crane as shown in Figure 4.1. The crane will ride on a wooden beam constructed with 2x4 lumber (actually smaller). An electric motor will drive the cart left or right. The mass will hang below the cart. Figure 4.1 The equipment1Kg massfixed rail (wood 2x4)pivot pointmotor driven cartegr345 lab guide - 4.2The system will use active compensation to move the cart between positions, and to move the cart to compensate for swaying of the suspended mass. The overall system performance will be evaluated on how quickly the crane can move the load, and then eliminate sway. Additional factors used in assessment of perfor-mance will be the mass, cost and overall design quality.4.1.1 The Objectives and ConstraintsThe design will be mounted on 2x4 lumber and controlled through a wire harness to external electronics and power supplies. The apparatus must be easily mounted and removed without damaging the experimental setup. It will be expected to carry a 1Kg mass, suspended 40cm below the top of the 2x4. The 2x4 will be oriented so that the longer dimension is vertical. The mass will be mounted with a carriage bolt that is at least 3 inches long, with a 1/4" diameter. The arm must be able to swing freely, as it is meant to be equivalent to a cable suspending the mass. The mass will be provided with a rod that will be between 1/4" and 1/2". The mass will be a cylinder that is free to rotate to reduce dynamic effects rotation. The width of the mass will be less than or equal to the width of the 2x4. None of the cart, except for the arms, should be less than 2cm below the bottom of the 2x4.The objectives for the design are itemized below. The following equation will be used to assess the overall score for the design.- The equipment cost should be minimized. The goal of $150 or less has been specified as very important.- Mass should be minimized, the target value is 0.2Kg.- A clearly justified and supported design process. This will be judged before the competition.- The settling time, ts, to less than a +/- 0.5 inch margin around the com-manded position. This time will be determined using the best ts/d for two arbitrary target motions.- The test will start with the mass stationary at one position. The gantry sys-tem must move the mass to another position once started. The total movement range will be 2 to 20 inches in 2 inch increments.egr345 lab guide - 4.34.2 MANAGEMENTThe management details for the project are outlined below. These may evolve as the semester progresses.4.2.1 Timeline - TentativeSept 12 - Teams assignedOct 3 - Teams matched with EGR 101 studentsOct 10 - Preliminary design concept submitted with specificationsmaterials list estimatebudget estimateGantt chartsOct 13 - Design concept approvedOct 14 - EGR 345 Teams visit EGR 101 lab - EC616 (6pm) to formalize contractsOct 15 - Contract submittedOct 24 - Proposal submitteddetailed drawings (CAD)materials listbudgetcalculations/simulationsOct 29 - Proposals approved, 345/101 building beginsNov 12 - First test Nov 19 - Second testNov 20 - First draft of report posted to the web used to determine the score for competitionNov 25 - Competition and judgingscoretsd---24()C200------- --10()B10()T2()M0.2-------=where,tsthe time to settle (s)=C total cost of part ($)=d distance moved in test (m)=B build quality score assigned by judges (0 to 1)=T theory quality score assigned by judges (0 to 1)=M mass of the apparatus (Kg)=egr345 lab guide - 4.4Dec 4 - Final report draft posted to the web4.2.2 TeamsThe teams are composed of up to 4 students from EGR 345 and one student from EGR 101. The EGR 345 teams are grouped using the skills survey attached in the appendices.Teams are expected to divided tasks for members to work in parallel. It is also expected that team members will review the work of others to ensure accuracy and completeness. This is particularly true of calculations, materials lists draw-ings and budgets.All team members are expected to work in a professional manner. The general rules of conduct in a team are,- treat others as you want to be treated- communicate expectations and problems clearly- be polite and accommodating- when problems arise, help to solve them, even if they are not your fault. Don’t lay the blame for problems on others.Personal conflicts must be resolved by team members in a professional manner. The performance of the team will be assessed using peer evaluations on a regu-lar basis and may impact individual grades. In the case of non-participation the penalty may be up to 100% of the project grade.In the event that team members cannot resolve differences with a team member, the team may ’fire’ the team member by a vote (it must be unanimous, except for the member in question). In this case the ’fired’ student is responsible for finding another team that will accept (or ’hire’) them. In the event they cannot find another team to join, they will be expected to perform all of the work them-self. The firing mechanism is intended to deal with individuals who ’harm’ the progress of the team, not for non-participants.4.3 DELIVERABLESThe following items are to be submitted at various stages of the project.egr345 lab guide - 4.54.3.1 Conceptual