Improved Robotic Arm and Turntable for Sensitivity Characterization of Occupancy Sensors Will Hedgecock Brian Auerbach John Sullivan Sam Garza Anne Killough Bob Ramenofsky Havan Tucker Turntable Team Robotic Arm Team

Sponsor Information Saves energy by minimizing unused light Detects major motion in rooms up to 1000 sq. ft. using PIR

Current Testing Procedure Simulate the testing room by rotating the sensor and setting the robotic arm at various locations in the coverage pattern. (Measurements in feet)

Project Description Improve current testing procedure Automate testing procedures within NEMA constraints Improve Arm Emit IR spectrum similar to that of human arm Provide more stable arm Less “jitter” when starting/stopping Can be held in any position for over an hour

Operational Concept

Command and Control Interface Robotic Arm Controls Turntable Controls Automated Testing Grid

Functional Flowchart

Robotic Arm Assembly Overview

1 NetBurner MOD5272 DevKit 4 Silicone Rubber Heaters 4 Solid State Relays 1 OMEGA 1504 Multi-loop PID 1 120VAC Variable Transformer 2 Open-loop direct-drive steppers 1 Roll of Electrical Tape Hardware Overview

Infrared Background Information

Thermal Proof of Concept

Turntable Assembly Overview

Turntable Microcontroller Responsibilities Maintain communications with the computer Control the servo motor Keep track of the status of the relay

Turntable Hardware Motor Hitec HS645MG servo motor 107 oz-in. of torque at 4.8 V Dual ball bearing design Weighs 1.94 oz. Sensor Mount Indoor single gang box PVC construction Cart Buhl BAV-4226C compact AV cabinet cart 42’’ tall