Pat Arrigo – Team Lead/ME Wes Coleman – ME Steve Guenther – EE Adam Spirer – EE Vernon Vantucci – CE Aaron Zimmerman - ME

 Third Team on Project Track  Inherited Project from Locomotion and Navigation Teams  Worked in parallel with Robot Applications Team

 Fully Integrate Navigation Software/Electrical Components with Locomotion Chassis and Motors/Motor Control  Test Customer Specifications  Integrate Robot with Application Team’s Software  Create and Mount shell to Chassis and Paint

P10215P10216  Robot carries and cares for a plant  Robot moves slowly  Promotes innovation and green values at RIT  Friendly to passing pedestrians  Must be able to return home  Last an entire day of roaming ◦ System uses navigation and plant sensors in order to capture real-world data, and gain an understanding of the surroundings. ◦ Develop firmware for all of the sensors. ◦ Develop software to perform navigational tasks using sensor data. ◦ Maintain a wireless connection to a host computer in order to send status updates.

 Small model used to prove concept  Sculpting full scale took longer than expected ◦ Sheer scale ◦ Material Differences: Styrofoam vs. Pink foam  Despite delays, shell is complete and painted

 Navigation Team components and Locomotion Motor Controllers did not work properly ◦ Majority of MSD II spent on debugging and fixing  Robot was not fully functional until ~Week 8 ◦ Testing of Specifications was not done due to time constraints (suggested for future teams)

ItemVendorQuantityCostTotalP/N Triple Axis Acclerometer Breakout ADX6345SparkFun1$27.95 SEN MSP430F6111 Header BoardSparkFun2$34.95$69.90DEV-0047 Straight Breakaway HeadersSparkFun4$2.50$10.00PRT Female Breakaway HeadersSparkFun4$1.50$6.00PRT gallon oz 3:1 Epoxy Resin KitUS Composites1$61.00 EPOX :1 Ratio Pumps (2pk)US Composites1$6.25 EPX-P31 10z E-Glass Plain Weave, 38" w,.0154" thkUS Composites15$5.55$83.25FG-c1038 Encoder cableUS Digital3$10.30$30.90CA-MIC3-SH-NC-1 USB 2 Serial-USB AdapterAmazon2$14.58$29.16B0006LSIOI Sandisk 4GB SDAmazon2$6.33$12.66B000PA1073A DS Breadboard PCB, 1160 holesSure Elec.5$0.89$4.45CS-BP008 Hitachi HM55B Compass ModuleParallax Inc.1$ Butt Connectors- CrimpWalMart1$ Female Spade ConnectorsWalMart1$ Male Spade ConnectorsWalMart2$1.38$ Mold SuppliesWes Coleman (HD)$ Misc. HardwarePat Arrigo (HD)$50.00 TOTAL:$590.43

 Week 1 ◦ Initial shell design finalized, components purchased  Week 2 ◦ Evaluation of Locomotion/firmware “bugs”  Week 4 ◦ Header board completion  Week 5 ◦ Sensors remounted ◦ Shell Top & Front complete  Week 6 ◦ New encoder design integrated ◦ H-Bridge functionality solved  Week 7 ◦ Shell components test fit, trimmed ◦ Shell top, front, sides painted ◦ Remote Control implemented via gamepad  Week 8 ◦ Remote Control finalized ◦ Shell top mounted ◦ Plant, solar panels mounted ◦ ImagineRIT  Remote Control verified  Battery charge expectancy verified  Week 9 ◦ Shell front mounts made

 Robot is capable of meeting all locomotion-related requirements  Sensor Data Acquisition ◦ Compass data not being translated correctly ◦ All other positional and plant sensors reporting data correctly  Shell ◦ Shell pieces made ◦ Top & Front trimmed for fit and sensor/plant clearance ◦ Top mounted in final location ◦ Front mounts made, not yet attached to chassis ◦ Rear & sides unmounted, untrimmed ◦ All pieces painted with design scheme  Formal Platform Testing ◦ Originally a project requirement ◦ Platform reconstruction took precedence ◦ Formal test plan methodology developed ◦ No formal test plans run ◦ ImagineRIT platform validation

 Test customer specifications (velocity, turning radius etc.)  Powder coat the chassis to prevent rust  Purchase printed circuit board  Integrate Application software with current Robot (to make autonomous)  Add 2 more rear Sonar Sensors ◦ To guard against the back end of Robot bumping into things as it turns

 Number of Original Project Goals Met: 0  Number of Robots Created: 1  Senior Design Course: 0  Senior Design Team: 1