Team Lifted Andrew Cober Dan Crowe Sujan Gautam Anthony Schubert Ryan Yeash

Magnetic Levitation Use electromagnets to lift and control a ferromagnetic object Control xyz position Control yaw, pitch, and roll of specialized object

Goals Effectively control the object with 1cm accuracy  XYZ control Control orientation within 90 degrees in all axes

Design Four electromagnets mounted on an overhead platform Cyclone II FPGA used to control the current to the electromagnets Control based on IR distance sensing of the object

Specifics DC buck converter used to control current flow to electromagnets Software control loop used to connect IR sensors and magnets via converters User controls object position with buttons Wood apparatus initially, convert to aluminum at a later date

Approach Breakup design as much as possible  Hardware/Power Construction of apparatus, PCB, and developing reliable power converters  Control Mathematical control algorithm  Software Build framework that allows control specifics to be implemented later

Functional Block Diagram

Hardware Block Diagram

NiosII Softcore

Software Flow Diagram

Cost Estimate

Division of Labor Andrew Cober Dan Crowe Anthony Schubert Ryan Yeash Sujan Gautam MechanicalXXX PCBXX Power Control X System Modeling XXX Control Algorithm XXXX FirmwareXX

Timeline Estimate

Milestones One week: Complete research, finalize feasibility CDR: Obtain all parts, PCB design completed, develop software framework M1: Get an object to hover in the middle of 1sqft. area M2: Control xyz coordinates of the object Expo: Control orientation and completion of project

Risks Power limitations into the magnets may limit object size and levitation height Control complexity may be too difficult to implement FPGA may be too complex

Contingency Plans Scale back to control over only the spatial coordinate, not the orientation Control an object on a surface rather than mid air Use photo diodes rather than IR sensors for object position Rescale from FPGA to MSP

Possible Extensions Addition of LCD to display object data  Touchscreen for user control  Trackball control Wireless communication between apparatus and user interface Implement multi-core processing on Cyclone II

Questions ?