RoboVac Raymond Perez Jetmir Palushi Juan Gamarra Joseph Seborowski Diego Molina

Objectives  Better Cleaning More Power Algorithm Design Dirt Sensors Mapping  Outshining Competition

Objectives  Initiate Prototyping Phase Research cheap/effective parts (i.e. sensors,motors,casing…) Purchase components Commence troubleshooting (testing phases) Progress well within project plan

Project Plan Task NameStartEnd Project Plan1/9/071/11/07 Parts List1/25/072/8/07 Ordering Parts1/25/072/22/07 Define Objectives1/11/071/17/07 Refine Final Design1/11/072/11/07 Validate Prototyping2/9/072/13/07 Manufacturability1/11/072/12/07 Prototype Building2/15/073/4/07

Detailed Tasks  Choosing appropriate parts Microprocessor Motors Casing Battery Omni-directional components Recycling of “Roomba” parts

Manufacturability Building Process Quick Assembly

Casing  Major problem so far  Plastic Injection Molding  First Cut Prototype and Proto-mold both turned us down

Casing Continued  Austro Mold - $800  Metal – lighter metals, Al  Plastic Bin – fits specific dimensions  CNC

Casing Alternatives

Mapping  Path optimization  Eliminate cleaned areas  Radial Closed Loop Path  Visited path marked as obstacle  Memory optimization  Complex geometry path prevention

Sensors and Electrical Components  Bumper Switches Obstacles (e.g. wall, couches)  Light Sensors Detect Dirt  Proximity Infrared Sensors Stair detection  Voltage Regulators Switch DC/DC voltage regulator  Resistors, Capacitors, Transistors and LED

Microcontroller  Low Supply-Voltage V  Ultra low-Power Consumption Standby mode  12 Bit A/D converter  Memory 60Kb Flash 2Kb RAM

Programming  IAR Embedded Workbench IDE  High level programming (C, C++)

Omni-Directional Platform  Cost of Prototyping  Weight of Bearing

Refining Design  Changes incurred Casing revisions due to size limitations Choosing the “brain” Altering blower intake Location of motors Omni-directional obstacles

Refining Design New Blowers –Previous option was no longer available –Next best thing was found at Digi-key –Modification needed to fit system E-bay parts chosen –High Prices for low quantity orders –Wheel Tire set –Brushes

Progress  Prototyping Parts received Parts still pending Returns  Pending Deliverables Robot body Final Cost Analysis Programming

Financial Breakdown

Obstacles  Case molding  Maintaining price range $  Controlling directional movement  Obtaining market niche  Staying within timeline