1. Robotic Microphone Stand for Pogo Studio ECE445 Team #28 TA: Lydia Majure Kai Jiang Weihong Yuan

2. Introduction Our project is a remote-controlled microphone positioning robot with four positional memories. It provides a safer and more convenient solution for microphone positioning.

3. Features Remote controlled Three dimensional movements Up to six positional memories Low cost

4. Robotic Microphone Stand Control BoardPCB Mounted on Mic Stand

5. Robotic Microphone Stand Microphone Stand

6. System Overview Hardware  Power supply  Motor and motor controlling units  RF modules  Mechanical structure Software  Control and positioning PIC

7. System Overview H bridges

8. Hardware Overview Power supply  12V, 6V and 3V power input  5V and 3.3V voltage regulator RF modules  433MHz LR series RF module by Linx Motor and motor controlling units  12V DC gear head motor by Pittman  H-bridges  Mechanical motor encoders Mechanical Structure  Built by ECE machine shop

9. Power Supply 12V  Rechargeable  35 AH 6V and 3V  AA batteries

10. Power Supply (Requirements) 30 mV maximum voltage ripple for 3V and 3.3V voltage supply Reasonable battery run-time

11. Power Supply (Verification) 12V test5V test 3.3V test3V test

12. Power Supply (Verification)

13. RF Modules Transmitter  Transmitter  Encoder  Antenna Receiver  Receiver  Decoder  Antenna transmitter encoder decoder receiver

14. RF Modules (Requirements) 30 mV maximum voltage ripple Operation range: 20m Operation with obstacles in between

15. RF modules (Verification) 8 inputs and outputs LED indicators Obstacles Antennas added

16. Motor (Requirements) Enough torque to drive the lead screws Reasonable moving speed No noise while not rotating

17. Motor (Verification) Torque Calculations Weight conversion 13.28lb=214.08 oz motor & screw connection gap = 0.267 inch screw diameter = 0.52 inch torque required = 168.49oz-in gear ratio needed = 21.06:1 Final choice: 127.7:1 gear head 12VDC motor

18. Motor (Verification) Lead screws: 1 inch/turn Motors (no load): 60 turns/min Result: Moving spead = 60 turns/min * 1 inch/turn = 60 inch/min = 1 in/s = 2.54 cm/s

19. Mechanical Structure Our designMachine built by ECE machine shop

20. Software PIC software  Receive control signals from the decoder of the RF module on the microphone stand side  Send corresponding control signals to H-bridges  Store and retrieve motors’ movements

21. X Movement

22. XYZ Movement

23. Store

24. X Retrieve

25. Overall

26. Retrieving Error Analysis PIC miscounting (initializing error) 3/36*1 inch=0.083 inch (0.2116cm) Encoder glitch (unpredictable error) Total max error: 0.11inch(0.28cm)

27. Successes Remote controlled Three dimensional movements Stable store and retrieve functionality Small retrieving error All requirements are satisfied

28. Future Hardware Development Install bumper switches for mechanical protection Use optical motor encoders for better precision Remove the 6V power supply Panning functionality Three PICs

29. Future Software Development Store positions into PIC’s memory Add boundary conditions for better mechanical protection Use three PICs for faster retrieve Computer or tablet interface

30. Credits Electronic service shop  Mark Smart  Skot Wiedmann Machine shop  Scott Mcdonald  David Switzer TA  Lydia Majure

31. Thank You