1. Improved Robotic Arm for Sensitivity Characterization of Occupancy Sensors
Will Hedgecock
Brian Auerbach
John Sullivan

2. Current Tasks Decide upon method of temperature control
Finalize thermal element decision
Decide upon method of temperature control
Decide upon microcontroller / development board
Finalize specific stepper motor parts
Finalize mechanical drawings

3. Thermal Element Recap
Humans radiate from 3 to 50 micrometers, with most output at 9.4 micrometers

4. Thermal Element Overview
Carbon Black Emissivity:
Carbon Black Options:
DaVinci Acrylic 16oz. –
$22.05
Lascaux Acrylic 25oz. –
$35.22
Chroma Acrylics
Absolute Matte 1.35oz. –
$3.52

5. Methods of Temperature Control
Last year’s project used a PID temperature controller
Makes use of a feedback loop to keep temperature at a constant level
Very low voltage/current required to power PID
0 – 5V, 4 – 20 mA
Heating accuracy within 0.5°F
Both Square D and last year’s team were more than satisfied with the results
If it ain’t broke, don’t fix it

6. Microcontroller / Development Board
Microchip PICDEM.net 2 Development Board:
PIC18F97J60 microcontroller with built-in
Ethernet controller
2 RJ-45 (10BaseT modular connectors)
Direct access to 5 8-pin I/O Ports
9x20 grid (breadboard) for additional circuitry
4 interrupt pins (with adjustable priorities)

7. Anaheim Automation Stepper Motor
Stepper Motor Specifics
Anaheim Automation Stepper Motor
Built-in 7 Amp/phase AC controller
2.2 foot lb.
NEMA34
6.4 Amp/phase
.5” diameter shaft (notched)
2.5” long motor
Weighs 3.5 lb.

8. Functional/Mechanical Overview

9. Next Week’s Tasks Include pricing Order Parts
Generate Parts List
Include pricing
Order Parts
Finalize Windows-platform GUI
Work on integration specific tasks
Cabling/wiring between projects
GUI design and implementation
Communication protocols

10. Tentative Schedule

11. Tentative Schedule (cont.)

12. Tentative Schedule (cont.)