1. Project Progress: The Floating Dutchmen
Teresa Bernardi
Brian Lewis
Matthew Rosmarin
March 29, 2006

2. Presentation Outline Review of Objectives Completed Tasks
Preliminary Results
Unanticipated Challenges
Progress vs. Schedule
Future Plans

3. Review of Objectives Balance 3D Arm Driven Inverted Pendulum
Identify System Parameters
Design Physical System
Fabricate System
Design / Optimize Controller

4. Completed Tasks SolidWorks model Equations of motion
Inertia calculations
Control analysis batch files
Universal joint manufacturing
Basic friction identification

5. Preliminary Results Batch Modeling Torque Saturation Approach
Example Configurations
Unstable System Configurations
Uncontrollable System Configurations
Torque Saturation

6. Batch Modeling Approach
Vary three model parameters
Mass of end weight
Length of upper arm
Length of lower arm

7. Batch Results Test Cases (1)
Mass of End Weight Varied

8. Batch Results Test Cases (2)
Length of Upper Arm Varied

9. Batch Results Test Cases (3)
Length of Lower Arm Varied

10. Unsuccessful Configurations
Unstable System Configurations
Torque Saturation
Uncontrollable System Configurations
Error in Inertia Calculations

11. Torque Saturation Low motor torque Solutions Higher gear ratio
Larger motors

12. Unanticipated Challenges
Low motor torque
Counterweights
Restricted range of motion
Spacers

13. Progress vs. Schedule System modeling Linearization Control design
Parameter identification
System sizing
Manufacturing
Performance analysis
On Target
On Target
On Target
Not Finalized
Not Finalized
In Progress
On Target

14. Future Plans System specific friction identification
Equation linearization
Controller optimization
System manufacturing

15. Questions?