1. By Brian Smith Nate James Joey Duprey

2.  Many man hours driving around an ice rink in the same path  Companies need to develop new ways to automate the resurfacing process.

3.  Design a device that can drive itself around an ice rink.  Recognize its distance from walls.  Be able to resurface ice by:  Melting Existing Ice  Apply Water Evenly  Smooth out ice surface

4.  Electrical  ColdFire MCF51JM64  Ultrasonic Sensors  Electronic Compass  Temperature Sensor  DC Motors  Resurfacing  Propane Flame Heater  Water Delivery  Smoothing Towel

5. Water Direction of Motion Smoothing Towel Water Dispenser Heater Front

6. Water Direction of Motion Smoothing Towel Water Dispenser Heater ¾ pvc pipe Stepper moter

7.  Flow rate is = Area (sq. ft) * Velocity (fps)  Q = Av  A= size of pvc pipe  A = ¾ pvc pipe  V= Velocity  V = gravity in this case  Q =.0317

8. Standby For main Turn on stepper motor Stop Stepper motor in reverse Pin2 High ? Pin 1 High ? Pin1 low? N Y Pin2 Low? Stop N N N Y Y Y

9.  Navigate onto Ice  Joystick Control  Turn on Program  Warm Up Heater  Acquire Heading and Wall Distance  Resurfacing Program  Start: Blue  Then: Red, Green, Black  Cool Down  Heater turns off and cools  Device switches into standby mode  Speed  Velocity = (rpm*pi*diameter)  (4.12rpm*3.14*(14/12))= 15.1 ft/min

10. Standby w/ Joystick Propane ON Manual Light Dist = 1 Water ON Resurface Dist =0, Dist + 1.5 SW1 ON? Heat Temp Hot? Heat Temp Cold? Propane & Water Shut off Cool Down Dist = 5 Y N N N Y Y SW1 OFF or Dist>9.5? Y N

11.  ColdFire MCF51JM64  Controls & Communication  Electronic Compass  Follow Straight Lines  Vex Ultrasonic Sensor  Follow Walls  Scorpion XL Motor Driver  Control Motors

12. Atmel ATMEGA328 Stepper Motor Driver Water Flow Control Atmel ATMEGA328 Stepper Motor Driver Propane Flow Control Thermocouple ColdFire HCF51JM64 W P Front Vex Corner Vex Side Vex Electronic Compass Joystick Scorpion XL LR Car Battery 5V Regulator

13. Regulator Stainless Steel Flame Bar Gas Line 20lb. Propane Tank 24 in View From the Back

14. @ ¼” depth of ice removed

15. ItemQuantityPrice ($) 20lb Propane Tank150.00 Refills of Propane240.00 80/208 feet26.00 Flame Bar Pipe Hardware150.00 Heater Hose5 feet25.00 Arduino Uno127.00 Jolly Stick28.00 Battery180.00 Towel117.00 Water Tank110.00 Hose5 feet15.00 Total $348.00

16. DutiesTeam member NavigationBrian Smith ProgrammingBrian Smith HeaterNate James Water DeliveryJoey Duprey Solid ModelingJoey Duprey, Nate James AssemblyEverybody

18.  Rink Size Example  15ft x 15ft  Walled Perimeter  Weather  No Precipitation  Temp 32 o F  Resurfacing Parameters  Speed 15.1 ft/min  Average Time: 20 minutes

19.  Joystick Controlled Movement  Robot Follows Wall  Robot Follows Specific Heading  Propane Valve Automation  Thermocouple Sensing  Water Flow Valve Started