1. Mover Project Group E April 21, 2003

2. Introduction Objective was to build a two- degree of freedom device, with an upside down cup attachment, for moving a small ball through an obstacle course.

3. Outline Goal and Specifications Project Course and Outcome Performance What was learned Conclusion

4. Goal and Specifications Goal To achieve successful navigation of the obstacle course at high speed while maintaining all of the system requirements at minimal costs Specifications The device must touch the obstacle course only with the cup The ball and the maze will be provided. Motors are to be used to provide device with motion. The ball must stay on the track No assistance after start No purchased control system

5. Project Course

6. Movement Control Design

7. Project Course Problem: Original design created a large moment Solution: Changed design from rail system to ball bearing track system Problem: Mover would move Solution 1: Clamp mover to table Solution 2: Apply dead weight to table

8. Project Course Problem: Encoder pulse rise time too slow Solution: Determined that it would not effect system Problem: Encoder missing pulses Solution: Replace worn encoder wheel

9. Project Course Problem: Program crashed at any attempt to change direction Solution: Altered program to accommodate all movement within a single call of the control function Problem: Mover would overshoot desired point Solution: Eliminated “printf” statements to free system memory

10. Project Course Obstacles Overcome Mastering new software to attain goal Mechanical design limitations Encoder failure Accomplishments Controlled navigation achieved by Bonus Day Fastest time recorded on Competition Day

11. Project Outcome Things that worked well for us Motors and Pulleys High resolution of encoders Sampling Rate of 1000Hz Things that held us back Inertia Response time of computer

12. What was learned Qmotor software Practical application of control theory Time management Allegation of personal resources Web design

13. Conclusion Successful navigation of the obstacle course at high speed while maintaining all of the system requirements was accomplished.

14. Are there any questions?