1. Cart-A-Long Michael Bigos Jaret Doiron-LaRue Richard Mui Eric Wu Comprehensive Design Review Advisor: Professor Pishro-Nik

2. Overview Review of Cart-A-Long System Overview IR Detection System IR Sensor Data Triangulation Data Parts List Demo Goals Questions

3. Cart-A-Long Fully Autonomous Cart o Trails a user around while maintaining a distance of 4 feet IR bracelet Worn by user around the ankle to inform robot of user's whereabouts 8 IR LEDs at 45 degrees powered with CR2032 batteries

4. System Requirements Bracelet should not hinder user o small, lightweight, low power Battery life of robot shall be at least 2 hours Robot should be able to carry some load Robot shall stay within 4 feet of user Robot should operate if user is within 8 feet Restrictions o User will not travel more than 3mph o Environment

5. System Block Diagram

6. Base Construction Strong tensile and impact strength 16” width to maximize triangulation accuracy 5” wheels for optimal speed and torque 3 wheel design for easy pivoting Custom made aluminum motor mount brackets –Special thanks to Steve McKinley Modified aluminum wheels hubs

7. User Tracking Approach Use geometry to triangulate position of the LEDs o Two sweeping stepper motors with IR detectors mounted on top o Arduino knows stepper positions and IR readings

8. IR Triangulation

9. IR Sensor Data

11. Triangulation Data

15. DC Motors Operate at about 3.3 mph (no load) Operate at about 2.9 mph (under load of base) Speed is based on pwm from arduino Also on input voltage

16. Finalized Parts List Sharp GP1UM261XK0F IR detector Vishay TSAL5300 940nm IR emitter STMicroelectronics L6207N motor driver Mercury Stepper Motor Modern Device BBB Arduino board PK27 Geared Motor

17. PCB Board Design Schematic of the board created in Eagle

18. Version 1.0 board

19. Things to be done Work out method for precise robot control Finalize PCB layout and find manufacturer Write code for robot tracking behavior Determine the real world specifications of robot Create IR bracelet Calibration method for stepper motors

20. FPR & Demo Day Goals Demo Day Fully-functional robot o Movement algorithm Error Checking PCB board created

21. Questions?