1. Team: Derek Arnold Lawrence Derdzinski Athanasios Gkourlias Amber Mescher Chris Sangster Timothy Gallman Faculty Mentor: Dr. Ferat Sahin Sponsor: Getinge USA Corporation, Rochester, NY George Zima, Washing Engineer Manager TEAM PICTURE HERE

2. Outline  Project Overview  Customer Needs Assessment  Design Objectives and Performance Specifications  Prototype Design  Prototype Development  Deliverables  Recommendations

3. Hospitals

4. The Environment Capable of loading medical carts of various sizes Fully automated system

5. Project Objectives  Self-guided, fully automated robot, capable of loading medical carts of various sizes  Two robots per system  Interface with the Getinge Model 7800 Floor Loading Cart Washer  Must have the capability of detecting and determining the type of medical cart  Must be able to charge itself automatically  The robot must safely attach to and navigate the medical carts

6. Specifications  Apply 50 lbs of Linear Force  Carry a 150 lbs load  No Service Space  Size  Detect and differentiate carts  Avoid obstacles  Traverse throughout a room  Communication  Safety Regulations  Reliability and Life Expectancy

7. Prototype Development  Steps  Software Development  Specification document  code  Component building, qualifying, and testing  Component group testing  Task oriented testing

8. Development Timeline

9. Preliminary Design  Towing  1 pin from robot  Detection  Camera/IR  Power  Lead Acid Batteries  Control  Cygnal  Communication  IR / Wired  Drive  2 wheel, 1 caster  Navigation  Camera  Object Avoidance  IR  Charging  24 Volt Wall  Retro-fit  Plate with receptacle and barcode

10. Technical Specifications  Microcontroller  Cygnal 8051 F120  Cygnal 8051 F330  Hbridges  HVW Technologies  Motors  Pin: Bison 175 DC parallel shaft gear motor 24 Volt 4.5 A  Drive: Bison 746 DC right angle gear motor 24 Volt 3.6 A  Encoders  Bison 2 channel 30 count  Camera  CMU cam 1  Track sensors  Lynxmotion TRA-01  IR Sensors  Sharp GP2Y0D02YK  Chassis  Getinge 304 stainless steel sheet metal  IR communication  Firestick 1, Reynolds Electronics

11. Software Description  Software Development  Asynchronous  Prioritizing  Case statements  Algorithm  Washer-robot communication  Obstacle avoidance  Line following  Cart detection  Color following  Pin activation  Towing  Loading  Charging

12. Deliverables  Charging station design  Retrofit kit design  Motor control  Line following  Cart detection  IR communication  Obstacle avoidance  Encoder driving  Pin activation

13. Problems Faced  Microcontroller  Size  Line following replacement  False readings  Camera  incorrect firmware  Wiring  Noise and interfere  Motors  Reliability  Slow delivery  H-bridge  Errors in firmware  reliability

14. Generation 2 suggestions  Line following with camera  Different H-bridges  More control options  Cooling Fan  Different micrcontroller  More UARTs  More interrupts  Additional cameras

15. Questions