1. Team Gary Dan Farley Tyson Rogstad Erik Flum Rob Koch Gary Zigmann

2. Problem Statement MARV2 is in an empty room. When MARV2 senses its battery is low, it needs to autonomously locate the charging station and dock with it.

3. Background Information Irobot produces an autonomous vacuuming robot called Roomba to perform household cleaning. When the robot’s battery voltage is low, it uses infrared sensors to find its recharging station.

4. Solution Statement Using a mechanical switch to simulate a battery low condition, our software sends MARV2 into a search routine where it aims to detect an infrared emitter. The direction of both motors will be determined by the output voltage of two infrared sensors mounted on one side of the unit.

5. IR Receiver IR Emitter AC to DC Docking Station System Overview MARV

6. Docking Station IR Emitter AC to DC Battery Microcontroller Motorcontroller IR Receiver MARV MARV Finding Docking Station Battery Voltage Is Low, IR Receivers Activated, MARV Spins

7. MARV Finding Docking Station Receiver Detects IR Emission

8. MARV Finding Docking Station MARV Spins Until Both Receivers Are Equal

9. MARV Finding Docking Station Microcontroller compares rear sensor to front sensor

10. MARV Finding Docking Station MARV Reaches Docking Station, Probes Touch Electrical Connection

11. Mechanical Design A/C to DC IR Controls Vertical Supports Alignment Brackets For IR Emitters Electrical Connection Wood Base

12. Code Flow Chart

13. Emitter Circuitry

14. Oscillator Waveform

15. Charging Circuit

16. Personnel Assignments TYSON Sensors & Emitters ERIK Power Supply ROB Sensors DAN Software GARY Software

17. Work Breakdown Structure

18. Questions?