1. Table Dancer Final Design Presentation 10/20/04 Team Members: Ryan Gray Dale Williams Emeric Rochford Dan Beard

2. Primary Objective Design a machine to navigate the perimeter of a tabletop. Navigate table with no direct user input Complete a predetermined number of labs before stopping Ryan

3. Solution HC08 microcontroller Dual motor controller Twin motor propulsion, skid steering Touch based sensor navigation (left, right) Optical lap counter IR on/off control Ryan

4. System Overview Emeric

5. Mechanical Overview Twin Motor Twin Wheels Skid Steer Angle Detecting Feeler Arm Corner Stabilizers Emeric

6. Side View Emeric

8. Assembled Robot

9. Position Sensor Dale

10. Position Sensor Calculations Dale

11. Travel Rate Calculations Expected Speed 6 ft/min Gear Ratio: 203:1 Wheel Size: 2in Diameter Equation: [(72in/min)/((π)(Diameter))] X (Gear Ratio)=Motor Speed Motor Speed: 2327RPM Dale

12. Electrical Overview Dale

13. Sensor Tests Test Results for Phototransistor QRB1134 ColorDistance (Inches)Voltage (V)Normally Open White0.5"2 V5 V 0.125".2 V Dark Blue0.5"3.2 V5 V 0.125"1.2 V Black0.5"3.4 V5 V 0.125"3.2 V Dark Brown Wood Grain0.5"3.2 V5 V 0.125"1.2V Emeric  Tested for performance of sensor on various colors  Tests showed the sensor will work on anticipated surfaces

14. Interface Diagram Dan

15. Software Overview Dan

16. Programming Board Dan

17. Emeric

18. Budget Part #DescriptionQuantityTotal 161022Twin motor Gear box1$11.50 MC68HC908HC08/ Programming board1$35.00 N/ATwin motor driver board1$10.00 496X28VRLego tires2$0.80 QRB1143Inferred sensor1$0.97 N/AMisc. Hardware1$5.00 Total Cost $63.27 Ryan

19. Functionality Current Level of functionality is as follows: Initialize program Initialize program Enter number of laps Enter number of laps Drive system operational Drive system operational (Tested using the 68HC12 micro controller with manual interface.) Ryan

20. Questions?