1. EF 108, April 2005 Robotic Vacuum Team 8 Jennifer Brooks William DeanNathan Rowe Jake Smith Katie Stokes

2. Idea Generation Since this is our last team project in Engineering Fundamentals, we wanted to incorporate the different talents of each of the people in our group before we split up into our different departments. The idea of a robotic vacuum stuck out because: 1.It would take the allotted three weeks to accomplish. 2.We would be able to use the supplies from last semester’s mechanical dissection. 3.Will and Nathan would use their talents to do the programming. Jake, Jennifer, and Katie would design and complete the construction. 4.A robotic vacuum would be useful to the lazy people like us engineers or handicapped.

3. Construction Supplies: Wood used in EF 102 bridges Wood used in EF 102 bridges Wheels and axles from RC cars used in mechanical dissection in EF 101 Wheels and axles from RC cars used in mechanical dissection in EF 101 Dirt Devil from mechanical dissection Dirt Devil from mechanical dissection Two 6 volt motors from screwdrivers Two 6 volt motors from screwdrivers Circuit Board Circuit Board Touch sensors from NathanTouch sensors from Nathan 4 Nuts and bolts from EF supply4 Nuts and bolts from EF supply Duck Tape from engineer’s substantial supplyDuck Tape from engineer’s substantial supply

4. Circuit Diagram

5. Programming 1.When attempting to use 3V motors, Will wrote a C variant program using the Handy-board Cricket to power and control the motors. As the 3V motors were too weak, this was an exercise in futility. 2.Nathan felt that using a PIC chip and designing the circuitry would be safer than risking damage to the Handy Board Pro, so a system was deigned to wire a pair of touch sensors and motors to a PIC chip. 3.Using assembly language, the PIC chip was programmed to power the motors until it hit an object, at which point, the vacuum would reverse power to the motors and turn to the right.

6. Problems and Solutions The motors could not handle the weight of the vacuum. How would we attach the vacuum so that it can still be recharged and emptied? Bumper: In attempting to make a spring loaded wooden bumper, we realized that the touch sensors were too “soft” to set the bumper back to the original position. We used 2 motorized screwdriver motors because they were a lot more powerful. We bolted half of the vacuum to the base. The part with the motor is detachable and is all that is needed to recharge it. We attached two separate touch sensors to each side of the car and used craft sticks as the bumper.

7. Conclusion Overall, our project was successful.Overall, our project was successful. One problem that could be improved is what the robot should do if it gets stuck in a corner without the touch sensor being depressed.One problem that could be improved is what the robot should do if it gets stuck in a corner without the touch sensor being depressed. Another improvement would be wiring the vacuum cleaner and the motors together, so that one switch would turn on the entire device.Another improvement would be wiring the vacuum cleaner and the motors together, so that one switch would turn on the entire device. A stronger bumper would be another improvement.A stronger bumper would be another improvement.