1. Team 23 Enterprises Presents… ™

2. Outline of Presentation Objectives / Parameters Objectives / Parameters Robot Prototype Design Robot Prototype Design Hardware Hardware Software Software Cost and Feasibility Cost and Feasibility Prototype System Analysis Prototype System Analysis Evaluation and Conclusion Evaluation and Conclusion

3. Objectives To demonstrate the feasibility of an autonomously operated robotic retrieval system (AORRS)To demonstrate the feasibility of an autonomously operated robotic retrieval system (AORRS) To move manufactured products from specified storage locations to a centralized repository within a warehouse facilityTo move manufactured products from specified storage locations to a centralized repository within a warehouse facility

4. Parameters operate within 12” wide corridor operate within 12” wide corridor travel to a calculated “home location” travel to a calculated “home location” minimum running velocity of 0.5 ft/s minimum running velocity of 0.5 ft/s total average velocity of 0.3 ft/s total average velocity of 0.3 ft/s travel to bins travel to bins transmit a signal at bins transmit a signal at bins return to home location. return to home location.

5. Robot Design Lucky III (Final Design)

6. Preliminary Hardware Design Design X Design X No turning / locked axles No turning / locked axles Operated on 1 motor Operated on 1 motor Distance based on time Distance based on time Lucky I Lucky I 2 drive wheels plus 2 guiding wheels 2 drive wheels plus 2 guiding wheels lifting motor to allow turning lifting motor to allow turning Distance and turning based on time Distance and turning based on time

7. Preliminary Hardware Design (cont.) Lucky II Lucky II 2 drive wheels plus 2 guiding wheels 2 drive wheels plus 2 guiding wheels More stable and accurate lift motor mechanism More stable and accurate lift motor mechanism Synchronizing drive wheel mechanism Synchronizing drive wheel mechanism Distance and turn based on time Distance and turn based on time

8. Lucky III (Final Design) Two Chassis Design Two Chassis Design 4 wheels per Chassis (2 drive / 2 guiding) 4 wheels per Chassis (2 drive / 2 guiding) Light Sensor Odometer System Light Sensor Odometer System Lift motor for changing chassis Lift motor for changing chassis

9. Lucky III special features… Lucky III w/ 2 chassis design N/S chassis E/W Chassis

10. Lift Mechanism / Guide Rails Light Sensor Odometer

11. Accurate Turning

12. Software Design (Fortran) Inputs bin information from the user Inputs bin information from the user Creates a C header file Creates a C header file Outputs movement map Outputs movement map Map is well formatted and easy to use Map is well formatted and easy to use Input Valid Home Loc.? Calc Home Loc. BubbleSort Adjust Home Loc. Output Start Stop No Yes

13. Software Design (C) User-defined functions User-defined functions Easy to modify Easy to modify Measures distance with light sensors Measures distance with light sensors Only runs necessary motors Only runs necessary motors #define NUMBINS 4 #define NUMRETR { 2, 3, 2, 1} #define LOITERTIME 15.0 #define XPOS { 5, 2, 3, 3} #define YPOS { 3, 7, 5, 5} #define HOMEX 4 #define HOMEY 6 #define FORCE 7

14. Move to bin Loiter and transmit Return Home Start Stop Input Move to home Is I < Number of Bins? Is I2 < Number of Retrievals? I = 0 Incr. I Incr. I2 I2 = 0 No Yes No

15. Cost and Feasibility PartQuantityPriceSubtotals RCX1$85,000 Motor3$15,000$45,000 Light Sensor2$10,000$20,000 Misc. parts (total)-$10,000 Assembly-$5,000 Total$165,000 Production cost of a single robot:

16. Man Hours Purpose# Team membersHours spentSubtotal Subtask 1 robot construction and programming41248 Subtask 1 presentation339 Subtask 2 robot modifications and programming4312 Subtask 2 presentation4312 Complete robot redesign and construction199 Subtask 3 robot programming and testing41664 Subtask 3 presentation4312 Brick OS meeting111 Subtask 4 robot programming and testing4520 Subtask 4 presentation236 Complete robot redesign and construction116 Final robot programming and testing41872 Independent programming122 Transmission and distance testing at office hours236 Preparation for final presentation326 Final presentation4312 Total307

17. Development Cost and Breaking Even Development cost = (307) × ($17,000) = $5,219,000 Development cost = (307) × ($17,000) = $5,219,000 To Break even: To Break even: ($250,000) × # of Robots = ($165,000) × # of Robots + ($5,219,000) ] # of Robots ≈ 62 # of Robots ≈ 62 This is a reasonable number of robots This is a reasonable number of robots

18. Replacing Standard Forklifts Cost to operate 1 forklift for 1 year Cost to operate 1 forklift for 1 year 2 operators/hr × 24 hrs/day × 349 days/yr × $18/hr = $301,536 per year/forklift 2 operators/hr × 24 hrs/day × 349 days/yr × $18/hr = $301,536 per year/forklift Robot = $0 Robot = $0 Multiplied by 62 forklifts (only break even) Multiplied by 62 forklifts (only break even) Almost $19 million difference.

19. Replacing Standard Forklifts Pros Pros Save money Save money Never get tired Never get tired Flat rate (no inflation, benefits, etc.) Flat rate (no inflation, benefits, etc.) Cons Cons Technicians require more training Technicians require more training Loss of jobs Loss of jobs Loss of human judgement Loss of human judgement

20. Prototype System Analysis Mechanical design (positive aspects) Mechanical design (positive aspects) Two chassis-system Two chassis-system Light sensor odometer system Light sensor odometer system Use of higher motor speeds and gearing-down Use of higher motor speeds and gearing-down Reliable lifting mechanism Reliable lifting mechanism Programming design (positive aspects) Programming design (positive aspects) Use of functions for every operation (C program) Use of functions for every operation (C program) Extensive testing (both Fortran and C) Extensive testing (both Fortran and C) Simplistic use of language minimizes errors (Fortran) Simplistic use of language minimizes errors (Fortran) Use of format statements to perfect movement map (Fortran) Use of format statements to perfect movement map (Fortran) User-Friendly (Fortran) User-Friendly (Fortran)

21. Prototype System Analysis Mechanical design (negative aspects) Mechanical design (negative aspects) Design was relatively frail Design was relatively frail Incapable of turning Incapable of turning Room for improvement of light sensor odometer system Room for improvement of light sensor odometer system Slight tire slippage Slight tire slippage Programming design (negative aspects) Programming design (negative aspects) Minimal error trapping (both Fortran and C) Minimal error trapping (both Fortran and C)

22. Evaluation and Conclusion We felt that we had the correct focus for this project— eliminate or minimize error We felt that we had the correct focus for this project— eliminate or minimize error Areas Error was eliminated or minimized: Areas Error was eliminated or minimized: Turning Turning Distance traveled Distance traveled Going straight Going straight Areas where error remains Areas where error remains Average velocity and time to travel to a bin Average velocity and time to travel to a bin

23. Evaluation Overall, Lucky III performed well Overall, Lucky III performed well Earned 90 / 100 pts. Earned 90 / 100 pts. Shortcomings Shortcomings Robot required redress Robot required redress Some time predictions inaccurate Some time predictions inaccurateConclusion Our robot prototype outperformed that of others by a significant margin. Our robot prototype outperformed that of others by a significant margin. The design we used would be successful in a real warehouse setting, with minimal modifications. The design we used would be successful in a real warehouse setting, with minimal modifications.

24. Don’t be a fool, stay in school!