1. Robotics Development Platform Presented by: Michael Carr Christina Welk Advisors: Dr. K. Pashin Nikaaien Professor Gordon Jenkins Course: GE-492 Sponsor: Z-Buffer inc.

2. Concept Modular Design 300 Pound Carrying Capacity At Least 30 Minute Battery Life 5-25 mph Speed Range Climbs Stairs Fits in Buildings and Cars Onboard Mini ATX Motherboard Local Data Acquisition Real Time Reaction to Sensor Input Speed Controller Interface Wireless Connection to Laptop Joystick Input

3. Six Sigma Tools Gemba Kano Analysis Quality Function Deployment (QFD) Risk Mitigation Failure Modes and Effects (FMEA) 1 Page Scope Statement Input Specification Requirements Design of Experiments (DOE)

4. Risk Mitigation

5. Computer Hardware Via ME600 –Mini ATX form factor –600mhz fan less processor –256 MB DDR ram –One PCI Slot –Standard ATX I/O Ituner 200 watt ATX to dc power supply Netgear MA311 802.11b PCI wireless card Fujitsu 20 GB hard drive Microsoft SideWinder USB joystick

6. CS Progress All hardware components selected Fedora Core 2 installed on via board CVS server set up UML design - Actor/goals list –Use cases –Sequence diagrams –Domain models –Class diagrams

7. Domain Model

8. Mechanical Design Drive Train Design Tank Tread Design Batteries and Control Systems Heat Exchanger Design Suspension Design Structural Analysis

9. Drive Train Design Briggs and Stratton Etek DC Electric Motor 24 – 48V 21 Pounds 1.14 in-lbf/A 72 RPM/V 89% Peak Efficiency 15 hp Peak Power 330 A max for 2 minutes

10. Tank Tread Design

11. Batteries and Control Systems Concorde Sun Xtender PVX-1040T AGM Sealed Battery 100 Ah at 20 hr rate 66 pounds each Group 27: 12.03” X 6.77” X 8.93” RoboteQ AX2550 Dual Channel, Electronic Speed Controller Fully Digital, Microcomputer Design Advanced Data Logging 200 mA Idle Current Draw 2.5 mW ON Resistance MOSFETs 120A for 15 seconds, 80A Extended 16kHz Pulse Width Modulation

12. Heat Exchanger Design

13. (cont.)

14. Heat Exchanger Design (cont.)

15. Suspension Design Studied 3 different materials Conducted 3 experiments to determine stiffness, creep and abrasion properties Based on these results, selected molded polyurethane straps rated to 2 times their original length

16. Used the ANSYS finite element analysis software package Examined 8 worst case scenario load cases Also analyzed axles for structural integrity Found and corrected all cases where the stresses exceeded half of the yield strength of steel Structural Analysis

20. Classes Used Direct Use CM-410: Advanced Engineering Com. MA-130: Calculus I MA-140: Calculus II MA-150: Calculus III MA-210: Fundamentals of Linear Algebra MA-250: Principles of Differential Equations MA-320: Numerical Analysis SC-235: Physics I SC-245: Physics II CS-190: C++ Programming CS-270: Structured Computer Organization CS-360: Advanced Program Design CS-430: Data and Computer Com. Networks CS-440: Software Engineering CS-450: Operating Systems Survey Use HM-480: Moral and Ethical Issues CM-100: Written and Oral Com. CM-110: Scientific and Business Com. MA-290: Discrete Structures MA-330: Probability and Statistics ME-350: Engineering Vibrations GE-210: Engineering Economics GE-110: Engineering Graphics GE-201: Engineering Statics GE-202: Engineering Dynamics GE-203: Engineering Mechanics of Materials GE-205: Engineering Materials GE-290: Introduction to Engineering Design GE-305: Electrical Circuit Analysis ME-204: Mechanics and Materials Laboratory ME-301: Fluid Statics and Dynamics ME-320: Heat and Mass Transfer ME-390: Introduction to Mechanical Design ME-415: Kinematics and Mechanisms ME-420: Finite Element Analysis ME-460: Introduction to Robotics SC-195: General Chemistry CS-210: Data Structures and Algorithms CS-291: Theory of Computation CS-480: Computer System Architecture EE-310: Microprocessor Systems EE-360: Digital Circuit Design

21. Complete Budget Fall-Through Updated Risk Mitigation:

22. Complete Budget Fall-Through

23. Our Sponsorship Evaporated Now What? The design process went on hold Alternate projects were researched and evaluated - Reduced design (approximately 100 pounds) - Small design (25-50 pounds) - Small hybrid/electric vehicle conversions Opted to complete a full scale prototype with slightly modified implementation details - Single battery pack on delivery - Sensor array to be implemented as a module This process, as well as the enduing redesigns, caused a massive schedule lapse As a result, we have failed to make almost every single deadline set at the onset of this project.

24. Senior Design Project Schedule, First Phase

25. Senior Design Project Schedule, Second Phase

26. Budget

27. Conclusions To date, we have: addressed all major design issues and concerns developed finished mechanical designs and domain models completed the development phase and are now ready to move on to implementation “this is going to be the best prom ever”

28. Questions?