1. P09204: Second Generation Design Team Members: Jason Jack Nandini Vemuri Jeff Howe John Corleto Emily Phillips Ryan Schmitt

2.  Build a control system to command interchangeable motor modules  Control system must be:  Open-Source, Open-Architecture  Modular  Scalable, Programmable  Control system must be controllable by payload or Windows/Linux PC  System must be smaller than previous units

3.  Decade size reduction  Microcontroller within control system assembly  Fully documented, seamless handoff  Reusable GUI  Expandable system design  Minimum 1-hour battery life, separate supplies

4.  Motors must be efficient, easily controlled, cheap, widely available  Battery must be smaller, lighter  Power Distribution needs to be more robust than previous teams implementation  Software Implementation must exercise all hardware capabilities  Wireless datalink must have minimum range of 100 ft.

5. Selection Criteria Segment Weight A B C Freescale BDMicro Arduino Nano RatingNotesWtdRatingNotesWtdRatingNotesWtd Speed5%3 16MHz 0.153 16MHz 0.153 16MHz 0.15 Memory20%2 2KB 0.403 4KB 0.601 1KB 0.20 Open Source15%1 Closed Source 0.153 avr-gcc 0.453 Open Source 0.45 IDE Flexibility15%1 Code Warrior 0.153 Use Anything 0.453 Use Anything 0.45 Small Size20%1 Not Small 0.202 Small 0.403 NANO! 0.60 Existing Code Base10%3 Expansive Libraries 0.303 Open Source Fully Modular Driver Base 0.302 Arduino Libraries 0.20 Expandable Memory10%3 8-bit Mem Interface 0.302 X-RAM Interface 0.201 Nothing 0.10 Experience5%3 CE Experience 0.152 Easy Learning Curve 0.101 None have used Arduino Architecture 0.05 Total Score 1.80 2.65 2.20 Rank 1 3 2

6. DC/ServoDC/DCStepper/StepperDC/Stepper Cost4213 External Circuitry4123 Design Complexity Software2341 Hardware4123 Efficiency3412 Research Required1243 Scalability3142 Stall Torque Drive1342 Steer4434 Total:26212523 Rank:4132 BestWorst Cell Ranks:41

7.  Microcontroller did not have the capacity to generate all necessary control signals  Stepper motor drivers had non-deterministic behavior, required excessive control signals  Crossbow Wireless had confusing, custom programming; too complex for design  Errors in PCB design post-fabrication mandated changes late in development cycle

8.  Power Distribution – Logic and Motor  Motors – DC and Servo  Microcontroller – BDMicro Atmel ATmega128  GUI – Continuous and Incremental Control  Operational Software – Command Protocol  PID controller – Arduino Nano  Wireless – IOGear Bluetooth Serial Adapter

10.  Single Unit:  $866.50  $866.50 per unit  Lot of 10:  $6021.50  $602.15 per unit  Lot of 100:  $56980.37  $569.80 per unit  Lot of 1000:  $558609.46  $555.61 per unit The per unit price drops dramatically between a single unit cost and a lot of 10, however due to COTS fixed costs there is not much benefit for purchasing in larger lots than this

11.  Merge power supplies  Redesign power supplies to use isolated switching supplies (isolate motor spikes from logic)  Merge microcontrollers  Merge DC Drivers  Further research into PCB manufacturing, reduce costs  Reduce cabling, merge headers

12.  Light seeking plant carrier  “Birds-eye-view” robotic Pacman game  Robot “battle” competition  Robot dance competition  Autonomous, mobile paintball sentry robot  Software engineering project, further GUI development  Electrical engineering project, improve electrical systems design