1. Michael Lyons Michael Woods Linzhong Zhuo

2.  The main objective of our project was to create a stair climbing vacuum robot.  Small, efficient design  Remedy past failures  Integrate software for autonomy

3. The following diagrams give an overall view of our basic design and implementation for Gradus.  State  Context

6.  Inefficient design  Too heavy  15-20lbs.  Aesthetically displeasing  Large balance issues

7.  Master’s Student working for iRobot  Most successful design introduced  Heavy and Bulky, not efficient for home use

8. Original  Perfect, smooth arch  6 wheels  Wood or aluminum original case material  Expected 8-10 lbs.

10. Changes  Hexagonal design implement  4 wheels instead. Wheels on top of robot removed from design.  Acrylic used as case material.  Finished with 6-8lbs.

14.  Climb the stairs  Balance  Size  Software Integration  Automation  Battery Life

15.  Cutting the acrylic  Combining the servos with the DC motors  Mounting the servos and wheels to the proper height  Powering each component

16.  Determining the torque required by each component. E.g. motors, wheels, servos  Balancing the robot for optimal stair climbing  Re-programming the servo to move the full 180 degrees with the RC transmitter & receiver  Controlling the robot with the RC transmitter and receiver

17.  4 HiTEC Servos  4 DC Motors  Aluminum Channels  Arduino Mega 2560 Microcontroller  2 Sabertooth 2x5 Motor Drivers  Spektrum Dx5e Transmitter & Receiver

18.  Case completed  Remote control operation  Servo (0-90 Degrees) & DC motor  Successfully climbs stairs with reservations  Add weight to front for friction  Software Integration  Time constraint issues  Left for future teams

19. http://www.youtube.com/watch?v=vRDV9R_f0 fE&feature=youtube_gdata_player

20.  Able to overcome many of the challenges  Still an unfinished product  Future groups may implement software and stabilize design  Overall very interesting and rewarding project