1. BallBot Brian Kosoris Jeroen Waning Bahati Gitego Yuriy Psarev 10/11/2011

2. System Overview Mechanical Structure Base Vertical structure Landing gear Electronics Sensors Actuators/Motors Control System State-space variable model MatLab/Simulink code

3. Mechanical Design (CAD) SolidWorks model

4. Mechanical Design (CAD) SolidWorks model

5. Mechanical Design (CAD) SolidWorks model

6. Electrical Components New components Micro ITX gigabyte board High-level CPU to run MatLab Processes integer data from IMU board Runs control algorithm to digest sensor data Provides output to motor controllers 100% onboard control for self-sufficiency A321 batteries x 30 for onboard power supply Provides 12-16.5V (3-5A) to motors Provides 5V for digital logic (IMU board and CPU)

7. Micro ITX onboard Computer 1.6GHz CPU 4GB DDR3 Windows 7 MatLab 2010

8. IMU Board Arduino ATmega2560 Microcontroller/microprocessor ADXL345 Accelerometer Three-axis acceleration measurement unit IDG500 Gyroscope Two-axis angular velocity measurement unit Provides real-time feedback of inertial orientation in 3D space

9. IMU Board

10. Sensor Data Processing IMU data will be relayed to onboard computer MatLab will process complex state-space equations Control system theory is used to model the system and provide feedback to motors

11. Electronics Overview

12. Controller Overview State-space subsystem block diagram

13. Controller Simulation Subsystem Block-diagram representation of inside subsystem

14. Controller Simulation State-space modeling x’ = Ax + Bu; y = Cx + Du MatLab A = 0 0 1.0000 0 0 0 0 1.0000 0 -198.9738 -0.0567 0.0567 0 42.8060 0.0092 -0.0092 B = 0001 C = 100 0 D = 0

15. State-space model (cont.) controllability_matrix = 0 0.61661 -0.040635 19.844 0 -0.099717 0.0065714 -4.2689 0.61661 -0.040635 19.844 -2.6754 -0.099717 0.0065714 -4.2689 0.5025 Controllable_Rank_is = 4 observability_matrix = 1 0 0 0 0 0 1 0 0 -198.97 -0.056727 0.056727 0 13.715 0.0037383 -198.98

16. State-space model (cont.) Obsevabile_Rank_is = 4 Poles = 0 -6.5686 6.5168 -0.014085 Kd = -36.621 -1698.7 -40.986 -423.26 pole_placement = -14 -5 -240 -180 L = 438.93 -4372.5 51264 -26241 K_f = -0.14086 -886.74 -1.4844 -141.81 K_i = -0.0071253

17. State-space model (cont.) K_LQR = -0.14086 -886.74 -1.4844 -141.81 -0.0071253 new_A_by_K_gain = 0 0 1 0 0 0 0 0 1 0 0.086857 347.8 0.85855 87.502 0.0043935 -0.014046 -45.618 -0.13884 -14.151 -0.00071051 1 0 0 0 0

18. Gantt Chart

19. Title Contents

20. Title Contents