1. Fall 2002 1 CS-EE 480 University of Portland School of Engineering Project Nuthatch 10/29/02 Project Nuthatch The Inverted Pendulum Monthly Program Review

2. Fall 2002 2 CS-EE 480 Project Nuthatch 10/29/02 University of Portland School of Engineering Accomplishments Functional Specifications, Rev. 1.0 –Project approval meeting with industry representative Research Mathematical Modeling Project Plan, Rev 0.9

3. Fall 2002 3 CS-EE 480 Project Nuthatch 10/29/02 University of Portland School of Engineering Functional Specifications Modifications were made to revision 0.9 based on feedback from advisors and the industry representative. The functional specifications were officially moved to revision 1.0 after approval was received at the project approval meeting.

4. Fall 2002 4 CS-EE 480 Project Nuthatch 10/29/02 University of Portland School of Engineering Research We finally found the holy grail of resources. We are aware of a key article related to our project which we would like to use, but we are still attempting to locate it.

5. Fall 2002 5 CS-EE 480 Project Nuthatch 10/29/02 University of Portland School of Engineering Mathematical Modeling Dynamics of pendulum system and cart have been finalized. We built a linearized model of the dynamics, and used that model to obtain the transfer function for the pendulum-cart system. We found a transfer function to describe the servo-positioning motor we will use in the cart.

6. Fall 2002 6 CS-EE 480 Project Nuthatch 10/29/02 University of Portland School of Engineering Project Plan This document presents a plan for the timely completion of Project Nuthatch. The deliverables in this project include milestone documents, presentations, and design and construction phases. The milestone documents are the Functional Specifications, Project Plan, Design Release, and Theory of Operations.

7. Fall 2002 7 CS-EE 480 Project Nuthatch 10/29/02 University of Portland School of Engineering Project Plan, Cont. The design will be completed in seven steps, beginning with selecting a plan of attack and ending with circuit simulation. Other design deliverables include physical dynamics, feedback diagrams, frequency response, and circuit design. Our assumptions and possible related risks are clearly stated along with contingency plans for addressing these risks. Most of the risks are related to being able to obtain parts with desired functionality at affordable prices. Time management is also a risk factor.

8. Fall 2002 8 CS-EE 480 Project Nuthatch 10/29/02 University of Portland School of Engineering Project Plan, Cont. The project resources are described, including people and the cost of parts. Our budget is the most important part of this section. We anticipate keeping our budget below the $200 allowable. Our only other resource is the lab we will require to do the testing of our circuit. Project Budget

9. Fall 2002 9 CS-EE 480 Project Nuthatch 10/29/02 University of Portland School of Engineering Issues and Alternatives Finding research material that was applicable to the desired design methodology Limited design time Laplace transforms are difficult

10. Fall 2002 10 CS-EE 480 Project Nuthatch 10/29/02 University of Portland School of Engineering Plans Project Plan, Rev 1.0 Obtain final piece of research Complete mathematical modeling and design -- Laplace transforms Feedback diagrams Frequency response Circuit design and simulation