1. The Change Collector by Rafael Garcia 08/07/07

2. Overview Features Circuit Hierarchy Behavior Cycle Pictures (Resolved) Demo Day Issues Coin Detection Algorithm (time permitting)

3. Features Picks up, sorts, and counts coins No external lighting required Stays inside predefined borders LED indicators and small speaker signal internal behaviors

4. Circuit Hierarchy pt1

5. Circuit Hierarchy pt2

6. Behavior Cycle

7. Pictures

8. More Pictures

9. Demo Day Issues Grasper gets stuck Solution: Keep grasper closed on the way down and open it up halfway down, after passing CMUcam Solution: Keep grasper closed on the way down and open it up halfway down, after passing CMUcam Dark spots on poster mistaken for coins Solution: Use new poster boards for demo day and use white tape to combine boards so that intersections appear white Solution: Use new poster boards for demo day and use white tape to combine boards so that intersections appear white

10. Coin Detection Algorithm pt1

11. Coin Detection Algorithm pt2