1. Fall 2002 1 CS-EE 480 University of Portland School of Engineering Project Nuthatch 2/27/02 Project Nuthatch The Inverted Pendulum February Program Review

2. Fall 2002 2 CS-EE 480 Project Nuthatch 2/27/03 University of Portland School of Engineering Overview Milestones Accomplishments –Building Complete –Preliminary Tests Complete –TOP Plans –New POTs –Debug Issues

3. Fall 2002 3 CS-EE 480 Project Nuthatch 2/27/03 University of Portland School of Engineering Milestones

4. Fall 2002 4 CS-EE 480 Project Nuthatch 2/27/03 University of Portland School of Engineering Accomplishments Built Mechanical Portion of Project –Built cart-track assembly –Built pendulum –Integrated motor and potentiometers with mechanical assembly Built Circuit Tested motor response –Hooked the function generator up to the portion of the circuit that drives the motor

5. Fall 2002 5 CS-EE 480 Project Nuthatch 2/27/03 University of Portland School of Engineering Accomplishments, cont’d Integrated Mechanical and Circuit Parts Conducted preliminary tests –The first system tests showed that Project Nuthatch was operating well in one direction, but debugging was required to see why it was not working in the other direction. We found an error in the circuit, fixed it, and the control circuit now operates as it was designed to. TOPPY 1.0 –Approved by H. Voorheis and R. Albright

6. Fall 2002 6 CS-EE 480 Project Nuthatch 2/27/03 University of Portland School of Engineering Issues Potentiometers –The potentiometers we got from Rick couldn’t handle the current going through our circuit and caught on fire. =

7. Fall 2002 7 CS-EE 480 Project Nuthatch 2/27/03 University of Portland School of Engineering Plans New Potentiometers –We bought new potentiometers, which should arrive in the mail today. Debugging –Once we replace the POTs and get the system fired up again we’ll have to tweak some of the gains to get the best stability and debug any problems that arise.

8. Fall 2002 8 CS-EE 480 Project Nuthatch 2/27/03 University of Portland School of Engineering Questions