1. Mid-Semester Presentation Design I October 3, 2013

2. Team Leader: Joseph Ratliff Obstacle Detection Subsystem Ryan Crownover-True Motion System Controls Michael Tyler Ross Motion Detection System Robert Lee Jones Power System Design Team Advisor: Dr. Raymond Winton

3. »Problem »Solution »System Overview »Constraints Technical Practical »Approach »Progress Timeline »Questions

5. »Currently, cooler transportation is: Time consuming Cumbersome Exhausting »Source: Requirement of human involvement

6. »The Kooler Kart will reduce the need for human involvement in a cooler transportation process. Hands free Designed to be user friendly. Incorporates an easy way to charge.

7. Beacon Drive System Microcontroller Object Detection Beacon Detection User Kooler Kart

9. NameDescription Beacon and Obstacle Detection Distance The Kooler Kart must detect a beacon at a distance of 3 meters and ambiguous obstacles at a distance of 1 meter. Field of Vision The Kooler Kart must be able to detect the beacon and ambiguous objects at a 180 degree field of view from the front of the unit. Refresh Rate The Kooler Kart must refresh all sensor information in no more than 100ms. Power Requirements Unit must charge internal batteries via 120VAC power source at 10A or less. Notifications User must be notified by alarm if beacon is out of range or when the battery reaches 50% or 10% charge.

10. TypeDescriptionDefinition Manufacturability Must hold and transport a standard size cooler and navigate through public places Hold the weight of a 25qt cooler (~60lbs loaded) Fit through standard doorway (< 30” wide) Sustainability Battery life must provide for travel to and from a remote event 4 hours of movement 4 miles of distance

12. Transmitter Receiver Arduino Due

13. TypeProsCons Ultrasonic 6m range Unaffected by light Affordable <$20 per sensor Affected by servo noise Unaware of object’s shape Infrared Not affected by servo noise Affordable <$20 per sensor Aware of object’s shape 3m range Cannot be used in sunlight Extra noise on signal

14. TypeProsCons Ultrasonic 6m range Unaffected by light Affordable <$20 per sensor Affected by servo noise Unaware of object’s shape Infrared Not affected by servo noise Affordable <$20 per sensor Aware of object’s shape 3m range Cannot be used in sunlight Extra noise on signal

15. TypeProsCons Arduino Due Some members with experience 12V Community supported ultrasonic libraries Cost: $49 Limited analog outputs Limited interrupt capabilities PIC24H All members have experience Cost: $15 Versatile pins and interrupts High hardware overhead 3.3V Lack of relevant libraries

16. TypeProsCons Arduino Due Some members with experience 12V Community supported ultrasonic libraries Cost: $49 Limited analog outputs Limited interrupt capabilities PIC24H All members have experience Cost: $15 Versatile pins and interrupts High hardware overhead 3.3V Lack of relevant libraries

17. Software must control the drive system, object detection, and beacon detection. Motion Control Simultaneous software development

18. Power OnWait for init Follow enabled? Beacon detected? Move towards beacon position Collision detected? Move to avoid collision Alarm no no x 5 sec no yes

19. Kooler Kart User 70% speed User 70% speed No Collision Objects Travel Direction

20. Kooler Kart User Collision Object Travel Direction

21. Kooler Kart User Collision Object Travel Direction

22. Kooler Kart User Collision Object Travel Direction

23. Kooler Kart Travel Direction User 100% speed User 100% speed

24. Kooler Kart Travel Direction User 100% speed User 100% speed Collision Object

25. Kooler Kart Travel Direction User 100% speed User 100% speed Collision Object Out of Range

26. Kooler Kart Travel Direction User Collision Object

27. Kooler Kart Travel Direction User Collision Object Out of Viewing Angle

31. »November: ˃ Week 1: Hardware Demonstration Further Testing and Improvements TaskAugustSeptemberOctober 1October 2November Project Plan Hardware Acquisition Roles Established Drive System Beacon Object Detection Alarm System Full Integration Real Case Testing

32. [1] Eric. Infrared vs. Ultrasonic - What you should know. 2008. Online: http://societyofrobots.com/member_tutorials/node/71 [2] “Arduino Due,” in Arduino. 2013 Oct. 2. Available: http://arduino.cc/en/Main/ArduinoBoardDue [3] “Ultrasonic Module HC-SR04,” in Hobby King. 2013 Oct. 2. Available: http://www.hobbyking.com/hobbyking/store/__31136__ultrasonic_module _hc_sr04_arduino.html

33. Mid-Semester Presentation Design I October 3, 2013