1. Team Concept and Key Issues AME 470: Senior Design ASME Bulk Material Transporter Matt Bertke, Paul DeMott, Patrick Hertzke, Will Sirokman 16 September 2004

2. Stair Climbing Concept Senior Design: Team Burja _______________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________ Two Independently Driven Treads with Dual Swing Arm Swing Arm rotates CW to incline front of vehicle. Treads drive forward until front contacts step. Swing Arm rotates CCW to the rear of the vehicle. Swing Arm lifts rear of vehicle as treads drive forward onto next step. Swing Arm rotates CW out of the way when vehicle is firmly on the next step.

3. Senior Design: Team Burja _______________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________ Key Issues Locomotion Optimizing Torque and Speed of Swing-Arm apparatus to maximize performance Motor and Gear-train trade study Analysis of independent drive treads Tread material and size to maximize traction Drive motor sizing and synchronization Arm position control Motor braking and actuation Arm wheel design

4. Senior Design: Team Burja _______________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________ Key Issues Power and Electronics Power supply Available battery power vs. motor requirements Power distribution Potential energy study Electronic Control Automation of ascent and decent process Control of grain delivery Individual drive tread control Position control of swing arm Operator interface

5. Senior Design: Team Burja _______________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________ Key Issues Materials Frame Design Weight of material Cost Ease of manufacture Material strength Outsourced Parts Motors and gearing selection Wheels and treads

6. Senior Design: Team Burja _______________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________ Key Issues Stability Suspension Frame suspension Grain container suspension Margin of error Vehicle dimensions Vehicle speed Variability in motor precision and control input Center of Gravity Positioning with and without grain load Motor, battery, and grain container positioning

7. Senior Design: Team Burja _______________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________ Key Issues Schedule DateMilestone/Deliverable 14-SepTeam preliminary concept selection report due. 21-SepIndividual engineering trade study proposal due. 5-OctIndividual engineering feasibility study due. 7-NovCritical Design Review 11-NovConcept design proposal due. 16-NovDemonstration of electronics, sensors, and control logic. 18-NovLayout of all mechanical components. 30-Nov“In house” demonstration. 2 DecFinal Concept Design Proposal due DatePreliminary Design Report 14-Sep Team Concept and Key Issues 21-Sep Mobility: Stair Navigation and Turning Mechanism. 28-Sep Chassis Design. 5-Oct Controls and Interface. 12-Oct Material Discharging. 26-Oct List of all parts and their sources; estimate of production costs. 2-Nov Electronics and Power Distribution. 9-Nov Complete Digital Model. 16-Nov Outstanding Issues.