Preliminary Design Review

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Preliminary Design Review

• obotic

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Autonomous Robot Team Members

• Bryan Boothe Team Leader
• Joshua Bergum Research and Development
• Richard Gray Information Technology
• Dan Gallacher Lead Software Engineer

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Product

• Processing Unit
• Pentium 133 MHz
• 32MB of RAM
• Linux OS
• Custom I/O Cards

• Drive System
• Dual Drive Motors
• Rear Wheel Drive
• Front-end Steering
• Stepper Motor Steering

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Product

• Arms
• 6 Degrees of Freedom
• Arm Manipulation through Stepper Motor
• Can Lift approx. 5lb.
• Consumes approx. 4.5 amps

• Sensors
• Positioning
• Infrared Ranging
• Optical System
• Pressure
• Infrared Targeting

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Specs

• Pentium 133 MHz, 32MB RAM
• 2 Custom 96 line I/O Cards
• 12V DC Power System
• 2 Lead Acid 12V 33 A/Hr
• Drive System
• Max speed 5 MPH
• Use approx. 1 Amp at 12V

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Specs

• Sensors
• CMUcam
• Color recognition and object acquisition
• Sharp GP2D12 Infrared Rangers
• Measures distance from 4 to 30 inches
• Positioning Sensors
• Will track position of all motors
• Pressure Sensor
• Infrared Targeting Sensor
• Directs hand towards object within 18 inches

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Specs

• Arms
• Wrist spins 360 Degrees
• Elbow bends 180 Degrees
• Shoulder rotates and lifts
• Can lift approx. 5lbs.
• All motors run on 12V
• Wrist bends 180 Degrees

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Design Option Analysis

• Monitor Design
• Pros
• Modular design
• Multiple processes protected from conflicting
• Cons
• Overly Complex
• Multiple processes limited

• Shared-Variable Design
• Pros
• Simple
• Unlimited multiple processes
• Cons
• Accessing variables must be heavily regulated

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Design Option Analysis

• Muscle Wire Arm Design
• Pros
• Easy to Control
• Very Light
• Cons
• Expensive
• Uses a lot of power
• Only contract 5 of its length
• Gets very hot (100 degrees Celsius)

• Stepper Motor Arm Design
• Pros
• Can be precisely controlled
• Cheap
• Will not heat up
• Cons
• Heavy
• Uses a lot of power

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Design Option Analysis

• Electric Piston Steering
• Pros
• Easy to control
• Light weight
• Cons
• Expensive
• Gets hot
• High power

• Stepper Motor Steering
• Pros
• Can be precisely controlled
• Can turn wheels further than piston
• Cons
• Heavy
• High power

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Risk Mitigation

• Arm design
• Constructing various prototypes
• Programming
• Starting with simple commands
• Power System
• Measure power used by prototypes
• Over estimating power usage

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Financial
Financial Status  
    Hours worked Name Hours Budgeted Hours
Worked Bryan Boothe 29 38 Joshua
Bergum 29 41 Richard Gray 28 36 Dan
Gallacher 28 36
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Team hours
Name Hours Budgeted Hours Worked Bryan
Boothe 29 38 Joshua Bergum 29 41 Richard
Gray 28 36 Dan Gallacher 28 36