1. S TAIRS C LEANING R OBOT Connie Lisu Ahmad Naqeeb Yahya

2. P ROBLEM S TATEMENT  Many complaints arise because stairs can take many more hours to dry than do typical carpeted floors.  It's rare that the stairs receive the same treatment. Weeks, even months, can go by without stairs receiving a proper vacuuming.  Solid load builds up in stairs which can be extreme at times.  Designs for structured obstacles.

3. G OALS AND O BJECTIVES Primary Objective Robot movement: Sideways, Descent Not tip over Secondary Objective Installing vacuum cleaner components Roller brushes, suction cup, absorbent bag, filter. Kakudou, T. (2011). Study on Mobile Mechanism for a Stair Cleaning Robot, Design of Translational Locomotion Mechanism. Department of Intelligent Mechanical Systems, Okayama University, Okayama 700-8530, Japan.

4. S YSTEM A RCHITECTURE I

5. S YSTEM A RCHITECTURE II

6. H IGHLIGHTS OF T ECHNOLOGIES AND I NNOVATIVE I DEAS Rover 5 Motor Driver Board ROB-11593 H-Bridges Four motor outputs; four encoder inputs Vex Bumper Switches SPST switch; 3-wire cable Signal behavior: Maintains digital HIGH signal Arduino Uno R3 Atmega328 microcontroller 16Mhz clock speed, 14 I/O pins Scissor Lift Vex Gear Kit ( 12-, 36-, 60-, and 84-tooth gears) Vex Metal and Hardware Kit (bars, shafts, bearings and etc)

7. S YSTEM D ETAILS I Rover 5 Motor Driver Board Four pins are connected to Arduino Uno for motor directions and voltage control (PWM) 6 x 1.5V NiMH as voltage source One pin for current measurement

8. S YSTEM D ETAILS I unsigned long start; int time_to_go; void loop () { analogWrite (MOTORA, 200); analogWrite (MOTORB, 200); analogWrite (MOTORC, 200); analogWrite (MOTORD, 200); start = millis (); // check current drain while (millis () - start 325) // > 1.46 amps break; } switch (phase++ & 3) { case 0: digitalWrite (DIRECTIONA, 1); digitalWrite (DIRECTIONB, 1); time_to_go = TIME_FORWARDS; break; case 1: digitalWrite (DIRECTIONC, 0); digitalWrite (DIRECTIOND, 0); time_to_go = TIME_BACKWARDS; break; } // end of switch analogWrite (MOTORA, 0); analogWrite (MOTORB, 0); analogWrite (MOTORC, 0); analogWrite (MOTORD, 0); delay (500); } // end of loop

9. S YSTEM D ETAILS II Arduino Uno + Vex Bumper Switches: 9V battery Force on bumper switch changes the switch state Bump on either switch will reverse the current direction of the motors

10. S YSTEM D ETAILS II #include AF_DCMotor motor1(1,MOTOR12_64KHZ); AF_DCMotor motor2(2,MOTOR12_64KHZ); int sleft = 52; //left bumper switch int sright = 53; //right bumper switch int lval; //left switch state int rval; //right switch state void setup() { Serial.begin(9600); Serial.println("Here we go!"); pinMode(sleft,INPUT); pinMode(sright,INPUT); motor1.setSpeed(255); motor2.setSpeed(255); digitalWrite(sleft,LOW); digitalWrite(sright,LOW); } void loop() { lval = digitalRead(sleft); rval = digitalRead(sright); while (lval == LOW,rval == LOW) { motor1.run(FORWARD); motor2.run(FORWARD); } if (lval == LOW,rval == HIGH) { motor1.run(BACKWARD); motor2.run(BACKWARD); delay(1500); motor1.run(BACKWARD); motor2.run(FORWARD); delay(750); } if (lval == HIGH,rval == LOW) { motor1.run(BACKWARD); motor2.run(BACKWARD); delay(1500); motor2.run(BACKWARD); motor1.run(FORWARD); delay(750); } if (lval == HIGH,rval == HIGH) { Serial.print("WTF!!!"); delay(3000); motor1.run(BACKWARD); motor2.run(BACKWARD); delay(1500); motor1.run(BACKWARD); motor2.run(FORWARD); delay(2250); } }

11. S YSTEM D ETAILS III Scissor Lift Metal framework that is able to move like several interconnected pairs of scissors in order to lift a platform. This method will help the robot to move down the stairs.

12. S YSTEM D ETAILS III Kits Vex Gear Kit 12-, 36-, 60-, and 84-tooth gears Vex Metal and Hardware Kit Steel chassis, plates, bars, and gussets Collars, shafts, bearings, and standoffs Spacers, screws, nuts, and washers.

13. U SER I NTERFACE

14. L ATEST A CCOMPLISHMENTS

15. S UGGESTIONS F OR F UTURE D EVELOPMENT Improving the scissor lift design so that the robot senses when the it touches the ground of the lower stairs. Allowing the robot to detect and stop automatically on flat surfaces. Improving the vacuum port design especially the roller brush so that it fits the stair treads.