1. M ANURE C LEANER R OBOT By: Marcus Ortuno & John Audlin

2. P ROBLEM We have been tasked with the design and fabrication of a robotic prototype capable of maneuvering within a typical cow barn environment and relocating manure to a disposal area.

3. B ACKGROUND 2 people are needed at the VTC farm during milking: one for doing the milking and the other for cleaning the area of manure. A cow can produce ≈ 80-120 pounds of manure in one day. (80% water) Poor hygiene increases risk of coliform mastitis and other health concerns. Existing robotic solutions require the barn to be built around the robot

4. P ROPOSED S OLUTION Manure is stored in a small body, dumps frequently Navigates “lawn mower style” Uses Ultra-Sonic and Infrared Sensors

5. S YSTEM D IAGRAM 0 1 2 3 4 5

6. K EY S PECIFICATIONS Range Finder Sensor Specs Short range: 20-150cm Long range: 100-500cm IR Thermometer -40°C to 80°C Robot Travel Speed 1 to 4mph Robot Dimensions 5’ x 2’ x 2’

7. C ONVEYOR Fist Design (conveyor belt) Second Design( Double Chain) Third and final(Single Box chain)

8. C ONTAINER /S TORAGE Max capacity is 4 gallons Weight load ~ 32lb.

9. SMB US I NTERFACE

10. M ANAGEMENT Responsibilities Software: John Navigation (Marcus’ Assistance) Motor Control Sensor communication Hardware: Marcus Part Allocation Part Manufacturing Part Assembly (John’s Assistance) Team Web Documentation Presentations

11. T IME L INE AND M ILESTONES Week 1Week 2Week 3Week 4Week 5Week 6Week 7Week 8Week 9Week 10Week 11Week 12Week 13Week 14Week 15 Components CAD/Hand Drawn design 1*2* Final design Chassis Fabrication Conveyor Fabrication 3* Bucket Fabrication 4* Scraper Fabrication 5* Design Alterations IIC Interface 6*7* Range sensors Navigation Sub-Routine 8*9* Dump Sub-Routine Turning Sub-Routines Presentation *See MileStones Milestones 1Fisrt Model of Conveyor 2Final Design of Conveyor 3Functional 4 5 6Send a Byte 7Receive data 8Go around the barn 9Move in Mowing pattern

12. B UDGET Budget Cost($) Sensors IR Range sensors (4x) $ 52.76 Thermal sensor(1x) $ 25.39 Ping sensor(1x) Given Cables $ 11.00 Conveyor belt sprokets (3x) $ 30.00 #55 Flat chain (+6') $ 25.00 cleates(4x) Donation Materials Given bearings(6x) $ 66.00 Drive motor(1x) TBA Bot Base Marv Frankenstien(1x) borrowed Batteries (2x) borrowed Dump System Materials Given Door mechanism TBA Scraper Materials Given Total $ 210.15

13. D ESIGN C HALLENGES Software Dump Routine Sequential Passes ‘Live’ Interference Hardware Dumping Mechanism Turning/Maneuvering Acquiring Conveyor Belt

14. Q UESTIONS ?