1. Team: Derek Arnold Lawrence Derdzinski Athanasios Gkourlias Amber Mescher Chris Sangster Faculty Mentor: Ferat Sahin Sponsor: Getinge USA Corporation, Rochester, NY George Zima, Washing Engineer Manager TEAM PICTURE HERE

2. Outline  Project Overview  Customer Needs Assessment  Performance and Design Objectives  Concept Development  Feasibility Assessments  Recommended Concept Design  Analysis and Synthesis  Where To Go From Here

3. Hospitals

4. The Environment Capable of loading medical carts of various sizes Fully automated system

5. The competition Too large Major floor construction required Operator run Steris Belimed

6. Concept Objectives  Self-guided, fully automated robot, capable of loading medical carts of various sizes  Two robots per system  Interface with the Getinge Model 7800 Floor Loading Cart Washer  Must have the capability of detecting and determining the type of medical cart  Must be able to charge itself automatically  The robot must safely attach to and navigate the medical carts

7. Specifications  50 lbs of Linear Force  150 lbs load  No Service Space  Size  Operating Conditions  Safety Regulations  Reliability and Life Expectancy

8. Brainstorming and Feasibility  Building vs. Buying  Buy  Build off Base  Build from Components  Towing  Arms  Hook  1 pin with lift  2 pin  Power  Battery  Retrofit Kit

9. Brainstorming and Feasibility  Cart Detection  Image  Barcode  Pin array  Control  Whisker microcontroller  Drive  4 wheel  Tank  2 wheel, 2 caster  Charging Station  Floor  Wall  Navigation  IR  Camera  GPS  Obstacle Avoidance  IR  Camera  Ultrasonic  Laser  Communication  RF  IR  Wired

10. Recommended Design  Towing  1 pin from robot  Detection  Camera/IR  Power  Lead Acid Batteries  Control  Cygnal  Communication  IR / Wired

11. Recommended Design  Drive  2 wheel, 1 caster  Navigation  Camera  Object Avoidance  IR  Charging  24 Volt Wall  Retro-fit  Plate with hole and barcode

12. Analysis and Synthesis  Friction and Weight  Torque, Forces, and Current  Drive System  Lifting System  Voltage & Current Requirements  Turning Angles

13. Component Cost  Budget $10,000  Estimated costs ~ $4,000

14. Future Plans  Market October 2004  Washing Machine Integration  Application expansion

15. Conclusion