1.  Rollin Bicskei  Eric Bornemann  Jason Wells  Ryan Bidlack  ELM 4701 October 2008 Toromatic Team Brown & Associates:

2. Background Information Background Information New stringent environmental standardsNew stringent environmental standards New technological advances help with production and profitNew technological advances help with production and profit Robots are slowly being developed and accepted as a profitable solution to plant care and weed removal applicationsRobots are slowly being developed and accepted as a profitable solution to plant care and weed removal applications

3. Problem statement Problem statement Organically remove weeds from a cornfield Organically remove weeds from a cornfield

4. Solution Statement SW1 SW2 SW3 Battery Controller Corn Tiller Broken Beam sensor Travel Tracked Bot Tiller and Spinning Disk control weeds Lever arms act as push button controls Broken beam sensor in front for E-Stop Navigation Plan System Diagram

5. Drive System Roto-tillerTracked drive

6. Roto-tilling systems  Tilling Disk on a Spring arm  Roto-tiller mounted to the rear of the MARV2 Platform Tiller Disk Tiller Spring Mechanical Stops

7. Tilling Motors Switch

8. Sensors SW3SW1 SW2 “Broken Beam” Optical Sensor 3 Pushbuttons (SW#) 1 Optical Sensor set up as a “Broken Beam”

9. Electrical Schematic Sensors

10. Switch 1 Switch 2 Switch 3 Optical Sensor 68HCS 12 Controller Drive Motor 1 Drive Motor 2 Drum Motor Disk Motor Robot System Diagram

11. Navigation State Diagram Forward Tilling Slight Right Slight Left Redirect Toro 180 Turn All Off SWL == on SWR == on On btn. ==onOff btn. ==on RTS Opt. == on RTS Timer1 >= 15sec SWR = Right switch SWL = Left Switch Opt. = Optical Sensor RTS = Return from subroutine

12. Example Loop

13. Right Button Active

14. BudgetItemQuantity Real Cost Per Item Per Item Out of Pocket Total Cost MARV1$400$0$0 12V Motors 2$17.50$0$0 Controller/ Software 1$160$0$0 Drum Mat. 1$10$10$10 Track Belt 2$45$90$90 Alu./ Poly NA$100$0$0 Total Funds allocated $200 Total Funds Budgeted $100 Funds In Excess $100

15. Personnel Assignments Mechanical Design and Fabrication Managers: Jason Wells, Rollin Bicskei Fabrication assistants: Ryan Bidlack, Eric Bornemann Sensor Design and Calibration Manager: Ryan Bidlack Sensor Implementation: Eric Bornemann Electrical and Software Design Manager: Eric Bornemann Wiring assistants: Rollin Bicskei, Ryan Bidlack, Jason Wells

16. Week 1 Week 2 Week 3 Week 4 Week 5 Week 6 Design MARV Layout Sensors Programming Mechanical Systems Build Sensors Programming Test Sensors Programs Schedule

17. Questions ?