1. Senior Design Project Autonomously Balancing Robot Amir Ali Jon Allen Sam Chen Pei-Lin Huang

2. Outline Background Background Project specifications Project specifications Preliminary design Preliminary design Proposed MDR prototype specifications Proposed MDR prototype specifications

3. Background Many real-world systems are inherently unstable Many real-world systems are inherently unstable Examples: Examples:

4. Background cont. For a variety of reasons, we may wish to stabilize such systems For a variety of reasons, we may wish to stabilize such systems Stability Control is extremely important! Stability Control is extremely important!

5. Background cont. Inverted Pendulum: Unstable System Inverted Pendulum: Unstable System Simple model for many complex physical systems Simple model for many complex physical systems

6. Project Specifications We will construct a cart with a free moving inverted pendulum with a single axis of rotation. We will construct a cart with a free moving inverted pendulum with a single axis of rotation.

7. Project Specifications Our goal is to move the cart from point A to point B, while balancing the pendulum Our goal is to move the cart from point A to point B, while balancing the pendulum

8. Project Specifications The cart will have two modes of operation: manual via remote control, and computer assisted. The cart will have two modes of operation: manual via remote control, and computer assisted.

9. Project Specifications Manual mode Manual mode

10. Project Specifications Computer Assisted Mode Computer Assisted Mode

11. Preliminary Design Desirable Chassis, microcontroller, etc : DC Motors DC Motors Minimum number of Wheels Minimum number of Wheels Size of Chassis Size of Chassis Wheels Wheels

12. Preliminary Design TJ Pro TJ Pro comes as a complete kit TJ Pro comes as a complete kit MC68HC11 microcontroller MC68HC11 microcontroller 32Kb of Ram 32Kb of Ram I/O Pins I/O Pins

13. Preliminary Design HandyBoard HandyBoard MIT Design MIT Design MC68HC11 microcontroller MC68HC11 microcontroller 32 Kb of RAM 32 Kb of RAM I/O Pins I/O Pins

14. Preliminary Design Disregarded Choices: Lego Mindstorm Lego Mindstorm Stamp Stamp Best Option: TJ Pro TJ Pro

15. Preliminary Design: Block Diagram Sensors Remote Controller (human) MicrocontrollerMotor/ Wheel Pendulum Cart

16. Preliminary Design: Physical Modeling 0.22" M3M3 l1l1 l/2 l2l2 M M2M2 M1M1 M θ U r l2l2 X bX’ M1M1 M3M3 M2M2 U r l θ X inertia of pendulum = I

17. Preliminary Design: Cart Diff. Eq.1 linearizing

18. Preliminary Design: Cart Diff. Eq.2

19. Preliminary Design: Wheel Eq. M1M1 M r X bX’ U U Motor iaia VaVa + -

20. Proposed MDR prototype specifications Our goal is by the end of the semester is to complete the manual mode. Our goal is by the end of the semester is to complete the manual mode. Data Data

21. Action Items Purchase Kit Purchase Kit Assemble cart with pendulum and sensors Assemble cart with pendulum and sensors Implement remote control interface Implement remote control interface