2.  To build a two-wheeled self-balancing platform (PD controller)  To design, procure and test parts to implement the Segway-like scooter  The Transporter will have the ability to transport a single person  RFID implementation for Transporter security, operability, and safety

3.  2 Accelerometers  1 Gyroscope  RFID Security  Steering (force-feedback)  Wheel Diameter: 14”  Weight: 52 lbs  Peak Motor Power: 0.46 HP each  Top Speed: 11 MPH  Speakers w/ IPOD input  Battery: 12V  Processor: 100Hz  Total Materials Cost: $1500

4. The Transporter

7. Copyright MIT

8.  Steering is a crucial part of the application of this two-wheeled Transporter  We developed a gas piston force-feedback resistance system for turning our Transporter, allowing for smooth operability  Accelerometer is located at handlebar height for increased accuracy in reading user input

9. Lean Steering – Gas Sturts

10.  By simply leaning, a user will accelerate forward or backwards depending on the movement  An accelerometer and gyroscope are both located on the bottom of the Transporter for accurate readings  The computer can display the pitch and acceleration of the different sensors through the ZigBee signal

11.  User will be able to place tag near reader to use the Transporter  Safety precaution and security measure  The PIC processor will detect input from an RFID reader when appropriate tag is used

12. RFID Antenna – Courtesy of New Edge Engineering

13. RFID Antenna Enclosure & IPOD Holder

14. Extras: Speakers

15. Transporter Undercarriage

16.  Hardware Schematics  Printed Circuit Board  Software Code  Building Prototype  Documentation  Final Balancing Scooter 3/25/2008 5/7/2008

17. Questions?