R I T Team Members: Nandini Vemuri → Team Lead, System Testing, Motor Expert Jason Jack → GUI Design, Microcontroller Expert, Website Administrator John Corleto → PIC Expert, Software Designer Emily Phillips → Power Systems Design, Financial Management Ryan Schmitt → Wireless Systems Design, Software Designer, Website Administrator Jeffrey Howe → PCB Layout Design, Voltage Regulation Expert P09204 – 1kg Robotic Platform This project is Sponsored by the Kate Gleason Foundation.

R I T Project Description Provide a product line of off-the-shelf motor modules and platforms for diverse applications Scalable, modular, robust wheeled platform to carry payloads of 1kg mass Open architecture, Open source development Target audience is educational and outreach programs

R I T Customer Needs Support 2 motor modules Graphical User Interface Robust Scalable, Modular Use open source, open architecture components Battery Life Wired and wireless communication interface Multiple levels of complexity Thorough Documentation

R I T System Level Block Diagram

R I T Software Layer Diagram

R I T In House Power Distribution These boards have safety factors built in, including fuses to protect the rest of the circuit, and abundant reservoir capacitors to weed out power fluctuations and current spikes. By using two separate batteries, the system will be more modular, by allowing the motor battery to be adjusted based on the type of motor being used.

R I T In House DC Motor Driver The DC motor driver is controlled via a programmable PWM signal, and two discrete inputs. One discrete input is reserved for enabling or disabling the driver entirely while the other is used to drive the motor in forward or reverse directions.

R I T Electrical Interconnect Diagram

R I T Sequence Diagram User communicates with the robotic platform through a wired or wireless communication link (using a Desktop or Laptop PC) Microcontroller interprets commands and converts them to logic and timing signals used by the motor drivers

R I T Risk Analysis of Electrical Components Control System –Loss of communication via I2C bus –Cost in space for multiple PICs Power System Failure –Thermal Damage –Current overdraw Cabling Issues –User Error –Dense cabling inside control system –Non-twisted pair susceptible to noise

R I T Risk Analysis of Computer Components Microcontroller System –Multiple access mitigation –Communication bus latencies Remote Control System –Wireless Communication –Communication with Microcontroller Navigation System –Accounting for acceleration –Steering motor feedback (if not servos) –System complexity of flexible choice of motors for drive and steer

R I T Total BOM Cost Mechanical Cost Breakdown Electrical Cost Breakdown $ $???.?? Total: Lot of One – $ Lot of Ten – $

R I T Senior Design – Next Steps Test plan Receive parts Navigation code development on microcontroller Wireless code development on microcontroller GUI development

R I T Questions?