1. Team Bull Trout Project: Elevator Navigating Robot
Kelly Kofoed
Nate Whitmore
Shane Moser
Zach Uhles
Advisor: Dr. Lu
Industry Representative
Mr. Dennis Erickson
Affiliation: Robotics
University of Portland School of Engineering

2. Introduction
Robotics - main stream tool in almost all manufacturing sites
Heavily used in the office environment
Performing many service tasks like delivering office supplies, mail, or other documents
An important operation would be the need to move between building floors using an elevator
University of Portland School of Engineering

3. Our Project
Group of electronic modules put together to become an autonomous robot
Navigate between the floors via the elevator system

4. Our Goal Locate the elevator hailing button
Calculate distance and maneuver to hailing button
Robotic arm will press button
Maneuver in front of door
After door opens, move inside & locate button panel
Select a floor & press button
Exit elevator after reaching the desired floor

5. Ellie 1

6. Systems

7. Scorecard Prototype built in April 2010 Demonstration Results:
Manually drove robot to elevator
Arm operated on predefined script
Button pusher manually operated
Results:
We successfully opened elevator door
Convinced Shane and Zach to join our team
University of Portland School of Engineering

8. Additional Accomplishments
Repaired operation system
Downloaded Mil Library
Web Page
1st Draft of Functional Spec Completed
Power Measurements
University of Portland School of Engineering

9. Plans RS232 communications between MB & PIC Camera / Frame Grabber
Voltage Meter – Prevent unscheduled shut down
C Programming using MIL library
University of Portland School of Engineering

10. Milestones Status Description Original Target Previous Present
completed
Build 1st Prototype Robot
24 Apr 10
Func. Spec v.0.01
13 Sept 10
Customer Interview Report
20 Sept 10
Block Diagram & Flow Chart
30 Sept 10
Func. Spec 1st Draft (RD)
01 Oct 10
27 Sept 10
Func. Spec 1st Draft
08 Oct 10
Func. Spec v.95
15 Oct 10
Func. Spec v.1.0
22 Oct 10
Design Doc v.0.9
12 Nov 10
Design Doc v.0.95
26 Nov 10
Design Doc v.1.0
10 Dec 10
Final Report 1st Draft
20 Mar 11
Toward the end of this file are two slides titled “Understanding Milestone Dates” and “Color Coding Milestones” respectively. Review these carefully before completing this slide.
University of Portland School of Engineering

11. Concerns/Issues Getting everything to talk to each other Battery Power
University of Portland School of Engineering

12. Conclusions Prototype Done FSD 0.9 Power Issues
Getting everything to talk to each other
University of Portland School of Engineering