1. Ted Keppner Jacques Dupuis

2.  Farms run into problems of having to pay for workers to clean up cow bed shavings when they could be doing more important things.  Removing these shavings provides a clean and safe environment for the cows and workers.

3.  To clean up wood shavings in a barn environment with an unknown size and shape.  Avoid common obstacles found in barns such as stall bars, pipes, cows, workers, etc.  Must deliver wood shavings to a predetermined location.  Must require minimal user input.

4.  To design an autonomous robot with: ◦ Bumper ◦ Ultrasonic Sensors ◦ Rotary Encoder ◦ IR Sensor ◦ Limit Switch  To pick up the debris off the ground using: ◦ Roller Brushes ◦ Flapped Conveyor Belt ◦ Holding Bin

6. Straight 11110 Initial 00000 11110 Back Up 01110 Right Turn 11110 Straight 10110 Left Turn 11110 Back Up Collision Avoidance Bin Full Off 00000 Left Motor Right Motor Conveyor Belt Roller Brushes Bin Door Bumper == 1 IR Sensor == 1 Bumper == 1

7. 00000 Left Motor Right Motor Conveyor Belt Roller Brushes Bin Door 11110 Back Up 00000 Sensor Check 01110 Right Turn 10110 Left Turn Straight 11110 Straight 1111001110 Right Turn 10110 Left Turn Straight 11110 10110 Left Turn Straight 1111001110 Right Turn Return Straight 1111001110 Right Turn Straight 11110 10110 Left Turn Bumper == 1

8. 00000 Left Motor Right Motor Conveyor Belt Roller Brushes Bin Door Straight 11110 Back Up Straight 11110 10110 Left Turn 01110 Right Turn Straight 11110 Back Up 01110 Right Turn 10110 Left Turn Return Collision Avoidance

9. Roller BrushFlapped Conveyor BeltStorage Bin

10. BumperMicrocontroller Ultrasonic Sensor Drag Behind Rotary Encoder IR Sensor DC Motor Conveyor Belt & Roller Brush DC Motor Limit Switch Ultrasonic Sensor Wheel Subsystem Collision Avoidance Subsystem Dump Body Subsystem

11.  Will be bolted to rear of frame.  Potentiometer for angular direction.  Wheel for distance measurement.

12. x y Home (0,0) 12345678 9 10 11 1213 2 3 4 5 6 7 8 9 14 11 12 13 10 1

14. Collision Avoidance Subsystem Wheel Subsystem Dump Body Subsystem Roller Brush Subsystem Conveyor Belt Subsystem JacquesTed

15. 2 x Roller Brush Squeegee 2 x 90 Degree Heating Duct Duct Tape Awaiting Estimate 5.00 18.00 3.00 $26.00