1. Justin Heyer Ted Keppner

2. Build an autonomous barn floor scrapper Needs to be able to be adapted to multiple barns Solutions to clean either slotted/solid floor Have an obstacle/cow detection system User friendly Low maintenance

3. There are several different robot powered barn scraper systems commercially available today. Companies marketing Robotic Scrapers include DeLaval Joz Tech SR One Lely Most of these systems are designed around slotted flooring that the manure will drop through.

4. What we have. Already existing MARV unit software for testing Knowledge of preexisting MARV systems Knowledge of sensor systems used for navigation Multiple systems have a weight of approx. 800 lbs for traction purposes Common speed for commercial systems is approx 12 ft/min Ability to push around 220 lbs Key Commercial specs

5. Need to modify and improve upon the existing MARV software. Design and build a Commercial Robot unit that is strong enough to be implemented into an barn environment

6. Size and design platform to mount plow, motors, wheels, and electronic controllers Size and build plow swivel front Size and design the motors and wheels Build housing for protective purposes around electronic components

7. Two motors for drive wheels Current monitoring for drive wheels Motor controllers Other obstacle detection sensors Navigation System sensors Electronic Compass Wheel Encoders Sonic Sensors Current measuring Subsystem: Hall effect sensor system separate from the motor controllers.

8. Sonar to sense how far we are from wall Easy design for mounting and replacement Already some protection from elements.

9. Will be bolted to rear of frame. Potentiometer for angular direction. Wheel for distance measurement. Spring to apply pressure to the wheel to keep it rolling on the ground.

10. x y Home (0,0) 12345678910111213 2 3 4 5 6 7 8 1 Holding Pen Stalls

11. Obstacle detection and avoidance Hand held controller for manual operation Emergency switches for safety reasons Docking station for a safe parking and charging

12. Input Decoder Micro Controller Motor Controller Decodes sensor inputs and translates it into data more easily interpreted by the micro. Sensor Input Accepts input from decoder and sensors to drive motor controller Accepts input from micro to drive motors Driven by micro, sends output to software interrupts

13. Plow MARV frame Motors Drive the Robot Used as carrier for plow and motors Used to plow manure

14. Justin Research Design Preliminary Testing Wiring Docking/Controller Fab Plow Fabrication Frame Fabrication Research Design Preliminary Testing Wiring Docking/Controller Fab Navigation System design Sensor Implementation Ted

15. MonthDecJanFebMarAprilMay Research P-Test Fabrication Test Refine Records Present