1. Project Gulfstream Curtis Christiansen Jordan Hodge Jordan Lyford Troy Mills Wilson Schreiber Project Gulfstream Curtis Christiansen Jordan Hodge Jordan Lyford Troy Mills Wilson Schreiber

2. Agenda Background Problem Statement Solution Statement System Overview Design o Mechanical o Electrical o Software Assignments Schedule Budget

3. Background Many barns that contain livestock require some method to contain the animal waste and make it easy to clean Wood shavings are typically spread to make cleanup easier

4. Problem Statement Wood shavings may make cleanup easier, but it is still tedious. The shavings still need to be collected and removed.

5. Solution Statement Our solution consists of Autonomously driven vehicle with a vacuum source to collect the material Spiraling navigation Material collection storage area, with an auger disposal Docking station for disposal (HomeBase) For prototyping purposes, we are planning on testing and demonstrating the device in a controlled, "Lab" setting

6. System Overview Vacuum Pump Storage Bin Vacuum Hose Auger Out (when full & docked) Mobility Platform w/ Micro-controller and on-board power Collection Manifold Sensors A: HomeBase Receiver B: Bin Full Sensor C: Bin Empty Sensor D-E: Obstacle Sensors HomeBase Transmitter

7. Mechanical

9. Current Design - Mechanical

10. Initial Prototype - Mechanical

11. Electrical

12. Electrical - Bin Full Sensor

13. Power

14. Power - Inverter Ratings (120vAC) 560W Continuous 700W for 5-Minutes 1000W Surge

15. Design Concepts - HomeBase

17. HomeBase - Transmitter

18. Design Concepts - Navigation Software

19. System Overview - Navigation

22. if (Run_Autonomous) { if (Run_Autonomous == 2) { LeftMotorDuty = +30; RightMotorDuty = +75; Set_Left_Motor_Duty_Cycle (LeftMotorDuty); Set_Right_Motor_Duty_Cycle (RightMotorDuty); spiral_count = 350; Start_Motors(500); Run_Autonomous = 3; } if (Run_Autonomous == 3) { if(spiral_count == 0) { ++LeftMotorDuty; Set_Left_Motor_Duty_Cycle (LeftMotorDuty); Set_Right_Motor_Duty_Cycle (RightMotorDuty); if (LeftMotorDuty == (RightMotorDuty-1)) { Stop_Motors(); LeftMotorDuty = 0; RightMotorDuty = 0; Set_Left_Motor_Duty_Cycle (LeftMotorDuty); Set_Right_Motor_Duty_Cycle (RightMotorDuty); Run_Autonomous = 0; } Start_Motors(500); spiral_count = 350; //Defines the change in radius per unit step of duty cycle Navigation Software - Spiral

23. Navigation Software - Implementation

24. Current Assignments Troy: Bin, Auger Hodge: Navigation, CAD Lyford: Vacuum, HomeBase software Curtis: Obstacle detection software, CAD, Scoop Wilson: Navigation, Bumper

25. Schedule Week 1 (8/30 - 9/3) o Brainstorming, Vacuum Testing, Sensor Bumper, MARV Wiring Week 2 (9/7 - 9/10) o MARV Training & Testing, Further concept development, Vacuum testing Week 3 (9/13 - 9/17) o MARV Navigation, Power systems, Vac. testing, Bin/Auger prototypes Week 4 (9/20 - 9/24) o MARV Nav., Bin construction, Implement nav. sensors, Vacuum testing Week 5 (9/27 - 10/1) o MARV Navigation, Bin construction, Mount vacuum and scoops Week 6 (10/4 - 10/8) o MARV Navigation, Implement bin sensors, Final mounting Week 7 (10/18 - 10/22) o Engineering Verification and Testing, Problem corrections Week 8 (10/25 - 10/29) o Engineering Verification and Testing, Problem corrections

26. Preliminary Budget Auger - $20 Vacuum Accessories - $40 Stock - $50 Fittings and Fasteners - $30 Bin - $25 Sensors - $60 Total - $225

27. Expenses

28. Questions