1. Team MASTers™ Craig Lalumiere David Cobler Michael White

2. Robots in Agriculture? Some Background Robotic Integration in Agriculture – Planting – Tending – Harvesting

3. Problem Statement Using the MARV 2 robotic platform, design and build an autonomous robot to fertilize the perimeter of an apple tree.

4. Solution Statement Find tree with a spring mounted mast. Circumnavigate tree using a hunting routine. Use an auger feed system to distribute fertilizer.

5. Beacon Micro-Controller Driver Motor and Wheel Inclinometer Driver Motor Fertilizer Dump magnet Photo Cell

6. MASTer FLAG

7. State Diagram Approaching Tree Rotating Navigating Tree Pick Up Beacon Mast Moved Tangent To Tree Detect Beacon Stowed

8. Inclinometer Detection Scheme Imaginary Ring Deflection Angle Φ Mast Position

9. Detection Scheme Cont. Math – Angle Φ = arccos x Acceleration Value Gravity Constant Deflection Angle Φ Position = 1g = Gravity Constant Position = Acceleration Measurement

10. State Diagram Approaching Tree Rotating Navigating Tree Pick Up Beacon Mast Moved Tangent To Tree Detect Beacon Stowed

11. If (A/D PTA 1-3) ≤ 1 volt Find Beacon state Travel around tree state NO YES

12. Photo Cell voltage input to on board Computer

13. Battery Main circuit board Beacon Circuitry Layout of mechanical components Mast Auger Beacon

14. Electrical Diagram 12v Batt. 5v Reg. 3.3v Reg. MCU Analog Inputs Accelerometer Light Sensor Beacon Electro-Magnet Output

15. Project Assignment Michael – Mast and tree detection Craig – Beacon dropping system David – Hopper and auger system

16. Timeline Week 1Week 2Week 3Week 4Week 5Week 6Week 7 Brainstorming Research Design Programming Mechanical assembly Testing

17. Budget Fertilizer Storage Container $20 Auger Blade $20 2 Axis Accelerometer $10 PVC Pipe (for mast)$15 Approximate Total $65 Our Fees $55

18. Questions?

20. Mechanical Concepts Hopper Hooks & Sensors Motor Flag

21. Search for Tree Accelerometer Senses Tree Readjust MASTer to Aim Tangent to Tree Drop Completion Flag Begin MASTer’s Circle Around Canopy Begin Dispensing Fertilizer Sense Stop Beacon Stop MASTer Stop Fertilizing Sequence Pick Up Signal Flag Power On Programming Logic Flow Chart