1. Automatic Golf Putting System (AGPS)‏ Lev Novikov Brian Taylor Josh Shanto

2. Outline Overview Operating Ranges Sensors Actuators Initialization / Recovery User Interface Algorithms Feasibility Testing Integration

3. Overview The AGPS finds the hole using infrared and ultrasonic sensors for aiming and computing the distance to the hole, respectively. Using this information, the AGPS putts a golf ball into the hole.

4. Operating Ranges Aiming Ball-to-hole range: 30 cm - 9 m Ball-to-hole angle: +/- 70 degrees Raising Raising-angle: 12 - 45 degrees Operating Assumptions 1. The surface is level and has a thin carpet. 2. The putter is vertical on startup. Operation

5. Sensors: Infrared Max Range: 11 m Looking for a carrier frequency of 36 kHz (from the beacon)‏ Mounted on the rotating platform. Focused by being placed at the end of a narrow cardboard tube.

6. Sensors: Ultrasonic Frequency: 40 kHz Range: 15 cm - 9 m Mounted on the rotating platform Operates via I2C Bus Returns the distance in cm

7. Sensors: Photointerrupters Photointerrupters indicate boundaries (for aiming and raising) and the startup position.

8. Actuators: Infrared Beacon 12 IR LEDs modulating at 36 kHz using 555 timers Maybe battery powered (with some larger batteries)‏ Centered over the golf hole 1 visible (red) LED to indicate power

9. Actuators: Motors Raising Motor Aiming Motor Gears Belts Shafts

10. Initialization / Recovery Errors require the user to physically fix the error. The system can be reset by pressing the "Reset" button.

11. User Interface

12. Algorithm

13. Feasibility The major issues right now are: getting parts powering the beacon Things that look like they're going to work out: putting motor (quite powerful, intelligent driver)‏ ultrasonic, IR sensors UI

14. Testing Done Putter height v. putt distance IR diode test Motor operation test To Do Ultrasonic beam test Photointerrupter test IR sensor / beacon stress-test Motor + load swinging test UI Test

15. Integration Priority I: Mechanical Assembly- Getting the putter on a motor on a turntable. Priority II: Electromechanical interaction - Getting the UI to control the drivers (manual mode initially; track EMI from raising the putter)‏ Priority III: Sensors and automatic mode We are considering the use of shielded cables to prevent EMI issues from arising during integration.