1. Senior Design 1 Team Bull Trout Project: Elevator Navigating Robot Team –Kelly Kofoed –Nate Whitmore –Shane Moser –Zach Uhles University of Portland School of Engineering Advisor: Dr. Lu Industry Representative Mr. Dennis Erickson Affiliation: Robotics

2. Senior Design 2 Introduction Robotics: Elevator robot using computer vision –3 rd floor of EGR to 2 nd Performing many service tasks –Deliver supplies –Assembly line –Hazardous conditions –24/7 University of Portland School of Engineering

3. Senior Design 3 Systems University of Portland School of Engineering

4. Senior Design 4 Our Goal Locate the elevator hailing button Calculate distance and maneuver to hailing button Robotic arm will press button Maneuver in front of door After door opens, move inside elevator Locate button panel & push 2 nd floor Maneuver in front of door Exit elevator after reaching the desired floor University of Portland School of Engineering

5. Senior Design 5 Things out of our scope… Navigating through hallways –Must have elevator in sight upon start-up Going between many floors (just 3 rd to 2 nd ) Account for unknown objects in robots path –Must have clear path –Kill switch for safety University of Portland School of Engineering

6. Senior Design 6 Scorecard RS232 communications between MB & PIC –Not completed. Needed to focus on FSD. Camera / Frame Grabber –Not completed. Installed on robot, workstation running. Voltage Meter – Prevent unscheduled shut down –Completed. Voltage and current measurements, battery monitor circuit designed. C Programming using MIL library –Completed. Able to run “Hello World” University of Portland School of Engineering

7. Senior Design 7 Additional Accomplishments FSD 1.0 Completed Design Document 0.1 uploaded Web Page Repaired slipping front wheel Power Measurements Downloaded Visual Studios 2010 University of Portland School of Engineering

8. Senior Design 8 Plans Design Document ver 0.9 and 0.95 RS232 communications between MB & PIC Camera / Frame Grabber –Be able to capture an image with the robot Repair back wheels University of Portland School of Engineering

9. Senior Design 9 University of Portland School of Engineering Milestones StatusDescriptionOriginal Target Previous Target Present Target completedBuild 1st Prototype Robot24 Apr 10 completedCustomer Interview Report20 Sept 10 completedBlock Diagram & Flow Chart30 Sept 10 completedFunc. Spec 1 st Draft (RD)01 Oct 10 11 Sept 10 completedFunc. Spec 1 st Draft08 Oct 10 27 Sept 10 completedFunc. Spec v.9515 Oct 10 8 Oct 10 completedFunc. Spec v.1.022 Oct 10 14 Oct 10 Design Doc v.0.912 Nov 10 Design Doc v.0.9526 Nov 10 Design Doc v.1.010 Dec 10 Final Report 1 st Draft20 Mar 11

10. Senior Design 10 Concerns/Issues Consistent communication between all of our systems Determining distance and angle from image Consistency in the motors –Battery power –Other unknown elements University of Portland School of Engineering

11. Senior Design 11 Conclusions Prototype Built FSD 1.0 Completed Design Document 0.1 uploaded Get everything to communicate with each other Be able to capture images University of Portland School of Engineering