1. Grassinator1300 Senior Design 1 Midterm Presentation 2013

2. Julie White (Team Leader) WebsiteWebsite SensorsSensors Autonomous ImplementationAutonomous Implementation Glen Luker Remote Control ImplementationRemote Control Implementation Autonomous ImplementationAutonomous Implementation Hardware ImplementationHardware Implementation Grassinator1300 Team

3. Aaron Ray Power System DesignPower System Design Electrical Subsystem TestingElectrical Subsystem Testing CAD DesignCAD Design Perry Clark Hardware ImplementationHardware Implementation Hardware Components TestingHardware Components Testing Hardware DebuggingHardware Debugging Timothy Mange Lead DocumentationLead Documentation Electrical Subsystem DesignElectrical Subsystem Design Power System TestingPower System Testing

4. Faculty Advisor Dr. Raymond Winton

5. Overview Problem and Solution What is the Grassinator1300? Technical and Practical Constraints Approach Progress Timeline

6. Problem and Solution

7. Problem Current lawn mowers require prolonged physical labor and sun exposure. Riding mowers can create additional cleanup work because of their size. Push mowers do not create cleanup work but still require physical work and sun exposure.

8. Combine the usability of a riding mower with the size of a push mower, while further reducing the sun exposure with autonomous features. Solution

9. The Grassinator1300 intends to solve these problems by providing a small gas-powered push mower platform that is radio-controlled (RC). Use RC mode to record and execute movementsUse RC mode to record and execute movements Operate in autonomous modeOperate in autonomous mode Allow user to supervise from a nearby shady areaAllow user to supervise from a nearby shady area Limited physical labor.Limited physical labor. Solution

10. System Overview Power System Microcontroller Drive System Sensors Remote Control

11. Technical and Practical Constraints

12. NameDescription Battery RequirementsThe Grassinator1300 must be powered by a 24 VDC battery supply. Obstacle DetectionObstacles must be detected at a minimum of 6-inch range. Remote ControlThe remote control must be able to communicate with transmitter up to 150 feet without any obstructions. Cutting HeightThe Grassinator1300 must have an adjustable cutting height between 1- 2.5 inches. Speed/ServosThe Grassinator1300 must be able to maintain a speed of 3 MPH. Technical Constraints

13. Proper safety measures and shut off features should be implemented to keep people and animals safe. System will shutoff if: Microprocessor malfunctionsMicroprocessor malfunctions Motor stops workingMotor stops working Sensor failsSensor fails Practical Constraints Health & Safety

14. The Grassinator1300 will not be designed to work in stormy or inclement weather. Practical Constraints Environmental [1]

15. Approach

16. Motor ProsCons Electric MotorLighter Design Easily Maneuverable Stability Problems Servos Slipping Requires Battery Price: $70 - $240 Gas-powered Motor Robust Design No Battery Required Price: Free Heavy

17. Motor ProsCons Electric MotorLighter Design Easily Maneuverable Stability Problems Servos Slipping Requires Battery Price: $70 - $240 Gas-powered Motor Robust Design No Battery Required Price: Free Heavy

18. Microcontroller ProsCons PIC24 Starter Board 10 analog pins and 5 PWM pins Price: $79.99 Arduino Uno R36 analog pins and 6 PWM pins Based on C++ Price: $27.95 Little Experience dsPIC3315 analog pins and 6 PWM pins Price: $35.00 ESOS No EEPROM

19. Microcontroller ProsCons PIC24 Starter Board 10 analog pins and 5 PWM pins Price: $79.99 Arduino Uno R36 analog pins and 6 PWM pins Based on C++ Price: $27.95 Little Experience dsPIC3315 analog pins and 6 PWM pins Price: $35.00 ESOS No EEPROM

20. Sensors ProsCons Ping Ultrasonic Sensor2cm – 3m Range Any Lighting Conditions May Have Noise Issues Sharp Infrared Sensor10cm – 80cmProblems in Sun [2] [3]

21. Sensors ProsCons Ping Ultrasonic Sensor2cm – 3m Range Any Lighting Conditions May Have Noise Issues Sharp Infrared Sensor10cm – 80cmProblems in Sun [2] [3]

22. Progress

23. Progress

24. Progress

25. Progress

26. Progress

27. Progress

28. Progress

29. AugustSeptemberOctoberNovember Research Design Prototype Coding Testing and Debugging Timeline

30. [1] “How to Mow Now That it has Stopped Raining”, Purdue, Accessed: Sept. 28, 2013 http://purdueturftips.blogspot.com/2013/04/how-to-mow-now-that-it- has-stopped.html [2] “Ping Ultrasonic Sensor”, Parallax, Accessed: Sept. 28, 2013 http://www.parallax.com/product/28015 [3] “Sharp Infrared Proximity Sensor”, Spark Fun, Accessed: Sept. 28, 2013 https://www.sparkfun.com/products/242 References

31. Grassinator1300 Senior Design 1 Midterm Presentation 2013