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Rollin Bicskei Eric Bornemann Jason Wells Ryan Bidlack ELM 4701 October 2008

Toromatic. Team Brown & Associates:. Rollin Bicskei Eric Bornemann Jason Wells Ryan Bidlack ELM 4701 October 2008. Background Information. New stringent standards for organic farms New technological advances help with production and increase profit margins

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Rollin Bicskei Eric Bornemann Jason Wells Ryan Bidlack ELM 4701 October 2008

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  1. Toromatic Team Brown & Associates: • Rollin Bicskei • Eric Bornemann • Jason Wells • Ryan Bidlack • ELM 4701 October 2008

  2. BackgroundInformation • New stringent standards for organic farms • New technological advances help with production and increase profit margins • Robots are slowly being developed and accepted as a profitable solution to plant care and weed removal applications

  3. Problem statement Organically remove weeds from a cornfield

  4. SolutionStatement System Diagram Corn • Tracked Bot • Tiller and Spinning Disk control weeds • Lever arms act as push button controls • Broken beam sensor in front for E-Stop • Navigation Plan Travel Broken Beam sensor SW1 SW3 Battery Controller SW2 Tiller

  5. Drive System Roto-tiller Tracked drive

  6. Roto-tilling systems Spring Mechanical Stops Disk Tiller Tiller Tilling Disk on a Spring arm 1.75 lbs. max pressure Roto-tiller mounted to the rear of the MARV2 Platform Disk and Drum Tiller run at 270 rpm

  7. Rear Roto-tiller

  8. Tilling Motors Switch

  9. Sensors “Broken Beam” Optical Sensor SW1 SW3 • 3 Pushbuttons (SW#) • 1 Optical Sensor set up as • a “Broken Beam” sensor SW2

  10. Sensor Design • Lever pushes in on spring loaded pushbutton when it comes in contact with corn. • .25 lbs. pressure to activate button

  11. Electrical Schematic Sensors

  12. Robot System Diagram Drum Motor Disk Motor Drive Motor 1 68HCS12 Controller Drive Motor 2 Switch 1 Switch 2 Switch 3 Optical Sensor

  13. Navigation Diagram All Off Off btn. ==on On btn. ==on SWR == on SWL == on Forward Tilling Slight Left RTS RTS Slight Right Opt. == on Timer == 15 RTS RTS SWR = Right switch SWL = Left Switch Opt. = Optical Sensor RTS = Return from subroutine 180 Turn Redirect Toro

  14. Example Loop

  15. Right Button Active

  16. Budget

  17. Personnel Assignments Mechanical Design and Fabrication Managers: Jason Wells, Rollin Bicskei Fabrication assistants: Ryan Bidlack, Eric Bornemann Sensor Design and Calibration Manager: Ryan Bidlack Sensor Implementation: Eric Bornemann Electrical and Software Design Manager: Eric Bornemann Assistants: Rollin Bicskei, Ryan Bidlack, Jason Wells

  18. Schedule

  19. Video VIDEO

  20. Questions ?

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