Materials Reviewed

KGCOE MSD Detailed Design Review

Meeting Purpose

This is the final MSD 1 review of the RP1 Senior Design projects P08205: Wireless PWM Motor Control Focus Group and P08208: Mechanical Design Focus Group, which will collaborate in development of a set of wireless controlled motor modules to transport a 1kg payload. The focus will be on addressing action items from the Concept Design Review (02.01.08), updating the progress, and discussing system level concern. Guests have been invited to reflect on the project progress, helping to steer towards better solutions.

Materials Reviewed

DDR_Pre-read.doc (Rev. 01)

Notes_SysDR_rev2.doc

KGCOE MSD Page 1 of 10 Detailed Design Review RP1: P08205 & P08208 Attendees:

Recorded by (names and roles of person recording meeting notes):

______(signature of person recording meeting notes)

KGCOE MSD Page 2 of 10 Detailed Design Review RP1: P08205 & P08208 Meeting Date:

02.15.08

1:00PM – 3:00PM

Mobil Conference Room

Previous Open Action Items Reviewed

Reference Notes_SysDR_rev2.doc

Discussion (describe any relevant discussions not captured in actions / issues / decisions tables):

KGCOE MSD Page 3 of 10 Detailed Design Review RP1: P08205 & P08208

Action Items Close Item # Description Responsible Due Date Comments Date Recharge Use a charger; A071  How to? Electronics 3.26.08 4.9.08 Approx. ~ 2 hrs  Time to change?

A072 PCB schematic Electronics 4.11 5.7.08 PCB’s ordered

Verify DB Buck w/real parts (i.e. non- A073 Electronics 3.29 4.4.08 Breadboard test ideal components) Drop test simulation using total Not in scope of A074 Yoke 3/13 platform weight project A single bearing/slide insert 3/21 A075 Bearing support – outer collar Yoke 3.28.08 will be designed and fabricated to replace bearings

A076 Markings for tension adjustment Yoke 4.08.08 Not happening

This will not be further developed. Screening for aesthetics and safety A077 Yoke - 3/13 Adding such a cover (research) would greatly increase weight. Wiring will be tie- wrapped together, A078 Neatness of wiring Yoke - 3/13 all running to Ribbon cable. Will look into better A079 Attachment to platform (appearance) Yoke 3/21 4.09.08 method after wood platform design Will look into method after DDR A080 Look into time in CNC (John Bonzo) Yoke 3/21 3.28.08 close review (seminar?) If test shows problem, will use A081 Vibrating – screws in bars Yoke 3/13 lock tight on permanent components. Determined by A082 Center of gravity calculation Yoke 4.11.08 5.7.08 balancing on side of table

KGCOE MSD Page 4 of 10 Detailed Design Review RP1: P08205 & P08208 Action Items Close Item # Description Responsible Due Date Comments Date Wood is acceptable A083 Test fixture – avoid wood Platform 02.26.08 for the platform. E.H. This was a secondary objective Talk to industrial design about if time. This will no A084 Platform 3/13 appearance longer be perused due to time constraints. Complex caster is not necessary. A085 Get rid of slot on idler wheel Platform 02.26.08 Hardware caster is acceptable. E.H. Machine wooden See how difficult it would be to piece with proper A086 Drive 3.21.08 3.21.08 assemble belt w/tension distance to test assembly Will be taken care of in joint A087 More support for sleeve bearing Yoke 3/21 3.28.08 support/bearing pieces Will be done after Recheck ANSYS on forks with new A088 Yoke 3/21 3.28.08 changes implementations implemented Decision – Making A089 Analyze thrust bearings Drive 3.14.08 3.14.08 own bearings Updated mechanical A090 Flat or key on center post Steer 03.17.08 4.4.08 drawings. Choose flat. Updated mechanical Center post needs shoulder to contain A091 Steer 03.17.08 4.4.08 drawings. vertical movement of pulleys Added shoulders. Adding a method to idiot-proof Drive Connected to A092 03.17.08 4.4.08 tensioning Steer tension belt Weighed in sae Total weight of all components in A093 All 4.18.08 5.8.08 formula, most is platform battery Keyboard for user A094 Determine method of control Controls 3.21.08 control In consideration for A095 Contact Chris Fisher about SD space Reid/Wendy 02.26.08 a spot

KGCOE MSD Page 5 of 10 Detailed Design Review RP1: P08205 & P08208 Action Items Close Item # Description Responsible Due Date Comments Date Est. spec for max power Please Verify (DDR A096  to MM? Electronics 3.12 Electronics section)  Sys? System block diagram [Mech & Elec A097 Electronics 4.18.08 5.7.08 On 205 poster combined) Closed – see Schematic & Block diagram of encoder A098 Controls 3.14.08 3.14.08 electronics feedback subsystem on edge Basic sketch Build dialog windows for user complete, formal A099 Controls 3.18.08 4.4.08 parameters documentation by 3/18 Better resolution of battery life Justify why not A100 Controls 3.26 4.4.08 Full/Good/Weak feasible Check BOM Est. Cost w/development costs A101 Controls 3.21 3.28.08 Under budget - Contact Slack for $$ constraints Development BOM 2 waves of buying. A102  extra encoders Controls 3.21 02.26.08 Development costs  extra processor estimated. 205 Functionality PowWow Team members met and discussed – GUI  estimated logic A103 Controls 3.13.08 will show all  Work out physical electronics/feedback/function possibilities PCB’s ordered A104 Define PCB req'ts & cost Controls 4.11.08 5.7.08 Estimated cost between $100-$150 Determine relationship between duty cycle and RPM Estimate Good/Inefficient/Bad experimentally. A105 Controls 3.24.08 3.21.08 relationship of speed to duty cycle Derive equation for calculating RPM based on duty cycle and vice versa Show variables used in processing of GUI See Calculation of Variables Document A106  velocity Controls 3.14.08 in controls section  steer angle of edge how are they calculated Documented A107 Flowchart of software variables Controls 3.28.08 variables in non- flowchart format KGCOE MSD Page 6 of 10 Detailed Design Review RP1: P08205 & P08208 Action Items Close Item # Description Responsible Due Date Comments Date Met with Walter on 02.22.08. Met with Present updated budget w/development E.H. on 02.25.08. A108 Reid 02.26.08 costs to Hensel & Walter Contact Slack about funds, and reduce weight. Due to the nature of operation of the radio (Spread Determine if Zigbee is 256kBps per A109 Controls 3.13.08 Spectrum) the channel or shared across channels effective data rate is 250 kbps over all the channels Block diagram/Schematic of encoder A110 Controls -- -- Repeat of A098 feedback Decision to use Determine control of encoder “counter method” – Will keep track of A111  counter Controls 3.13.08 pulses and interrupt  decoder when a certain count is reached The steering encoder has a Document resolution of steering resolution of 200. A112 Controls 3.13.08 angle from encoder This correlates to an angle accuracy of 1.8 degrees Evaluate processing time and compare Controls To be accomplished to encoder resolution, and data A113 Drive 4.18.08 when all systems are commands Steer integrated  Response times Observed noise during testing from Design & run test to observe noise from A114 Electronics 4.11.08 5.7.08 all the equipment motors @ multiple conditions used and bad connections Project requirement. Ask Dr. Hensel why steering must be Phil Steering improves A115 02.26.08 achieved? Reid proposition for modular use. Documented in Write pseudo code for microprocessor A116 Controls 4.11.08 4.11.08 Controls Subsystem & controller on 205 site

KGCOE MSD Page 7 of 10 Detailed Design Review RP1: P08205 & P08208 Action Items Close Item # Description Responsible Due Date Comments Date Researched A117 Contact IT dept about GUI usability Phil 3.21.08 documentations Interrupts might overload the Phil A118 Meet w/Philips about interrupt 2.18.08 processor – looking Brendan to use counters instead Will depend on A119 ASTM & drop testing Yoke 4/4 4.09.08 when prototype is built. Generation of 2 PWM signals was A120 Bench test microcontroller Controls 4.18.08 5.7.08 completed for DDR; Encoder feedback tested Yes. (interpreted). Ask Dr. Hensel if it is acceptable to A121 Reid 02.26.08 Platform design is drop MM alone? non-critical.

Issues Open Close Item # Description Responsible Comments Date Date

Decisions Decision Item # Description Responsible Comments Date

KGCOE MSD Page 10 of 10 Detailed Design Review