Emilien Barrault (ME) Wendy Fung (ME) Jason Kenyon (ME) Jasen Lomnick (ME) Hoainam Nguyen (ME)

Emilien Barrault (ME) Wendy Fung (ME)

Jason Kenyon (ME)Jasen Lomnick (ME)

Hoainam Nguyen (ME)

Project Plan Project Name

RP1 Motor Module Project Number

P08202/5/6/7/8 Project Family

Robotic Platform Family Track

Vehicle Systems Technology Start Term

2007-2 planned academic quarter for MSD1 End Term

2007-3 planned academic quarter for MSD2 Faculty Guide

Dr. Wayne Walter (ME) Faculty Consultant

Dr. Dan Phillips (EE) Faculty Consultant

Dr. Hoople (TBD) Primary Customer

Dr. Edward Hensel (ME)

Mission StatementProduct Description

A fully functional, open source, open architecture, scalable motor module subsystem for use on the 1 kg (RP1) robotic vehicular platform. Each motor module will have the ability to drive, steer, communicate with a controller, and work cooperatively with a number of motor modules in a number of configurations to drive a robotic vehicular platform capable of carrying a 1kg payload.

Key Business GoalsTo provide an open source, open architecture designTo provide an off-the-shelf motor module for the mobility of a 1 kg robot platformTo provide a motor module that is scalable according to payload requirementsTo publish the RP1design to be used by anybody wishing to mobilize a 1kg payload. The team must provide complete

documentation of the analysis, design, manufacturing, fabrication, test, and evaluation of this subsystem to a level of detail that a subsequent team can build upon their work with no more than one week of background research

Primary Market Dr. Edward HenselRP1 Platform teamFuture SD teams

Secondary Market FIRST RoboticsFaculty projectsClass-based projects

Stakeholders Dr. Edward HenselFaculty members1 kg platform teamGleason Foundation RITBrinkman Machine ShopFIRST Robotics

Robotic Platform Family Overview

Choosing Multiple Team Structure

3 Broad Options:Option 1: All teams will be given and identical PRP and will not collaborate

Option 2: All teams will be responsible for the design, fabrication and interface of a portion of the design

Option 3: All teams will work collaboratively and each build a Motor Module but will focus on specific areas of the design

What we chose and why:We chose Option 3 because:

• Collaboration: This structure requires team cooperation

• Intelligence of design: It uses student specialties by weighting teams by discipline according to a team’s task (eg. more electrical and computer engineers on a team responsible for developing a PWM motor controller)

• Robustness: One team’s failure does not mean failure of the entire project family

Choosing Multiple Team Structure Cont.

Team Staffing Requirements and Responsibilities

COTS MC x ME1 x EE1 x ME1 x ME5RIT MC x

xx

EE1EE2EE3

Steering System

x ME1 x ME1 x ME1 x ME2

Drive System xx

ME1ME2

x ME3

Yoke x ME2 x ME2 x ME2 x ME4DFMA x ME2 x ME3 x ME2 x IE2 x

xME1IE1

Electr RIT xxxx

EE1EE2CE1CE2

xx

EE2CE1

xxxx

EE1EE2CE1CE2

xxx

EE1EE2EE3

206

Copy of 206

202

Team Staffing RequirementsMM w/ RIT MC

207

MM w/ COTS MC

208

MM w/ COTS MC & Wireless

PWM

205

MM w/ COTS MC & SPI ,

I 2C, or CAN

Systems Disciplines Task DescriptionCOTS Motor Controller

x EE1 Responsible for COTS MC; Work with 208 and 206

Choose PWM Motor controller for use on MM - Choose and implement feedback system (encoders and sensors) - Characterize electrical platform interface and wiring - Circuit diagraming - Interface wiring

RIT Motor ControllerSteering System

ME1

ME2

YokeDFMA x ME3 Work with 206, 207, and

208 on DFMAWork with other teams to develop DFMAKeep rest of team up to date about other teams (specifically DFMA)

x EE2 Work with 206 and 207 to get base technology done

Work on the Wireless PWM - Choose electrical components based on specifications - Circuit diagraming - Assemblying the circuit - Work with EE1 and CE1 on choosing and implementing feedback system (encoders and sensors) - PCB Design based on controls criteria - Characterize electrical platform interface and wiring

x CE1 Work with 206 and 207 to get base technology done

Choose or develop microcontroller to receive commands and transmit PWM signals to motor controller - Develop control algorithm to make MM individually addressable and talk with central command receiver - Work with feedback from encoders and sensors - Programming of the board(s)

Project Manager

x ME2 Project ManagerWork with 205, 206, and 207 on Coordination

Coordinate with other team managersWork with ME1 to develop the drive systemKeep up-to-date with ME3Keep rest of team up to date about other teams

Electr RIT

205Motor Module w/ COTS Motor Controler & Wireless PWM

Work with 208 on Drive System

Design and build the drive system - Choose mechanical components based on stress and fatigue analysis - CAD work - Machining and assembly

xDrive System

Systems Disciplines Task DescriptionEE1

ME1


x ME1 Work with 207 and 208 on Steer System

Design and build the Steer system - Choose mechanical components based on stress and fatigue analysis - CAD work - Machining and assembly

Drive SystemYoke x ME2 Work with 207 and 208 on Yoke Design and build the Yoke

- Choose mechanical components and materials based on stress and fatigue analysis - CAD work - Machining and assembly - Weight Optimazation

DFMA x ME2 Work with 206, 207, and 208 on DFMA

Work with other teams to develop DFMAKeep rest of team up to date about other teams (specifically DFMA)

x EE2 Work with 205 and 207 to get base technology doneWork to get communication protocol working

Work on the CAN/SPI/ I2C PWM - Choose electrical components based on specifications - Circuit diagraming - Assemblying the circuit - Work with CE1 and CE2 on choosing and implementing feedback system (encoders and sensors) - PCB Design based on controls criteria - Characterize electrical platform interface and wiring

CE1 Work with 205 and 207 to get base technology doneWork to get communication protocol working

CE2 Work with 205 and 207 to get base technology doneWork to get communication protocol workingProject

Managerx EE1 Project Manager

Work with 205, 206, and 207 on Coordination

Coordinate with other team managersWork with ME1 to develop the Motor ControllerWork with EE2 and CE2 on comm protocolKeep rest of team up to date about other teams

Responsible for COTS Motor Controller; Work with 208 and 205

x

Motor Module w/ COTS Motor Controller & SPI , I 2C, or CAN206

Electr RIT

COTS Motor Controller

x Choose PWM Motor controller for use on MM - Choose and implement feedback system (encoders and sensors) - Characterize electrical platform interface and wiring - Circuit diagraming - Interface wiring



EE1

EE2

Steering System

x ME1 Work with 206 and 208 on Steer System

Design and build the Steering system - Choose mechanical components based on stress and fatigue analysis - CAD work - Machining and assembly

Drive SystemYoke x ME2 Work with 206 and 208 on

YokeDesign and build the Yoke - Choose mechanical components and materials based on stress and fatigue analysis - CAD work - Machining and assembly - Weight Optimazation

DFMA x IE2 Work with 206, 207, and 208 on DFMA


EE2

EE3

Project manager x EE2 Project ManagerWork with 205, 206, and 207 on Coordination

Coordinate with other team managersWork with ME1 to develop the Motor ControllerWork with EE2 and CE2 on comm protocolKeep rest of team up to date about other teams

Motor Module w/ RIT Motor Controller207

Work with 205 and 206 to get base technology done


xElectr RIT

Responsible for RIT Designed Motor Controller

Design and Develop a PWM Motor controller for use on MM - Choose and implement feedback system (encoders and sensors) - Characterize electrical platform interface and wiring - Circuit diagraming - Interface wiring

RIT Motor Controller

x

Team Staffing Requirements and Responsibilities cont.


x ME5 Responsible for COTS Motor Controller; Work with 205 and 206

Choose PWM Motor controller for use on MM - Choose and implement feedback system (encoders and sensors) - Characterize electrical platform interface and wiring - Circuit diagraming - Interface wiring


x ME2 Work with 206 and 207 on Steer System Design and build the Steering system - Choose mechanical components based on stress and fatigue analysis - CAD work - Machining and assembly

Drive System x ME3 Work with 205 on Drive System Design and build the Drive system - Choose mechanical components based on stress and fatigue analysis - CAD work - Machining and assembly

Yoke x ME4 Work with 206 and 207 on Yoke Design and build the Yoke - Choose mechanical components and materials based on stress and fatigue analysis - CAD work - Machining and assembly - Weight Optimazation

ME1 Work with 205, 206, and 207 on DFMA

IE1 Work with 205, 206, and 207 on DFMA

Electr RITProject Manager

x ME1 Work with 205, 206, and 207 on Coordination Coordinate with other team managersWork with ME1 to develop the drive systemWork with ME2 to develop the steer systemWork with ME3 to develop the Yoke subsystemWork with IE to develop DFMAKeep rest of team up to date about other teams


DFMA x

Motor Module w/ COTS Motor Controller208

Team Staffing Requirements and Responsibilities cont.

Baseline Kit BOM

Quantity Price Subtotal Shipping TotalDrive Motor 5 $20.5 $102.5 $10.77 $113.27Steering Motor 5 $21.95 $109.75 $109.75

Steering Motor Encoder 5 $24.95 $124.75 $9.06 $133.81Drive wheel 5 $2.75 $13.75 $12.07 $25.82McMaster Turntable 1 $1.95 $1.95 $5 $6.95

Grand Total $389.6Per Team $77.92

Quantity Price Subtotal Shipping TotalDrive Motor 4 $20.5 $82 $10.77 $92.77Steering Motor 4 $21.95 $87.8 $87.8

Steering Motor Encoder 4 $24.95 $99.8 $9.06 $108.86Drive wheel 4 $2.75 $11 $12.07 $23.07McMaster Turntable 1 $1.95 $1.95 $5 $6.95

Grand Total $319.45Per Team $79.8625

5 Baseline Kits

4 Baseline Kits

Target SpecificationsSpecifications for all teams:

1. A single RP1 Motor Module will be capable of propelling a robotic platform which carries a payload of up to 1kg in weight:

i. Design is capable of variable speed from 0 to 35 inches per second

ii. Design is capable of an acceleration of 70 in/s2 when propelling a platform carrying a 1kg weight

2. Design will be tested on a flat 8’ X 8’ surface

3. Design should fit within an 8” height X 4” length X 4” width size envelope

4. Motor Module design should weigh no more than 3 lbs each

5. Each team will deliver 3 Drive (powered) and 4 Idler (non-powered) motor modules

6. Design should be open source: all documents and designs will be public domain and all file types can be accessed by the public (eg. .IGES files that can be used by multiple CAD packages instead of types that can onlybe used by a single package)

7. Design should be open architecture: all commercial off the shelf (COTS) components are able to be purchased from multiple vendors and all manufactured components are able to be fabricated using common technologies and tools

8. Design should have an infinite steering angle around a vertical axis

9. Should be able to access any component on the module with no more than 3 minutes of disassembly

Target Specifications Cont.10. Design should be powered by a DC power source

11. Design will utilize components outlined in the initial kit:

1) Drive Motor (steering motor from RP10 MM): Shayang Ye Industrial Co. IG320071-41F01, 24VDC 67RPM 71:1 http://www.superdroidrobots.com/shop/item.asp?itemid=717&catid=7

2) Steering Motor: Hsiang Neng 175 RPM 7.2V 50:1 Gearmotor http://www.lynxmotion.com/Product.aspx?productID=96&CategoryID=11

3) Drive Wheel: Colson Perfoma WCO2 2” diameter X 7/8” wide, ½” bore http://www.robotmarketplace.com/marketplace_colsons.html

4) Steering Motor Encoder: Quadrature Motor Encoder http://www.lynxmotion.com/Product.aspx?productID=448&CategoryID=11

12. Designs will use encoders for information feedback of Drive and Steering Motor parameters

13. All team designs will use the same interfaces for attaching the Communications and Drive Electronics to the RP1 Motor Module

i. Physical attachment (eg. Bolt pattern)

ii. Quick Disconnect electrical power and data connections

14. Design should be modular; can interchange modules on single type of platform and operate in a similar manner; All team designs will use the same interfaces for attaching the RP1 Motor Module to the RP1 Platform:

i. Physical attachment (eg. Bolt pattern)

ii. Quick Disconnect electrical power and data connections

Target Specifications Cont.15. Design will drive the Drive and Steering motors with a PWM signal

16. Design will physically resemble past projects (RP10 and RP100)

17. Design will have a professional look and feel

18. Design is able to fall from a 4’ tall tabletop and sustain none to minimal damage

19. Design will apply the principles and practices in Design for Manufacturability and Assembly (DFMA)

i. Utilize common components with other teams wherever possible to reduce costs and complications

ii. Design’s manufacture and assembly time will be kept at a minimum

20. All component should adhere to the overall RP Project family:

1. Constraint Objectives

i. Regulatory Constraints

ii. Academic Constraints

iii. Safety Constraints

2. Resource Objectives

i. People Resource

ii. Equipment Resources

iii. Materials Costs

iv. Labor Costs

3. Scope Objectives

4. Technology Objectives

Specific to Project P082021. Design will adhere to the general specifications for all teams2. Design will use the same COTS Motor Controller(s) as teams P08205, P08206 and

P082083. Design will use (if possible) the same Micro Controller Unit as P08206, P08205 and

P08208 with an alternate communications protocol as P08206 (eg. If P08206 uses a CAN protocol, P08202 will use SPI protocol or I2C)

Specific to Project P082051. Design will adhere to the general specifications for all teams2. Design will use the same COTS Motor Controller(s) as teams P08202, P08206 and

P082083. Design will use (if possible) the same Micro Controller Unit as P08202, P08206,

P08207 and P08208 but will communicate with a with a wireless device4. The Wireless Micro Controller Unit used will be responsible for: 5. Minimum:

i. Receiving a wireless PWM signal and sending it to the PWM Motor Controllerii. Transmitting feedback information from encoders back through the wireless

connection for processing6. Preferred:

i. Receiving a wireless PWM signal and sending it to the PWM Motor Controllerii. Receiving feedback information from encoders and processing this signal

Target Specifications Cont.

Specific to Project P082061. Design will adhere to the general specifications for all teams2. Design will use the same COTS Motor Controller(s) as teams P08202, P08205 and P082083. Design will use (if possible) the same Micro Controller Unit as P08202, P08205, P08207 and

P08208 with an alternate communications protocol as P08202 (eg. If P08202 uses a CAN protocol, P08206 will use SPI protocol or I2C)

Specific to Project P082071. Design will adhere to the general specifications for all teams2. Design will use a custom PWM motor controller(s) developed by the team3. The custom PWM Motor Controller(s) will:

i. Control the Drive and Steering Motorsii. Operate in the same manner as the COTS PWM motor controllers chosen by teams

P08202, P08205, P08206 and P08208iii. Use the same input and output connections as the COTS PWM Motor Controllers

chosen by teams P08202, P08205, P08206 and P082084. Design will use (if possible) the same Micro Controller Unit as P08202, P08205, P08206 and

P08208 with communications protocol of the teams choosing

Specific Project P082081. Design will adhere to the general specifications for all teams2. Design will use the same COTS Motor Controller(s) as team P08202, P08205, and P082063. Design will use (if possible) the same Micro Controller Unit as P08202, P08205, P08206 and

P08207 with communications protocol of the teams choosing

Target Specifications Cont.

Benchmarking (100kg Motor Module)

RP100 Motor ModuleProduct Teardown Make use of quick disconnect wiring connectors

○ All wiring between platform and module and all module subsystems○ Avoid the need for unscrewing wiring, which will add to ease of assembly

Wing nuts are good for quick assembly/disconnect To remove EMF cage must disconnect every electrical component before the

cage can be removed. ○ There are several areas on the module that can not be reached without

an extreme amount of disassembly No fall resistance Too much slop in the turntable assembly Meshing of gears (mainly the internal ring\spur) Accessing internal gears No warning labels Imperfect welds

P07202: RP100 Motor Module

Benchmarking (10 kg Motor Module)Appeal Looks impressive with lightweight and transparent lexan sides Shiny steel and aluminum Exposed circuitry Exposed drive system Exposed "guts" lets users know how it works and is easy to

diagnose problems Use of bushings instead of bearings gives it a cheap and

inaccurate feeling Looks clunky Could be a much more compact design Size of turntable obviously determined overall design Operating Characteristics Large and awkward to handle Drive wheel is easy to spin but lots of slop in drive system I cannot readily tell how to use the product: Where do I plug it

in? What orientation do I mount it in? Product Teardown 1) Functions Must drive wheel Must turn wheel Must be able to be addressed and controlled by platform Must physically attach to platform Must be electrically plugged into platform 2) Technology - Product employs: Bevel Gears Synchronous belt drive Incremental encoders for drive and steering motors (US Digital

P/N E5S-400-250-IH) 1 24VDC Drive Motor w/integrated gearbox (Shayang Ye

Industrial Co. P/N IG420017-C520) 1 24VDC Steering Motor w/integrated gearbox (Shayang Ye

Industrial Co. P/N IG320071-41F01) Various electrical and control circuitry Large turntable Colson Hi-Tech Performa 5 x 1.5 Drive and Steering wheel

3)Strengths and Weaknesses Large, clunky, homemade looking Very big, definitely not 1/10 the size of the RP100 motor module Visibility of "guts" is attractive and easy to diagnose problems Incremental encoders cannot tell control system "where things are" Had to extend motor shafts 4) Materials used PCB's Wires 2 DC Motors Encoders for Motors (Qty 2) Turntable Bevel gear pair Synchronous belt drive (rubber belt, plastic drive pulley, metal driven

pulley) Shaft couplings to extend shafts Less than 1 ft^2 of 1/8" aluminum About 5 ft^2 of 1/4" lexan Miscellaneous fasteners Zip-ties E-clips for retaining shafts Bronze Bushings (Qty 6) Internal gear pair Steel driveshafts 5) Manufacturing Cutting lexan, aluminum, and driveshafts Drilling lexan, aluminum, turntable, internal gear pair Machining E-clip grooves in driveshafts Pressing bushings into lexan Fastening all peices together Wiring components, holding wires with zip-ties Experience and Knowledge Design does not seem rugged, very fragile Design seems imprecise If you wanted to replace a broken part you would have to disconnect

quite a bit to get to the part (eg. wheel, encoder, gear pair, shaft extension couplings, motor mounting screws, etc.)

Technologies for SD Teams to Consider

Turntable Bearing: Search Criteria:

○ Slewing Rings○ Turntable Bearing○ Slewing Bearing○ Cross Roller Ring

Websites and Catalogs:○ http://www.kaydonbearings.com/products.php○ http://www.thk.com/eng/products/class/crossroller_r/index.html

Sales Contact: Tom Weibel, District Manager, THK America Inc. Phone: 585-396-2145; Canandaigua, NY

Compared to past components:+ Vastly more precise

+ Possibility for integrated internal gear

- Much more expensive

All-in-one Motor Controller and Micro Controller Unit+ Less space than separate units

+ Simpler programming

- More expensive?

Budget Allocation

Design Project Management

PartnershipRIT - INSA

Interest RIT and INSA

Opportunity for INSA to create the first collaboration overseas, Strengthen the relationship between RIT and INSA First collaboration to create the common project Opportunity to exchange experience-knowledge and challenge

the idea Have some new ideas about one topic, one project Help students to develop a new method of working Have and understand another way to resolve different problems To be familiar with European method. Help students who want to go to USA the next year to

understand DPM and can continue the project in US Working on the same project with RIT can help INSA students

to practice their English,

The French Connection

Plan Communicate with Professor in France The first letter has been sent, we are waiting for his Finish the initial document and presentation and send

to INSA, response after the French vacation, Set up a conference between Dr. Hensel and

Professors in France, If the Professors accepts the idea, translate and put the

package in French format Take part in the team as observers Understand the design Translate the documentation into French for the next

team in France.

Preliminary Work Breakdown Structure

During the first week of SD1, Wendy Fung, Jason Kenyon, and Jasen Lomnick will give an overview of past designs and a quick run through on what a robot is.

Current and past work will be easily referenced from each project’s web sites.

Preliminary WBS (continued) Week One Everyone

○ Understand assigned roles and responsibilities○ Understand overall project details○ Access EDGE website and add all RP1 projects○ Meet with members from other teams on their respective

subsystem (weekly)○ Understand their respective subsystem○ Research respective subsystem

Team Leader○ Assign roles and responsibilities to each member○ Get card access for all team members to necessary rooms○ Bring team up to speed on project details○ Meet with other team leaders (weekly)○ Meet with each subsystem leader (weekly)

Preliminary WBS (continued)

Week Two Everyone (to be repeated every week)

○ Meet with respective subsystem members○ Ask questions on any unclear points (weekly)○ Bring any concerns about any aspect of the project (weekly)○ Update team with news on their respective subsystem (weekly)○ Propose concept level designs○ Determine components and materials needed to be ordered○ Research respective subsystems

Team Leader○ Address any concerns or questions (weekly)○ Update on progress of other teams (weekly)

Preliminary WBS (continued) Week Three

Everyone○ Finalize parts to order for the prototype○ Order parts○ Build text fixture○ Begin building rudimentary platform

Team Leader○ Review interface requirements with team

Grading and Assessment Scheme Grading of students in this project will be fully consistent with grading policies established for the SD1

and SD2 courses. The following level describes an absolute level of expectation for the design itself, for the hardware. However, the student team must also meet all requirements related to analysis, documentation, presentations, web sites, and posters, etc. that are implicit to all projects.

P08208 – Focus: Mechanical Design:

Level D: The student team will deliver cost effective working motor module prototypes, capable of controlled motion. The prototypes will be fully characterized. The motor module prototypes will meet customer specifications. The prototypes developed will be 100% open architecture and open source. They will use no proprietary components, only COTS components available from multiple manufacturers. A function generator is used to send out PWM signals.

Level C: The student team will deliver all elements of Level D PLUS: The motor module prototypes will show quantitative improvements over the past motor modules for the customer's application. There will also be marked improvement over the past motor modules in the areas of control and user interface. The PWM signal is controlled by a motor controller. The motor module can communicate with a platform.

Level B: The student team will deliver all elements of Level D and C PLUS: The motor module prototypes will exceed the past motor modules in every aspect asked for by the customer. The team’s motor modules can be interchangeable with at least one other team’s motor module.

Level A: The student team will deliver all elements of Level D, C, and B PLUS: The team’s motor modules can be interchangeable with any other team’s motor modules.

Grading and Assessment Scheme

P08207 – Focus: RIT Motor Controller:


Level C: The student team will deliver all elements of Level D PLUS: The motor module prototypes will show quantitative improvements over the past motor modules for the customer's application. There will also be marked improvement over the past motor modules in the areas of control and user interface. The motor is controlled by a RIT motor controller.




P08205- Focus: Wireless Communication:


Level C: The student team will deliver all elements of Level D PLUS: The motor module prototypes will show quantitative improvements over the past motor modules for the customer's application. There will also be marked improvement over the past motor modules in the areas of control and user interface. The PWM signal is controlled by a wireless signal.




P08202 / P08206 – Focus: CAN/SPI/I2C Communications Protocols:


Level C: The student team will deliver all elements of Level D PLUS: The motor module prototypes will show quantitative improvements over the past motor modules for the customer's application. There will also be marked improvement over the past motor modules in the areas of control and user interface. The PWM signal is controlled by a CAN protocol.



Team Values and Norms Each team member and every team must participate in collaboration to accomplish the goals of the RP1 Motor Module

Project All students are expected to follow meeting guidelines including bringing all necessary documentation, pre-agenda and

personal work expected to be done by meeting date. Punctual - Each team member will be prompt and arrive at the team meetings on time. If an unexpected conflict comes up,

the absent team member will notify at least one team-mate prior to the expected absence. An absent team-member should confirm that a team-mate has received their message (in person, voice mail, email, etc).

Thorough - Each team member will complete their tasks thoroughly and completely, so that the work does not have to be re-done by a peer on the team. If a member does not know how to complete a task, feels overwhelmed, or needs assistance then the member notifies peers, and seeks assistance either from a peer, the faculty guide, a faculty consultant, or another person.

Accurate - Each team member completes their work accurately and in a way that can be easily checked for accuracy by peers and the faculty guide. All work is fully documented and easy to follow.

Professional and Ethical - Each team member gives credit where credit is due. All work completed includes citations to appropriate literature, or sources of assistance. If a team member has gotten assistance from a publication or individual, then that assistance or guidance is fully documented in the reports prepared. Each team member is honest and trustworthy in their dealings with their peers.

Demonstrates the core RIT values of SPIRIT. Committed - Each team member will contribute an equal share to the success of the project. Team success depends on the success of each other As a team we expect to get the most productivity with the least resistance

○ Lack of contribution will not be tolerated○ Escalation to higher authority will be considered on a case by case basis

Design to requirements not to the budget Document any changes in Schedule Anticipate questions, before presenting information and answer during presentation Have details behind decisions available during discussions/presentations Technical integration

○ Measure twice Cut once

Each value is broken down to four levels of performance: Unsatisfactory, Needs Improvements, Meets Expectations, or Exceeds Expectations

Intellectual Property Considerations

Everything associated with this project is public domain.

The final result of the RP1 Motor Module design will be published for any party to access.

The intent of publication is for any party to use the design to build their own Motor Module for their own use.

Required ResourcesFaculty

Item Source Description Available Dr. Edward Hensel

ME Customer Yes

Dr. Wayne Walter ME Faculty Guide Yes Dr. Daniel Phillips EE Faculty Consultant Yes EE or CE Faculty Consultant Yes Environment Item Source Description Available Robotics Lab ME 09-2230 Workspace/Storage Yes Machine Shop ME 09-2360 Parts Fabrication Unknown CNC Labs Unknown Parts Fabrication Unknown Computer Labs Throughout CAD,

Programming, Etc. Yes

Equipment Item Source Description Available Power Supply EE or ME Used for testing Unknown Desktop PC EE Circuit analysis Yes Desktop PC CE or EE Programming Yes Desktop PC ME CAD and FEA Yes Voltmeter EE or ME Circuit testing Unknown 8Õ x 8Õ Table Unknown Test ing surface Unknown Static Mats EE (?) Static guard Unknown Oscilloscopes EE or ME Used for testing Unknown DC Motor Dynamometer

Unknown Used for testing Unknown

Material Item Source Description Available Baseline Kit Multiple Websites Getting SD team

on track Will purchase before end of Fall Quarter

Raw materials (plastic, wires, etc.)

Multiple Websites, Catalogs

Building materials (no long lead time)

Research

Boards (microcontrollers, PIC, etc.)

Multiple Websites, Catalogs

Electronic components

Research

Issues & Risk Taking on too much design responsibility – “biting off more than you can chew” Budget Constraints – staying within budget, underestimating cost Efficient use of resources (coordination) – machine shops, people’s schedules Packaging envelope – teams must design within constraints Scaled down version of previous designs – desired design should look like a miniature

version of previous designs Customer expectations – miscommunication of/not meeting important needs Time schedule (milestones to accomplish) – not meeting deadlines High learning curve – too much to learn to accomplish goals Identify and acquire key design components early – dependent components come

after Good design on paper but not in reality – CAD and other design work should be

realistic Testing capabilities – have time and testing equipment Not guaranteed that teams will collaborate – tension and design conflicts Too much team collaboration will discourage uniqueness of design Scheduling conflicts and difficult team meeting coordination With some team structure options, the interface between segments will be difficult to

manage

Outstanding Items Finding interested students for the teams Establish relative importance of specifications through

follow-up surveys Speak with Dr. Crassidis and Dr. Yang about their

project needs

Question

Emilien Barrault (ME) Wendy Fung (ME) Jason Kenyon (ME) Jasen Lomnick (ME) Hoainam Nguyen (ME)

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