Fall 2002 1 CS-EE 480 University of Portland School of Engineering Project Nuthatch 10/29/02 Project...

Fall 2002

1

CS-EE 480

University of Portland School of Engineering

Project Nuthatch10/29/02

Project NuthatchThe Inverted Pendulum

Monthly Program Review

Fall 2002


2University of Portland School of Engineering

CS-EE 480

Accomplishments

• Functional Specifications, Rev. 1.0– Project approval meeting with industry

representative

• Research

• Mathematical Modeling

• Project Plan, Rev 0.9

Fall 2002



CS-EE 480

Functional Specifications

• Modifications were made to revision 0.9 based on feedback from advisors and the industry representative.

• The functional specifications were officially moved to revision 1.0 after approval was received at the project approval meeting.

Fall 2002



CS-EE 480

Research

• We finally found the holy grail of resources.

• We are aware of a key article related to our project which we would like to use, but we are still attempting to locate it.

Fall 2002



CS-EE 480

Mathematical Modeling

• Dynamics of pendulum system and cart have been finalized.

• We built a linearized model of the dynamics, and used that model to obtain the transfer function for the pendulum-cart system.

• We found a transfer function to describe the servo-positioning motor we will use in the cart.

Fall 2002



CS-EE 480

Project Plan• This document presents a plan for the timely

completion of Project Nuthatch. • The deliverables in this project include

milestone documents, presentations, and design and construction phases.

• The milestone documents are the Functional Specifications, Project Plan, Design Release, and Theory of Operations.

Fall 2002



CS-EE 480

Project Plan, Cont.• The design will be completed in seven steps, beginning

with selecting a plan of attack and ending with circuit simulation. Other design deliverables include physical dynamics, feedback diagrams, frequency response, and circuit design.

• Our assumptions and possible related risks are clearly stated along with contingency plans for addressing these risks. Most of the risks are related to being able to obtain parts with desired functionality at affordable prices. Time management is also a risk factor.

Fall 2002



CS-EE 480

Project Plan, Cont.

• The project resources are described, including people and the cost of parts. Our budget is the most important part of this section. We anticipate keeping our budget below the $200 allowable. Our only other resource is the lab we will require to do the testing of our circuit.

Salary Subtotal $144,000Jason Boyce 8 $9,000 $72,000Jennifer Miller 8 $9,000 $72,000

Materials Subtotal $195Pendulum 1 $10 $10Cart 1 $50 $50Motor 1 $50 $50Potentiometer 1 $50 $50Electronics 1 $30 $30Breadboard 1 $5 $5

TOTAL $144,195

Project Budget

Fall 2002



CS-EE 480

Issues and Alternatives

• Finding research material that was applicable to the desired design methodology

• Limited design time

• Laplace transforms are difficult

Fall 2002



CS-EE 480

Plans

• Project Plan, Rev 1.0

• Obtain final piece of research

• Complete mathematical modeling and design -- Laplace transforms

• Feedback diagrams

• Frequency response

• Circuit design and simulation

Fall 2002 1 CS-EE 480 University of Portland School of Engineering Project Nuthatch 10/29/02 Project...

Documents

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