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A Production of Engr 190 Students

!  The intent of the design is to acquire and compose information about the mechanical, electrical, and computer science of Lego Mindstorms and Matlab. Once the information has been acquired the idea was to create a miniature Segway with Lego components and sensors

!  Segway!- (trademark) a self-balancing personal transportation device with two wheels; can operate in any level pedestrian environment

!  http://www.thefreedictionary.com/Segway

!  Learn and tested simple designs using "  Motors

!  Program directionality and speed

"  Touch !  Determined if something was pressing the sensor. When

sensor was pressed, motor command changed. "  Color

!  Lead to line following programs, color identification "  Light

!  Line following

"  Ultrasonic sensors !  Used to move around obstacles, measure distances

!  Learn and tested simple designs using "  Motors

!  Program directionality and speed

"  Touch !  Determined if something was pressing the sensor. When

sensor was pressed, motor command changed. "  Color

!  Lead to line following programs, color identification "  Light

!  Line following

"  Ultrasonic sensors !  Used to move around obstacles, measure distances

!  Learn and tested simple designs using "  Motors

!  Program directionality and speed

"  Touch !  Determined if something was pressing the sensor. When

sensor was pressed, motor command changed. "  Color

!  Lead to line following programs, color identification "  Light

!  Line following

"  Ultrasonic sensors !  Used to move around obstacles, measure distances

!  Mechanical development "  1st design

!  Primary designed to be balanced similar to the Segway. It had a horizontal balance. The brick was length wise perpendicular to the ground(upright)

"  2nd design !  Focused on lowering the center of

mass , balanced horizontal. Lower the center of mass allows better balance. The brick was parallel to the ground

!  Problem: Center of mass was not lowered only distributed over axis

"  3rd design !  Lower the center of mass under

the top of the motors. The brick was lowered vertically.

!  Electrical development "  The initial reading was formed by

taking the average of 8 values "  Normal Controller

!  The purpose of this controller was to correct the direction of the motor based on the comparison of the current height to the original height

!  Problem: Delay between the computer and the motors

!  Solutions: Direct Motor Control !  Problem: Correction amount was not

appropriate(Jerky) "  PID Controller

!  Correct the motion of the robot in a smooth manner because the derivative takes into account the error of rotation and the integral tries to fix the rate of spin and reduce the amount of error

!  Problem: Delay between computer and brick output

!  Programming in Matlab was a concept in this course. Coming from a minimal programming background, it was insightful to learn a new language.

!  Time management was a crucial skill gained from this project. Scheduling time to work and meeting deadlines was an important component in the segway production

!  The method of production was important to understanding the project. We learned the process of visualizing a idea, to physically creating the idea. We furthered the process by taking the mechanical aspect and creating code for it. Also the ability to be able to translate from a real world concept into the code of the mechanics behind it was crucial to this project.

!  The robot did not function as expected

!  Non of the ideas fully functioned as they should

!  The ideas that worked the best involved the lowest center of mass and functioned the best under the conditions of our program(PID controller)

A Production of Engr 190 Students

!  Mechanical development "  1st design

!  Primary designed to be balanced similar to the Segway. It had a horizontal balance. The brick was length wise perpendicular to the ground(upright)

"  2nd design !  Focused on lowering the center of

mass , balanced horizontal. Lower the center of mass allows better balance. The brick was parallel to the ground

!  Problem: Center of mass was not lowered only distributed over axis

"  3rd design !  Lower the center of mass under

the top of the motors. The brick was lowered vertically.