CS-EE 480
Fall 2002
Project Nuthatch
The Inverted Pendulum
Monthly Program Review
Project Nuthatch
10/29/02
University of Portland
School of Engineering
1
CS-EE 480
Fall 2002
Accomplishments
• Functional Specifications, Rev. 1.0
– Project approval meeting with industry
representative
• Research
• Mathematical Modeling
• Project Plan, Rev 0.9
Project Nuthatch
10/29/02
University of Portland
School of Engineering
2
CS-EE 480
Fall 2002
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.
Project Nuthatch
10/29/02
University of Portland
School of Engineering
3
CS-EE 480
Fall 2002
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.
Project Nuthatch
10/29/02
University of Portland
School of Engineering
4
CS-EE 480
Fall 2002
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
Project
Nuthatch
5
cart.
University
of
Portland
School
of
Engineering
10/29/02
CS-EE 480
Fall 2002
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.
Project Nuthatch
10/29/02
University of Portland
School of Engineering
6
CS-EE 480
Fall 2002
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.
Project Nuthatch
10/29/02
University of Portland
School of Engineering
7
CS-EE 480
Fall 2002
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
Materials
Subtotal
Jason Boyce
Jennifer Miller
Subtotal
Pendulum
Cart
Motor
Potentiometer
Electronics
Breadboard
8
8
1
1
1
1
1
1
$9,000
$9,000
$144,000
$72,000
$72,000
$10
$50
$50
$50
$30
$5
$195
$10
$50
$50
$50
$30
$5
TOTAL
$144,195
Project Budget
Project Nuthatch
10/29/02
University of Portland
School of Engineering
8
CS-EE 480
Fall 2002
Issues and Alternatives
• Finding research material that was
applicable to the desired design
methodology
• Limited design time
• Laplace transforms are difficult
Project Nuthatch
10/29/02
University of Portland
School of Engineering
9
CS-EE 480
Fall 2002
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
Project Nuthatch
10/29/02
University of Portland
School of Engineering
10