Skimming the pool (with Science)

Skimming the pool(with Science) Taylor George Brendan Messier

Background • Issues • Leaves • Tree debris • Bugs • Scum

Existing technologies • Group 1: • Cheap • Remote controlled only • Time consuming • Group 2: • Expensive • Autonomous • Slow • Used walls exclusively for navigation

Proposed Solution • Fully autonomous • Navigates both center of the pool and edges • Self calibrating • Easily retrievable • Cleans easily • Entertaining lighting

Concept Diagram

System Diagram Kinetis Board On/Off button 12v Battery Pontoon 2 Pontoon 1 <-- Pumps --> (Propulsion System) Impact switches Net Rear View <-- Pumps -->

System DiagramSide and Section View Frame Pontoon Pump Net

Mechanical DesignBuoyancy • Buoyancy Force (B) = ρ V g • 2 Pontoons ( Pool Noodles ) = 5.805 lbs

Mechanical Design Frame Concept

Mechanical Design • Isolated Fit Test Between: • Rings (green) • Side (fuscia) • Center Rib (yellow)

Electrical Design Right Pressure Sensors Left Pressure Sensors Kinetis 3.3V 3.3V PTA1 PTA2 GND GND Ω PTB2 PTC1 ON 3.3V Power in 9V Voltage Regulator PTB1 Light Sensor GND OFF Left Pump Right Pump Relay 12V Relay

State Diagram (Next Slide) If Home Interrupt = 1 Left Impact Right Impact Straight On Left Turn Calibration Right Turn Calibration Set Home Main If Skimming Interrupt = 1 010 00 110 010 110 01 100 100 010 States with party mode option. Start Impact Timer If Left Switch = 1 If Left impact =1 Or Right impact = 1 Party mode check If Timer = 5 sec Set # = 1 If Timer = 5 sec If Right Switch = 1 If Timer = X And # = 0 If Timer = 5 sec # If Timer = 5 sec If Timer = X And # = 1 Set X = Impact Timer 2 If Timer = 5 sec Set # = 0

Home Left Turn Home Right Turn Home Straight Home Main If Home Interrupt = 1 01 00 111 011 101 If Left Switch = 1 If Right Switch = 1 If Right Switch = 1 If Left Switch = 1

Work Breakdown Structure

Budget

Conclusion

Skimming the pool (with Science)