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Team Fertile

Team Fertile. Joe Clough Devin Noyes Alec Bornemann. *look for notes in bottom box. Background/Problem Statement.

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Team Fertile

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  1. Team Fertile Joe Clough Devin Noyes Alec Bornemann *look for notes in bottom box

  2. Background/Problem Statement • Apple trees need fertilizer. The best way our client has to spread fertilizer now is to use manpower with a casting system. This system is very inefficient and time consuming.

  3. Solution • The most efficient way to fertilize a tree with the least amount of fertilizer is to spread it along the drip line of the tree. We used an automated device to spread fertilizer along the drip line based upon the average circumference of an apple tree.

  4. Specifications: Motor Control • Find tree trunk • Center itself on trunk • Back up to drip line • Tree radius: 6ft • Circle tree • Do a complete circle then exit

  5. System Diagram

  6. State Diagram/Sequence of Events

  7. Sample Code while(MIDDLE_BUTTON_GetVal()) { //Testing Middle Pushbutton if(LEFT_BUTTON_GetVal()==0){ //Left Button is Pushed Right_SetDutyUS(FORWARD); //Turning Left (towards Tree) Left_SetDutyUS(REVERSE); Left_SetDutyUS(FORWARD); //Moving Forward if(RIGHT_BUTTON_GetVal()==0){ //Right Button is pushed Left_SetDutyUS(FORWARD); //Turning Right (towards Tree) Right_SetDutyUS(REVERSE);

  8. Tree Searching (Mechanical Design)

  9. Tree Searching

  10. Hopper DesignPossibilities Design 1 Design 2 *our design • Hopper w/ auger and spinning wheel casting system • Hopper w/ built in waterwheel casting system

  11. Distribution

  12. MARV Organized Right Arm Hopper HopperController HCSO8 Battery ScorpionXL Left Arm

  13. Budget

  14. Timeline:

  15. Future Improvements • Solar Panels and voltage sensor (battery charger) • Light Sensor • Turf Tires for better traction in actual apple orchard • Lighter weight arm sensors

  16. Individual Responsibilities • Alec : CAD Design of Trunk Sensors, Code • Joe: Presentation, Code, Project Manager • Devin: CAD Design of Distribution, Code • Team Effort: Preliminary Design, Fabrication, Testing, Problem Solving

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