Elec 499B Design Project
Jan – April 2005
Progess Report #1
Jan 15, 2005
To: Stephen Neville
Project Coordinator: Adam Zielinski
Team: Robert Prinz 0220135
Mark Kuoppala 0230228
Tifenn Vialatte 0135380
Project Supervisor: Stephen Neville, ECE Deptartment
External UVATT
Organization: University of Victoria Assistive Technology Team
Problem definition
To construct a two-legged table balancing system that mimics the human body’s natural ability to maintain upright balance.
Project Scope
Conceptual development to mathematical models and simulation to physical construction.
Proposed Solution
A counterweight atop the table surface will act as the upper body mass moved about relative to the ‘hips’ (table surface/ball joint leg connection in our case) to shift the centre of gravity in order to help maintain balance. Servo motors will be placed at the ankle joints of the unit to help the system lean in the direction desired to again help maintain balance. An electronic control system will be used to read in tilt sensor information and direct the activities of the counterweight and servo motors. The electronic control system shall be based upon a fuzzy logic controller run on a computer.
Assigned Tasks
Common - Research counterweight ideas
- Investigate fuzzy logic tool box for Matlab and fuzzy logic concepts
Mark - Hardware electrical design
- Computer interface to host computer running controller
- Microcontroller design on balancing system
Tifenn - Mathematical and physical model and simulation
- Mechanical modeling
Rob - Fuzzy logic controller and simulation
Anticipated timetable
Week 1 (Jan 15)
- Learning about fuzzy logic, fuzzy logic Matlab tool box familiarization
- Research various counterweight ideas
Week 2, 3, and 4
- Develop mathematical models based on physics of various counterweight ideas
- Fuzzy logic controller design in Matlab
- Investigate fuzzy logic interface to external computer ports
Week 5
- Simulate in Simulink both the math models developed and the fuzzy logic controller, then fine tune fuzzy sets
Week 6 and 7
- Interface the Matlab counterweight math models with the fuzzy logic controller
system
Week 8
- Start of physical construction and project website
Week 10 (Apr 1)
- Working prototype
Progress made
Robert - Familiarization with fuzzy logic concepts and fuzzy logic toolbox of Matlab.
- Initial meetings with supervisor regarding project and possible approaches
Tifenn - New to project, task assignment, approach to solution meet
Mark - New to project, task assignment