Cleanroom Cleaning Robot

Design and construct a system that can be used to spray sanitization solutions on the floor of a clean room used in the production of clinical drug products. This system will able to complete its task by itself, a fully automated process. Using an existing Roomba vacuum cleaning device, we will modify and rebuild parts of the device to scrub a clean room floor. 
==Clean Room Roomba==
Problem Statement:
Design and construct a system that can be used to spray sanitization solutions on the floor of a clean room used in the production of clinical drug products. This system will able to complete its task by itself, a fully automated process. Using an existing Roomba vacuum cleaning device, we will modify and rebuild parts of the device to scrub a clean room floor. 
==Project Description==
Design Goals
*Spray sanitization solutions on the floor of a cleanroom
*Scrub floor clean
*Pick up excess fluid
*Use UV lighting to aid in the sanitization process
*Automatically return to charging station when needed
==Testing==
Testing
Test	Description
 	
To see how much fluid the pump could spray
Used the amount of voltage that the Swiffer Wet Jet uses
About 400 mL per minute is the results of pump
 	
15 lbs put on the Roomba
Tested how long the Roomba could last with the weight
2 Master-Carr catalogs is about 15 lbs
Confined an area to test
Able to handle 15 lbs for a solid 2.5 hours
 
==Final Concept==
Main Ideas
*Detachable tank that holds the cleaning solution
**Detachable for easy clean
**Able to do one cleaning run before being empty
**Holds about 2 gallons of cleaning solution
*Sprayer to dispense the fluid
**Controlled by the Arduino Mirco to spray at right times
**Alternating spray
*Sensor inside the tank to communicate to Roomba
**Fluid level sensor to talk to the Roomba 
**Notifies the Roomba when the fluid is low
*UV Light
**Added bacteria sanitation
**Attached to the rear of the Roomba
*Scrubber Brushes
**Removed the original brushes
**Replaced them with heavy duty bristles
**Fits in the same place
Final Designs
Part 	Description
center|175px|Electronics Housing	
Replaced the dust collecting container to become the housing for the electronics
Housing will be water tight
Will also double as the pad holder
center|175px|Cleaning Pad 	
Revalesio's standard cleaning pad 
Easy to wash and replace
Holds enough fluid for a run
 	
Pump/Sprayer combo is from a Swiffer Wet Jet
Will run off the Roomba battery 
Controlled by the Arduino Mirco 
Will spray in pulses
 	
Top brush is the old brush from the vacuum
Bottom brush is the new modified brush 
New bristles are much stiffer and about to scrub the floor
 	
Protoype circuit to run everything
Attached to the Roomba through a serial port 
Controlled by a Arduino Mirco
 	
MircoScribe was used to draw the shape of the tank, then modeled in Solidworks.
Solidworks model imported into MasterCam for machining process. 
HAAS CNC Mill cut the tank lid out of PVC Plastic.
 	
Drawn up in Solidworks
Will not interfere with any existing features of the Roomba.
Holds a maximum of 2 gallons of fluid.
Made of stainless steel. 
 Sent out to Faculties to be manufactured.
 	
Extending the bumper up to the top of the tank
Design to have the Roomba hit shelving that is off the ground.
Allows the Roomba to bounce off the shelving.
Made out of PVC Plastic 
Bandsaw and drill press were used manufacture this part
 	
To elevate the tank so the pump wouldn't interfere. 
Made out of PVC Plastic.
Also allows the sensor to be unaffected.
Bandsaw to get the general design. 
Shaped with a sander and a manual mill.
 	
Manufactured out of Stainless Steel. 
Made out of multiple sections.
Bandsawed the components into shape, then bent them into the correct shape.
==Technology and Software==
Technology
Part	Description	Use
 	
The Arduino Micro is a 16Mhz microntroller. 
. It has 20 digital I/O pins, 7 PWM channels, 12 analog inputs, and can run off of a voltage input range of 6-20V 
It is also capable of serial communication.	
The Roomba 780 has a 7 pin Mini DIN port that allows it to communicate using serial communication. 
We will use the Arduino Micro to talk to the Roomba through serial and control the additional components we add on.
 	
The IRF510 is a N-Channel power MOSFET. 
It is capable of passing currents up to 5.6A when a Gate to Source voltage of 10V is applied.	
Many of the electrical components that we are going to add to the Roomba will need to be controlled.
The IRF510 will be used as a voltage controlled switch to allow the microcontroller to turn various components on and off as needed.
 	
The PTN78060W is a 3 Amp, wide input, adjustable switching regulator (DC-DC converter) 
It is capable of accepting an input voltage range of 7-36V 
It can output anywhere from 2.5-12.6V at efficiency up to 96%.	
The PTN78060 will allow us to efficiently generate a 6V source from the Roomba’s 14.4V battery to run our electronics.
 	
The FK28X5R1C225K is a 2.2uF capacitor rated to 16V.	
This will be used in our project as supporting circuitry for the PTN78060W switching regulator.
 	
The RNMF14FTC10K0 is a 10kOhms, 0.25W, 1% Tolerant resistor. 
It has a temperature coefficient of +-50ppm/*C.	
This will be used in our project as supporting circuitry for the PTN78060W switching regulator. 
This sets the output voltage.
 	
The 74ALS32N is a quad-OR gate, 14-pin IC.	
This will be used to buffer the control logic from the microcontroller to the high power peripherals.
 	
The ON Semiconductor 0372DP1 58D is a dual channel op amp.	
It will be used to increase the control voltage from the OR-gate in order to fully trigger the MOSFET controlling the sprayer..
==Mystery Machiners==
Picture	Bio	Discipline
 	Nick Rodriguez:
My name is Nicholas Rodriguez, I'm an Electrical Engineer at University of Idaho. I am from Pocatello, ID. 
As my education has progressed I have focused more on Integrated Circuits and Microcontrollers.
I would like to work with personal electronics in the future. Outside of school I enjoy soccer, skateboarding,
and making music with my friends.	EE
 	Nate Pueschel:
My name is Nathan Pueschel or Nate. I am a 23 years old and a senior in Mechanical Engineering
at the University of Idaho. I was born and raised in Boise, Id. After college I plan on moving 
to California to find a job in the San Francisco Bay Area. I will be graduating on May 17th 2014.
I love the idea of working with a team of other engineering to create or improve.	ME
 	Justin Herrick:
My name is Justin Herrick and I am a Mechicanl Engineering student at the University of Idaho. 
I was raised in Eagle River, Alaska and I love skiing and snowmobiling in the long winters as well 
as fishing and hunting in the summer. Mechanical engineering interests me because I love to know 
how and why things work the way they do.	ME
 	Greg Atkinson:
My name is Greg Atkinson. I am 21 years old and a senior in Mechanical Engineering at the University of Idaho.
I lived in Gig Harbor, Washington my entire life before moving to Moscow, Idaho to get my degree. The summer 
of my freshman year I went back home and married my beautiful wife, Ellie. Our plans are to move back to 
Washington after my May 17th graduation.	ME