text:
Chemicals/Reactions

Chemical reactions are associated with some changes in the chemical nature/properties of substances. For example, under specific circumstances, when hydrogen chemically reacts with oxygen, water is formed. The chemical propeties of water are quite different from its constituent elements, i.e. hydrogen and oxygen.

Chemical reactions can be classified into two main types: endothermic and exothermic reactions. An endothermic reaction is sustained only when the required quantity of heat is continuously supplied to the reaction zone and the reation absorbs heat. Exothermic reactions release heat and require removal of heat from the reaction zone for sustenance.

Equations
Centered above is a visual that shows how the law of conservation of atoms works: there must be the same number of atoms of each element for the reactants and the products.

Each term in the reaction equation has two parts: a coefficient indicating the number of molecules and a chemical formula for each molecule involved in the reaction.

A molecule of methane (CH4) is combined with two molecules of oxygen (O2) to produce a molecule of carbon dioxide (CO2) and two molecules of water vapor (H2O).

The physical state of the chemicals has not been included. Depending upon the conditions for which the equation records the reaction, all molecules could be gases. This may be represented as

 * $$CH_4(g) + 2O_2(g) \rightarrow CO_2(g) + 2H_2O(g),$$

where (g) stands for gas.

Written more generally,

 * $$\mathrm{a\ A + b\ B \longrightarrow c\ C + d\ D}.$$

Here, a = 1, A = CH4, b = 2, B = O2, c = 1, C = CO2, d = 2, and D = H2O. Including the gaseous state of each molecule yields

 * $$\mathrm{a\ A(g) + b\ B(g) \longrightarrow c\ C(g) + d\ D(g)}.$$

The liquid methane/liquid oxygen reaction motor or engine pictured at the page top is probably preheating each right before the components enter the reaction chamber which is just above the exhaust manifold.

Thermodynamics

 * $$\Delta G = \Delta H - T \cdot \Delta S$$.
 * $G$: Gibbs free energy, $H$: enthalpy, $T$: temperature, $S$: entropy, $Δ$: difference (change between original and product).

At equilibrium, the Gibbs free energy is zero.

Exothermic reactions: ΔH is negative and energy is released (ΔG is negative).

Endothermic reactions: ΔS is positive, ΔT is positive, or ΔH is positive, and ΔG is positive.
 * $$\Delta H^o = +21.86 \ \text{kJ at 298 K}$$

ΔH° is zero at 1855 K. Above 1855 K the reaction is exothermic.

Above 1100 K the reaction is reversed.

Internal energy:

 * $${d}U = T\cdot {d}S - p\cdot {d}V + \mu\cdot {d}n$$
 * $U$: internal energy, $S$: entropy, $p$: pressure, $μ$: chemical potential, $n$: number of molecules, $d$: small differential change.

Reaction kinetics
Variables:
 * 1) reactant concentrations,
 * 2) surface area for contact between reactants,
 * 3) pressure,
 * 4) temperature,
 * 5) catalyst,
 * 6) electromagnetics, and
 * 7) activation energy (Ea).

The rate v of a reaction is given by

Integration yields

k has the dimension 1/time, [A](t) is concentration at a time t and [A]0 is the initial concentration.

The Arrhenius relation for the temperature dependence is

 * $$k = k_0 e^{{-E_a}/{k_{B}T}}$$

where kB is Boltzmann's constant.

Elementary reactions
Def. a "reaction for which no reaction intermediates have been detected or need to be postulated in order to describe the chemical reaction on a molecular scale" is called an elementary reaction.

"An elementary reaction is assumed to occur in a single step and to pass through a single transition state."

The reaction at the top of this section shows trans-azobenzene being transformed into cis-azobenzene induced by light (hν) or heat (Δ). Trans means widely separated and cis means close by. The double arrow (⇌) indicates that the reaction is reversible.

Dissociation reactions

 * Dissociation of a molecule AB into fragments A and B
 * Dissociation of a molecule AB into fragments A and B

Metathesis reactions

for example,

Single replacement reactions

 * single replacement.

Double replacement reactions

 * double replacement.

Oxidation and reduction

Electron transfer reactions
Sodium metal loses an electron to each fluorine atom so that

 * by electron transfer.

Complexation
A neutral iron (Fe) atom yields electrons to form a complex with two C5H5 ligands.

Phosphate reactions
A phosphate reaction is a chemical reaction that leads to the transformation of one set of phosphates to another.

Def. "[a] colourless liquid, H3PO4" is called phosphoric acid.

Def. "[o]rdinary phosphoric acid, H3PO4", after orthophosphoric acid, is called orthophosphoric acid.

"Orthophosphoric acid is a non-toxic, inorganic, rather weak triprotic acid, [that] is a very polar molecule ... soluble in water. ... Triprotic means that an orthophosphoric acid molecule can dissociate up to three times, giving up an H+ each time, which typically combines with a water molecule, H2O, as shown in these reactions:

 * H3PO4(s)  + H2O(l) <=> H3O+(aq) + H2PO4−(aq)       Ka1= 7.25×10−3

 * H2PO4−(aq)+ H2O(l) <=> H3O+(aq) + HPO42−(aq)      Ka2= 6.31×10−8

 * HPO42−(aq)+ H2O(l) <=> H3O+(aq) + PO43−(aq)        Ka3= 3.98×10−13

The anion after the first dissociation, H2PO4−, is the dihydrogen phosphate anion. The anion after the second dissociation, HPO42−, is the hydrogen phosphate anion. The anion after the third dissociation, PO43−, is the phosphate or orthophosphate anion. For each of the dissociation reactions shown above, there is a separate acid dissociation constant, called Ka1, Ka2, and Ka3 given at 25 °C. Associated with these three dissociation constants are corresponding pKa1=2.12, pKa2=7.21 , and pKa3=12.67 values at 25 °C."

"For a given total acid concentration [A] = [H3PO4] + [H2PO4−] + [HPO42−] + [PO43−] ([A] is the total number of moles of pure H3PO4 which have been used to prepare 1 liter of solution), the composition of an aqueous solution of phosphoric acid can be calculated using the equilibrium equations associated with the three reactions described above together with the [H+][OH−] = 10−14 relation and the electrical neutrality equation. Possible concentrations of polyphosphoric molecules and ions is neglected. The system may be reduced to a fifth degree equation for [H+] which can be solved numerically, yielding:"

Phosphorylation
Def. "the process of transferring a phosphate group from a donor to an acceptor; often catalysed by enzymes" is called phosphorylation.

 * D-glucose + ATP → D-glucose-6-phosphate + ADP, Gibbs free energy (ΔG°) = −16.7 kJ/mol (° indicates measurement at standard condition)

Ubiquitylation
Ubiquitination (also known as ubiquitylation or ubiquitinylation) is an enzymatic post-translational modification in which a ubiquitin protein is attached to a substrate protein, most commonly to the last amino acid of ubiquitin (glycine 76) to a lysine residue on the substrate by an isopeptide bond between the carboxyl group (COO−) of the ubiquitin's glycine and the epsilon-amino group (ε-) of the substrate's lysine. Trypsin cleavage of a ubiquitin-conjugated substrate leaves a di-glycine "remnant" that is used to identify the site of ubiquitination. Ubiquitin can also be bound to other sites in a protein which are electron-rich nucleophiles, termed "non-canonical ubiquitination". This was first observed with the amine group of a protein's N-terminus being used for ubiquitination, rather than a lysine residue, in the protein MyoD and has been observed since in 22 other proteins in multiple species,               including ubiquitin itself. There is also increasing evidence for nonlysine residues as ubiquitination targets using non-amine groups, such as the thiol sulfhydryl group on cysteine,      and the hydroxyl group on threonine and serine. The end result of this process is the addition of one ubiquitin molecule (monoubiquitination) or a chain of ubiquitin molecules (polyubiquitination) to the substrate protein.

Ubiquitination requires three types of enzyme: ubiquitin-activating enzymes, ubiquitin-conjugating enzymes, and ubiquitin ligases, known as E1s, E2s, and E3s, respectively. The process consists of three main steps:
 * 1) Activation: Ubiquitin is activated in a two-step reaction by an E1 ubiquitin-activating enzyme, which is dependent on Adenosine triphosphate (ATP). The initial step involves production of a ubiquitin-adenylate intermediate. The E1 binds both ATP and ubiquitin and catalyses the acyl-adenylation of the C-terminus of the ubiquitin molecule. The second step transfers ubiquitin to an active site cysteine residue, with release of Adenosine monophosphate (AMP). This step results in a thioester linkage between the C-terminal carboxyl group of ubiquitin and the E1 cysteine thiol (sulfhydryl) group. The human genome contains two genes that produce enzymes capable of activating ubiquitin: UBA1 and UBA6.
 * 2) Conjugation: E2 ubiquitin-conjugating enzymes catalyse the transfer of ubiquitin from E1 to the active site cysteine of the E2 via a trans(thio)esterification reaction. In order to perform this reaction, the E2 binds to both activated ubiquitin and the E1 enzyme. Humans possess 35 different E2 enzymes, whereas other eukaryotic organisms have between 16 and 35. They are characterised by their highly conserved structure, known as the ubiquitin-conjugating catalytic (UBC) fold.
 * 1) Ligation: E3 ubiquitin ligases catalyse the final step of the ubiquitination cascade. Most commonly, they create an isopeptide bond between a lysine of the target protein and the C-terminal glycine of ubiquitin. In general, this step requires the activity of one of the hundreds of E3s. E3 enzymes function as the substrate recognition modules of the system and are capable of interaction with both E2 and substrate. Some E3 enzymes also activate the E2 enzymes. E3 enzymes possess one of two domains: the homologous to the E6-AP carboxyl terminus (HECT) domain and the really interesting new gene RING finger domain (or the closely related U-box domain). HECT domain E3s transiently bind ubiquitin in this process (an obligate thioester intermediate is formed with the active-site cysteine of the E3), whereas RING domain E3s catalyse the direct transfer from the E2 enzyme to the substrate. The anaphase-promoting complex (APC) and the SCF complex (for Skp1-Cullin-F-box protein complex) are two examples of multi-Protein subunit E3s involved in recognition and ubiquitination of specific target proteins for degradation by the proteasome.

In the ubiquitination cascade, E1 can bind with many E2s, which can bind with hundreds of E3s in a hierarchical way. Having levels within the cascade allows tight regulation of the ubiquitination machinery. Other ubiquitin-like proteins (UBLs) are also modified via the E1–E2–E3 cascade, although variations in these systems do exist.

E4 enzymes, or ubiquitin-chain elongation factors, are capable of adding pre-formed polyubiquitin chains to substrate proteins. For example, multiple monoubiquitylation of the tumor suppressor p53 by Mdm2 can be followed by addition of a polyubiquitin chain using P300-CBP coactivator family (p300 and CBP).

Solubility
Under certain conditions, the equilibrium solubility can be exceeded to give a so-called supersaturated solution, which is metastable.

According to the International Union of Pure and Applied Chemistry (IUPAC) definition, solubility is the analytical composition of a saturated solution expressed as a proportion of a designated solute in a designated solvent. Solubility may be stated in various units of concentration such as molarity, molality, mole fraction, mole ratio, mass (solute) per volume (solvent) and other units.

The extent of solubility ranges widely, from infinitely soluble (without limit) (fully miscible ) such as ethanol in water, to poorly soluble, such as silver chloride in water. The term insoluble is often applied to poorly or very poorly soluble compounds. A number of other descriptive terms are also used to qualify the extent of solubility for a given application. For example, U.S. Pharmacopoeia gives the following terms:

The thresholds to describe something as insoluble, or similar terms, may depend on the application: one source states that substances are described as "insoluble" when their solubility is less than 0.1 g per 100 mL of solvent.

Solubility (metastable, at concentrations approaching saturation) also depends on the physical size of the crystal or droplet of solute (or, strictly speaking, on the specific surface area or molar surface area of the solute).

As the temperature is raised, gases usually become less soluble in water (to minimum, which is below 120 °C for most permanent gases ), but more soluble in organic solvents.

The chart shows solubility curves for some typical solid inorganic salts (temperature is in degrees Celsius i.e. kelvins minus 273). Many salts behave like barium nitrate and disodium hydrogen arsenate, and show a large increase in solubility with temperature. Some solutes (e.g., sodium chloride in water) exhibit solubility that is fairly independent of temperature. A few, such as calcium sulfate (gypsum) and cerium(III) sulfate, become less soluble in water as temperature increases.

A few exceptions exist, such as certain cyclodextrins.

For condensed phases (solids and liquids), the pressure dependence of solubility is typically weak and usually neglected in practice. Assuming an ideal solution, the dependence can be quantified as:

 * $$ \left(\frac{\partial \ln N_i}{\partial P} \right)_T = -\frac{V_{i,aq}-V_{i,cr}} {RT} $$

where the index i iterates the components, Ni is the mole fraction of the ith component in the solution, P is the pressure, the index T refers to constant temperature, Vi,aq is the partial molar volume of the ith component in the solution, Vi,cr is the partial molar volume of the ith component in the dissolving solid, and R is the universal gas constant.

In the presence of small bubbles, the solubility of the gas does not depend on the bubble radius in any other way than through the effect of the radius on pressure (i.e., the solubility of gas in the liquid in contact with small bubbles is increased due to pressure increase by Δp = 2γ/r; see Young–Laplace equation).

A popular aphorism used for predicting solubility is "like dissolves like" also expressed in the Latin language as "Similia similibus solventur". This statement indicates that a solute will dissolve best in a solvent that has a similar chemical structure to itself. This view is simplistic, but it is a useful rule of thumb. The overall solvation capacity of a solvent depends primarily on its polarity. For example, a very polar (hydrophilic) solute such as urea is very soluble in highly polar water, less soluble in fairly polar methanol, and practically insoluble in non-polar solvents such as benzene. In contrast, a non-polar or lipophilic solute such as naphthalene is insoluble in water, fairly soluble in methanol, and highly soluble in non-polar benzene.

The rate of dissolution can be often expressed by the Noyes–Whitney equation or the Nernst and Brunner equation of the form:
 * $$\frac {dm} {dt} = A \frac {D} {d} (C_\mathrm{s}-C_\mathrm{b})$$

where:
 * m = mass of dissolved material
 * t = time
 * A = surface area of the interface between the dissolving substance and the solvent
 * D = diffusion coefficient
 * d = thickness of the boundary layer of the solvent at the surface of the dissolving substance
 * Cs = mass concentration of the substance on the surface
 * Cb = mass concentration of the substance in the bulk of the solvent

Some substances may dissolve incongruently, whereby the composition of the solute in solution does not match that of the solid and is accompanied by alteration of the "primary solid" and possibly formation of a secondary solid phase, but in general, some primary solid also remains and a complex solubility equilibrium establishes; e.g. dissolution of albite may result in formation of gibbsite.

 * NaAlSi3O8(s) + H+ + 7H2O ⇌ Na+ + Al(OH)3(s) + 3H4SiO4.

The solubility of albite is expected to depend on the solid-to-solvent ratio, where it results in formation of metamorphic rocks.

Precipitation
The diagram on the right shows the differences between a compound, a precipitate, a supernate, and a suspension.

Photochemical reactions
Photoexcitation of a carbonyl group adds it to an olefin producing an oxetane.

Solid-state reactions
These reactions are usually governed by interdiffusion rates.

Hypotheses

 * 1) Chemical reactions often occur in small steps.

title: Chemicals/Reactions


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Motivation and emotion/Assessment/Chapter/Marker notes

Marking and feedback process

 * 1) Read and review each allocated chapter, based on the:
 * 2) Chapter guidelines
 * 3) Marking criteria
 * 4) Check word count (see length in guidelines) - Suggested tool (Google Chrome Extension). Ignore any any words over 4000 for marking purposes.
 * 5) Check the page's history. For marking purposes, use the last version prior to submission - but if only minor changes are made after submission, just use the latest version.
 * 6) Do some copyediting of the chapter, to indicate suggested changes (e.g., by adding Clarification templates).
 * 7) Add feedback on the chapter's Wikiversity talk page, using MEBF/2018. Feedback should include:
 * 8) Comments in relation to each marking criterion (Theory, Research, and Written expression). For each marking criterion, include:
 * 9) at least one main aspect which is done well
 * 10) at least one recommendation and/or suggestion for improvement
 * 11) Style of comments:
 * 12) Avoid use of 2nd person (you/your - e.g., "you could have added more theory") and comment instead about the chapter in 3rd person e.g., "the depth and breadth of coverage of theoretical aspects of the topic could be improved"
 * 13) Comment in the future tense (about improvements that could be made) rather than the critiquing the past (which cannot be changed).
 * 14) Avoid indicating actual or even approximate grade - comments belong on Wikiversity, whereas marks go on Moodle
 * 15) In the LMS marking rubric, allocate a mark for each of the three criterion (theory, research, written expression). A total will be created automatically. No need to add comments - these should be on the Wikiversity talk page.
 * 16) Moderation
 * 17) After marking several chapters, seek feedback from the unit convener.
 * 18) Seek moderation from the unit convener for chapters which are below Pass-level.
 * 19) If in doubt about anything, or wanting a second opinion about a chapter, contact the unit convener.

Social contribution

 * 1) Social contribution are summarised on user pages.
 * 2) Marks and comments will be provided separately by the unit convener.
 * 3) Template:MEBF

Optional
Ideally, but optionally, the process of marking should also involve:
 * 1) Editing the chapter page to:
 * 2) Standardised title casing and layout
 * 3) help illustrate and indicate areas for possible improvements - e.g., insert clarification templates.
 * 4) add categories
 * 5) Create a pearl of wisdom for each chapter and add it to the pearls of wisdom chapter.
 * 6) Add commonly repeated feedback to general feedback

license: Creative Commons - Attribution Share-Alike - https://creativecommons.org/licenses/by-sa/4.0/


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User:Lawsonry

Lawsonry is the name of an online journal created by Jesse Lawson, which can be found at http://www.lawsonry.com/.

title: User:Lawsonry


text: File:Hailong.2011 11 10 08 35 29.pdf

title: File:Hailong.2011 11 10 08 35 29.pdf


title: File:DigitalDesign.20111110.pdf


text:
Engineering Projects/Model boat/Howard Community College/fall2011/502 AHZ

Problem Statement

 * Construct a remote operated Model Boat from scratch by using the following http://www.youtube.com/watch?v=i7sXMtcex6g Video. Boat Will be controlled with two RC remotes.
 * Generate a sketch from which the Model Boat can go in any direction without tilting over.
 * Design a balance system so the boat does not flip over due to high pressure waves.

Team Members
Put each team members name here with links to their personal page here. Real names do not have to be used.
 * Mohammad Khan
 * Harman Singh
 * Adnan Fayyaz

Summary
The main purpose of our project was to Establish a model boat that can run in water. We started off by looking at some different boat designs. While looking through the set of designs, we found a unique design that we choose for our boat. The boat was made from tube and all the other gadgets were placed on it. We choose that design because it was different from what we have seen before and was unique as well. We started focusing on making of our boat by gathering all the materials and assigning work to team mates. Beneath is the timeline of the work that was being done every week.

Week0
 * Brainstorm ideas for the design of model boat.Researched the materials that can be used in designing the boat. Understood the objectives and assigned work to team mates.

Week1
 * Gathered all the materials that were needed and started working on the project.Getting the tube as we did earlier in the project was one of the most troublesome tasks in this project. But, we had gotten the tube out of the bicycle successfully to use it for the project. Later on, we got the new tube to use.

week2
 * Worked on the base of the boat by cutting a board and attaching it with a tube. Also, compared and contrasted two different pairs of fans that could help the boat move forward and control the direction.

week3
 * Started working on the fans and propeller of the boat. Attached them to the boat and tested to see if they worked properly.

week4
 * Goal was to connect the RCA remote with the boat and control it. Placed all the remote parts in the plastic bottle to prevent them from getting wet.Figured out how to make the boat turn right left and go back in the water.

These are some pictures related to the work that was being done.

Testing of the fans: http://www.youtube.com/watch?v=fDk-Jf-qwwE

Story
Our goal as a team was to accomplish a model boat and to operate it moving in the water freely without any problems. We started off by making and testing different kinds of designs and by collecting the parts that were need in order for the boat to be made. After discussing the design, we finally came to the conclusion of making the boat with a bicycle tube.The tube that we had was very big about 26 inches in diameter, so, we decided to give it a twist to fit underneath the wooden board. We tied it with the board with the help of black ties as shown in the poster pictures. Then, we researched on different types of fans that will be best to push the boat forward. We found a set of two white fans with high voltage motors, and we thought that these will be the best ones for our model boat. The fans were attached on the top of bases with the help of hot glue firmly.Basically, were thinking of using them to push the boat forward and to guide the direction at the same time. If turn one fan off the boat will turn the same direction of what the fan has. Later on, we started working on the propeller which was meant to be the real push for the model boat. We provided it with a base of about almost five inch long plastic tube. We placed the the propeller at the top of the plastic tube with the help of the hot glue. We also placed a 20 oz clear water bottle in the front of the boat to prevent the RC unit from getting wet. The bottle was cut open from the top to place the RC unit in, and it was supposed to be sealed later on.

Decision List
Selecting the design of the boat was one big decision that all the team mates had to take. We all threw different ideas at each other and came to a conclusion of using the tube design for our boat.

We had a couple of designs in our mind to work on which include:

Using soda bottles to make the design

Use the tire tube in the design

Make it and shape it out of wood completely

Material List
Some of the Materials that are need:

 * 2 Remote Control
 * Bicycle 26" tube
 * Wood
 * Glue
 * Drill
 * Engine/motor
 * Propellers
 * high voltage fans
 * Batteries
 * Plastic Bottle
 * supports for the fans

More materials will be added to the list

Software List
Used 'image composer' software that was installed in the ENGSOFT folder to create the poster for our project.

Time
The amount of time we spent on pushing the project forward was 5-6 hours weekly and 2 class periods. That makes a total of 24 hours for each and a team total of 72 hours.

Tutorials
Doing research and understanding how the boat works and whats the mechanism behind it was the most important part of the project. Links on user-pages of our team members can be very helpful in understanding the making of the boat.

Next Steps
Next step is to use and operate the following remote to control our Model Boat. Basically work on the electronics and make the boat turn in water. The next steps are to to hook up the RC controller and coil with Arduino to guide the direction of the boat and to turn it on and off.


text:
User:Mkhan4793/enes100/Model Boat

This is the Link back to the team page.Model Boat

Give instructor top 3 project choice list
Top three choices:

1. Model Boat

2. Helicopter

3.Corn Starch

Write problem statement
NO problem statement yet. Will start making the boat, then a problem might occur.

Assign Task1
Will get all the materials ready in order to make the model boat. Basically in search of a new design and will discus with my team mates. Our goal is to make an RCA controlled model boat which will run freely in the water. Have made the design and now will do the cutting process of the board which the boat will be on.

'Compare actual work done to Task1'
Compared to last week, I looked up many new designs and thought of making a boat out of wood as shown in the following video: http://www.youtube.com/watch?v=RC4lb8jtKJU&feature=related. After discussing this with my team mates, I came to the conclusion that the wooden boat shown in the link was not a unique design and was not meant to be Controlled by RC Remotes. I was trying to find a design that would be light and be controlled by two RC remotes. After doing a lot of research, I came across to the following link with my teammates: http://www.youtube.com/watch?v=i7sXMtcex6g. The boat in the link had a new and unique design never seen before. After getting the approval of the design from my teammates, I helped my teammates gather all the materials that were needed for us to start the process. Fist, I made a list of the materials that were needed.

 * Some of the materials that I mentioned on the list are the following:

1. Wooden Board 2.Glue 3.Drill and tools                 -- These are the materials that we currently have 4.needles

5.saw

6.Plastic bottles  -- This Bottle may be used to hold small components. 7.RC Remotes                (49MHZ)

8. bicycle tube

9.Ruler

More materials are to be added as needed.

After getting some of the materials that were needed, I started working on the construction of the boat with my teammates. The first thing that I stared with was the Board. One of my team mate started measuring the board and once the board was perfectly measured, I started drilling the holes in it that were needed for the tube to be attached with. The tube will be then be pumped with air. That will make it float in the water. After getting the holes done, I was going to attach the tube to it. I was not able to attach the tube to the board because of the damage the tube had on itself. The tube was punctured, therefore the air in it was leaking out every time it was pumped. Once I get the new tube. My goal will be to attach the tube and go on working with the electrical side of it.

Week1 Narrative
The following are the pictures to the work that was being done.

 * Measuring of the board.
 * Cutting of the board.
 * Drilling holes in the board.
 * Pumping the tube.
 * Fixing the tube

Week1 Peer Review

 * Commented on each of my team members pages on their electronic documentations. Everybody had good reports that were in-depth which would aid in pushing their objectives forward.

Assign Task2

 * My plan for the week is to figure out how we will be connecting the remote to the boat. I will look up some information on how to connect RC Remotes and how to place all the components on the boat. As of now, my plan is to place everything in a big bottle, but will discuss with team mates before coming to any conclusion.

'Compare actual work done to Task2'
Compared to last week, a lot has been done. The new tire tube was pumped up and was attached to the base of the board. The new tube that we got for our project was very big.It was bigger then our last tube and was also larger than the board, therefore, created a problem. The tube was not fitting properly onto the board because of its size. To solve the problem, I took out some air from the tube and twisted the tube making it overlap. That helped the tube to get small in length and wider on the base. The following is the picture of the tube overlapped and attached onto the board. After working with the tube and the base. I came forward and started working on the Fans of the boat. I picked two fans that had good power in them and designed a place for them on the board. These fans will help the board move forward in the water. I also found a big propeller fan that would go in the middle and help the boat move fast and straight. After getting all the fans ready, I started working on the design of the boats engines and motors. I first read the article http://www.ehow.com/how-does_5008871_boat-motor-work.html and saw how the motor works and then opened up the small car that I had and took its motor out.

A boat motor is similar to a cars motor. It receives fuel through a pump just like in a car. The pump is connected to a tank that holds the gas. When the handle is turned up, the tank pumps more fuel into the engine. The specific handle is known as the throttle which pumps fuel with measurements to its capacity. The throttle then valves open allowing more gasoline into the engine. The crank shaft is connected to a drive rod, similar to that of a car. This rod is connected to a propeller causing it to spin. Most boats have only a forward (spin to the right) and reverse (spin to left) transmission. The transmission will switch the drive of the propeller into forward or reverse. In our case, we will be using similar mechanism on out boat. our remote will be connected wireless with receiver and will be guided left right up and down.

'Week2 Narrative'

 * The following are the pictures to the work that was being done.

-- *These are the fans and the propeller that are used on the boat. -- This was the old fan that was going to be used. It lacks of power -- This is how the base and tube looks after the tube being over lapped and attached. -- This is the transmeter of the boat that has been taken out from the remote control car. -- The wired foil will be used with the remote for direction. --Base ready. Tube attached with board -- opened the car. This is how it looked from the inside.

 * Attachment of the tube
 * Working with the fans
 * Working with the propellers
 * Opening of the car
 * Talking out the Motor
 * Designing of the motor and engine

Week2 Peer Review
Added comments to teammates pages. Assigned work to each other and provided information about the wireless connectivity.

Assign Task3

 * I will be working on the attachments of the boat. Have to find a spot for the motor to fit and run without water getting into it. I will be making a path in a bottle for the motor and all the electrical stuff to work. The bottle will protect the electronics from the water, thus helps prevent electric shock. My next step would be to work on the remote connectivity. That will be done by either hooking up an arduino or by attaching it with a receiver that goes with the remote.

'Compare actual work done to Task3'

 * Compared to last week, all the fans and propellers have been attached on to the boat. This was done by using some other wooden materials and some hot glue. First, I got a long stick on which the propeller was going to be held on. I cut the stick in half and smoothed it until it got even. The process is shown in the following picture Smoothing.jpg. After getting the stick ready, I glued the stick on the board using hot glue and then attached the propeller onto the stick as seen in the picture Attachment of Propeller.jpg. After the propeller got attached successfully, I then started attaching the side fans to the boat which are placed behind the propeller. The fans were attached one by one on the left and right sides as shown in the picture Fans and proppeller.jpg. This Black support.jpg was used under the fans for support. After this, I got a plastic bottle and cut it from the middle with a sharp blade. The bottle is used to keep and store the electric parts of the boat. The picture of the plastic bottle is shown in the following picture Cutting the bottle.jpg. After installing and attaching everything, I got a battery and started testing the fans and the propeller. A video is posted of the testing under the narrative section.

'week3 Narrative '
The following are the pictures to the work that was being done.

 * Cutting the wooden stick
 * Attaching the propeller
 * Attaching the fans behind the propeller.
 * Pumping the tube to tighten.
 * cutting and attaching the plastic bottle
 * Attaching Wires

-- This is the installment of the trans meter in the plastic bottle. This is the top look of the boat

After the installment, I went on testing the fans and propeller. My testing is shown in the following video http://www.youtube.com/watch?v=fDk-Jf-qwwE.

Week3 Peer Review
Have commented on team mates pages. Told them to work on remote now.

Assign Task4
During the weekend, my goal is to see how to connect the boat with the remote and also work on finishing the team page..

Compare actual work done to Task4
Rationalize differences

Week4 Narrative
Upload photos to wikimedia. Upload video to youtube. Convert all spreadsheets, documents, and presentations to wiki format and create wiki subpage of your page for each of them. Link to them here in a narrative that tells a story. High light the problems (engineering problems) you had and how you solved them.

Week4 Peer Review
Go to each team mates weekly summary wiki page. Read their activities and narrative. Then go the associated discussion page. Say something positive on this page. Try some constructive criticism. Add your name and a signature ~ by entering four tildes in a row to create a time and date stamp. Create a new category if another team mate has already commented here.

Complete Project Page
Follow the "project done" format.

Start Next Project Week0 activities
During this week you will perform the week0 activities of the next project.

title: User:Mkhan4793/enes100/Model Boat


text:
User:Hsingh8658/enes100/Model Boat

Link to team page. Model Boat

Give instructor top 3 project choice list
Typically the instructor picks teams. Students send the instructor their top 3 choices. The project choices are typically those found at Category:General_Engineering_Projects. The instructor tries to put students in the project of their choice. Put your top three choices here after they are used to assign you to this project. Create a link to the project root and to where your team will be working.

1. Model Boat

2. Helicopter

3. Ballbot

Write problem statement
Look through the existing problem statements. Find something not yet done on the project. Create a problem statement for it. Think of a new subsystem that needs to be built for the project. The goal is something simple, possible, for zero dollars.

Our main task will be to design and control a boat.

Assign Task1
Tasks are typically done over the weekend. They are documented during the week, presented during the week and the next weekends work is negotiated during the week. Week 0 is the week that task 1 is negotiated. Record your individual task here. Plan on working on it during the weekend between week0 and week1.

I will watch some videos about model boat for brainstorming. Also, I'm curious to know about the working, frequency and other things about radio controllers of a RC car.

Compare actual work done to Task1
Rationalize differences

I watched many videos about model boat. While selecting the design for the boat, I first thought of making the following design http://www.youtube.com/watch?v=YdCN9UokQGY&feature=related. I selected this design because it was simple and it uses the same mechanism as an RC car. We just have to replace tires by spoons and have to connect the direction controller of the car to the tail wing of the boat. I watched some more videos about this kind of boats. Some of the links are

http://www.youtube.com/watch?v=dubUBN8xoc4&feature=watch_response

http://www.youtube.com/watch?v=DSCgLE9Asqk&feature=related

http://www.youtube.com/watch?v=TqVaVNhBhdc&feature=related this shows the boat with three bottles

http://www.youtube.com/watch?v=t34Cn7EVvwo&feature=related

To explore other possibilities, I looked through some different designs

http://www.youtube.com/watch?v=NaIGemNMwdE&feature=related //this boat has a tail fan that provides forward push

http://www.youtube.com/watch?v=GgsB1oDI01c // Propellers provide the forward force to run boat

http://www.youtube.com/watch?v=i7sXMtcex6g // A propeller and two fans are used to run and control boat

All designed were discussed among team members and the design shown in the last video was selected for our model boat as it is more challenging because we have to use more than one controller and have synchronize then well. Also, we don't have to waste much time on insulating things.

Week1 Narrative
Upload photos to wikimedia. Upload video to youtube. Convert all spreadsheets, documents, and presentations to wiki format and create wiki subpage of your page for each of them. Link to them here in a narrative that tells a story. High light the problems (engineering problems) you had and how you solved them.

Week1 Peer Review
Go to each team mates weekly summary wiki page. Read their activities and narrative. Then go the associated discussion page. Say something positive on this page. Try some constructive criticism. Add your name and a signature ~ by entering four tildes in a row to create a time and date stamp. Create a new category if another team mate has already commented here.

Assign Task2
Record what you are planning on doing for the team during the weekend between week1 and week2 of the project here.

I will try to figure out how can we use the controller of RC car to control fan speed of boat.

Compare actual work done to Task2
Rationalize differences

Week2 Narrative
Upload photos to wikimedia. Upload video to youtube. Convert all spreadsheets, documents, and presentations to wiki format and create wiki subpage of your page for each of them. Link to them here in a narrative that tells a story. High light the problems (engineering problems) you had and how you solved them.

Week2 Peer Review
Go to each team mates weekly summary wiki page. Read their activities and narrative. Then go the associated discussion page. Say something positive on this page. Try some constructive criticism. Add your name and a signature ~ by entering four tildes in a row to create a time and date stamp. Create a new category if another team mate has already commented here.

Assign Task3
Record what you are planning on doing for the team during the weekend between week2 and week3 of the project here.

Compare actual work done to Task3
Rationalize differences

Week3 Narrative
Upload photos to wikimedia. Upload video to youtube. Convert all spreadsheets, documents, and presentations to wiki format and create wiki subpage of your page for each of them. Link to them here in a narrative that tells a story. High light the problems (engineering problems) you had and how you solved them.

Week3 Peer Review
Go to each team mates weekly summary wiki page. Read their activities and narrative. Then go the associated discussion page. Say something positive on this page. Try some constructive criticism. Add your name and a signature ~ by entering four tildes in a row to create a time and date stamp. Create a new category if another team mate has already commented here.

Done

Assign Task4
Record what you are planning on doing for the team during the weekend between week3 and week4 of the project here.

Will work on controlling boat with remote and will test the boat in pond

Compare actual work done to Task4
Rationalize differences

Week4 Narrative
Upload photos to wikimedia. Upload video to youtube. Convert all spreadsheets, documents, and presentations to wiki format and create wiki subpage of your page for each of them. Link to them here in a narrative that tells a story. High light the problems (engineering problems) you had and how you solved them.

Week4 Peer Review
Go to each team mates weekly summary wiki page. Read their activities and narrative. Then go the associated discussion page. Say something positive on this page. Try some constructive criticism. Add your name and a signature ~ by entering four tildes in a row to create a time and date stamp. Create a new category if another team mate has already commented here.

Complete Project Page
Follow the "project done" format.

Start Next Project Week0 activities
During this week you will perform the week0 activities of the next project.

title: User:Hsingh8658/enes100/Model Boat


text:
User:Afayyaz6843/enes100/Model Boat

This is the Link back to the team page.Model Boat

Give instructor top 3 project choice list
my top three choices are:

1.     Model Boat

2.     Corn Starch

3.      Helicopter

Write problem statement
I did not find any existing problems, so basically i have to start off from scratch. The problem is to design an RC controlled Model Boat that can be guided on its path with a remote control.

Assign Task1
Over the weekend my job is to research on the design of the model boat. Also I have to find out the list of materials, and also either buy or get some sort of materials to start off in the next class. I have already gotten an RC motor car, so my goal is to look for the mechanism of how it works and it how it can help the model boat push forward. To find out a tube from bicycle tire that can be used underneath the body of the boat to make it float. Find some glue and ties to glue an tie different things on the top of the body of model boat.I have to find out the mechanism of the RC in the car that i have. Finish the team pages and user pages during the coarse of this week for Model Boat.

Compare actual work done to Task1
I had differences with the the team partners on the design of the boat. From the assign task 1 i had seen different different designs which were using different materials and designs. My team partners also searched for the different designs that can be used for the Model Boat. First, i thought of using the idea from this http://www.youtube.com/watch?v=nnxNGZWzc0c&feature=related to use the plastic bottle for the body of the boat, but it was not big enough to hold three RC controlling systems.I like the idea of using the PC fan to push the boat forward which i certainly selected to use in my design of the boat.

Also, i liked the idea of putting the RC system in the plastic bottle so it doesn't get wet. Also, i looked at this http://www.youtube.com/watch?v=Fq278REZKXs a little different design. It as working perfectly with the Remote Control and good propeller was used with it. But from all the designs that i had seen from my partners I think the best design was http://www.youtube.com/watch?v=i7sXMtcex6g this because it looks durable, and working on this design can really help to push the project forward. There were differences also in selecting the best materials to start the project. The most difference was seen in the use of base of the model boat. I was arguing about the tire tube design over the plastic bottle design the most.

Week1 Narrative
I have found different materials during this week and taken pictures of it. I had worked on the design of the Model Boat and worked on the idea of how i am going to use the RC system on the model boat. I have placed the pictures in the way the work was done in order:

Week1 Peer Review
i had added comments to all my team partners, and compared the work done

Assign Task2
Over the weekend i am planning to get the fans to work for the Model Boat. Also, i am trying to find a new tube to use for the base of the boat because the one i have already is leaking from multiple spots, So, i am not able to keep the air in the tube so far. I have also planned to work a little bid more on the RC system that i had taken out of the car, so that i can use it on Monday.

Compare actual work done to Task2
I found differences with my team mates based on the type of fans to use for the model boat. The PC fans that i was planning to use for the model boat were not powerful enough to push the boat forward. so i found a pair of some old fans from the engineering class that can be used for the project. These new fans are powerful and i hope it will work a lot better than the ones i was thinking to use before. On the other hand, differences were also seen about the type of motor to use for the project. The motors that i got from my car was way too small to be used with the model boat

Week2 Narrative

 * During this week i worked on fitting the new tube to use it underneath the wooden board. The tube was very big so i gave it two twists to make it fit perfect. After it was fit then i filled the air in it using the pump.

Week2 Peer Review
comments added done.. consulted with the team mates and given suggestions.

Assign Task3
My goal for the next week is to put all the remaining parts of the boat on it. Try to think of the way to connect the fans with the remote controls. Document the amount of work that is going to be done over the coarse of next week.

Compare actual work done to Task3
During this week the differences were found on what kind of supports should be used for the power fans. Also i had differences with the team mates on what kind of propeller to use. I compared the idea of using The plastic pipe to make the base for the middle propeller. It was later confirmed as to be used in the model boat design.

Week3 Narrative
During this week i worked on putting the fans on the bases that i already worked on with my team partners. Hot glue was applied in order to stick the fans on the bases.

Week3 Peer Review
comments added done....

Assign Task4
For the most part i will be working on documenting the stuff from my user page to the team page. Also going to work on connecting the boat with the remote control and run a test during next week

Compare actual work done to Task4
Rationalize differences

Week4 Narrative
Upload photos to wikimedia. Upload video to youtube. Convert all spreadsheets, documents, and presentations to wiki format and create wiki subpage of your page for each of them. Link to them here in a narrative that tells a story. High light the problems (engineering problems) you had and how you solved them.

Week4 Peer Review
Go to each team mates weekly summary wiki page. Read their activities and narrative. Then go the associated discussion page. Say something positive on this page. Try some constructive criticism. Add your name and a signature ~ by entering four tildes in a row to create a time and date stamp. Create a new category if another team mate has already commented here.

Complete Project Page
Follow the "project done" format.

Start Next Project Week0 activities
During this week you will perform the week0 activities of the next project.

title: User:Afayyaz6843/enes100/Model Boat


text:
Helicopter/Howard Community College/Fall2011/502 Helicopter 3

Problem Statement

 * Designing and and understanding the mechanism of gimble
 * Differentiate between the gyro and accelerometer
 * Also writing many different sketches to understand the differences between the commands used in C++ language.
 * Build the base of the helicopter, which include arduino, motor shield, batteries, and the emergency stop button.
 * Innovation of the see-saw gimbal.

Team Members

 * Deep Patel
 * Sunny Patel
 * Damilola Kukoyi
 * Darnelle Kirby

Summary
Week1 Activities involved the following:
 * Rationalizing Differences and writing sketches for the accelerometer ADXL335 and Gyro-5DOF.
 * Looking for tutorials to explain those concepts.
 * Uploading all pictures and files from older group to the Wikiversity.

Week2 Activities involved the following:
 * Thanksgiving break (we all assumed!)

Week3 Activities involved the following:
 * Researching for a new sketch since the previous sketches kept on getting errors
 * Looking for gyro-gimble tutorials
 * Pushing the see-saw gimble design forward
 * Uploading the hardware setup of arduino/Gyro-5DOF

Week4 Activities involved the following:
 * Uploading videos of the the work for the arduino
 * Putting up previous and new tutorials for the arduino
 * Uploading pictures of the acclerometer and gyrogimble

Story
We tried our best to accomplish our goal and to solve the problem. Here are the main activities we planned to do:

Week0
 * Working with the arduino, writing/editing the sketch, and taking pictures and videos. All these weeks, we have tried our best to push the Arduino-Helicopter project forward.

Week1
 * Looked at the main difference between 1) Accelerometer ADXL335 has x,y, and z axis of rotation and measures the acceleration of each and 2) Gyro-5DOF has 5 Degree of Freedom, meaning x,y,z axis of rotation, and also including X and Y Rates (measures angular velocity and inclination); uploading pictures from previous projects or researching about other completed projects; made an attempt to fix the see- saw gimble.

Week2
 * Everyone took Thanks-Giving[TURKEY!] break.

Week3
 * Researching for a new sketch of the Gyro-5DOF and Accelerometer since the previous sketches kept on getting errors; researching new tutorials of arduino and motor control shield; create something that causes the plane to stop it from moving all the way down; took some sticks from an old project, separated it and hot glue the pieces on the support beams of the see-saw gimbel- this causes the plane to have a restricted movement.

Week4
 * Taking a design of gyrogimbal and starting to build one on our own with some variations to it.

 * Each individual planned to do different tasks during the weekend and stayed after class for completing the design of the see-saw gimble, base and motor base of the helicopter, and finish writing the gyro sketch.

Material List

 * 12*11mm(r) stick
 * 2x4 Blocks of Wood
 * Portable electric Saw
 * 10x11 Styrofoam
 * Markers
 * Nails or Screws
 * Drill
 * Clamp
 * Electric Sander
 * PBC Pibe. 3 feet
 * Hot glue

Software List

 * Computer- OS=Windows XP
 * Arduino Software
 * Serial Chart Programming
 * Processing Software
 * Serial Monitor from arduino

Time

 * Total of 9.5 hours on notebook along with presentations for each individual
 * Time spent working on completing the see-saw gimbal = 3 hours
 * TIme spent writing/editing sketches of arduino = 11 hours
 * Time spent on uploading pictures along with editing Wikiversity = 2 hours

All over time each individual spent doing the project = 25.5 hours and for all = 102 hours

Tutorials

 * Gimbals-Lock Explained- a brief video explaining how gimbal works and also he uses an aircraft as its center object which clarifies the meaning of using Gimbal when showing the difference between the two devices.
 * Gimbals-Video Explanation- a brief video which explains the angular rotation of each x,y, and z axis and uses processing software for better view.
 * Gimbals Picture- a simple picture showing the basic structure of gimbals.
 * "Quadcopter Prototype using Acc_Gyro and a Pic": is a project tutorial Posted on June 9, 2010 by Starlino. He has completed the same projec, yet using a different system board.
 * Link to his libraries
 * Link to the Serial Chart files .scc: the files provide different charts based on their INPUTS/OUTPUTS. The files ONLY support PicQuadController.
 * Processing Code: the file gives you the code for Processing and only supports PicQuadController.

Next Steps
Each team member did their best to push the project forward and achieve the desired tasks. As part of the project, we have completed building the see-saw gimble to balance the propellers of helicopter. We didn't get enough time to balance the propellers, so it's better for new comers to take over the project from here:

The next part of the project will include the following:
 * Connecting the base to motors and the arduino system
 * Connect helicopter to see-saw gimbal and analyze the data
 * Find a way to incorporate Gyro-5DOF into the helicopter system
 * Write a sketch that also includes wireless controller
 * HAVE FUN! (with FRUSTRATION???)


text:
User:Dpatel5391/enes100/Helicopter 3

Link to project Helicopter 3 team page.

Give instructor top 3 project choice list
I have been part of the Helicopter project since 8 weeks, so I am going to keep on working with the arduino, writing/editing the sketch, and taking pictures and videos. All these weeks, I have tried my best to push the Arduino-Helicopter project forward.

Write problem statement
I still have problems when trying to edit in different variables/commands/loops/setup to Gyro-5DOF sketch. I am still on basic level of writing the C++ language, so that will take me at least 2 to 3 weeks.

Assign Task1
I have planned to get as much information about Gyro-5DOF used with Arduino and Processing. I am also looking for visual tutorials which explains how to set up the hardware system rather than tutorials that provides nothing but the sketch.

Compare actual work done to Task1
The work I completed for Task1 involved researching information about the differences (also in writing a sketch) between Accelerometer-ADXL335 and Gyro-5DOF. The best way to visualize the difference is by using Gimbal Gyroscope technique.

Week1 Narrative
Let's take a look at the main difference: 1) Accelerometer ADXL335 has x,y, and z axis of rotation and measures the acceleration of each, whereas 2) Gyro-5DOF has 5 Degree of Freedom, meaning x,y,z axis of rotation, and also including X and Y Rates (measures angular velocity and inclination).

Here's how they are very different in sketch...

SKETCH FOR THE ACCELEROMETER ADXL335

SKETCH FOR THE GYRO-5DOF

Tutorials:
 * Gimbals-Lock Explained- a brief video explaining how gimbal works and also he uses an aircraft as its center object which clarifies the meaning of using Gimbal when showing the difference between the two devices.
 * Gimbals-Video Explanation- a brief video which explains the angular rotation of each x,y, and z axis and uses processing software for better view.
 * Gimbals Picture- a simple picture showing the basic structure of gimbals.

Besides that I also found the following codes:

 * 1) 1)Tilt Sensing- Processing Code for Accelerometer ADXL335

 * 1) 2)Tilt Sensing- Processing Code for Gyro

My Video shows how the codes are working, yet I still haven't figured out a way to use them with the arduino sketches.

Week1 Peer Review
My Comment was about how Sunny keeps on posting good pictures.

Assign Task2
I am planning to work with visualizing the differences between Accelerometer ADXL335 and Gyro-5DOF using the Gimbals technique. I am also planning present my arduino sketch (including the serial chart) to the class and work with designing the helicopter after class on Tuesday.

Compare actual work done to Task2
Rationalize differences

Week2 Narrative
Upload photos to wikimedia. Upload video to youtube. Convert all spreadsheets, documents, and presentations to wiki format and create wiki subpage of your page for each of them. Link to them here in a narrative that tells a story. High light the problems (engineering problems) you had and how you solved them.

Week2 Peer Review
Go to each team mates weekly summary wiki page. Read their activities and narrative. Then go the associated discussion page. Say something positive on this page. Try some constructive criticism. Add your name and 1sfoerster 13:32, 28 August 2011 (UTC) to create a time and date stamp. Create a new category if another team mate has already commented here.

Assign Task3
Record what you are planning on doing for the team during the weekend between week2 and week3 of the project here.

Compare actual work done to Task3
The work I completed for task3 involved researching for a new sketch since the previous sketches kept on getting errors, like previous sketch doesn't recognize the acceleration on XY-plane (may be the values are kept constant or hardware setup mistake). The previous codes were hard to follow, so I thought of finding, then editing, codes that were used during the ADXL335-Accelerometer experiment. I also started designing gimble to differentiate between accelerometer and gyro.

Week3 Narrative
Here's the sketch which I thought is very basic than previous ones. I am going to explain the code using the command "//".

Note: I did not get enough time to do the hardware setup and take pictures/video. I will include the media files in Week4 Activity.

 * Downloads:

1) Arduino software has been updated to 1.0. Click here to download

2) Math.h library can be accessed from HERE

Note: to install the library copy the code from 1 to 109 WITHOUT including the numbers. Paste it onto Notepad and save as math.h (locate the file in your arduino software libraries folder).

Reference to the sketch: Posted by user: BalkanLion1.0

Tutorials
"Quadcopter Prototype using Acc_Gyro and a Pic": is a project tutorial Posted on June 9, 2010 by Starlino. He has completed the same projec, yet using a different system board.

Link to his libraries

Note: just follow the same procedure as I showed for the math.h library to install all.

Link to the Serial Chart files .scc: the files provide different charts based on their INPUTS/OUTPUTS. The files ONLY support PicQuadController.

Processing Code: the file gives you the code for Processing and only supports PicQuadController.

Note: When using the sketch above, DO NOT forget to change your serial port...for example I currently have connected my arduino board to COM3 so I would change the port from COM18 to COM3. you might wanna keep bandwidth the same: 115200.

Gimble Tutorials
Video Uploaded by GuerrillaCG on Jan 14, 2009 which basically explains how the mechanism works. I am going to use the setup information provided in the video, yet making some changes to it as well. The first test using gimble is going to include arduino base with batteries as the center object. The system controlled via a wireless controller. Then later expanding the center object to the quadcopter.

Zenith Defy Classic Zero-G Tourbillon: Scroll down the link till you see "LET’S GET HORIZONTAL." You will see a diagram of a gimble. I am going to follow the diagram when building the mechanism, yet using different objects. For the base which holds the system in a place, I will be using (provide the link). I am not sure about the objects that I can use for inner and outer gimble, so I will discuss later on with Darnelle Kirby.

Week3 Peer Review
My Comment was about how he finished designing the balance system for propellers, and now he should keep up his work and help me out with designing gimble system.

Assign Task4
I am planning to do the hardware setup for my sketch, take pictures/video, present the outcome to the class, finding/writing a sketch for PicQuadController. We are also going to test the propellers using the previous sketches of accelerometer if not Gyro. I will be staying after class on Tuesday to help out my team members.

Compare actual work done to Task4
I have completed most of the arduino sketch, yet I didn't get enough time to test my sketch with a perfect hardware setup. I have turned in all the devices I've been using since Week0. The work I have completed for this task involves researching information on how to rationlize differences between accelerometer ADXL335 and gyro-5DOF.

Week4 Narrative
I was looking for tutorials which I can use to design gimble in a way that arduino system would balance on its own. I see that the static position is when x,y, and z equal to 0. However, when I place the arduino system in the center, the axis of rotation is then set to x and y equaling 0, and z instantly changing (error!). I have looked through so many comments about gyro-5DOF (on the main web) and its errors, yet no one has completely figured it out.

I have also tried another sketch as provided from the Video Uploaded by XenonJohnD on Mar 17, 2011.

Here's the description part, where he actually explains how the setup helps balance the system: IMU testing sketch

GYRO_5DOF FINAL SKETCH
This is the finaly sketch that includes LED-TEST as I did for accelerometer-ADXL335. I found the sketch from "KalmanFilter," yet editted for Led-Test. I am not sure if the sketch works or not, since I don't have the arduino system at home. This might be really helpful to those who are looking forward to work with the project.

Week4 Peer Review
My Comment was about reminding everyone to come to class on Tuesday for Poster.

Next Step
I highly recommend new comers to learn about arduino by following my steps: It'll make it easier for you to understand and learn better since I also have provided links to downloads and tutorials.

Here're the links to all my projects:
 * My First Project and My User Page

 * My Second Project and My User Page

 * My Last Project and My User Page

Dear New Comers!,
 * Good Luck for your approach to "Frustration BLVD!"

title: User:Dpatel5391/enes100/Helicopter 3


text:
User:Spatel5040/enes100/Helicopter 3

Link to project Helicopter 3 team page.

Give instructor top 3 project choice list
My top three project choices are helicopter, Bernoulli effect, and music project.

Write problem statement
Look through the existing problem statements. Find something not yet done on the project. Create a problem statement for it. Think of a new subsystem that needs to be built for the project. The goal is something simple, possible, for zero dollars.

Assign Task1
Tasks are typically done over the weekend. They are documented during the week, presented during the week and the next weekends work is negotiated during the week. Week 0 is the week that task 1 is negotiated. Record your individual task here. Plan on working on it during the weekend between week0 and week1.

Compare actual work done to Task1
This week i searched online for some of other design that could be help full for our helicopter project.

Week1 Narrative
This week my job was to find some new designs for out helicopter project that could be helpful.

Week1 Peer Review
Go to each team mates weekly summary wiki page. Read their activities and narrative. Then go the associated discussion page. Say something positive on this page. Try some constructive criticism. Add your name and 1sfoerster 13:32, 28 August 2011 (UTC) to create a time and date stamp. Create a new category if another team mate has already commented here.

Assign Task2
I am planning to do a research that will make our helicopter project better.

Compare actual work done to Task2
Rationalize differences

Week2 Narrative
Upload photos to wikimedia. Upload video to youtube. Convert all spreadsheets, documents, and presentations to wiki format and create wiki subpage of your page for each of them. Link to them here in a narrative that tells a story. High light the problems (engineering problems) you had and how you solved them.

Week2 Peer Review
Go to each team mates weekly summary wiki page. Read their activities and narrative. Then go the associated discussion page. Say something positive on this page. Try some constructive criticism. Add your name and 1sfoerster 13:32, 28 August 2011 (UTC) to create a time and date stamp. Create a new category if another team mate has already commented here.

Assign Task3
Record what you are planning on doing for the team during the weekend between week2 and week3 of the project here.

Compare actual work done to Task3
This week I research online on how to make out helicopter project better and i did some programming with arduino.

Week3 Narrative
First i downloaded arduino software from arduino. I looked at some of the manual so that would help me with programming and understand how the arduino software works.

 * Arduino Development Environment: This is a manual on using Arduino, which explains how to use a text editor for writing code, a message area, a text console, series of menus and toolbars, and also explains how to upload your sketch step by step.

I looked at the reference tab of arduino website so i could understand more about programming and what each code will do. This took me like 2 hours to understand most things. This is really complicated. I still didn't understand everything in that page.
 * Jeremy Blum's video guide: This is a video guide, in which Jeremy explains what an arduino is and goes through the downloading process, materials needed, running the program, writing the code, and uploading it onto the arduino. He has uploaded a total of 13 tutorial videos, in which he guides us through various functionalities of Arduino by writing different, specific codes for each of them. Those videos might be helpful to me in later activities.
 * I was searching online on how to make our helicopter project better and i saw that this person controlled his quad copter with voice command. I really wanna work on something like that and atleast try to make this helicopter project unique. Quadcopter controlled by voice command.

Here are some quadcopter design that i think would be very useful. we should just keep out design like this so we could test the arduino programming code. We just got about 1 week left so i really want this project to be finished. We should keep out design basic so we can try to finish this project quickly and don't have to waste too much time on designing.

Week3 Peer Review
Go to each team mates weekly summary wiki page. Read their activities and narrative. Then go the associated discussion page. Say something positive on this page. Try some constructive criticism. Add your name and 1sfoerster 13:33, 28 August 2011 (UTC) to create a time and date stamp. Create a new category if another team mate has already commented here.

Assign Task4
Next week i am planning to continue working on the programming.

Compare actual work done to Task4
This week i planned to work on the programming but instead i looked up the differences between arduino and eclipse.

Week4 Narrative
This week i looked at the differences between arduino and eclipse.

Eclipse
Eclipse and Arduino are very similar. In Eclipse you program a code and than run it. Here is the website that explains basic information on eclipse Eclipse Programming. Here is the download link where you can download ecliplse Download. Eclipse is a free open-source Java environment available from http://eclipse.org. Eclipse is a Java program, but it uses a custom user interface toolkit that does not run on all platforms that supports Java 2. Check the web site for supported platforms. Eclipse requires a Java 2 runtime, so you need to install the Java 2 SDK first before installing Eclipse. You can download the SDK from http://java.sun.com/j2se/. Here is the link where it shows the basic step of ecplise you should know in order to do some programming Basic Information. Here is the video that's about programming in eclipse Video
 * Eclipse requires an installed Java Runtime. I recommend to use Java 7 (also known as Java 1.7) or Java 6.

 * Java comes in two flavors, the Java Runtime Environment (JRE) and the Java Development Kit (JDK). The JRE contains only the necessary functionality to start Java programs, while the JDK contains in addition the development tools.

 * Eclipse contains its own development tools, e.g. Java compiler. Therefore for this tutorial it is sufficient to use the JRE.

Here are some photos that shows what the basic code in the eclipse looks like
 * The JDK is required if you compile Java source code outside Eclipse and for advanced development scenarios. For example if you use automatic builds or if you develop web development. These scenarios are not covered in this tutorial.
 * You can program arduino in the eclipse here is the link that shows step by step instruction Arduino in Eclipse.

Arduino

 * The Arduino IDE itself is written in Java, and it can communicate to the serial port via the RXTX Java library. That library is very similar to the Java Communications API extension. Internally the IDE remembers which port and baud rate you used last time. Unfortunately that internal implementation can not be considered public API you can reliably use. So you will have to keep your own settings to remember which COM port your Arduino card is using.

This interface sample presumes that you already know how to compile and run Java code. There are plenty of other resources on the Internet to teach you to program in Java. Most serious Java programmers use a Java IDE to create Java programs, like the free Eclipse IDE, but this example provides information for the less frequent Java programmer.

Here is the download link for arduino arduino download link
 * Arduino Development Environment: This is a manual on using Arduino, which explains how to use a text editor for writing code, a message area, a text console, series of menus and toolbars, and also explains how to upload your sketch step by step.

Here is the tutorial page for arduino that gives all the basic information to the beginner Tutorial.
 * Jeremy Blum's video guide: This is a video guide, in which Jeremy explains what an arduino is and goes through the downloading process, materials needed, running the program, writing the code, and uploading it onto the arduino. He has uploaded a total of 13 tutorial videos, in which he guides us through various functionalities of Arduino by writing different, specific codes for each of them. Those videos might be helpful to me in later activities.

Week4 Peer Review
Go to each team mates weekly summary wiki page. Read their activities and narrative. Then go the associated discussion page. Say something positive on this page. Try some constructive criticism. Add your name and 1sfoerster 13:33, 28 August 2011 (UTC) to create a time and date stamp. Create a new category if another team mate has already commented here.

Complete Project Page
Follow the "project done" format.

Start Next Project Week0 activities
During this week you will perform the week0 activities of the next project.

title: User:Spatel5040/enes100/Helicopter 3


text:
User:Dammy125/enes100/Helicopter 3

Link to project Helicopter 3 team page.

Give instructor top 3 project choice list
I decided to stay with the helicopter project

Write problem statement
Which motor would go well with the helicopter and arduino

Assign Task1
Do research on different types of motors and see if the ones at the school would work properly.

Compare actual work done to Task1
I planned on doing the research on motors and any current motors that would work better.I did lots of work on uploading all the old group files to wikiversity. I checked the advantages of each motor.

Week1 Narrative
For this week my job was to upload pictures and do research about different motors we can use for the helpful.

Week1 Peer Review
Go to each team mates weekly summary wiki page. Read their activities and narrative. Then go the associated discussion page. Say something positive on this page. Try some constructive criticism. Add your name and 1sfoerster 13:32, 28 August 2011 (UTC) to create a time and date stamp. Create a new category if another team mate has already commented here.

Assign Task2
I plan on looking at the motors at the school and see how useful it could be to us. Also I'm going to compare a couple of them to the ones i just researched about.

Compare actual work done to Task2
Rationalize differences

Week2 Narrative
Upload photos to wikimedia. Upload video to youtube. Convert all spreadsheets, documents, and presentations to wiki format and create wiki subpage of your page for each of them. Link to them here in a narrative that tells a story. High light the problems (engineering problems) you had and how you solved them.

Week2 Peer Review
Go to each team mates weekly summary wiki page. Read their activities and narrative. Then go the associated discussion page. Say something positive on this page. Try some constructive criticism. Add your name and 1sfoerster 13:32, 28 August 2011 (UTC) to create a time and date stamp. Create a new category if another team mate has already commented here.

Assign Task3
Record what you are planning on doing for the team during the weekend between week2 and week3 of the project here.

Compare actual work done to Task3
This week I continued my work for the tutorial on how to work the arduino for the helicopter and i made sure that we are doing everyting properly.

Week3 Narrative
First you download |944l3|526933304|AFMotor.rar|6|R~D7E9166CDDFC24E3D4BA8A3905932087|0|0 AFMotor library from http://www.ladyada.net/make/mshield/download.html, where you can also download Arduino Stepper/Servo software library with microstepping support and AccelStepper library with AFMotor support.

Before you canstart using the AFMotor library,its better to know what the library is used for,how to install it, and how it works.

Arduino Hacks: Libraries.This is basically a manual on how to use the manuals

Jeremy Blum's video guide. This is a video guide, in which Jeremy explains and talks about NPN Transistor and PWM, which allows to run a motor faster through arduino. He also talks about using the different motor libraries, and writing appropriate sketches when using different motors, such as DC-motors, survo and stepping motors.

Motor Shield. This tutorial includes powering the DC motors, voltage and current requirements for the first section. The second section is about how to set up the arduino and the motor control shield for powering motors, and the remaining sections cover Survos, DC-motors, and Steppers. The last two sections include step by step directions on how to run the motors using the sketches they have provided. I have tested those sketches and they seem to work very well.

Note: if you were to download the AFMotor library I have provided. Follow these steps:

1) Download and extract the files onto your Desktop.

2) Copy the AFMotor folder and paste it into your existing folder: Arduino-0022/libraries/

Now, you can easily import the library by going to Sketch > Import library > AFMotor. You can also import the motor sketches by going to File > Examples > AFMotor

I am currently working with six devices, including Arduino-UNO, the breadboard, motor control shield, DC-motors, stepping motors, and AC power adapter for arduino. Here's the overall picture of how I connected the Arduino UNO, the motor control shield and the DC-motor.

There're two ways you can change the directions in which the motors spin. One way is to write a sketch that spins the DC-motors either only in "FORWARD" or "BACKWARD" direction. Another way is to change the order of the wires connected to the ports of the motor control shield (I mentioned about it in My Video). This basically means the motors would start spinning by the time we plug the wires into the ports (M3 & M4) and stops when taking out of the ports. If I want to run the motors in "FORWARD" direction, I would delete the parts which I don't need, including the variables "BACKWARD (reverse)," and "RELEASE (stop)." I used the yellow and red LEDs to test whether the M3 and M4 are both working at the same time or not.

Week3 Peer Review
Go to each team mates weekly summary wiki page. Read their activities and narrative. Then go the associated discussion page. Say something positive on this page. Try some constructive criticism. Add your name and 1sfoerster 13:33, 28 August 2011 (UTC) to create a time and date stamp. Create a new category if another team mate has already commented here.

Assign Task4
I plan on keep doing steps for the arduino

Compare actual work done to Task4
Continued with my arduino tutorial

Week4 Narrative
For this task, I didn't have to download anything since I already have everything I needed from the previous tasks. I had the Stepper librarary which was included in the AFmotor library. For this week I've been working with the arduino, motor control shield, whitebread board, and the DC motors. Now it's the time to learn about the Accelerometer ADXL335 and the stepping motor. Here are some links to guides and basic explanation of each guide.

Analog Devices: This is s very important guides, it explains everything you need to know about the Accelerometer ADXL335. The link goes through general description of the accelerometer, functional block diagram, specifications, Pin configuration and function description, typical performance characteristics, Mechanical Sensor, Applications information (such as Power Suply Decoupling, Self-Test, Setting the Bandwidth using CX, CY, and CZ), Axes of Acceleration Sensitivity, and Outline its three dimensions (X,Y, and Z). Motor Shield (stepper): This is a guide to learn about stepper motor. It explains how Bi-polar steppers are different from Uni-polar steppers and their differences in writing sketches. There's also a picture of a Bi-polar stepper (4 wires). It also provides a Test-Sketch for it.

Circuit for Bipolar Stepper Motor: This is a diagram of how Bi-polar steppers are different from two pins to four pins.

Circuits for Unipolar Stepper Motors: This is a diagram of how Unipolar steppers are different from two pins to four pins.

Driving a Unipolar Stepper Motor: This tutorial shows how to write a sketch for Unipolar Stepper and run it.

The main difference between DC motors and steppers is that the motor control shield can drive up to 4 DC motors bi-directionally, where as it supports only up to 2 stepper motors. Running a stepper is a little more intricate than running a DC motor. I already have a sketch for running 4 DC motors at once, and now I'm interested in running a stepper motor with 3 DC motors. Here's the list of devices I used for this task:

Arduino UNO

Accelerometer ADXL335

Motor Control Shield

Prototype with Whitebread board

Three DC motors

One Stepping motor

Week4 Peer Review
Go to each team mates weekly summary wiki page. Read their activities and narrative. Then go the associated discussion page. Say something positive on this page. Try some constructive criticism. Add your name and 1sfoerster 13:33, 28 August 2011 (UTC) to create a time and date stamp. Create a new category if another team mate has already commented here.

Complete Project Page
Follow the "project done" format.

Start Next Project Week0 activities
During this week you will perform the week0 activities of the next project.

title: User:Dammy125/enes100/Helicopter 3


text:
User:Ddkirby7518/enes100/Helicopter 3

Link to project Helicopter 3 team page.

Give instructor top 3 project choice list
I just choose to stay with the Helicopter team

Write problem statement
My problem statement is to finish the design and construction of the helicopter

Assign Task1
My assigned task is to remember to bring in the string need to add to the see-saw gimble.

Compare actual work done to Task1
Week 1 objectives were met. I made an attempt to fix the see- saw gimble. The see- saw gimble was not sturdy and needed a strong base to counter the weight of the support beams. I was able to talk the team mates and come up with future objectives and made plans to accomplish them. I was able to find a sufficient size of foam to use as the center for the arduino. I also started the cutting for the center with a chisel. As far as adding and extra attachment to the see- saw gimble I might come up with a new plan instead. My idea is to make the plane that the propellers balance on thicker so that its more sturdy to weight. An extra attachment is just too time consuming.

Week1 Narrative
I did bring in the materials for the extra attachments. I then started the construction before i worked on the extra attachments. I then decided that it might be more time consuming to just change the materials of the the saw. I finished with the design for the new innovated see-saw gimble.

Week1 Peer Review
Go to each team mates weekly summary wiki page. Read their activities and narrative. Then go the associated discussion page. Say something positive on this page. Try some constructive criticism. Add your name and 1sfoerster 13:32, 28 August 2011 (UTC) to create a time and date stamp. Create a new category if another team mate has already commented here.

Assign Task2
Next is time to change the saw and see if we can start using the see- saw gimble to test the propeller.

Compare actual work done to Task2
Rationalize differences

Week2 Narrative
Upload photos to wikimedia. Upload video to youtube. Convert all spreadsheets, documents, and presentations to wiki format and create wiki subpage of your page for each of them. Link to them here in a narrative that tells a story. High light the problems (engineering problems) you had and how you solved them.

Week2 Peer Review
Go to each team mates weekly summary wiki page. Read their activities and narrative. Then go the associated discussion page. Say something positive on this page. Try some constructive criticism. Add your name and 1sfoerster 13:32, 28 August 2011 (UTC) to create a time and date stamp. Create a new category if another team mate has already commented here.

Assign Task3
Record what you are planning on doing for the team during the weekend between week2 and week3 of the project here.

Compare actual work done to Task3
This week was dedicated to pushing the project forward. I was assign with the task to create something that causes the plane to stop it from moving all the way down. i then cam e up with the idea to make something under the plane that stops the plane from completly moving down. i basicaly took some sticks from and old project, seperated it and hot glue the pieces on the support beams of the see-saw gimbel. this causes the plane to have a restricted movement.

Week3 Peer Review
Go to each team mates weekly summary wiki page. Read their activities and narrative. Then go the associated discussion page. Say something positive on this page. Try some constructive criticism. Add your name and 1sfoerster 13:33, 28 August 2011 (UTC) to create a time and date stamp. Create a new category if another team mate has already commented here.

Assign Task4
The next assignement for me to do is to research the difference betwwen the design of the gyro and the accelerometer. After i do this, the primary goral will be to make a presentation and figure out whether if it is possible to build.

Compare actual work done to Task4
This week is going to spent describing and researching the difference between a gyro and and accelerometer. than i will put the difference between them online and describe the difference in class. My job to present the design difference between them.

Accelerometer A 3 axis accelerometer tells you the orientation of a stationary platform relative to earth surface. Measures acceleration Things get complicated in free fall. the acceleration of gravity gets confused with the linear acceleration Accelerometer is better at long period of time compared to short period time to the gyro Accelerometer reads zero in free fall Measures liner acceleration Measures the vibration

Gyroscope Measures rate of rotation around a particular axis It will measure a non-zero value as long as the aircraft rolls, but measures zero if rolling stops Gyro drifts with time. The more time there is, the more its inaccurate. Helps measures and maintain using the orientation using principles of angular momentum Gyro gives indicated angular rate Gyro are great for unmanned vehicles and radio helicopters

Week4 Narrative
This is the design of the accelerometer (left) and the gyrogimble (right).

Week4 Peer Review
Go to each team mates weekly summary wiki page. Read their activities and narrative. Then go the associated discussion page. Say something positive on this page. Try some constructive criticism. Add your name and 1sfoerster 13:33, 28 August 2011 (UTC) to create a time and date stamp. Create a new category if another team mate has already commented here.

Complete Project Page
The helicopter project went slower than i thought. I did complete the see saw- gimble and the extra attachments necessary for it. We had all the piece but we just need time to connect it all. I also want to update the teams main page and start that.

Start Next Project Week0 activities
If I were able to start to a new project I would stay on my the helicopter and touch it up to complete any extra thing needed to make the project successful.

title: User:Ddkirby7518/enes100/Helicopter 3


text: File:Probability Discussion infimum 1.svg


text: File:Probability Discussion infimum 2.svg


text: File:Probability Discussion infimum 3.svg


text:
Engineering Projects/Robot arm/Howard Community College/Fall2011/502 TFCWNS

This is the Howard Community College Fall 2011 robot arm project.

Problem Statement
Create a systematic control for the robot arm by having a motorized push/pull mechanism for each wire and the end effector.

Team Members

 * Caleb Woo
 * Timothy Francis
 * Nathan Sweet

Summary
We worked on ways to make the arms move automatically aswell as make the claw move automatically. We put a lego motor on each beam wich moves them up and down. We also put a motor that pulls and release the string controling the claw. We are still working on the code and need a way to make it remote controll so we can move it freely.

Poster

 * Video of the Robotic Arm

Robotic Arm Improvement Demonstration Video:

Robotic Arm Improvement Photos:

Robotic Arm Finger Component Propositions:

Story
Week one of this project cycle our goal was to find ways to lift and lower the Robot arm. we started of by thinking a screw and bolt system that works by raising a platform by turning a long central screw. This would allow a platform to be lifted by turning the screw in one direction, and to be lowered when turned in the other. The problem with this design was that we didn't have the parts necessary to build it. we then thought of the idea of using a type of train wheel system. This would allow a platform to be raised and lowered in one rotation of a wheel. we implemented this idea by using Lego Mindsorm pieces and we was able to get a system that lowered and raised the arm. Although it doesn't raise and lower smoothly, this is the kind of system that is the most probable to work for our arm considering parts available and time. we will continue to figure out the structural problems of this system so that it will be able to raise and lower the arm smoothly. We were also, with the help of Patrick, able to learn how to use a simple Lego Mindstorm nxt programming system to use on Lego motors. With this we were able to program a motor to pull the End effector string to enable grabbing. During Week two of this project we began by trying to refine the lift and lower system of the Robot arm however, we was unable to get any success in making this system lift the arm smoothly without getting stuck or tilted to one side. We then began exploring different ways to lift and lower the arm. we thought of using some sort of pulley system similar to that used in bicycle breaks by using fishing wire and hard plastic tubing but creating a structure for this would take longer than the time we had so we had to think of something different. Finally we referred back to the original idea of having a motor next to each wire except this time we would use the Lego motors. We then thought of incorporating the train wheel system to each wire rather than just one for all the wires. This way we wouldn't run into the problem of uneven push and pull. During week three of the Project we set out to add the other motors to the wires of the robot arm. We began by first trying to build a frame to hold the motors in place so that they could move the wires without themselves moving. We needed to make sure that the motors were placed in the right position to utilize the best and smoothest lifting and lowering motion. We was able to construct the frame by adding multiple cross beams that connected to the motors and to the axle posts around the top. We had to make sure both motors were symmetrical in where they were placed and how they were held in, in order for each of them to work the same. After finishing this we moved on to make a program so to test how it worked. We needed to slow the motors down so that the peg holding the wires into the top of the push/pull system wouldn't fall out. We made a motor command for both motors so that they would run for 0.125 seconds and then put a loop around it so that this would repeat over and over. This resulted in the motors acting somewhat like a stepper motor. When we ran the program the arm lifted and lowered repeatedly and the pegs didn't fall out. The arm however would somewhat sway back and forth due possibly to the fact that the front wire was not connected to a motor. We need to glue all the pegs in and connect a front motor to the front wire. In addition we need to create a system to open and close the end effector smoothly During this last segment of the Project we needed to work on mounting the forward motor to the frame, add an end effector motor, and make programs for the robot arm. We were able to figure out a configuration of Legos that could fit a front motor for the front wire and a back motor for the end effector. We then needed to make a program for the motors. The problem we have is that the nxt block only has 3 motor ports when we need 4. However we were still able to create a program that demonstrated its grabbing ability by only controlling the front wire and the end effector. we then was able to make a program that demonstrated its range of motion by allowing all three wire motors to be powered simultaneously.

Decision List

 * We decided that Timothy would work on making a different end effector, and that Caleb and Nathan would each work on different ideas on how to control the Robot arm and try to come up with the best way and most probable way to control it.

 * We had several ideas on how to motrize the arm. One was to create a vice like mechanism that moves with a screw and bolt type design. The other was a platform which would raise and lower all the wires with a train wheel like design in the rear that would raise and lower as a motor turned. We decided to use the NXT motors and the train wheel system but apply it to each of the wires rather than all of them to have a more balanced system and more control over each wire.

Material List

 * Lego nxt kit with 4 motors.
 * Lego mindstorm pieces.

Software List

 * Google
 * Lego NXT programming software
 * Youtube
 * Google Docs

Time
4 week project. We worked alot in lab after class because the arm was at school. Brianstormed at home. Spent Approx 5 hours a week total each.

Tutorials

 * Get motors you want to use.
 * Crate a raising and lowering system that can be powered by the motors (we used a train wheel like system)
 * Attach this system to each of the wires in the most effective spot
 * Create a motorized pulley system that pulls the end effector wire
 * Build a frame that securely holds all the motors down and in the same position.
 * Connect motors to a programmable board (Lego Brick, Arduino uno)
 * Create a program to control the arm

Next Steps
Strengthen frame to hold the motors in more securely. Make a program that will allow the arm to pick an object up and possibly try to connect a remote device that will controll the arm.