Senior Capstone: Self-Adhering Window-Washer

Project Overview: For my Electrical and Computer Engineering Senior Capstone at Carnegie Mellon, I decided to take Mechatronics. A class full of senior Electrical and Computer Engineering students and graduate Mechanical Engineering students separated into teams and chose one of two projects to pursue for that semester. We were comprised of five Mechanical Engineering students, and me, an Electrical and Computer Engineering student. Each team was given a budget of $1,000 and had to meet certain checkpoints throughout the semester.  

My Role: Electrical Engineer

Project Duration: 16 Weeks (Spring 2016)

Platform: Teensy 3.2 Microcontroller

Project Goal: To create a self-adhering window washing robot capable of driving on and cleaning a window.

Project Outcome: Our robot was made mostly out of laser cut acrylic, and using a Shop-Vac, DC motors, and rubberized wheels, we were able to achieve adhesion and then locomotion on the window.  Using an accelerometer and limit switches, we were able to achieve localization on the window, and clean across the window. For cleaning, we used a large sponge, pre-soaked in water, pressed against the window. As our robot moved, the sponge would slide behind, cleaning the window.  

What Did I Do?

My responsibilities included maintaining all electrical components, like the microcontroller (a Teensy 3.2), the code on that microcontroller, and the power sources to the motors, sensors, and microcontroller. One other team member and myself were in charge of maintaining the schedule so we would complete our project within the time allotted. I also worked closely with the Mechanical Engineering students on merging their physical designs with my electrical ones to create a lightweight, successful window washer.