P15073: Autonomous IV StandSystem Design Review

Michael Binger, Caitlin Conway, Nick Goddard, Nick Jacobs, Christina Pysher, & Ethan Whritenor

Thursday October 2, 2014

Team Introduction & Roles

Team Member Expertise Team Role

Michael Binger ME Project Manager

Caitlin Conway EE Team Member

Nick Goddard ISE Project Planner

Nick Jacobs EE Team Member

Christina Pysher BME & ME Team Facilitator

Ethan Whritenor ME Team Member

Michael Zona Xerox Engineer Guide

P15073: Autonomous IV Stand

Agenda● Background● System Analysis

o HOQ Relationship Diagramo Functional Decomposition

● Concept Development● Engineering Analysis● Proposed System Level Design● Risk Assessment● Test Plan● Updated Project Plan

P15073: Autonomous IV Stand

Background - Problem Statement

P15073: Autonomous IV Stand

The goal of this project is to create an autonomous IV stand that follows patients. Compared to a traditional IV stand, additional improvements will be made such as reducing its footprint and enabling it to carry more IV bags.

Deliverables:

● Create a simple and ergonomic system for patients, and medical staff to use and manage several different IV bags and medical devices for each patient.

● Create a prototype of the autonomous IV stand and perform significant testing to verify the design and safety.

● Meet FDA standards for an IV stand and other similar medical devices

● Reach stage of clinical trials● Produce a marketable product

Background - Customer RequirementsP15073: Autonomous IV Stand

Background - Engineering RequirementsP15073: Autonomous IV Stand

System Analysis - HOQP15073: Autonomous IV Stand

Pareto ChartP15073: Autonomous IV Stand

Functional DecompositionP15073: Autonomous IV Stand

Alternate ViewP15073: Autonomous IV Stand

Concept Development

● Morphological Chart● Concepts● Pugh Diagrams● Benchmarking● Feasibility Analysis● Budget Assessment

P15073: Autonomous IV Stand

Morphological ChartP15073: Autonomous IV Stand

ConceptsP15073: Autonomous IV Stand

Pugh ChartP15073: Autonomous IV Stand

Pugh ChartP15073: Autonomous IV Stand

Proposed System Level Design

P15073: Autonomous IV Stand

Omni - wheel function

Here is a short youtube video of the type of wheel system we will be using.

P15073: Autonomous IV Stand

Feasibility Analysis

● Center of Gravity● Required Torque● Acceleration Stability● Power Requirements● Sensor Analysis

P15073: Autonomous IV Stand

Center of Gravity Calculations

Assumptions

● symmetric about y-axis● ¼ in Aluminum 6061 used for base casing● 4 omni wheels utilized● Base is at max 1.75 ft across● All weights are estimates made ● Height Range: 1.73m - 2.52m

Calculations

P15073: Autonomous IV Stand

Balance RequirementP15073: Autonomous IV Stand

Values Utilized

Equations Utilized

Moment taken about bottom left corner

Motor RequirementP15073: Autonomous IV Stand

Assumptions:● Wheel diameter: 6

inches● Weight/wheel: ~5lbs● Coefficient of RR

Findings:● Price point: $43-150

per motor

Sensor AnalysisP15073: Autonomous IV Stand

Detect Objects

Detect Patient

Power RequirementP15073: Autonomous IV Stand

Componet Voltage Reqs (VDC) Current Reqs(mA) Power Reqs (W) Comments

Arduino Uno 12 410 4.92 40mA per I/O and 50mA per 3.3V I/O

Sonic Ping 1 5 30 0.15 Power straight from battery

Sonic Ping 2 5 30 0.15 Power straight from battery

CMUCAM5 Pixy

5 30 0.15 NOT REVERSE POLARITY PROTECTED

Battery level ind.

- - - Power straight from battery

Alarm* 3.3 15 0.0495 None selected

Display 5 30 0.15 Power straight from battery

Drive motor 1 12 833 9.996 Power straight from battery current is approx

Drive motor 2 12 833 9.996 Power straight from battery current is approx

Drive motor 3 12 833 9.996 Power straight from battery current is approx

Drive motor 4 12 833 9.996 Power straight from battery current is approx

Total 83.3 3877 45.5535

Electrical Block DiagramP15073: Autonomous IV Stand

Budget Assessment

P15073: Autonomous IV Stand

Item Price Quantity Unit Total

Top Pole $20.00 1 6 ft $20.00

Bottom Pole $20.00 1 6 ft $20.00

Aluminum $250.00 1 ft^2 $250.00

Motors $65.00 4 EA $260.00

Omni Wheels $23.00 8 EA $184.00

Pixy Camera $70.00 1 EA $70.00

Ultrasonic Sensors $25.00 2 EA $50.00

Arduino $23.11 1 EA $23.11

Battery EA $0.00

LCD Display $7.00 1 EA $7.00

Shipping $50.00 1 EA $50.00

Contingency $100.00 1 EA $100.00

Total: $1,014.11

Project Risk AssessmentP15073: Autonomous IV Stand

Technical Risk Assessment P15073: Autonomous IV Stand

# Risk Cause Effect L S I Action to Mitigate Action to Remediate Owner

1Prototype Runs Into

ObjectsMalfunctioning guidance

systemPrototype fails to follow the

patient1 9 9 Test guidance system extensively

Change or reprogram guidance system

Caitlin & Nick J.

2 Overheatingelectronic components,

environmental interference

damaged components 3 9 27 thermal analysis, safety guidelines Add ventilation Caitlin & Nick J.

3Integration of hardware

and software failsincompatibility non-working prototype 3 3 9 test compatibility

read product specifications before purchasing and ensuring compatibility

Caitlin & Nick J.

4 Battery Integration battery failure/fire underperforming 1 9 9 get new batteryconsult expertise about battery

usageCaitlin & Nick J.

5 Durability failure component malfunction system failure 3 9 27 environmental testing calculations prior to purchase Caitlin & Nick J.

6 Failure to move motor failure stationary IV stand 1 9 9 back up motor verify motor specificationsEthan, Mike &

Christina

7 Failure to turn motor failure straight line travel only 3 9 27 Back up motor verify motor specificationsEthan, Mike &

Christina

8 Failure to hold IV bagsfailure holding mechanism

IV bags not transported 1 9 9Perform load testing on holding

mechanismFortify holding mechanism

Ethan, Mike & Christina

9Does not traverse

across rough terrainwheels are not

substantial enoughSystem is unable to go into elevators, bathrooms, etc

1 3 3 Test ability to traverseRedesign transport

mechanismEthan, Mike &

Christina

10Failure to Maintain

StabilityInappropriate CG

locationDevice falls over 1 9 9

Test that device does not fall over under different

accelerations/speeds or environmental conditions

Add balancing weight to baseEthan, Mike &

Christina

Technical Risk Assessment P15073: Autonomous IV Stand

# Risk Cause Effect L S I Action to Mitigate Action to Remediate Owner

11 Battery Dies Runs out Patient stranded 9 3 27Battery output testing to determine

effectiveness

Allow wheels to free spin for manual transportation and readout to inform users of

current level

Caitlin & Nick J.

12 Battery leaks Improper use/storage Mild irritation 1 1 1 Keep inside enclosure Allow for proper containment Caitlin & Nick J.

13Circuit shorts motors

onImproper power

distributionSystem makes irrational

movements1 9 9 Verify all circuit designs Wire properly Caitlin & Nick J.

14Circuit shorts motors

offImproper power

distributionSystem stops suddenly 3 9 27 Verify all circuit designs Wire properly Caitlin & Nick J.

15Electrical short hurts maintenance worker

System not disabled while inside enclosure

Minor electrical burn 1 3 3Have warning light when power is

onMake enclosure unopenable

while power is onCaitlin & Nick J.

16Frequencies interfere

with local systems

Frequencies are of that in current hospital

equipment

Wireless signals become corrupted

1 3 3Scan all frequencies output by

device

Check with hospital staff and ensure no matching

frequenciesCaitlin & Nick J.

17 Alarm failsImproper power

distributionPatient is unaware of issue 3 9 27 Verify all circuit designs Wire properly Caitlin & Nick J.

18 Bag sensor failsImproper power

distributionPatient and staff are

unaware of medical reqs.3 9 27 Verify all circuit designs Wire properly Caitlin & Nick J.

19Object avoidance

sensors failsAlgorithm makes error

System makes irrational movements

9 9 81 Verify code logicExtensively test algorithm

against worst case scenariosCaitlin & Nick J.

20Patient detection

system failsAlgorithm makes error

System makes irrational movements

9 9 81 Verify code logicExtensively test algorithm

against worst case scenariosCaitlin & Nick J.

Test PlanP15073: Autonomous IV Stand

Revised Project PlanP15073: Autonomous IV Stand

System Design PhaseP15073: Autonomous IV Stand

● Items That Were Revisitedo Customer/Engineering Requirementso Benchmarking

● Items Outside MSD Requirementso System Flow Diagramo Electrical Block Diagram

Expanded Deliverables

● Items To Be Revisitedo RGH Contacto FDA Regulationso Budget

Expanded Deliverables

Subsystem Design PhaseP15073: Autonomous IV Stand

Questions?

What We Want From The Audience

Is there anything that we are failing to consider?

Do you see any challenges with our design we have failed to observe?

P15073: Autonomous IV Stand

Thank You