DIY Pet Feeder and Entertainer Robot

This report describes the design and construction of the prototype of a “Cat Automatic Feeder and Entertainer” carried out in Design Methodology and Mechatronics 1 subjects at VUB as part of the Bruface master of mechantronics at VUB and ULB universities. The idea is simple: building a device that can take care of a cat during a long weekend, taking care of their nutrition and mental health. It will be able to feed the pet the appropriate amount of food at feeding times. In addition, whenever necessary, it will provide an entertaining game to clear the cat's mind. The origin of this idea stems from the lack of a complete product in the market and the need for cat owners to be unconcerned about their cats for a few days. 

The design will consider every possible constraint to achieve all the objectives, such as safety and correct feeding. The building has been developed by laser-cutting for simple and flat parts pieces and 3D printing for more complex ones. The whole design has been carefully designed to consider the space requirements of all components. The materials have been chosen to achieve ecological and functional requirements. 

The electronics and programming subsystems have been implemented in an Arduino Uno, using different modules to take every signal and control the actuators when necessary. Every sensor and motor has been deeply researched to understand the required power supply and code to define the inputs and outputs. 

Every subsystem has been tested before being implemented into the general system. In this way, unique errors can be detected and solved. 

With all the above described, the device has been correctly developed and finished. The prototype has been properly developed and completed, being able to perform the target functions. A short video with the final result is attached below.

In this section, we have compiled a list of all the components we used along with their prices. In photo 1, we can see that the cost of the electronics amounts to €62.78. Photo 2 shows that the cost of the components is €11.781, while in photo 3, the cost of the 3D printed parts is €12.06. Photo 4 displays a cost of €4.604 for the laser-cut parts. Combining these prices, we can conclude that the total cost of the finished prototype is €71.225.

It is also important to mention that the tools and supplies required to complete this project is:

1- 3D printer

2- Laser Cutter

3- Soldering Iron

4- Single Core Wires

5- Jumper wires

Introduction

Supplies

Step 1- Table of Content

Step 2: Project Motivation & Needs Identification

Step 3: Functional Analysis

Step 4: State of Art and Patent Analysis

Step 5: High Level Design

Step 6: CAD Visualizer

Step 7: Design of Subsystems - Mechanical Design

Step 8: Design of Subsystems - Circuitry and Sensors

Step 9: Design of Subsystems - Software

Step 10: Integration Guide

Step 11: Demo and Project Show

Step 12: Critical Review

Step 13: Sustainability

Step 14: Team Presentation

Step 15: Project Repo

Problem Definition and needs identification:

Cats are important animals in our society, everyone have some feeling with them. You can love or hate them. But it is true that that most people like them, think that they are cute and want one or more at their home. Google cats and will see that they are everywhere, and owners like to show in their social media, buy them accessories and take care of their pets as well as possible. 

On the other hand, society is moving very fast, and people have commitments outside their city. They also go on vacation and must be away from their homes for a period. Most of these times, people cannot or do not want to take the pet with them. 

These two facts lead to the existence of a problem, and in the same way to an opportunity. They need to ensure their cat's well-being during their absence. While current solutions provide pet feeding systems, they lack an entertainment component, leaving cats without mental stimulation. Therefore, the project aims to develop a device that combines feeding and entertainment functionalities.

The cat feeder and entertainer should include:

• Feeding System. Programmable and customizable feeding schedules with portion control.
• Entertainment System: Interactive features such as laser pointers, moving toys, and sounds to engage the cat.

Persona Identification

Users: Cat Owners

• Demographics: Age 25-55, residing in Europe, Asia, or the US.
• Characteristics: Concerned about their cat's well-being, tech-savvy, and willing to invest in pet care.
• Needs: Reliable care solution for their cats during short vacations, peace of mind through remote monitoring.

Buyers: Cat Owners, Family, Friends, Cat-Sitters

Demographics: Varied age groups, that may or may not own a cat.

Characteristics:  Value the happiness and health of the cat owner's pet, willing to purchase thoughtful gifts.

Needs: A thoughtful and practical gift for cat owners, a reliable solution for taking care of a friend or family member's cat.

Quantification of the Need:

To understand the need for a cat feeder and entertainer, a comprehensive survey was conducted among cat owners in the target regions. The survey revealed that:

• 85% of respondents face challenges in ensuring their cat's well-being during weekend vacations.
• 63% of respondents expressed interest in a device with both feeding and entertainment functions.
• 72% of respondents were willing to invest in such a product.

More and more people care about their pets, especially when going on vacation and facing challenges in bringing their cats along. Graphs clearly show a growing interest in automatic cat feeders, indicating a need for simpler pet care solutions. The expanding market size and expected growth suggest that creating an all-in-one cat feeder and entertainer could be a smart move to meet the changing needs of cat owners.

Finally, The development of a cat feeder and entertainer addresses a significant need among cat owners. The combination of feeding and entertainment functionalities, supported by the identified persona and quantified demand, positions the product for success in the market. The inclusion of programable features ensures a comprehensive solution for cat owners and those responsible for their care.

In this project, as in any other, there are certain constraints for the product to be good enough for its purpose. To know the limitations, it is first necessary to understand the objectives, what the product will be able to do and what it will not be able to do.

Objectives

• Providing food for a weekend: enough food to feed the cat during this time.
• Provide adequate food at the correct times: do not give too much or not enough food during each meal. 
• Effective entertainment: to entertain the cat for the necessary time.
• Cat-safe design: the cat cannot hurt itself or break the device.
• Ecological design: recycled materials and environmentally friendly manufacturing processes.
• Friendly user interface: to change parameters for feeding.
• Economical design: good value and affordable materials.
• Optimum weight of the device.

Keep these goals in mind at each project step. Work towards achieving them throughout the project, ensuring the final product meets all these objectives.

Constraints

These objectives are linked to some constraints implemented in the device. First, the constraints will be named, described, and ordered by their priority, and then the link between the constraints and the objectives is shown in the attached table.

These constraints must be used to design and build the product. The relationship between the functionalities and the constraints and the values of these constraints are shown in the attached user requirment list.

State of the Art & Patent Analysis

How is the automatic cat feeder and cat entertainer market currently doing? Which competitors are at the top of the market? The latest and patented stuff about Automatic Cat Feeders and Entertainers will be checked out. We'll see what's new in ensuring our cats get fed and have a good time. Stick around for a tour of the latest ideas and protected inventions in Automatic Cat Care.

Comparing Competitors 

First, the competitors and their main products will be compared. To do that, general criteria will be defined. It is necessary to know the strengths and weaknesses of each one as objectively as possible.

Criteria

The attached first table will be used to define how well the defined criteria are fulfilled. The table will be filled in with a cross in the corresponding box in each row.

Competitors

Many cat feeders are in the market nowadays, and it is impossible to compare all of them. Determining which companies are the best is difficult because no company stands out much above the others. Therefore, several good value-for-money models from different ranges are chosen for comparison.

• Feeder robot. Litter-Robot by Whisker is a high-quality device with the latest cat feeding and security technology. It is fully configurable, so it is one of the most expensive, 300€. Please find the analysis and the product in the attached picture.
• Cat Mate C3000 Automatic Feeder is a simple and reliable design to feed cats and other pets. It has a massive tank that can feed more than one cat in a weekend. Also, it is relatively expensive if you only want to feed one cat, 120€. Please find the analysis and the product in the attached picture.
• Puppy Kitty Pet Feeder is a modern, safe design, simple configuration, and good-sized tank for one pet. One of the best prizes in the market, 65€. Please find the analysis and the product in the attached picture.

Finally, Many different designs exist nowadays for feeding. But non with an entertainment system included, an important feature that can make the difference. 

The objective of the project is to achieve competitive price into medium range, develop some product with the basis of feeding cats during the weekend, as well as introducing an entertaining system as an innovative feature.

Patent analysis

The analysis has been done in USA, Asia, and Europe where it is expected to have a high demand.

USA

Design Based Patents: The attached figure shows the overall-design patents in the USA. Therefore, we should find a unique device shape to be able to commerialize our design in the USA.

Mechanism Based Patents: There were two mechanisms patents in the USA

1. Rotating food hopper and food leaking plate, Please find the schematic in the figures.
2. Pet feeder having conveyor system, Please find the schematic in the figures.

Asia

There was only one patent on the dispensing mechanism, which is Gravity-guided animal watering / feeding device. Please find the figure for reference.

Europe

There is relevant patent on the design or the mechanism in Europe.

State of the Art and Patent Analysis Outcomes

based on the summary table attached table, Asia emerges as a promising market with vast potential. In Europe, there exists untapped space for fresh designs. However, to thrive in the American market, showcasing heightened levels of creativity and innovation will be imperative for success. 

If we want to sell the product in all three places, we must consider all the patents.

This section includes the overall CAD of the system. This shows how the different subsystems connected together to build a functional device. The functions of the deive has been selected based on the user requirment sheet shown in the pictures.

Using Solidworks, it was possible to make sure that each and every component will fit together before starting the manufacturing process. This approach helped us saving prototyping resources as well as time and efforts. Please note: this picture is interactive; you can open it to see the different sections of the design. In the figure, it is shown also that the design is composed of four main subsystems and their respective materials and manufacturing processes:

• Feeding Subsystem
• Food Monitoring Subsystem
• Cat Detection Subsystem
• Cat Entertainment Subsystem

The materials selection, manufacturing process selection, and electronics design was based on the following criteria was considerably affected the desigm decisions. Therefore, the design of the subsystem maybe not the most optimized engineering solution, but in our opinion, it is the most optimized design based on the given restrictions.

• The available prototyping tools accessible was 3d printing, laser cutting, and hand tools only.
• laser cutting is more accessible and affordable than 3d printing.
• Prototyping should be wise and well engineering to avoid wasting materials.
• Design assumptions should well studied before ordering components
• Electrical components supplied by the course instructors has piriority for usage.

This is section will present the mechanical design of the subsystems. In our design, feeding subsystem needed a comperhansive mechanical design process since it will be the only subsystem that should endure considerable stress. Additionally,

Feeding Subsystem

This subsystem was the one responsible for delivering food to the cat with specific quantities.

• Requirments

As discussed in the past seciton, the user citeria sheet is basis of the whole design decisions. It can be seen that the first criteria are specified for the feeding subsystem as follows:

1. Dispensing Duration - MAX 30secs

In order to achieve such a criteria different concepts has been studies and evaluated as shown in the following section.

• Conceptual Design

Multiple dispensing mechanisms has been evaluated as shown in the figure. These different methods are commercial mechanisms that is already in use for different pet feeder devices. However, the purpose of the project is to secure food for a weekend long which sets some advantage designs over the others.

Gravity Passive Dispensing: Althoug this is the simplest solution, it does not serve our project core as it cannot provide portion based feeding.

Gravity Active Dispensing: The active dispensing provides the best trade-off for all dispensing requirments.

Passive Dispensing with Guiding Door: This mechanism provides the required function for feeding, but it is complex to ensure that the feeding happens in the right duration.

Rotating trays: This mechanism shows the required function for the device. However, it is not feasible to make such a mechanism that can take the required amount of food in the requirment list.

Based on the weights given for each solution, the gravity active dispensing will be the best compromise for the project requirments.

• Embodiment Design

The gravity active dispensing is basically a slotted wheel rotating in a cover. Each slot on the wheel will represent a dispensing portion. After design optimization of the overall dispensing size and number of slots on the wheel, we were able of achieveing 6 grams resolution of cat food. However, after testing the mechanism, the food wasnt filling the slots fully, therefore, the typical resolution of each dispensing portion is 3g. based on the calculations: at dispensing speed of 0.5 RPS, it takes around 2 seconds to fill the bowl of 50 grams.

• Material Selection: The material has been chosen to be PLA polymer. PLA provides excellent mechanical properties of Yield Strength of around 57 MPA and Impact strength Charpy of around 13 - 14 [KJ/m2]. These properties qualifies PLA among many other polymers. However, the most intersting property for PLA is heat stability, which makes a best candidate for FDM 3d printing. In order to 3D print such a material, there is no special enclosures or setup required.
• Design for Manufacturing: As discussed the design was chosen to be 3d printed. Therefore, all the parts are optimized to eliminate the use of support material to save the resources.
• Design of Assembly: The figure shows the assembly guide for this subsystem. The design uses only M3 screws. Additionally, the tolerance of the wheel is iterated to provide anti-slip easy fit.

• Final CAD Design

The figure attached shows final CAD for this subsystem in both operational and assembly configurations.

• Testing

After testing the first prototype of this subsystem, we faced an issue that the cat food has relatively big volume and very hard structure. Additionally, the cat food has different shapes from one manufacturer to another. All of these makes the food frequently gets stuck in the dispenser. A valid solution for the problem is to use a driver which can measure the back-EMF of the stepper motor and change the motion to unclog the food stuck. However, we choose to fix the problem which a solution that depends only on the components we had. We programmed the stepper motor to make oscilatory based dispensing, which after many testing it showed that it solves the problem without the need of getting new components. The video attached shows the intended motion for dispensing.

Entertainment Subsystem

This subsystem is responsible for entertaining the cat using laser pointer.

• Requirments

As discussed earlier, the user requirment list had the following requirments which are related to the entertainment.

1. Session Frequency - 10 mins / hour
2. Entertainment Modes - 1 Modes minimum

• Conceptual Desing

Pet entertainment can be achieved using various techniques as shown in the attached figure. Following the assessment criteria, the laser entertainment is the best solution for our criteria.

• Embodiment Design

In order to implement an automatic laser pointer to entertain the cat, there should be two independent axis movement for the laser module. Although such mechanism can be easily implemented using 3d printing, however, the mechanism is chosen to be designed for laser cutting to reduce cost and have bit more design challenge for the team. Additionally, it was required that the entertainment area will be 1 m long and 0.5m wide in front of the device. The user is required to leave this space empty in front of the device to make sure that the laser will obvious for the cat. The attached illustration shows the concept.

Material Selection: The materials will be 3mm MDF connected together using M3 screws and nuts. It is worth noting that the motor couplers are made of PLA plastic parts.

Design for Manufacturing: since it was decided to use laser cutting for the mechanism. the design had to be optimized to be composed of sheets that can be mounted on servo motor for each axis as shown in the attached figure.

Design of Assembly: Since this design includes motors, 2d sheets, 3d printed parts a simple assembly interface is designed to make the assembly of the project seamless. The attached picture shows the assembly guide for the entertainment subsystem.

• Testing

The mechanism performed as expected, as the laser module was able to be precisly controlled in the X and Y direction. The mechanism was also self supported in which the geometry of legs was supporting the weight of the mechanism without the need for a bearing.

Food Monitoring Subsystem

This subsystem is meant to measure the weight of the food in bowl to make sure that the any dispensing operation will not result in overflowing for the bowl.

• Requirments

The design doesnt require much of a mechanical design since it has no considerable load or motion. However, it was required to be designed from two compartments connected to a force sensor and the food compartment is allowed to apply pressure of the force sensor.

• Embodiment Design

The desing was made two seperate compartments connected to the a force sensor in the middle. The upper compartment is meant to carry the food, but the bottom design is meant to support the whole subsystem as shown in the figure.

Material Selection: The materials will be 3mm MDF connected together using M3 screws and nuts. However, the sensor is mounted by M4 screws to match it is threads size.

Design for Manufacturing: It was decided to manufacture the bowl by laser cutting for different sides, and all of them will be jointed together using m3 screws and nuts.

Design of Assembly: The figure attached shows the fastners needed to assembly this subsystem sheets together.

• Testing

The design has been tested by reading the weight from the weight sensor and make sure that it is sensitive enough for small weights to be detected by the weight sensor.

This section will discuss the circuit design for each subsystem. It will also discuss the overall circuit of the device as well as the power requirments and analysis. The connections in this prototype has been done by hand soldering on a solderable breadboard. However, the team has developed a Arduino shield PCB that can be directly ordered and soldered make your life easier when remaking such a project since it took much time from us. The pcb files can be found in the project repo at the lest section.

Requirments

Feeding Subsystem: The feeding subsystem includes only a stepper motor. Although DC motor with gearbox was better solution for our system, a stepper motor was used since it was provided to us.

Entertainment subsystem: This subsystem needs two controlling servo motors for each moving axis. Additionally, it needs a controlable laser beam. The laser beam should also depend on the power of the device and not batteries.

Food Monitoring Subsystem: A weight sensor is required to accuretly measure the weight of the food in the tray. It should be very sensitive since the density of the cat food is really small.

Cat Detection Subsystem: a distance sensor is required to if the cat is getting closer to the device.

Design Process and Considerations of Components

Feeding Subsystem: In order to control a stepper motor, a stepper motor driver is required to seperate the high power side of the motor from the low side of the microcontroller. Additionally, since dispensing involves high power and multiple stall positions for the motor. A reliable, high power motor driver has been used which is TB6600 known for industrial use for stepper motors. The first figure shows the circuit for the stepper motor. For the power requirements: After several tests, the stepper motor needs 12V power with around 0.9A at the stalled position.

Entertainment Subsystem: This subsystem includes two servo motors and one laser module. Since the weight required to be held by the two servo motor is small (considering the support provided by the mechanism legs discussed in the mechanical design section). For the power requirments, servo motors require 5V and maxmium 0.4A at stall position. However, since the mechanical system is well supported, each servo motor withdraws maximum of 0.1A per motor. Additionally the laser module withdraws constant current of 30mA. Therefore, the overall power requirement is 830mA maximum for this subsystem. The circuit for this subsystem is shown is attached above.

Food Monitoring Subsystem: To monitor the weight of the food, we decided to use the a load cell sensor. The load cell will be accompined with HX711 module which includes a ADC, and amplification circuit. However, during the testing the sensor, the sensor was not accurate. Therefore, a calibration experiment was conducted by measuring various objected using precision scale and curve fitting the data and extracting the relation between the measured data and the real weight data as shown in the figure attached. Using the formule deduced from the figure, the accuracy of the weight measurment was found to be 1-2%, which matches the user requirment sheet dicused in the above sections. Such module only deducts around 2mA only.

Cat Detection Subsystem: This subsystem will utilizes an ultrasonic sensor to detect the distance of the objects at a certain height. Ultraonic has a unique feature that the detection range is an Arc at 30 Degrees angle as shown in the figure. Such a feature allows to use a single sensor which will provide a sufficient detection area for the device. For the power requirment, the ultraonsic sensor usuallay needs 5V and around 15mA current.

Overall Power Design:

The power requirments of the system is 12 V with 0.9A, and 5V with 0.85 A which is 15.05W. Thereofore, An external AC-DC power supply was selected to power the circuit rated at 12V, 3A which is 36W. This would be the recommened power ratings since DC-DC step-down module which has an effeciency of 95%. Additionally, the power wall adapter power supplys usually designed to disconnect the power at less power than the rated to protect the circuit from heating.

Final Circuit

The figure attached shows the full circuit of the device with the power power circuit and the exact components and pins used. Please note that this circuit is what used to design the PCB. Using the pcb will just make connected the components to the shield at the specified ports.

Testing

The electrical system has been tested several times before assemblying the device. The power circuit has been tested also for various load conditions to ensure that the system will work with considerable saferty margin and the system has the required safety features in case of over voltage, over current.

Requirements

The software must be able to:

• Give a certain amount of food every certain amount of time.
• Change how often the food is given.
• Initial value = 10s
• Use a switcher to change the value of time.
• Rotating the potentiometer, the time is defined.
• Use the switch again to confirm the time.
• Use the same procedure with another switch and the same potentiometer to change the amount of food. 
• Initial value = 10g
• Run two servomotors to move the laser pointer in a certain area.
• Turn the laser on and off.
• Run the stepper motor to dispense food.
• Take measurements from the weight sensor to determine the amount of food given.
• Measure the distance between the ultrasonic sensor and the cat.
• If the distance is lower than the defined limit, the cat is detected, and the entertainment subsystem is activated.

Figure 1 shows all the code's steps to achieve all these objectives.

Design process and considerations of each sub-function

Stepper-motor for dispensing food

The stepper motor makes the dispensing subsystem rotate and give food portions. Using the “dirPin” and “stepPin”, the direction and activation of the motor are set respectively. 

Due to the food, the motor can get stuck. The initial idea to solve this problem was to use a current sensor, but the plan changed to save money. Instead, in every dispensing step, the motor goes backwards some angle and is set to go forward dispensing the food. This solves the problem, so the motor does not get stuck permanently. 

The motor velocity going backwards and forward is set using microsecond delays as shown in the flow diagram of the Figure 2. 

Feeding subsystem and weight sensor

In this subsystem, the food is given to the cat using the Dispenser Subsystem and the weight sensor to know how much food is given every step, as the diagram shows. 

The sensor had some problems because it disconnected every time the food was dispensed. Finally, it was figured out that the delay between the measurements was important and decisive to avoid error. 

The same error was due to the measurement being done inside a function called every time the weight was wanted to know. This problem was solved by using the main loop for this function. The logic followed to feed the cat can be observed graphically in Figure 3. 

Distance ultrasonic sensor

Used to know if the cat is nearby and turn on the entertaining subsystem.

The initial idea is to use it to know if the cat is coming when the food is being dispensed, consider the amount of data dispensed so far and give the remaining after the cat is gone. This should be done because the weight measurements are wrong if the cat eats. 

Due to lack of time, it has not been carried out. Instead, the food is given to the cat until the weight sensor measures the desired weight of food, no matter if the cat is detected. 

The Trigger Pin is used to send a signal using the ultrasonic device, and the Echo Pin reads the rebound of the signal that has been initially emitted. Measuring the time between the two signals and knowing the sound's velocity (343m/s), the cat's distance can be detected with the following equation. Consider that the sound has travelled double the distance between the cat and the device. 

Distance= duration*0,3432

The function works sequentially, as can be seen in Figure 4.

Cat entertainer 

The subsystem to entertain the cat is a laser device as described below. It is moved by two servo motors to move in two degrees of freedom. This is done by setting the number of points the pointer will reach during the entire entertainment time. The game has ended once the laser has gone to all these points. The angle of the motors at every point is random but always in the correct range to be seen on the floor. The diagram in Figure 5 describes every step in the code to move the servomotors and the laser device.  

Set of variables by the user

Two switches have been installed to set two different variables:

• Time delay between two meals.
• Amount of food that is given every meal.

These variables are set as shown in the diagram of Figure 6. After switching on one of them, the LCD screen will show the value being set and using the potentiometer, the variable's value will change on the screen. Switching off the same one, the variable will be defined.

This section will demonstrate the integration guide of the different subsystem together in the body of the device. The asssembly of each subsystem has been already discussed in the mechanical design section.

Feeding Subsystem: The first figure shows the assembly guide of the first subsystem in the body of the device. It just has two screws for the motor base at the back, two screws to connect the food duct to the subsystem, and two more screw to fix it in the tank.

Food Monitoring Subsystem: The second figure attached shows the the assembly of the food monitoring subsystem (Bowl) to the body of the device. It has two screws to be connected to the food duct (Note: these screws needs to be loosen to allows for deflection of the bowl on the load cell). Two screws also are needed to connect the bowl body to the frame using a small connector.

Cat Entertainment Subsystem: The third figure attached shows the assembly instruciton of the entertainment subsystem to the frame. It is seen that the system has three holes for three screws and nuts assembly to fix the mechanism on the plate.

Cat Detection Subsystem: The fourth subsystem is basically an ultrasonic sensor. Since there werent 2.5mm screws to fix it to the wall, a sensor cover has been designed to fix the sensor the wall as shown in the fourth figure.

The Frame: The outer shell of the deivce is basically a 2D sheets are connected together using 2d fingers. A standard M3-20mm screws and nuts are used to fix them all together.

This attached video shows the detailed testing for each feature of the device inluding the feeding, food monitoring, entertainments, cat detection, and the interface of the device. The device has worked exactly as designed.

Presently, our project exists in the form of a prototype; however, we strongly believe that with appropriate enhancements, it will transform into a substantial solution to address the needs of felines. Here are some proposals aimed at refining and diversifying certain aspects in a more thoughtful and accomplished manner.

Playing duration 

Regarding playful interaction, our current prototype has a major limitation: playtime remains uniform for all cats. To address this shortfall, we considered a solution that couldn't be developed within the project's timeframe. This solution would involve equipping our system with an artificial intelligence capable of autonomously adapting to each cat's specific play habits without requiring human intervention.

Automation

Another aspect of our design that could be interesting to enhance, which we would have liked, is the development of a remote control allowing the user to make modifications to the system's operation.

We also considered integrating a GSM system that would have the functionality of sending SMS notifications to the user, enabling them to receive information regarding the available food level.

Noise

With the aim of reducing the noises produced by the food distribution system during its operation, we have contemplated an approach involving surrounding this system with a material specially designed to absorb the emitted vibrations. This method aims to diminish sound transmission by absorbing the generated acoustic waves, thereby limiting the spread of noise outside the system.

The issue of sustainability remains a matter of urgent concern and universal significance.

Depending on the various tasks performed, sustainability can vary from one machine to another. Generally, ensuring the sustainability of a system begins with the use of recycled or environmentally friendly materials from ethical sources, while ensuring the system operates in an energy-efficient manner. Additionally, the ability to repair in case of malfunction and to recycle at the end of its life cycle is a fundamental aspect of its sustainability.

Regarding the sustainability of our project, we can divide our considerations into two main axes: the materials used and the involved electrical system.

·     Materials: Our system primarily consists of wood, accounting for 80%, and plastic, accounting for 20%. Both materials are renowned for their durability.

·     Electrical System: Concerning the electrical aspect, one way to enhance the sustainability of our prototype is by reducing operating time and therefore energy consumption. To achieve this, we aim to enable the system to go into standby mode in the absence of the cat and, where feasible, adapt operations based on its habits.

Our team consists of five mechatronics engineers prusing their masters degree in robotics at VUB & ULB. The following is a quick summary about each team member.

• Mohamed Radwan

A mechanical engineer graduate with good experience in mechanical design, CAD, and machine elements. Additionally, I have various skills in electronics design, programming, and PCB designs. These skills are my motive to build and develop advanced robotics systems and improve me knowledge. This project was easy as an idea but it was challenging to develop and refine until reaching results with all the functionalities expected in the final product.

• Ibai Martinez

I completed my bachelor’s degree in Industrial Engineering at Universidad Pública de Navarra, and I am currently studying for a master’s degree in Industrial Engineering at Universitat Politècnica de València. I came to Brussels in the Erasmus+ mobility programme and wanted new challenges. This project has been one of them; working on the Mechatronics and Design Methodology project, we gained experience and learned multiple disciplines to develop a team project. I would like to emphasize the learning that I have been able to achieve by programming in Arduino, it was something I wanted to do for a long time.

• BOPDA YOUMESSI Jules Cyrille

After graduating with a bachelor's in Civil Engineering from the Institut Universitaire des Grandes Écoles des Tropiques (IUGET), I've enrolled in a Master's program in Electromechanics at Université Libre de Bruxelles, focusing on Robotics within the distinctive BRUFACE initiative. BRUFACE combines coursework from both the French and Dutch-speaking divisions of the Université Libre de Bruxelles. Throughout this project, I gained proficiency in utilizing novel tools like 3D printers and the laser cutter, while also applying electronic principles to tackle real-world challenges.

• Franco Harte

I am 26 years old and I am from Argentina. In the year 2021 I finished my bachelor degree of mechanical engineering in the University of Rosario (Argentina), came abroad that same year to Belgium to play professional Field Hockey and once I settled down and organized myself I started my masters degree in electromechanical engineering with specialization in robotics. I also did data science bootcamp and had been senior teams hockey coach for several years. Now my goal is to make the most of the master studies and get started with my professional engineering career. 

• Moli David

After finishing my bachelor's at Université Libre de Bruxelles, my fascination with engineering and applied sciences became apparent. The mechatronics project grabbed my interest because it combined mechanics, electronics, and computer science, letting me apply what I knew in a practical way. Working on this project was a unique opportunity to explore how these areas come together to create new and functional solutions.

The following link includes all the Mechanical design files, Arduino codes, pcb design and manufacturing files. This can be used as a reference for recreation or development of the project.

Project Repository