\label{sec:occ_constraints} The machine’s design had to meet the following specifications:
Maximum size: All parts must at all times be contained with cube 50 cm to a side, with the exception of the power cable
Maximum cost: $230 CDN
Maximum weight: 6 kg
Maximum operation time: 90 seconds
Operation must be autonomous, not interact with an external PC or a remote control and must be initiated by pressing a Start button