13 : Omni-Directional Robot Mid-term Presentation Ben Wolf Brent Cornelius Ed Cramer John Grabner James Grabner Advisor & Client: Dr. Nicola Elia October 6, 2011

Conceptual Diagram

Project Goal Repair/clean up existing robot platform Finish unimplemented features – OS on Flash Card, reduced boot time – I/O board and IMU – BPAM(battery protection and monitoring) – Adapter Board(to pass through pin header for I/O board cable and help clean up chassis) Document robot design and operation

Current Progress OS - basic functions complete, experimenting with compressed file systems BPAM - Layout complete, parts ordered Adapter board - removed offset connector and replace with ribbon cable I/O board - Purchased and tested for compatibility

BPAM Layout

I/O Board Cable Test The PCM-MIO-G is tolerant of ‘irregular’ wiring Reduces complexity and cost of the adapter board

What we need to do OS – Add SquashFS to the kernel, compress root partition – Integrate I/O board with the sensor management interface BPAM – Program microcontroller – Make PCB and install components Adapter Board – Make PCB layout – Make PCB and install components IMU – Purchase new IMU, mount to chassis, evaluate performance Tests & Documentation

Success Criteria OS BPAM Adapter board Chasis Optimization IMU I/O

Success Criteria Major components will be completed Detailed analysis of results may suffer Issues – Large learning curve for project – Documentation for previous robots is sparse – Difficult to test robot performance without reliable wheels – Legacy requirements negatively affect new designs

Questions ?? ? ? ?? ? ?? ??? ???? ???? ?????