1. Omni-Directional Robot Design Presentation Ben Wolf Brent Cornelius Ed Cramer John Grabner James Grabner Advisor & Client: Dr. Nicola Elia

2. Project Overview Repair existing robot Finish unimplemented features Document robot design and operation Required to preserve overall design

3. Breakdown of Tasks Assembly / Operation Documentation Battery Protection Analog I/O board IMU System Chassis optimization Reduce OS size

4. Documentation Design

5. Battery Protection Microcontroller based – Use integrated A/D converters – External current shunt & amplifier – Report cell voltages to robot Requirements - Keep cell voltages above 3V - auto shutdown loop

6. Battery Protection Design

7. Battery Protection

8. I/O Board

9. IMU / Positioning RS-232 IMU damaged during evaluation Use localization system to estimate robot performance Test RS-232 performance using simulated data Determine if previous IMU is worth purchasing again

10. Chassis Optimization Designing a new lid/cover for Eris with camera recognizable design Addition of power switches Reorganization of Chassis – Improve wire routing – Use PCBs instead of wires when possible New wheel design (related project) – Provide test suites and feedback

11. Operating System Modify an existing Linux distribution – Custom Linux 2.6 kernel Need USB Wi-Fi support “real-time” kernel patches and optimizations – Trim any unnecessary features Reduce boot time ( < 30 sec) – Convert to ramdisk filesystem Load from compact flash (IDE/ATA compatible) Won’t be corrupted when shut off with a switch

12. Questions?