1. RYAN LIPSKI, CAMERON PUTZ, AND NICK SIKKEMA ADVISOR: DR. JOSEPH DRISCOLL DEPARTMENT OF ELECTRICAL AND COMPUTER ENGINEERING, BRADLEY UNIVERSITY NOVEMBER 20, 2014

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5. Model of photodiode 5

6. Saturation36 inches – 4.9 Volts4 inches – 4.89 Volts Max Distance 180 inches – 0.6 Volts132 Inches -- 0.120 Volts LinearityLinearNon-Linear Ambient Light 100% Saturation29% Saturation Price$8.85$0.59 Photodiode comparison 6

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8. 8 First iteration of the detection array surface mount board

9. 9 First library package Everlight photodiode First library symbol Everlight photodiode

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13. Baffle Photodiodes 13

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26. Microcontroller ADC Multiplexer (CD4051) Atmega328P Atmega328P breakout board [3] 26

27. Pressure sensor Package Gauge vs absolute MPAK package [4] Unibody package [4] 27

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29. Task 2: Multiplexer and Pressure 8 to 1 multiplexer (CD4051) Pressure sensor (MPX53GP) Differential output Gauge vs absolute Design and Experiment Call graph for the depth function 29

30. Task 2: Multiplexer and Pressure Results Multiplexer ADC test output 30

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32. Task 3: Compass and Accelerometer Pololu library C++ conversion Code cleanup I2C Design and Experiment Call graph for the read acceleration register function 32

33. Task 3: Compass and Accelerometer Heading test outputVelocity test output 33

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35. RYAN LIPSKI, CAMERON PUTZ, AND NICK SIKKEMA ADVISOR: DR. JOSEPH DRISCOLL DEPARTMENT OF ELECTRICAL AND COMPUTER ENGINEERING, BRADLEY UNIVERSITY NOVEMBER 20, 2014

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37. Collision detection and tilt compensation 37

38. Initialization I2C test 38

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