1. EDMA Final Presentation
Taylor Lee

2. Deliverable Status
Autonomously Navigate and Exhibit Collision Avoidance (COMPLETED)
Identify a Specified Target (COMPLETED)
Delivery of a Payload to the Identified Target (FINALIZING)
Detonate the Payload Via RF Communications (COMPLETED)

3. Stretch Goal Status 1. Search Algorithm 2. Special Affects
Basic search algorithm implemented, advanced algorithm will not be attained
2. Special Affects
Blinking LED added to payload, sounds or other effects will not be attained

4. Murphee’s Law and Mitigation
1. Malfunctioning Xbee RF module
- A second replacement module was ordered and has been integrated into the system.
2. Malfunctioning Servo and Gripper
-New servo and gripper were ordered and integrated on the system.
3. Original Enclosure Not Manufactured
- The 3D printing lab would not print the original enclosure. An off the shelf container is
replacing the enclosure.

5. Top Level Schematics
Platform
payload

6. PI CASES There are 5 main scenarios of concern for the system
The module doesn’t see the ball: Implement “search” (Case 1)
The ball is to the left and the radius is small: Implement “turn left” (Case 2)
The ball is to the right and the radius is small: Implement “turn right” (Case 3)
The ball is in the center and the radius is small: Implement “drive” (Case 4)
The ball is centered and the radius is large: Implement “deploy” (Case 5)

7. MEGA CASES
The variables of interest for the Mega are the serial command from the Pi and the distance reading on the ultrasonic rangefinders. The cases for the Mega are as follows:
An object is closer than the “danger distance”: Vehicle stops
Search mode command from the Pi: Implement “search” (Case 1)
Turn left command from the Pi: Implement “turn left” (Case 2)
Turn right command from the Pi: Implement “turn right” (Case 3)
Centered and small radius command from Pi: Implement “drive” (Case 4)
Centered and large radius command AND object is closer than “detonate distance”: Implement “deploy” (Case 5)
Centered and large radius command NOT object is closer than “detonate distance”: Implement “drive” (Case 4)

8. EDMA Top Level Schedule
REMAINING STEPS
EDMA Top Level Schedule
Deliverable
Drop Dead Date
All Parts Received
18-Sep
Internal Avoidance Demo
25-Sep
Customer Avoidance Demo
13-Oct
Special System Demo
22-Oct
Special System Report
29-Oct
Pre-Demo Day
19-Nov
Final Presentation
1-Dec
Final Demo
3-Dec
Final Written Report
8-Dec
Media Day
9-Dec
Fine tune and optimize any software
Optimize distance
Make payload package

9. QUESTIONS?