1. Use or disclosure of document data is subject to the restrictions on the title pagePage 1 © 2011 Carnegie Robotics LLC. MARSUPIAL System/Subsystem Review Carnegie Robotics LLC. #10 40th Street Pittsburgh, PA 15201

2. Use or disclosure of document data is subject to the restrictions on the title pagePage 2 © 2011 Carnegie Robotics LLC. Agenda Introduction System/Subsystem Rework Subsystem Design  Tracks  Wireless Node Payload  Odometry  Electrical Systems Risks Questions

3. Use or disclosure of document data is subject to the restrictions on the title pagePage 3 © 2011 Carnegie Robotics LLC. Introduction MARSUPIAL Tracked Rover for CRL Scope  Suspended Track System  Wireless Node Payload  Electrical Systems  Odometry Deliverables  Suspended Track System  Odometry

4. Use or disclosure of document data is subject to the restrictions on the title pagePage 4 © 2011 Carnegie Robotics LLC. System/Subsystem Rework

5. Use or disclosure of document data is subject to the restrictions on the title pagePage 5 © 2011 Carnegie Robotics LLC. System/Subsystem Rework

6. Use or disclosure of document data is subject to the restrictions on the title pagePage 6 © 2011 Carnegie Robotics LLC. Subsystem Design - Tracks Tracks Suspension Drivetrain

7. Use or disclosure of document data is subject to the restrictions on the title pagePage 7 © 2011 Carnegie Robotics LLC. Subsystem Design – Wireless Node Payload Dropable Node  OLinuXino – 575 MHz ARM Core –Running Arch Linux with B.A.T.M.A.N. wireless mesh protocol –USB Wi/Fi adapter –Buck converter –Li-on battery providing upwards of 6 hours of runtime Deployment System  Still in development

8. Use or disclosure of document data is subject to the restrictions on the title pagePage 8 © 2011 Carnegie Robotics LLC. Subsystem Design - Odometry

9. Use or disclosure of document data is subject to the restrictions on the title pagePage 9 © 2011 Carnegie Robotics LLC. Subsystem Design – Electrical Systems

10. Use or disclosure of document data is subject to the restrictions on the title pagePage 10 © 2011 Carnegie Robotics LLC. Schedule

11. Use or disclosure of document data is subject to the restrictions on the title pagePage 11 © 2011 Carnegie Robotics LLC. Risks

12. Use or disclosure of document data is subject to the restrictions on the title pagePage 12 © 2011 Carnegie Robotics LLC. Questions