MIR - Design Presentation

Presented by Jason Abbett and Devon Berry

Overview

• Hardware design goals– Hardware architecture

• Software design goals– Software lifecycle– Modules

Hardware Architecture

• Frame– 10’’ x 11’’ x 12’’– Laser cut Lexan– Stable– Expandable

Hardware Architecture

• Motors

• Servos

• Manipulator

Hardware Architecture

• Sensors– Sonar– Light– Camera– Mouse– Compass– Touch

Hardware Architecture

• Controller– Inputs– Outputs– Battery Pack

Software Architecture

Evolutionary Prototype Model

Build prototypesystem

Develop abstractspecification

Use prototypesystem

Deliversystem

Systemadequate?

YES

N

Modules

• Localization– Mouse

• Light Sensors– Line following

Modules

• Motors– Microcontroller I/O– Forward/Reverse Movement– Turning on a dime

Modules

• Claw– Closes when triggered– Determined by camera and sonar

• Sonar

• Camera– Uses RGB values

Software Applications

• XPort sdk package– cygwin bash shell– RTOS (real time operating system)

• C++

Conclusion

• Support Hardware Changes

• Support Software Changes

• Modular