1. Team Mejor – The Spyder Controls and Logic – 10/5/04 Brian Shula Perry Smith

2. Navigation Overview  String and Spool Location Method Encoder to measure distance to origin. Compass/absolute encoder to measure angle to x- axis  Second compass measures chassis orientation  Navigate from mine to mine using next closest strategy  Use Mini-Max microcontroller

3. Coordinate System  Given polar coordinates  Vector math and trigonometry to find potential hot spots  Origin at starting corner

4. Sensor Feedback  Shaft encoder continuous feedback  Heading compass periodic feedback for stability  String angle compass measured periodically  Closed Loop Feedback Control

5. Mine Avoidance  Area in front of Spyder covered by sensors  Ramp down motors when approaching mines  Forward motion is stopped if mine is sensed  Interrupt in program triggered by sniffers  Moves around mine and then proceeds

6. Pros & Possible Issues  Pros System stands to be highly accurate Efficient Minimal propagation of errors  Issues Requires numerous computations Compass only accurate if level Requires gimbal mount or gimbaled compass