1. 13 : Omni-Directional Robot Ben Wolf Brent Cornelius Ed Cramer John Grabner James Grabner Advisor & Client: Dr. Nikola Elia

2. Project Goals Update latest robot with upgraded components Both versions of the robots will be fully functional Robot design should be well documented so that additional robots can be easily produced

3. Use Case Scenarios Collaborative robotics experimentation Undergraduate Programming Lab Control Systems Testing

4. Example Programs Follow The Leader – Actors: 1 human, 2 robots One robot is controlled by a human (Xbox Controller) The second robot must duplicate the motion of the first Pong – Actors: 1 or 2 humans or robots Play “pong” game using tennis balls Inverted Pendulum – Actors: 1 robot Robot balances an inverted pendulum on its “head” Control systems testing

5. Conceptual Diagram

6. Functional Requirements Add at least 4 analog inputs Assess previously purchased RS-232 IMU, replace if necessary Reduce Eris’ boot time to less than 30 seconds Determine runtime of robot with existing batteries System must have battery protection

7. Non-Functional Requirements Fully document robot assembly and operation Standardize components Improve system reliability

8. System Block Diagram (Eris)

9. Project Schedule

10. Cost Estimate HardwareLabor I/O Board$300.00Labor rate$20/hr Compact Flash Card$20.00Average Hours/Wk60 Battery Protection (4)$185.00Project Timeline30 Weeks IMU$100.00Labor Total$36,000 Hardware Total$605.00 Project total:$36,605

11. Risks / Mitigations Risks Matt Griffith, project maintainer, has moved away Unclear project definition Very little documentation Two robot platforms to support Preferred robot for future development is non- functional Mitigations Ask Matt as many questions as possible while he was around Contact previous team members for additional information Avoid new features, fix the existing system first Good documentation practices

12. Questions?