2. Figure 12.1 The UP1-bot.

3. Figure 12.2 Left: Radio Control Servo Motor and Right: Servo with Case and Gears Removed.

6. Figure 12.3 Line Tracker Module – 3 LEDs and Phototransistors are mounted on bottom of board

7. Figure 12.4 IR Proximity Sensor Module – Two IR LEDs on sides and one IR sensor in middle.

8. Figure 12.5 Proximity detector active sensor area.

9. Figure 12.6 Circuit layout of one LED and the receiver module on the infrared detector.

10. Figure 12.7 Polaroid Sonar Module – Left: Sonar Transducer and Right: Controller Board.

11. Figure 12.8 Dinsmore 1490 Digital Compass Sensor.

12. Figure 12.9 UP1-bot Plexiglas Base with wheel slots and drill hole locations.

13. Figure 12.10 Bottom view of UP1-bot base showing battery, servos and cabling.

14. Figure 12.11 Top View of UP1-bot Base with Compass and IR Proximity Sensor Modules.