1. Team Migliore Controls and Interface Presented by: Matt Burkhardt Brendan Crotty

2. Controls and Interface Input and conversion of coordinates Movement of vehicle Movement of sensor arm Feedback LCD Display Limits and showstoppers

3. Input and conversion of coordinates Location coordinates given in cylindrical form – Convert to Cartesian (x-y) coordinate plane Mobility commands within control use converted coordinates Input from sensors (compass, sniffer, etc.) calibrated accordingly to Cartesian form

4. Movement of vehicle Two potential movement algorithms – A to B movement; constant checking of both and X and Y coordinates – X and Y traversed independently; checking of a single coordinate until destination is reached Output to DC motors to control forward movement and turning – Feedback will ensure position; PID control is not necessary

5. Movement of sensor arm Begins when vehicle stops at suspected hot spot Output to servo motor to sweep hot spot area Complete 270° sweep regardless of mine detection Position feedback unnecessary

6. Feedback Position sensor – Distance and direction from origin – Corrections made in path Direction sensor (compass) – Feedback used primarily for turning vehicle Mine detector – Interrupt routine sensing mine detection – Output to visual indicator (light, siren, etc.) – Stored in microprocessor for future display

7. LCD Display and User Interface User interface allows for input of mine coordinates at the beginning of a sweep LCD displays potential hot spots at beginning of sweep LCD displays confirmed and disconfirmed land mines at the end of sweep Gives user a true sense of security about detection

8. Limits and showstoppers Accuracy of feedback from compass and location detector Difficult to write a mobility algorithm to cover all potential mine locations Mechanical limits – Mobility of sniffer arm – Small tire movements SHOW PERS