1. By: Jennifer Liem October 16, 2008 PDR

2.  Brief overview  Block diagram  Remains to be done  Gantt Chart

3.  Dig in a box 4x4m  Robot ◦ Work with a power source of 24V. ◦ Minimum mass: 150kg ◦ Fully autonomous ◦ Consume no more than avg. 150W. ◦ Max weight: 70kg.  Use sensors

4. Digger Wheels/Body Collector Box Software MEEE

5.  Digging strategy ◦ Digging backwards as the robot is moving towards the collector bin. ◦ Using a conveyor belt to transport the regolith to the bin. ◦ Digging ◦ ~5cm at a time

6.  Collector ◦ Will deposit regolith from bottom of box.  Wheels ◦ Leaning towards the use of treads.  Wheels sank into the regolith  Treads are not favorable for turning. VS. http://www.classictintoy.com/images/treads/btra.jpg

7. Mapping Using long range infrared sensors to orient oneself. Create map as a 2D array Map out area until all 4 rocks are found.

8. Solving Want to find the largest rectangular area farthest from the ramp. Using A* best path search algorithm. Need to use triangles to find x,y coordinates. Not allowed to use walls to orient.

9. 4m

10.  Mapping ◦ Need the calculations to determine current location ◦ Decide whether to find all the rocks first or not. ◦ Not allowed to use walls.  Sensor testing ◦ Determine if different materials give different readings ◦ Test the sensors  Solving ◦ Want largest rectangular area for digging  Insert all the data into a simulator.

11.  Questions?