1. Raymond Engle Stanley Hanke

2.  We will be developing a remote-controlled, self- balancing robot  Wireless communications will be managed by the eBox  Motor controls will be managed by the mbed with an H-bridge

3.  Desktop computer will run a GUI program to connect to the eBox wirelessly  eBox will pass operator commands to the mbed via RS-232 serial

4.  Linear shaft encoder and gyroscope is used to provide feedback to the mbed  Mbed microcontroller will use state- space integral control to determine corrective course of action

5.  GUI interface running on a PC sends data packets containing commands over wifi to the eBox  Commands received by the eBox are forwarded to the mbed for execution

6.  Mbed microcontroller  eBox x86 embedded PC  Sparkfun breakout boards: RS-232 Serial Gyroscope H-bridge  2x Phidgets DC motors  Lead-Acid Battery  Chassis  Wireless Router  Duct tape

7.  Due to complexities of timing with the state-space controller, we are unsure whether the mbed has sufficient real-time requirements  Because of our unfamiliarity with networking in Windows CE, we are concerned that we will have difficulty establishing communications between the desktop and the eBox