1. Team Mejor – The Spyder User Interface and Troubleshooting Mike Ryan Ryan Sienko- 11/16/04

2. User Interface - Keypad  Starting and stopping  Menu-like prompts  Coordinates of “hot-spots” entered through keypad Radius and angle

3. User Interface - Display  LCD displays input coordinates  Displays final results of sweep  Displays current coordinates for debugging  Display Error Messages

4. User Interface - Assembly  Externally Mounted Keypad weatherproof  Internally Mounted LCD behind clear Lexan case  Silicone caulk around seams

5. Troubleshooting  Compass Compass pins operate at different voltage than Mini/Max pins making communication difficult New Compass ordered – arriving this week  Dealing with Error in Control Drift due to asymmetry Random bumps due to outdoor surface Attempting to minimize through modeling in simulation and experimentation and calibration

6. Troubleshooting - cont  Avoidance Routine Need to get around live mines Reverse prior to maneuvering around mine  Two Mines in close proximity Trouble detecting both when mine IR overlaps Approach from multiple directions  Mines located on side of vehicle Caster has a swing radius - may run over mine AI knows to go after closest mine first

7. Troubleshooting - cont  Current Design creates complicated Kinematics Position is referenced to point away from center of rotation Moving Spool Arm Forward on Chassis to center of rotation between wheels String Wheel CL Mine Sensor Arm Center of Spool Arm