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#Sample Return The source code and data for our robot

##Team Name

  • Survey

##Robot Name

  • Artemis (greek goddess, huntress, Apollo's twin sister, all around bad-ass chick)

Proposal

As submitted to WPI in January. Needs an update.

#TODO ##Need to buy

  • Replace James's camera

##New Computers?

  • When?
  • Graphics Card?

##Mechanical

  • Double check camera FOV, perhaps new brackets
  • Stiffen Wheel Yokes? (might not be a good idea. some flexibility is typical in lightweight designs, e.g. airplane wings)
  • Lighter deck plates?
  • Cut carousel down 2" or so to accommodate samples hanging below gripper fingers
  • Add lightweight omni-directional speaker for audio feedback

##User Interface

  • Speech Synthesis (or maybe just pre-recorded messages, e.g. "I found one!", "Picking one up", "Returning to home")
  • Soft Shutdown switch
  • Flashing Lights as described in rules
  • Mode Switch
    • joystick
    • logging
    • pre-cached
    • full search
  • Remote pause integration

##Motion

  • Tune velocity loops
  • Trajectory Following (as opposed to velocity control)

##Gripper

  • Full position mode control
  • Switch to MX64?
  • Verify Capture
  • Bin allocation
  • Use all gripper inputs
    • wrist angle
    • expected grip width
  • proper visual servo
  • Add sticky foam pads to gripper fingers

##Navigation

  • Test ScaViSLAM on our problem
  • Sun Sensor?
  • IMU?
  • Global Map representation

##Sensing

  • Visualization for detections
  • Probabalistic detection model

##Planning

  • select global planning technique
  • select local planning technique
  • State Machine (or real planner?)
  • Watchdog algorithm that, for example, "starts over" if she thinks the whole place has been searched but not all the samples have been found

##Sample Sensors

  • Wood Block
  • Plates
  • Pre-Cached

##Update Proposal