#Sample Return The source code and data for our robot

• WPI Challenge Page

##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