Push for Autonomy

Some images from the current autonomy effort.

Push For Autonomy

November 2007 onward

• Aggregator Hardware
  • Modify Aggregator Boards to solve power issues (Tad)
  • Install at least one in development orb
  • do we need a 12vdc -> 5vdc DC-DC converter? (Available from Mark A if needed)

• GPS Hardware
  • Design umbilical cord for GPS module (Mark A)
  • Identify break-away signal connector for hub (Mark A)

• Aggregator to SPU communication (Niladri, others?)
  • make sure current version of SPU parser is compatible with current aggregator code
  • if aggregator parser presents significant challenge, consider machine generated parser

• Development Orb Hardware
  • Integrate IMU near center of orb
  • Integrate wheel speed encoder
  • test motor controller with speed PID (Jon?)
  • Reintegrate old bucket handle hardware

• Kalman Estimator Debug and Tune
  • log sensor data
    • stationary
    • remote control
    • forward only? (avoid jerky behavior when reversing direction?)
  • optimize Kalman Estimator offline (Mike, others?)
    • look for errors in implementation
    • evaluate system design
    • tune sensor covariances
    • tune state covariances
  • verify Estimator by running orb with telemetric feedback
    • improve telemetry interface

• Implement and Test Control Law (Mike, others?)

• Evaluate 2.6 Kernel
  • Install 2.6 Kernel on TS-7260
  • set up cross-compile environment
  • run Kalman Estimator test harness
  • if useful, develop upgrade procedure

• Mother Node Development (Trebor and Simran?)
  • Define communication protocol
  • complete choreography interface

• Series implementation
  • implement changes from development orb to entire SWARM
  • bucket handle
    • evaluate need. can the GPS function adequately through the shell?
    • improve design.
    • implement.