Tracy Linhart

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• By
• Tracy Linhart
• Ethan Stipp

Real-time haptic controller.
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Project Description
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Rationale for Project Selection

• Need
• Complex Data Visualization
• Training Aid
• Uniqueness
• Multidisciplinary
• Patentable
• Peripheral

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Project Specifications

• Size of Laptop
• 5 Accuracy (Avatar pose interpretation)?
• Updates 20 Times a Second

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Embedded Software Design
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Project Planning

• Formulate a Solution
• Selected Spiral Model
• Work Delegation
• Hardware development and calibration (Ethan)?
• Embedded application development (Tracy)?
• Application developer (DeWitt)?

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Hardware Design
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Hardware/Software Testing

• Risk Reduction
• Component Testing
• Subsystem Testing
• Analog To Digital Converter
• Pulse Width Modulator
• Serial Communication Interface

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System Testing

• System Integration
• Angle Correction
• Serial Communication to PackBot

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Applications to Society

• Growing Technology
• New Methodology for Controlling Kinematic-Based
  Robots

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Project Upgrades

• Match Explorers Range of Movement
• Range of Motion
• Kinematic Constraints
• Flippers
• Kinematic Visualization
• Feedback Control
• Forward Backward Movement
• More Compact

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Lessons Learned

• Engineering Analysis
• Extra parts
• Schematics
• Labeling
• Documentation

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Many Thanks To

• iRobot, especially
• Aaron Powers
• Tristan Lewis
• DeWitt Latimer
• US Navy, SPAWAR