MASLab 2005 Kit

Students will be provided with all the materials they will need to construct their robots from scratch: a single board computer, a robotics controller board, sensors, motors, wood, plexiglass, bolts, screws - the sky is the limit and as always we expect students will constantly suprise us with clever ideas and smarter robots.

Electronics

The kit's most notable features include a 733MHz x86 PC that measures only 4x6 inches, a robotics interface board allowing the PC to interface to sensors and actuators, and a color camera.

The embedded PC is a Via Eden running at 733MHz, with built-in VGA, ethernet, USB, PCMCIA, parallel, and serial ports. It has 256MB of RAM and a 4GB hard disk allowing it to run the Debian GNU/Linux, and to locally host development tools and other applications. The generous allotment of RAM and fast CPU speed allow real-time computer vision algorithms to run.

The robotics interface board was designed and manufactured for the MASLab staff and is an evolved version from previous year's competitions. It contains an extensive list of capabilities, including

In addition, the board has about 25 MIPS of CPU power built-in, allowing additional features such as programmable low-pass filters on the A/D ports and programmable current limiting of motor ports. The board is called the "OrcBoard".

The OrcPad is a detachable accessory for the OrcBoard which provides human interface elements including buttons, a joystick, and a graphical 128x64 pixel display. The OrcPad was also designed and manufactured by the MASLab staff.

Sensors and Actuators

In addition to the color camera, students can choose a number of additional sensors and actuators. Some of the available sensors include short and long range infrared range finders, ultrasonic sonar rangefinders, break-beam sensors, and numerous types of switches. Actuators include servo motors, gearhead motors, solenoids, chain drives, and more.

Students are allowed to obtain other sensors and actuators which they think will be helpful, subject to approval by the staff and a $100 spending limit. A team might try to use a digital compass to enhance their navigation system, for example, or purchase a more powerful servo motor to construct a large robotic arm.

Programming Environment

This year's robots will run Debian GNU/Linux. Students will work in Java and the MASLab staff will provide the following software:

Student are allowed and encouraged to modify and improve any of our software. We provide it to accelerate the design process and free students to work on the more interesting parts, like control systems, signal processing, and AI.

Construction Materials

A variety of construction materials and tools are available for students, including polycarbonate, wood, bolts, screws, casters, etc. Students are free to use any construction material they desire, and many take advantage of this: some robots have machined aluminum cases, or ABS plastic cases cut on a laser cutter.

While the staff tries to maintain an adequate stock of basic building materials, students are expected to locate and acquire additional materials and parts. MASLab also maintains a modest set of construction tools, but some teams will want to use their own tools.

Students are encouraged to take classes at the student shop or the Edgerton shop before MASLab begins so that they will have access to those facilities.