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["Project Title:",null,"MARS LIDAR Terrain Mapping System",null,null,null,null,null,null,null,"Team Members:",null,"Sully Cothran, Lysa Pinto, Jaimiey Sears, Taylor Stadeli, Ben Stager"]
[]
["Project Definition",null,null,null,null,null,null,"Project Goals",null,null,"Progress Against Goals",null,null,"Rating","Comments"]
["One of the major problems standing in the way of our colonization of space is acquiring resources to build and maintain an effective colony. The Multi-unit Autonomous Robotic System (MARS) is an ongoing project designed to demonstrate the feasibility of mining resources on Mars by participating in the Robotic Mining Competition (RMC). In order to progress toward autonomy of the system, the Capstone team will achieve terrain mapping for the MARS robot by utilizing a LIDAR unit and data processing within a single board computer to extract obstacles. ",null,null,null,null,null,null,"Have working hardware and software prototypes by the 20th of November, so that they can be demonstrated to our advisers. Have construction of the facility begin ASAP, so that planning for a local RMC can begin.",null,null,"Good progress has been made on the LIDAR, though some of the computing requirements are still in flux. The facility construction is mostly out of our hands, and we have had no response as to its progress.",null,null,"A","We are well on our way to having a working prototype by December. This will allow us to begin testing in the Spring semester."]
["Goal/Deliverable",null,"Activities",null,"Responsible Performer",null,null,"PTD Results (Dates)",null,"Rating","Comments/Concerns",null,null,null,"Next Steps"]
[null,null,null,null,null,null,null,"Target","Actual"]
["LIDAR Hardware Mount CAD Model (version 1)",null,"Design CAD model for eventual manufacture",null,"Ben Stager",null,null,"2015-10-11","2015-10-12","A-","Good design within constraints, some improvement needed, as described below",null,null,null,"This model is complete. If it is selected, it will need to be manufactured using CNC or 3D-printing, pending Dr. Munro's recommendation."]
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["LIDAR Hardware Mount CAD Model (version 2)",null,"Design CAD model for eventual manufacture",null,"Ben Stager",null,null,"2015-10-25","2015-10-26","A+","One concern regarding large moment was brought up a bit late in design of version 1, which caused a new version of the model to be requested. The team likes version 2 much better.",null,null,null,"Dr. Munro and Ben Stager to evaluate designs and make a plan for manufacturing"]
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["LIDAR Hardware Mount Manufacture",null,"Manufacrure CAD design using CNC (Aluminum) or 3D-printing (ABS)",null,"Ben Stager, Allen Hansen",null,null,"2015-11-20","TBD","TBD","Manufacture should be complete before target date: target is just a hard deadline.",null,null,null,"Produce drawings for shop manufacture. Also purchase servo for testing, see budget."]
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["LIDAR Processing Computer",null,"Design computer system capable of processing live LIDAR data.",null,"Sully Cothran, Jaimiey Sears",null,null,"2015-11-20","TBD","TBD","Design has begun, but exact specifications can only be determined exactly once software solution is better defined. Current design uses Raspberry Pi as main data processing computer.",null,null,null,"We would like to use one or more of the new \"Raspberry Pi 2\" mini-computers. We will order 2 of these to begin testing code on them."]
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["LIDAR Data acquisition software",null,"Write software to gather data from LIDAR unit",null,"Sully Cothran, Jaimiey Sears",null,null,"2015-10-30","TBD","A-","Code is not yet complete! Much progress has been made, however, and a usable version is not far off.",null,null,null,"Integrate the experimental code we currently use with ROS, and add code to control the Servo on the Hardware mount."]
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["LIDAR Data processing software",null,"Write software to analyze gathered data",null,"Lysa Pinto, Taylor Stadelli",null,null,"2015-11-20","TBD","A","So far, so good. Thresholding is being utilized to provide information about obstacles on the field. Currently only analyzing existing data files.",null,null,null,"When the data acquisition software is operating, adapt the processes to work in real-time on the data produced by LIDAR."]

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