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<!DOCTYPE html>
<html lang="en">
<head>
<meta charset="utf-8">
<meta http-equiv="X-UA-Compatible" content="IE=edge">
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta name="description" content="">
<meta name="author" content="">
<title>Noober Robotics</title>
<!-- Bootstrap Core CSS -->
<link href="vendor/bootstrap/css/bootstrap.min.css" rel="stylesheet">
<!-- Custom Fonts -->
<link href="vendor/font-awesome/css/font-awesome.min.css" rel="stylesheet" type="text/css">
<link href="https://fonts.googleapis.com/css?family=Montserrat:400,700" rel="stylesheet" type="text/css">
<link href='https://fonts.googleapis.com/css?family=Droid+Serif:400,700,400italic,700italic' rel='stylesheet' type='text/css'>
<link href='https://fonts.googleapis.com/css?family=Roboto+Slab:400,100,300,700' rel='stylesheet' type='text/css'>
<!-- Customized CSS -->
<link href="css/ray.css" rel="stylesheet">
<!-- HTML5 Shim and Respond.js IE8 support of HTML5 elements and media queries -->
<!-- WARNING: Respond.js doesn't work if you view the page via file:// -->
<!--[if lt IE 9]>
<script src="https://oss.maxcdn.com/libs/html5shiv/3.7.0/html5shiv.js"></script>
<script src="https://oss.maxcdn.com/libs/respond.js/1.4.2/respond.min.js"></script>
<![endif]-->
</head>
<body id="page-top" class="index">
<!-- Navigation -->
<nav id="mainNav" class="navbar navbar-default navbar-custom navbar-fixed-top">
<div class="container">
<!-- Brand and toggle get grouped for better mobile display -->
<div class="navbar-header page-scroll">
<button type="button" class="navbar-toggle" data-toggle="collapse" data-target="#bs-example-navbar-collapse-1">
<span class="sr-only">Toggle navigation</span> Menu <i class="fa fa-bars"></i>
</button>
<a class="navbar-brand shadow page-scroll" href="#page-top">NOOBER ROBOTICS</a>
</div>
<!-- Collect the nav links, forms, and other content for toggling -->
<div class="collapse navbar-collapse" id="bs-example-navbar-collapse-1">
<ul class="nav navbar-nav navbar-right">
<li class="hidden">
<a href="#page-top"></a>
</li>
<!--<li> removed due to horisontal spacing issues on smaller display
<a class="page-scroll" href="#objective">Objective</a>
</li>-->
<li>
<a class="page-scroll" href="#design">Design</a>
</li>
<li>
<a class="page-scroll" href="#mechanical">Mechanical</a>
</li>
<li>
<a class="page-scroll" href="#electrical">Electrical</a>
</li>
<li>
<a class="page-scroll" href="#software">Software</a>
</li>
<li>
<a class="page-scroll" href="#contact">Competition</a>
</li>
<li>
<a class="page-scroll" href="#team">Team</a>
</li>
</ul>
</div>
<!-- /.navbar-collapse -->
</div>
<!-- /.container-fluid -->
</nav>
<!-- Header -->
<header>
<div class="container">
<div class="intro-text">
<div class="intro-lead-in">introducing</div>
<div class="intro-heading">Ray</div>
</div>
</div>
</header>
<!-- Objective Section -->
<section id="objective" class="bg-light-gray">
<div class="container">
<div class="row">
<div class="col-lg-12 text-center">
<h2 class="section-heading">Objective</h2>
</div>
</div>
<div class="row">
<div class="col-xs-12">
<h4 class="service-heading" style="text-align: left">ENPH 253: Introduction to Instrument Design</h4>
<p class="text-muted">This is an annual 5 credit course offered at the University of British Columbia (UBC) in the standard timetable of the Engineering Physics program. The students work together in groups of four and construct an autonomous robot to enter in a competition at the end of the term. The nature of the competition is different every year. </p>
</div>
<div class="col-sm-7 col-xs-12 vcenter">
<h4 class="service-heading" style="text-align: left">2016 competition</h4>
<p class="text-muted">The competition for 2016 was to design and build an autonomous robot capable of navigating a course, with the ability to pick up passengers at multiple locations and drop them off at a predetermined location. The roads on the course were marked with black tape (see the course map to the right) and the passengers were located on infrared beacons emitting at 1 kHz. Two robots compete on the track at the same time and their starting locations are depicted as the blue squares. In the event of a collision, the robot must back away from the impact within 2 seconds. The winner of the round is the robot that drops off the most dolls within two minutes. The <a style="color: #333" href="http://projectlab.engphys.ubc.ca/enph-253-2016/competition-2016/">competition webpage</a> provides info for all the teams, and formal rules for this year's competition can be found <a style="color: #333" href="http://projectlab.engphys.ubc.ca/wp-content/uploads/enph253-2016-CompetitionRules-v2-0.pdf">here</a>. </p>
</div>
<div class="col-sm-4 col-xs-12 text-center vcenter">
<img src="img/course.png" class="img-responsive" alt="">
</div>
<div class="col-xs-12">
<h4 class="service-heading" style="text-align: left">Team 5, Noober Robotics</h4>
<p class="text-muted">This website was made by the four students making up team 5 in the 2016 competition. From our hard work we were rewarded with second place in the robot competition and a perfect score on our robot. The purpose of the website is to outline the scope of the project and some of the solutions we came up with in designing an autonomous system that was able to reliably perform the necessary functionality. We are very proud of the result and hope visitors to the site appreciate the effort that has been required.</p>
</div>
</div>
</div>
</section>
<!-- Design Section -->
<section id="design">
<div class="container">
<div class="row">
<div class="col-lg-12 text-center">
<h2 class="section-heading">Design</h2>
</div>
<div class="col-lg-12">
<p class="text-muted">The ENPH 253 course has, in addition to a heavy emphasis on hands-on lab-work, a technical communications component where conciseness, audience, and purpose is emphasized. The communications classes led us to identify three guiding principles of design that we have rigorously strived to meet and to embody in the various stages of the project. They are as follows: </p>
</div>
</div>
<div class="row text-center">
<div class="col-md-4">
<span class="fa-stack fa-4x">
<i class="fa fa-circle fa-stack-2x text-primary"></i>
<i class="fa fa-shield fa-stack-1x fa-inverse"></i>
</span>
<h4 class="service-heading">Robustness</h4>
<p class="text-muted">Multiple systems co-existed in the robot, so having robust components enabled the system to come together, reliably navigate the track, handle collisions, and manage passengers.</p>
</div>
<div class="col-md-4">
<span class="fa-stack fa-4x">
<i class="fa fa-circle fa-stack-2x text-primary"></i>
<i class="fa fa-refresh fa-stack-1x fa-inverse"></i>
</span>
<h4 class="service-heading">Adaptability</h4>
<p class="text-muted">Things change - rules, strategies and requirements have all required redesign of both mechanical systems and software. Thanks to an adaptable design we were able to handle these changes with minimal turn-around time. </p>
</div>
<div class="col-md-4">
<span class="fa-stack fa-4x">
<i class="fa fa-circle fa-stack-2x text-primary"></i>
<i class="fa fa-cubes fa-stack-1x fa-inverse"></i>
</span>
<h4 class="service-heading">Simplicity</h4>
<p class="text-muted">Consistent implementation of simple, yet effective solutions enabled us to finish the task on time. It also minimized the possibility of mechanical, electrical and software failures during development. </p>
</div>
</div>
</div>
</section>
<!-- Mechanical Grid Section -->
<section id="mechanical" class="bg-light-gray">
<div class="container">
<div class="row">
<div class="col-lg-12 text-center">
<h2 class="section-heading">Mechanical</h2>
</div>
</div>
<div class="row">
<div class="col-sm-6 portfolio-item">
<a href="#cadModal" class="portfolio-link" data-toggle="modal">
<div class="portfolio-hover">
<div class="portfolio-hover-content">
<i class="fa fa-plus fa-3x"></i>
</div>
</div>
<img src="img/mechanical/chassis.jpg" class="img-responsive" alt="">
</a>
<div class="portfolio-caption">
<h4>CAD</h4>
<p class="text-muted"></p>
</div>
</div>
<div class="col-sm-6 portfolio-item">
<a href="#chassisModal" class="portfolio-link" data-toggle="modal">
<div class="portfolio-hover">
<div class="portfolio-hover-content">
<i class="fa fa-plus fa-3x"></i>
</div>
</div>
<img src="img/mechanical/chassis_thimbnail.jpg" class="img-responsive" alt="">
</a>
<div class="portfolio-caption">
<h4>Chassis</h4>
<p class="text-muted"></p>
</div>
</div>
</div>
<div class="row">
<div class="col-sm-6 portfolio-item">
<a href="#collisionModal" class="portfolio-link" data-toggle="modal">
<div class="portfolio-hover">
<div class="portfolio-hover-content">
<i class="fa fa-plus fa-3x"></i>
</div>
</div>
<img src="img/mechanical/bumper.jpg" class="img-responsive" alt="">
</a>
<div class="portfolio-caption">
<h4>Collision System</h4>
<p class="text-muted"></p>
</div>
</div>
<div class="col-sm-6 portfolio-item">
<a href="#armModal" class="portfolio-link" data-toggle="modal">
<div class="portfolio-hover">
<div class="portfolio-hover-content">
<i class="fa fa-plus fa-3x"></i>
</div>
</div>
<img src="img/mechanical/arm_thumbnail.jpg" class="img-responsive" alt="">
</a>
<div class="portfolio-caption">
<h4>Arm</h4>
<p class="text-muted"></p>
</div>
</div>
</div>
<div class="row">
<div class="col-lg-12 text-center">
<h3 class="section-heading">Manufacturing Techniques</h3>
</div>
</div>
<div class="row">
<div class="col-sm-4 portfolio-item">
<a href="#laserModal" class="portfolio-link" data-toggle="modal">
<div class="portfolio-hover">
<div class="portfolio-hover-content">
<i class="fa fa-plus fa-3x"></i>
</div>
</div>
<img src="img/mechanical/laser.jpg" class="img-responsive" alt="">
</a>
<div class="portfolio-caption">
<h4>Laser Cutting</h4>
<p class="text-muted">all major chassis parts</p>
</div>
</div>
<div class="col-sm-4 portfolio-item">
<a href="#printingModal" class="portfolio-link" data-toggle="modal">
<div class="portfolio-hover">
<div class="portfolio-hover-content">
<i class="fa fa-plus fa-3x"></i>
</div>
</div>
<img src="img/mechanical/printer.jpg" class="img-responsive" alt="">
</a>
<div class="portfolio-caption">
<h4>3D Printing</h4>
<p class="text-muted">gears and intricate parts</p>
</div>
</div>
<div class="col-sm-4 portfolio-item">
<a href="#waterjetModal" class="portfolio-link" data-toggle="modal">
<div class="portfolio-hover">
<div class="portfolio-hover-content">
<i class="fa fa-plus fa-3x"></i>
</div>
</div>
<img src="img/mechanical/waterjet.jpg" class="img-responsive" alt="">
</a>
<div class="portfolio-caption">
<h4>Waterjet Cutting</h4>
<p class="text-muted">bumper</p>
</div>
</div>
</div>
</div>
</section>
<!-- Electrical Section -->
<section id="electrical">
<div class="container">
<div class="row">
<div class="col-lg-12 text-center">
<h2 class="section-heading">Electrical</h2>
</div>
</div>
<div class="row">
<div class="col-sm-4 portfolio-item">
<a href="#sensors" class="portfolio-link" data-toggle="modal">
<div class="portfolio-hover">
<div class="portfolio-hover-content">
<i class="fa fa-plus fa-3x"></i>
</div>
</div>
<img src="img/electrical/frontSensors.jpg" class="img-responsive" alt="">
</a>
<div class="portfolio-caption">
<h4>Sensor Systems</h4>
<p class="text-muted">QRD, QSD, touch</p>
</div>
</div>
<div class="col-sm-4 portfolio-item">
<a href="#ir" class="portfolio-link" data-toggle="modal">
<div class="portfolio-hover">
<div class="portfolio-hover-content">
<i class="fa fa-plus fa-3x"></i>
</div>
</div>
<img src="img/electrical/th%20ir%20filtration.jpg" class="img-responsive" alt="">
</a>
<div class="portfolio-caption">
<h4>IR Filtration</h4>
<p class="text-muted">filter and amplify 1kHz IR</p>
</div>
</div>
<div class="col-sm-4 portfolio-item">
<a href="#boris" class="portfolio-link" data-toggle="modal">
<div class="portfolio-hover">
<div class="portfolio-hover-content">
<i class="fa fa-plus fa-3x"></i>
</div>
</div>
<img src="img/electrical/th%20boris.jpg" class="img-responsive" alt="">
</a>
<div class="portfolio-caption">
<h4>BORIS</h4>
<p class="text-muted">integration and cable management</p>
</div>
</div>
</div>
<div class="row">
<div class="col-sm-4 portfolio-item">
<a href="#tinah" class="portfolio-link" data-toggle="modal">
<div class="portfolio-hover">
<div class="portfolio-hover-content">
<i class="fa fa-plus fa-3x"></i>
</div>
</div>
<img src="img/electrical/th%20tinah.jpg" class="img-responsive" alt="">
</a>
<div class="portfolio-caption">
<h4>TINAH</h4>
<p class="text-muted">project-lab processor</p>
</div>
</div>
<div class="col-sm-4 portfolio-item">
<a href="#hbridges" class="portfolio-link" data-toggle="modal">
<div class="portfolio-hover">
<div class="portfolio-hover-content">
<i class="fa fa-plus fa-3x"></i>
</div>
</div>
<img src="img/electrical/th%20h-bridge.jpg" class="img-responsive" alt="">
</a>
<div class="portfolio-caption">
<h4>H-Bridges</h4>
<p class="text-muted">external motor drivers</p>
</div>
</div>
<div class="col-sm-4 portfolio-item">
<a href="#servodrivers" class="portfolio-link" data-toggle="modal">
<div class="portfolio-hover">
<div class="portfolio-hover-content">
<i class="fa fa-plus fa-3x"></i>
</div>
</div>
<img src="img/electrical/Arm_Servo.jpg" class="img-responsive" alt="">
</a>
<div class="portfolio-caption">
<h4>Servo-drivers</h4>
<p class="text-muted">servo voltage supply</p>
</div>
</div>
</div>
</div>
</section>
<!-- Software section -->
<section id="software" class="bg-light-gray">
<div class="container">
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<p> The competition was held at 10:00 am on August 4th, 2016. In a tournament-style system, a round-robin of 5 groups of 3 teams first took place, with the 5 winners of each group proceeding along with 3 promising candidates. Each round was 2 minutes long, where the robot that had scored the most points uninterrupted within that time moved on.</p>
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<h4>Erik MacLennan</h4>
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<h2>CAD Design</h2>
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<img class="img-responsive img-centered" src="img/mechanical/chassis.jpg" alt="">
<p>Starting from scratch, SOLIDWORKS was an important tool in converting ideas to design. Detailed CAD-files of all parts were made and assembled digitally to ensure smooth integration. This enabled us to have all components fit upon first assembly of the system, removing some overhead of mechanical redesign.</p>
<p>We went through two major prototype-stages and various digital iterations. Upon completion, the digital library consisted of 46 distinct custom parts that we manufactured with digital precision and used in the final design. </p>
<img class="img-responsive img-centered" src="img/mechanical/drivetrain%20in%20assembly.jpg" alt="">
<h3>Helpful SOLIDWORKS-features</h3>
<p>Custom design library features were the foundation of all interlocking edges, as well as motor attachments and other repeated features.</p>
<p>Design-tables were used for all dimensions to give mathematical, meaningful relations to all sides based on a few starting parameters. This also enabled us to make overarching dimensional changes in order to accommodate internal components in a matter of minutes rather than hours, as it would have taken, had the dimensions been hard-coded into every sketch. </p>
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<p>Deciding upon manufacturng-methods was an important step of the initial design-phase. It enabled us to do all of the modeling with the possible manufacturing techniques in mind, allowing the models to be created in reality. For the parts to be made on the laser cutter this entailed making each part be a flat sheet of thickness corresponding to the thickness of material available.</p>
<h3>Material Choice</h3>
<p>The chassis was made from either 3.175mm or 6.350mm thick hardboard. This choice was based on its favourable price, ease of use and good strength to weight ratio.</p>
<p>The arm was made from acrylic, due to its favourable metrics of strength and durability in comparison to hardboard. Delrin was used for the main bracket that carries the gear as this proved to require even greater strength. </p>
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<p>The waterjet cutter was used to make the final bumper from thin sheet metal. The flexibility of this material enabled the bumper to depress upon collision sufficiently to trip the collision-switches mounted behind.</p>
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<h2>3D Printing</h2>
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<p>Gears, fingers, wheels, spacer-brackets, slider-feet and battery-case were all manufactured using a ROBO 3D printer. This additive manufacturing technique enabled the combination of features into a single piece, minimizing the physical linkages required and allowing for a more compact design and increased reliability. </p>
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<h2>Chassis</h2>
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<p>The chassis was designed to be light, and easy to manufacture and assemble. We placed great emphasis on incorporating all components already at the digital stage, so that all attachment-point and mounting-systems for electronics and other components should find their place in the most natural manner.</p>
<p>The frame-assembly can be subdivided into two categories: structural frame and casing:</p>
<ul>
<li>The structural frame supports all load-elements in the construction, including the drivetrain, arm and heavy electronic components. It provides great rigidity and direct couplings to minimize relative motion of components in any undesired way.</li>
<li>The casing serves for protection, sensor-mounting and aesthetics.</li>
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<img class="img-responsive img-centered" src="img/mechanical/structural%20frame.JPG" alt="">
<h3>Interlocking Edges</h3>
<p>Having all pieces fit together through interlocking edges enabled the entire chassis to be held together by press-fit. Great modularity, strength and precision followed, enabling the team to shift focus to electronics and software.</p>
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<p>This video demonstrates the assembly of the robot, starting from the base structural frame. The process took a total of 28 minutes. </p>
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<h2>Collision System</h2>
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<p>Four touch-switches were included along the front bumper in order to enable the detection of collisions with other robots. These were also utilized in determining when we had reached the sidewalk when we were picking up a passenger.</p>
<p>A small, smooth metal bumper had to be included in order to fulfill the competition criteria. It started out as a hand-made piece, but was later upgraded to be waterjet cut with rounded edges and a logo etched using the laser cutter. </p>
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<p>Video demonstrating collision-handling in action. </p>
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<h2>Arm</h2>
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<p>The arm was designed to be as simple as possible. Its limited size and length automatically limits the torque applied during normal operation, enabling us to use a smaller motor for its operation. This lead to substantial overall weight-savings.</p>
<p>An internal geared motor operates the raising and lowering of the arm through a 3:1 gearing ratio, supplying the required torque. The gear for the arm is built right into the wall segment. On the other side, internal endstops work to trip switches that alert the system to the arm being lowered or raised.</p>
<p>The fingers have built-in helical gears that maintain their relative position directly, and that can be driven from a small externally mounted servo.</p>
<p>Using interlocking edges, the arm was kept together by friction and screws exclusively - no adhesives required. It was thus possible to replace parts easily when a slight configuration-change was required, such as changing the endstop-heights of the arm and changing the length of the fingers.</p>
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<p>Video demonstrating the arm in action.</p>
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<h2>Sensor Systems</h2>
<p class="item-intro text-muted">
QRD, QSD and Touch Sensors</p>
<img class="img-responsive img-centered" src="img/electrical/sensors_used.png" alt="">
<p>The QRD sensors operate by emitting IR light and measuring the amount reflected back. This allowed the robot to interpret the relative reflectance levels of the surface detected, thus allowing it to differentiate between black tape and the white streets of the course. These were connected directly into TINAH’s analog inputs. The Ray used four of these sensors, two for tape following and two for intersection detection.
</p>
<p>
The QSD sensors detected the infrared light emitted by the passengers, producing a signal whose strength was proportional to the light. These were connected to specialized circuits which combined DC blocking, filtering,DC rectifying, and amplification of the signal in order to produce an approximate analog DC voltage. The Ray has one of each of these sensors on each side to detect the prospective passengers on the course.
</p>
<p>
The Ray has four touch sensors on the front behind its metal bumper. This allows it to detect collisions with the sidewalks and the opposing robot on the track. Two sensors are located on the front of the robot, and two on the angled panels connecting the front and the sides. The two touch sensors on the left half of the robot and the two on the right half are each combined into one signal, producing an effective "OR" functionality between the two on each half. This allows us to have one digital input for the left half, and one for the right, while still utilizing four sensors for increased accuracy.
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<h2>IR Filtration</h2>
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<p class="item-intro text-muted">DC block, <a href="http://mysite.du.edu/~etuttle/electron/elect65.htm">biquad</a> filtering and signal rectifying all in one</p>
<p>The IR circuits combined a DC block, a biquad filter, a signal rectifier and an amplifier to produce an analog DC signal proportional to the strength of the signal detected.</p>
<p>The DC block removed the DC component of the signal. The biquad filter removes all signals that are not within a certain frequency range (tuned to detect 1 kHz, with a range of approximately +/- 500Hz). The signal rectifier takes the output of the biquad filter to produce the final, nearly DC signal (using a large decay constant), it was also slightly modified to provide further amplification of the signal. This gave us a near analog voltage that could be reliably read by the processor board.</p>
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<h2>Boris</h2>
<p class="item-intro text-muted">Connecting Everything Together</p>
<p>
Boris was designed as an alternative to wires. It allowed the Ray to have a clean internal electrical system by acting as a hub for our circuits and handling all connections between them. It removed the need for dozens of wires by providing power rails to the circuits from very few external connections, and made all inputs and outputs extremely accessible and easy to connect to the processor board.
</p>
<p>Boris also allowed the IR circuits and H-bridges to be plugged in using a modular interface. All of our circuits could directly plug into Boris, and could be very easily removed and replaced in a matter of seconds. It also minimized the possibilities for issues from loose connections, by having all connections close together and often in a single cable/row of pins. </p>
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<h2>TINAH</h2>
<p class="item-intro text-muted">Controlling the robot.</p>
<img class="img-responsive img-centered" src="img/electrical/TINAH_Pinout.png" alt="">
<p>Image Source: <a href="http://projectlab.engphys.ubc.ca/enph-253-2016/tinah-2016/">Engineering Physics Project Lab</a></p>
<p>The TINAH board was the brain of the robot. It acted as our main processor/computer and ran all of our code. It is a modified Arduino board custom-made for this course and provided by the instructors. It contains 8 analog inputs, 16 digital inputs/outputs, 8 PWM analog outputs, 4 motor outputs, multiple servo outputs, as well as some knobs, switches, buttons, and an LCD screen. TINAH is powered off a 16.7V LiPo battery. </p>
<p>We mounted our TINAH vertically on the inside of the robot against the left wall. This allowed it to take up minimal space as well as have all its inputs and outputs be as close as possible to Boris (where most of them needed to be connected).</p>
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