The NTNU Cyborg v2.0: The Presentable Cyborg
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The focus of this thesis is to make the NTNU Cyborg robot ready for presentations. I present a term, The Presentable Cyborg, which is the state in which the Cyborg is ready for presentations. I also present another state, The Presentable Robot, which is the same state but without the signals from biological neural cells. For both these states I decide what the requirements are, and attempt to reach them. The end result is that we reach The Presentable Robot, but without completed ROS communication between the computers on the Cyborg. The Presentable Robot is capable of navigating a known environment and move around of it's own free will, has a working, implemented controller node, powers all the hardware from the robot base' battery, has a working network solution and is simple to start for presentations. I also present a new project structure, the project's core. I argue that we should have a stable and reliable core in the project to let the participating students focus more on their individual tasks that belong outside the core. By the end of the semester the project's core is in a stable state. To make the robot ready for presentations I have guided and assisted the Experts in Team groups, influenced the hardware architecture of the Cyborg, created the Startup Box and Startup Script, found and implemented a network solution for the Cyborg and it's embedded computers and implemented the controller node made by an earlier student on the Cyborg. The complete solution has been tested and shown to work well. In my work I have made choices that will benefit future students in making the Cyborg easier to work on, including making a network solution that allow easy debugging and writing a guide to the Cyborg. The latter of which is I believe will have a great impact in the upcoming semester.