Table of Contents
Mission Overview
Subsystem Overview
Structure/Material
Structure
Frame
Main Body
Material
Frame
Main Body
Drive/Steering
Drive Motors
Motor Assembly
Motor Requirements
Steering Motors
Controls
Motor Controllers
Control Methods
Switching Circuits
Microcontroller Requirements
Software
Memory
Sensor Design
Communication Design
Thermal Design
Power System
Power Conditioning and Monitoring
Switching and Regulation
Photovoltaics
Batteries
Conclusion
Future Work
Division of Labor
Appendix
Sample Calculations
System Power & Mass Estimates
Power Calculations
References
