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Key project documents.

   
Title
Author
Initial date
Prize distribution Celia Oakley June 6, 2003

Design Notes

      
Note
Title
Status
Author
Initial date
1
 Preliminary design issues background John Nagle December 6, 2002
2
 Vehicle issues historical John Nagle December 7, 2002
3
 Vision for automatic driving background John Nagle December 8, 2002
4
 First-cut response to various points historical Robert Kennedy December 8, 2002
5
 Depth from stereo images historical John Nagle December 12, 2002
6
 The QNX real time operating system background John Nagle December 20, 2002
7
 A first cut at a system block diagram historical John Nagle December 20, 2002
8
 Mapping near the vehicle background John Nagle December 27, 2002
9
 QNX tips useful John Walker December 29, 2002
10
 Driving control background John Nagle January 13, 2003
11
 Restart and recovery background John Nagle January 14, 2003
12
 Laser rangefinding background John Nagle January 17, 2003
13
 Driving scenarios background John Nagle January 30, 2003
14
 QNX code development hints useful John Nagle February 2, 2003
15
 Front, rear, and top subassemblies historical John Nagle February 3, 2003
16
 Vehicle control RFP historical John Nagle February 12, 2003
17
 being written   John Nagle  
18
 Polaris Ranger ATV historical John Nagle February 27, 2003
19
 Dual laser rangefinders background John Nagle

April 1, 2003
20
 Auxiliary sensors useful John Nagle

April 5, 2003
21
 Rotating prism scanning laser rangefinder background John Nagle

April 16, 2003
22
 Lincoln Laser polygonal scanning mirrors background John Nagle

May 1, 2003
23
 Top-level control background John Nagle

being written
24
 Laser rangefinding - another approach future John Nagle

May 15, 2003
25
 Sensor/actuator list useful John Nagle

May 22, 2003
26
 Laser rangefinder stabilization useful John Nagle

June 19, 2003
27
 Concurrent Version System server useful John Nagle

June 26, 2003
28
 Building bootable QNX images useful John Nagle

July 16, 2003
29
 Software design overview useful John Nagle

July 20, 2003
30
 QNX Momentics IDE useful Celia Oakley September 25, 2003
31
 Mechanical Drawings (.dwg files) useful Celia Oakley October 7, 2003
32
 Programming with the Photon GUI useful John Nagle October 19, 2003
33
 Emergency stop system useful John Nagle October 26, 2003
34
 Electronic Wiring Standard useful Celia Oakley October 28, 2003
35
 Simplified laser rangefinder data reduction useful John Nagle October 28, 2003
36
 Data and Power for Computers and Sensors useful Khian Hao Lim December 7, 2003
37
 Field Testing and Vehicle User useful Khian Hao Lim December 7, 2003
38
 Watchdog and Startfiles useful Khian Hao Lim December 7, 2003
39
 Booting, Software and Hardware Watchdogs useful Khian Hao Lim December 7, 2003
40
 Listing of Programs, Watchdog IDs and Resources useful Khian Hao Lim December 7, 2003
41
 Move Server Design useful Achut Reddy January 11, 2004
42
 GPSINS Server Design useful Khian Hao Lim February 7, 2004
43
 Sonar System Design useful Khian Hao Lim February 7, 2004
44
 Water Detection Design useful Khian Hao Lim February 7, 2004
45
 2004 Grand Challenge postmortem background John Nagle March 13 , 2004
46
 Steering and brake servo control useful John Nagle April 1 , 2004
47
 Galil controller isolation board useful John Nagle May 22 , 2004
48
 Task list for "R/C car mode" milestone useful John Nagle June 23, 2004
49
 Speed server useful John Nagle October 20 , 2004
50
 Steering control with "newsteer" useful John Nagle February 15, 2005
51
 Removing vibration from LIDAR data useful John Nagle May 8, 2005
52
 LIDAR, GPS, and AHRS geometry transforms useful John Nagle August 17, 2005
53
 2005 NQE recap useful John Nagle October 18 , 2005
54
 State of the Overbot useful John Nagle October 18 , 2005
         

Communications with DARPA

    
Title
Author
Initial date

2004 Grand Challenge

    
DARPA-required technical paper, version 1 John Nagle June 21, 2003
DARPA reply to technical paper #1 (MS WORD) DARPA staff August 22, 2003
DARPA Grand Challenge Newsletter #1 (PDF) DARPA staff August 27, 2003
DARPA-required technical paper, version 2 (MS WORD) John Nagle September 7, 2003
DARPA sample "bailment agreement" for vehicle during race (PDF) DARPA staff September 15, 2003
DARPA reply to technical paper #2 (MS WORD) DARPA staff September 22, 2003
DARPA-required technical paper, version 3 (MS WORD) John Nagle September 22, 2003
DARPA Grand Challenge Newsletter #2 (PDF) DARPA staff September 30, 2003
DARPA note that technical paper was "completely acceptable" (PDF) DARPA staff November 5, 2003
DARPA letter from director re acceptance procedure (PDF) DARPA staff November 5, 2003
DARPA manual for E-stop system (version1.1) (PDF) DARPA staff November 7, 2003
DARPA GFE tracking unit form factor (PDF) DARPA staff November 7, 2003
DARPA pictures of tracking and E-stop units DARPA staff November 7, 2003
DARPA "bailment agreement" letter (PDF) DARPA staff November 14, 2003
DARPA final "bailment agreement" (PDF) DARPA staff November 14, 2003
DARPA final "bailment agreement cover sheet (MS WORD) DARPA staff November 14, 2003
DARPA answers to entrant questions re "phase lines" (PDF) DARPA staff November 26, 2003
DARPA answers to entrant questions on other subjects (PDF) DARPA staff November 26, 2003
DARPA "self sufficiency" (no government funding) letter (PDF) DARPA staff December 24, 2003
DARPA "self sufficiency" form (PDF) DARPA staff December 24, 2003
DARPA/BLM route map (released by Bureau of Land Management, Barstow) (PDF) DARPA staff December 24, 2003
DARPA QID process description(PDF) DARPA staff January 2, 2004
DARPA team instruction(PDF) DARPA staff January 2, 2004
DARPA updated rules(PDF) DARPA staff January 5, 2004
DARPA Grand Challenge environmental assessment(PDF) DARPA staff January 4, 2004
DARPA memo to Team Overbot(PDF) DARPA staff January 5, 2004
Team Overbot questionnaire(PDF) DARPA staff January 2, 2004
DARPA newsletter #3(PDF) DARPA staff January 29, 2004
California Speedway liability release and indemnification agreement (PDF) California Speedway January 29, 2004

2005 Grand Challenge

    
DARPA press release announcing 2005 Grand Challenge DARPA staff June 9, 2005
DARPA rules for 2005 Grand Challenge DARPA staff August 2, 2005
DARPA has received our initial application DARPA staff August 19, 2005

Specifications and interface documents

    
Title
Author
Initial date
QNX driver for FireWire cameras John Nagle February 2, 2003
Eaton VORAD radar interface specification Eaton VORAD February 6, 2003
devfw-ohci - manual page for FireWire driver John Nagle April 22, 2003

Other document collections