Latest revision as of 20:11, 8 August 2025

Development Template
	Description	Link to Work Product	%
	DESIGN
1	Requirements + Value Proposition	Open Source Skid Steer Requirements + Value Proposition	0
2	Industry_Standards	Open Source Skid Steer Industry Standards	0
3	Conceptual Design	Open Source Skid Steer Conceptual Design	0
4	Module Breakdown	Open Source Skid Steer Module Breakdown	0
5	3D CAD	Open Source Skid Steer 3D CAD	0
6	Calculations	Open Source Skid Steer Calculations	0
7	Electronics Design	Open Source Skid Steer Electronics Design	0
8	Wiring and Plumbing	Open Source Skid Steer Wiring and Plumbing	0
9	Software	Open Source Skid Steer Software	0
	BILL OF MATERIALS
10	BOM	Open Source Skid Steer BOM	0
11	vBOM	Open Source Skid Steer vBOM	0
12	CAM Files	Open Source Skid Steer CAM Files	0
13	Cut List	Open Source Skid Steer Cut List	0
	BUILD
14	Build Instructions	Open Source Skid Steer Build Instructions	0
15	Fabrication Drawings	Open Source Skid Steer Fabrication Drawings	0
16	Exploded Part Diagram	Open Source Skid Steer Exploded Part Diagram	0
17	Production Engineering	Open Source Skid Steer Production Engineering	0
	LIFECYCLE DESIGN
18	Build Pictures and Video	Open Source Skid Steer Build Pictures and Video	0
19	Data Collection	Open Source Skid Steer Data Collection	0
20	Future Work	Open Source Skid Steer Future Work	0
21	Troubleshooting and Repair	Open Source Skid Steer Troubleshooting and Repair	0

Systems

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-=Specification=
-From Avinash Baskaran, Ph.D., [[OSHWA]] Postdoctoral Fellow
-Based on our initial conversation, I identified broad steps for a full-stack, open-source grading autonomy system. The stack is scoped within ROS and “SLAM”  framework (Simultaneous Localization And Mapping, which was a major focus of my PhD):
-#Drone-based multiview reconstruction using ROS + openMVG/MVS for topographical mapping
-#Open hardware rotary laser level + machine-mounted receiver for fine grading
-#Real-time toolpath planning using RViz + Open3D + RTAB-Map
-I plan to use the BeagleBone AI-64, an open-source platform to control the skid-steer, is this acceptable?
-Step 1 above is optional when elevation changes are minor compared to the receiver height, but I think it’s a valuable addition for enabling full autonomy. I’ve also received a high-fidelity SparkFun RTK GPS module from Nathan Seidle, which I’ll use to validate and calibrate the localization. Overall this approach balances cost, industry-aligned best practices, and high RoI. It also generalizes to applications at PARC, like autonomous crop and livestock management and hydrology.
-Looking forward to sharing and discussing initial results soon.
 =Systems=