The Control and Sensor System (CASSY) was designed to use primarily off the shelf hardware and to be an inexpensive platform that allows educational institutions to teach control theory. Fabrication and assembly guides were prepared and the resulting materials proved valuable in teaching undergraduate and graduate students basic fabrication, machining, and soldering skills. The platform consists of four independently driven wheels instrumented with encoders, inertial yaw rate measurement of the body, and bluetooth telemetry. Physics students from Hendrix College, a liberal arts college, and engineering students from University of Arkansas at Little Rock (UALR), a state sponsored university, used the guides to build several prototype CASSY robots and to explore autonomous programming, integration of new sensors, and other useful research skills.

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