  DORI (Distributed Outdoor Robotic Instruments) is a remotely controlled
vehicle that is designed to simulate a planetary exploration mission. DORI is
equipped with over 20 environmental sensors and can perform basic data
analysis, logging and remote upload. The individual components are distributed
across a fault-tolerant bus for redundancy. A partial sensor list includes
atmospheric pressure, rainfall, wind speed, GPS, gyroscopic inertia, linear
acceleration, magnetic field strength, temperature, laser and ultrasonic
distance sensing, as well as digital audio and video capture. The project uses
recycled consumer electronics devices as a low-cost source for sensor
components. This report describes the hardware design of DORI including sensor
electronics, embedded firmware, and physical construction.
