Page 1 MCK-MRDR-001 Marz Rover Self Driving Vehicle Helpful instructional videos available at: mindsirobotics.com...
Page 2 MINDS-i® PRODUCT SAFETY INFORMATION When safety precautions are followed, your MINDS-i® system will provide years of enjoyment. Use care and good sense at all times when operating this product. Failure to use your system in a safe, sensible manner can result in injury or damage to property. You and you alone must insure that the instructions are carefully followed and all safety precautions are obeyed.
Page 3 Fully illustrated, step-by-step instructions describe adjustment, operation, and required maintenance procedures. MINDS-i® should not be operated in a crowd, or without adequate space. In an e ort to continually upgrade our products, MINDS-i® reserves the right to make improvements and modi cations to this system, which may not be re ected in the photographs and speci cations printed on this box.
Page 4: Parts Inventory
PARTS INVENTORY PAGE 1 1:3 SCALE 15-BEAM 8-BEAM 11-45 BEAM 6-45 BEAM 14-BEAM 7-BEAM 10-45 BEAM 5-45 BEAM 13-BEAM 6-BEAM 9-45 BEAM 4-45 BEAM 12-BEAM 5-BEAM 8-45 BEAM 3-45 BEAM 11-BEAM 4-BEAM 7-45 BEAM 2-45 BEAM x129 10-BEAM 3-BEAM 3-LOCK 2-LOCK 1.5-LOCK 9-BEAM...
Page 5 5,000 RPM MOTOR DUAL MOTOR BATTERY CABLE 1/16” ALLEN WRENCH 3/32” ALLEN WRENCH 0.050” ALLEN WRENCH BADLANDS 2.2” TIRE & DESPERADO WHEEL 3” SERVO WHEEL RACECAR WHEEL 1/4” FLAT WRENCH CROSS WRENCH 1 PHILLIPS SCREWDRIVER MINDS-i TOOL - 4 -...
Page 6 PARTS INVENTORY PAGE 3 1:1 SCALE #4-40 x 3/8” SCREW #4-40 NUT #4 WASHER #4-40 x 3/4” THREAD ROD ROD END BALL U-JOINT SET SCREW 6x12x4mm BEARING #4-40 x 1” THREAD ROD #4-40 x 1/2” SCREW SHOCK MOUNT 3/16” BALL STUD M5 WASHER 10x15x4mm BEARING #4-40 x 1-1/2”...
Page 7 PARTS INVENTORY PAGE 4 1:3 SCALE ARDUINO BASE PLATE ARDUINO UNO IR DISTANCE SENSOR PING))) SENSOR 3-PIN CABLE FLAT TO LATCH PUSH BUTTON SENSOR SHIELD 3-PIN CABLE FLAT TO SEPARATE QTI SENSOR ARDUINO COVER USB CABLE ARDUINO BATTERY HARNESS SERVO CABLE MALE TO MALE SERVO CABLE MALE TO FEMALE 5x5 IR PANEL VOLTAGE REGULATOR...
Page 8 CONNECTOR ASSEMBLY AND USAGE HELPFUL INSTRUCTIONAL VIDEOS AVAILABLE AT: www.mymindsi.com 1.5-LOCK 2-LOCK 3-LOCK PANEL LOCK 2-ROTATE 3-ROTATE - 7 -...
Page 9 - 8 -...
Page 10 - 9 -...
Page 11 - 10 -...
Page 12 MOTOR CASE ASSEMBLY MOTOR CASE A MOTOR CASE B 6x12x4mm BEARING - 11 -...
Page 13 MOTOR SHAFT 87-T SPUR M3x6mm SCREW #4 WASHER - 12 -...
Page 14 BE SURE TO ALIGN THE SET SCREW WITH THE FLAT SPOT ON THE MOTOR SHAFT THEN TIGHTEN PINION SET SCREW. 5,000 RPM MOTOR 15-T PINION MOUNT PINION GEAR FLUSH WITH END OF MOTOR SHAFT M3x6mm SCREW M3 WASHER DO NOT TIGHTEN - 13 -...
Page 15 #4-40 x 3/4” SCREW #4 WASHER #4-40 NUT ADJUST MOTOR SCREWS UNTIL GEARS MESH SMOOTHLY, THEN TIGHTEN WHEN ALIGNING THE GEARS TOGETHER MAKE SURE THEY ARE ABOUT A PAPER’S THICKNESS APART SO THEY MESH SMOOTHLY. DO NOT LEAVE THEM LOOSE OR PRESS THEM TOO TIGHT TOGETHER OR IT MAY DAMAGE THE GEARS OR PUT TOO MUCH STRESS ON THE MOTOR.
Page 16: Differential Assembly
DIFFERENTIAL ASSEMBLY HELPFUL INSTRUCTIONAL VIDEOS AVAILABLE AT: www.mymindsi.com KIT INCLUDES DIFFERENTIAL SHIMS -NOT USED BEST FOR: HANDLING RING GEAR DIFFERENTIAL SPOOL DIFFERENTIAL CARRIER CARRIER SHAFT BEST FOR: CARRIER SCREW TRACTION OUTPUT GEAR SHAFT NOT RECOMMENDED FOR 6x6 SPIDER GEAR - 15 -...
Page 17 PINION GEAR 6x12x4mm BEARING DIFFERENTIAL CASE 10x15x4mm BEARING - 16 -...
Page 18 NOTE: MAKE SURE TO MARK WHICH SIDE THE RING GEAR IS ON FOR FUTURE REFERENCE. #4-40 x 3/4” SCREW #4 WASHER #4-40 NUT NOTE: MAKING SURE THE SCREW HEADS ARE ON THE SAME SIDE AS THE RING GEAR IS AN EASY WAY TO REMEMBER WHICH SIDE IT’S ON.
Page 19 CENTER DIFFERENTIAL ASSEMBLY HELPFUL INSTRUCTIONAL VIDEOS AVAILABLE AT: www.mymindsi.com RING GEAR DIFFERENTIAL CARRIER CARRIER SHAFT CARRIER SCREW OUTPUT GEAR SHAFT SPIDER GEAR - 19 -...
Page 20 PINION GEAR 6x12x4mm BEARING CENTER DIFFERENTIAL CASE 10x15x4mm BEARING - 20 -...
Page 21 NOTE: MAKE SURE TO MARK WHICH SIDE THE RING GEAR IS ON FOR FUTURE REFERENCE. #4-40 x 3/4” SCREW #4 WASHER #4-40 NUT NOTE: MAKING SURE THE SCREW HEADS ARE ON THE SAME SIDE AS THE RING GEAR IS AN EASY WAY TO REMEMBER WHICH SIDE IT’S ON.
Page 22: Wheel & Tire Assembly
WHEEL & TIRE ASSEMBLY MASHER 3.2” TIRE VELOCITY WHEEL - 23 -...
Page 23 NOTE: MAKE SURE BOTH SIDES OF THE TIRE ARE PROPERLY SEATED ON THE RIM. OPTIONAL: IF YOU WOULD LIKE TO GLUE YOUR TIRES DOWN, PLACE A SMALL BEAD OF CA GLUE BETWEEN THE WHEEL AND TIRE. BE SURE TO PLACE TIRE BEAD BACK ONTO THE RIM PROPERLY.
Page 24 (WITH ENCODER) - 25 -...
Page 25: Front Axle
FRONT AXLE 6-DRIVELINE M5 WHEEL END SHAFT U-JOINT SET SCREW - 27 -...
Page 26 AXLE HOUSING STEERING BRACKET 1.5-LOCK STEERING BAR STEERING PLATE #4-40 x 3/8” SCREW - 28 -...
Page 27 AXLE HOUSING SERVO MOUNT TRANSITION 3-LOCK HS-485HB SERVO SERVO BUSHING SERVO BUSHING SLEEVE - 29 -...
Page 28 #2-32 x 5/8” SCREW #2 WASHER 12-BEAM 90mm SHOCK #4-40 x 1-3/8” SCREW #4 WASHER ROD END BALL CLEARANCE THREAD INTERFERENCE THREAD ADAPTER ADAPTER - 30 -...
Page 29 12-BEAM FRONT WHEEL HUB FRONT WHEEL KNUCKLE 3-ROTATE 6x12x4mm BEARING - 31 -...
Page 30 3-ROTATE 3/16” BALL STUD - 32 -...
Page 31 #4-40 x 3-3/4” THREAD ROD 23mm BALL CUP 1:1 SCALE - 33 -...
Page 32 #4-40 x 1” THREAD ROD 18mm BALL CUP 1:1 SCALE STEERING SERVO HORN 3/16” BALL STUD - 34 -...
Page 33 NOTE: REFER TO RADIO CONTROL SYSTEM INSTRUCTION MANUAL FOR PROPER SERVO SET-UP AND ADJUSTMENT SERVO HORN SCREW - 35 -...
Page 34 DUAL TRANSITION 1.5-LOCK 14mm WHEEL NUT 2.5x10mm DOWEL PIN - 36 -...
Page 35 REAR AXLE 6-DRIVELINE M5 WHEEL END SHAFT U-JOINT SET SCREW - 37 -...
Page 36 AXLE HOUSING STEERING BRACKET 1.5-LOCK STEERING BAR STEERING PLATE #4-40 x 3/8” SCREW - 38 -...
Page 37 AXLE HOUSING SERVO MOUNT TRANSITION 3-LOCK HS-485HB SERVO SERVO BUSHING SERVO BUSHING SLEEVE - 39 -...
Page 38 #2-32 x 5/8” SCREW #2 WASHER 12-BEAM 90mm SHOCK #4-40 x 1-3/8” SCREW #4 WASHER ROD END BALL CLEARANCE THREAD INTERFERENCE THREAD ADAPTER ADAPTER - 40 -...
Page 39 12-BEAM FRONT WHEEL HUB FRONT WHEEL KNUCKLE 3-ROTATE 6x12x4mm BEARING - 41 -...
Page 40 3-ROTATE 3/16” BALL STUD - 42 -...
Page 41 #4-40 x 3-3/4” THREAD ROD 23mm BALL CUP 1:1 SCALE - 43 -...
Page 42 #4-40 x 1” THREAD ROD 18mm BALL CUP 1:1 SCALE STEERING SERVO HORN 3/16” BALL STUD - 44 -...
Page 43 NOTE: REFER TO RADIO CONTROL SYSTEM INSTRUCTION MANUAL FOR PROPER SERVO SET-UP AND ADJUSTMENT SERVO HORN SCREW - 45 -...
Page 44 DUAL TRANSITION 1.5-LOCK 14mm WHEEL NUT 2.5x10mm DOWEL PIN - 46 -...
Page 45 MIDDLE AXLE 7-DRIVELINE M5 WHEEL END SHAFT U-JOINT SET SCREW - 47 -...
Page 46 AXLE HOUSING TRANSITION 2-BEAM 3-LOCK 12-BEAM 90mm SHOCK #4-40 x 1-3/8” SCREW #4 WASHER ROD END BALL CLEARANCE THREAD INTERFERENCE THREAD ADAPTER ADAPTER - 48 -...
Page 47 12-BEAM REAR WHEEL HUB 3-ROTATE 6x12x4mm BEARING - 49 -...
Page 48 3-ROTATE DUAL TRANSITION 1.5-LOCK - 50 -...
Page 49 14mm WHEEL NUT 2.5x10mm DOWEL PIN - 51 -...
Page 50 NOTICE: THE ORENTATION OF THE DIFFERENTIALS IS VERY IMPORTANT. MAKE SURE TO PAY CLOSE ATTENTION TO THE ASSEMBLY OF THE DIFFERENTIALS, ESPECIALLY WHICH SIDE THE RING GEAR IS ON, AS IT DETERMINES THE WHEELS DIRECTION OF ROTATION. REFER TO THIS DIAGRAM WHEN ATTACHING THE AXLES TO THE FRAME, INSURING THE RING GEARS ARE IN THE APPROPRIATE LOCATIONS.
Page 51 15-BEAM 13-BEAM 12-BEAM 2-LOCK 2-LOCK - 53 -...
Page 52 9-BEAM DUAL TRANSITION 2-LOCK 11-BEAM 9-BEAM 3-LOCK 2-LOCK - 54 -...
Page 53 2-LOCK SUPPORT ARM 2-LOCK 2-ROTATE - 55 -...
Page 54 2-45 BEAM 3-LOCK TRANSITION 3-LOCK - 56 -...
Page 55 2-45 BEAM 3-LOCK TRANSITION 3-LOCK - 57 -...
Page 56 3-DRIVELINE 1-DRIVELINE 0-DRIVELINE U-JOINT SET SCREW 2-LOCK - 58 -...
Page 57 15-BEAM 12-BEAM 2-LOCK BATTERY CAP TRANSITION 2-LOCK - 59 -...
Page 58 3-LOCK 3-LOCK 2-LOCK - 60 -...
Page 59 3-45 BEAM 3-LOCK TRANSITION 3-LOCK - 61 -...
Page 60 13-BEAM #4-40 x 1-3/8” SCREW #4 WASHER SHOCK MOUNT CLEARANCE THREAD ADAPTER INTERFERENCE THREAD ADAPTER 2-LOCK - 62 -...
Page 61 TRANSITION ANTENNA TUBE ANTENNA MOUNT 2-LOCK BADLANDS 3.8” TIRE & DESPERADO WHEEL M5 WASHER M5 NUT - 63 -...
Page 62 5-PING SENSOR ARRAY 13-BEAM 5-BEAM TRANSITION 2-LOCK - 65 -...
Page 63 6-BEAM 5-BEAM TRANSITION 3-ROTATE 8-BEAM 6-BEAM 3-ROTATE 2-ROTATE - 66 -...
Page 64 4-BEAM 2-45 BEAM PING))) SENSOR #4-40 x 3/4” SCREW CLEARANCE THREAD ADAPTER INTERFERENCE THREAD ADAPTER TRANSITION 2-LOCK - 67 -...
Page 65 3-BEAM 3-LOCK 3-LOCK 2-LOCK - 68 -...
Page 66 15-BEAM 9-BEAM 7-BEAM 4-BEAM 3-BEAM 3-LOCK TRANSITION 3-LOCK 2-LOCK - 69 -...
Page 67 2-LOCK 3-LOCK 2-LOCK - 70 -...
Page 68 APM BOARD TELEMETRY RADIO APM 6-PIN CABLE 3-PIN CABLE FLAT TO LATCH - 71 -...
Page 69 REFER TO RADIO TRANSMITTER MANUAL AND FOLLOWING DIAGRAMS FOR PROPER INSTALLATION AND SET-UP. USING THE WIRE TIES AND DOUBLE-SIDED TAPE PROVIDED, PLACE THE ELECTRONIC COMPONENTS ON THE FRAME SO THAT THEY ARE SECURE AND OUT OF THE WAY OF MOVING PARTS. - 72 -...
Page 70 4x4 SUPER CRAWLER (WITH ENCODER) - 73 -...
Page 71 ONE WITHOUT ENCODER 2-45 BEAM DUAL TRANSITION TRANSITION 3-LOCK 2-LOCK ONE WITH ENCODER 2-45 BEAM DUAL TRANSITION TRANSITION 3-LOCK 2-LOCK - 75 -...
Page 72 4.8” FOUR LINK ARM ROD END ROD END BALL 11-BEAM 7-BEAM 3-LOCK #4-40 x 1-3/8” SCREW #4 WASHER CLEARANCE THREAD INTERFERENCE THREAD ADAPTER ADAPTER - 76 -...
Page 73 7-BEAM CLEARANCE THREAD ADAPTER 3-LOCK 2-LOCK - 77 -...
Page 74 13-BEAM BATTERY CAP TRANSITION 2-LOCK 11-BEAM 10-BEAM 90mm SHOCK 2.0” THREAD COLLAR #4 WASHER #4-40 x 1-3/8” SCREW SHOCK MOUNT ROD END BALL CLEARANCE THREAD ADAPTER - 78 -...
Page 75 11-BEAM 3-LOCK 2-LOCK - 79 -...
Page 76 3-LOCK 2-LOCK 8-45 BEAM 2-LOCK - 80 -...
Page 77 DUAL TRANSITION #4-40 x 1-3/8” SCREW #4 WASHER CLEARANCE THREAD ADAPTER INTERFERENCE THREAD ADAPTER 8-BEAM 2-LOCK CLEARANCE THREAD ADAPTER - 81 -...
Page 78 DUAL TRANSITION 2-LOCK REPEAT STEPS 13-15 1.2” THREAD COLLAR #4-40 x 1-3/8” SCREW - 82 -...
Page 79 1.2” THREAD COLLAR #4-40 x 1” SCREW #4 WASHER 13-BEAM 9-BEAM 2-LOCK - 83 -...
Page 80 3-45 BEAM TRANSITION 3-LOCK 11-BEAM 2-LOCK - 84 -...
Page 81 3-LOCK 2-LOCK 6-DRIVELINE M5 WHEEL END SHAFT U-JOINT SET SCREW - 85 -...
Page 82 AXLE HOUSING STEERING BRACKET 1.5-LOCK STEERING BAR STEERING PLATE #4-40 x 3/8” SCREW - 86 -...
Page 83 AXLE HOUSING SERVO MOUNT 2-BEAM 3-LOCK HS-485HB SERVO SERVO BUSHING SERVO BUSHING SLEEVE - 87 -...
Page 84 #2-32 x 5/8” SCREW #2 WASHER 9-BEAM FRONT WHEEL HUB FRONT WHEEL KNUCKLE 3-LOCK 6x12x4mm BEARING - 88 -...
Page 85 3-LOCK - 89 -...
Page 86 3-45 BEAM TRANSITION 3-LOCK 2-LOCK 3/16” BALL STUD - 90 -...
Page 87 #4-40 x 2-3/4” THREAD ROD 23mm BALL CUP 1:1 SCALE - 91 -...
Page 88 #4-40 x 1” THREAD ROD 18mm BALL CUP 1:1 SCALE STEERING SERVO HORN 3/16” BALL STUD - 92 -...
Page 89 NOTE: REFER TO RADIO CONTROL SYSTEM INSTRUCTION MANUAL FOR PROPER SERVO SET-UP AND ADJUSTMENT SERVO HORN SCREW - 93 -...
Page 90 14mm WHEEL NUT 2.5x10mm DOWEL PIN REPEAT STEPS 22-39 1.5-LOCK - 94 -...
Page 91 2-LOCK 2-LOCK - 95 -...
Page 92 7-DRIVELINE U-JOINT SET SCREW BADLANDS 3.8” TIRE & DESPERADO WHEEL M5 WASHER M5 NUT - 96 -...
Page 93 TRANSITION ANTENNA TUBE ANTENNA MOUNT 2-LOCK - 97 -...
Page 94 5-PING SENSOR ARRAY 13-BEAM 4-BEAM 2-LOCK - 99 -...
Page 95 6-BEAM 5-BEAM TRANSITION 3-ROTATE 8-BEAM 6-BEAM 3-ROTATE 2-ROTATE - 100 -...
Page 96 4-BEAM 2-45 BEAM PING))) SENSOR #4-40 x 3/4” SCREW CLEARANCE THREAD ADAPTER INTERFERENCE THREAD ADAPTER TRANSITION 2-LOCK - 101 -...
Page 97 3-BEAM 3-LOCK 3-LOCK 2-LOCK - 102 -...
Page 98 TRANSITION 2-LOCK 15-BEAM 9-BEAM 3-BEAM TRANSITION 3-LOCK - 103 -...
Page 99 11-45 BEAM TRANSITION 2-LOCK TRANSITION 2-LOCK - 104 -...
Page 100 2-LOCK 3-LOCK 2-LOCK - 105 -...
Page 101 REFER TO RADIO TRANSMITTER MANUAL AND FOLLOWING DIAGRAMS FOR PROPER INSTALLATION AND SET-UP. USING THE WIRE TIES AND DOUBLE-SIDED TAPE PROVIDED, PLACE THE ELECTRONIC COMPONENTS ON THE FRAME SO THAT THEY ARE SECURE AND OUT OF THE WAY OF MOVING PARTS. - 106 -...
Page 102 - 107 -...
Page 103 UGV Dashboard Setup Warning! Before continuing further, please ensure that you do NOT have the battery plugged into the ESC harness. - 109 -...
Page 104 UGV Systems Setup Checklist #1 Calibrate Sensors #2 Upload RoboMagellan6x6 Code #3 Connecting to the Dashboard - 111 -...
Page 105: Step #1 Calibrate Sensors
Step #1 Calibrate Sensors: Open Arduino> click open> libraries> MINDS-i-Drone> CalibrateSensors.ino. Make sure you have the correct board (MEGA 2560) and port selected (whatever port says MEGA 2560). A: Click the upload button. B: Once the upload is complete open the serial monitor.
Page 106 With the serial monitor open follow the instructions as prompted. Move the UGV and hold on each face until the column displays an “ok”. Once all of the columns say “ok” you will type a “y” into the top bar and press enter. You have successfully calibrated the accelerometer and compass.
Page 107 Step #2 Upload RoboMagellan6x6 Code: Open Arduino> click open> libraries> MINDS-i-Drone> roboMagellan6x6.ino. Make sure you have the correct board (MEGA 2560) and port selected (whatever port says MEGA 2560). Click the upload button. Once the upload is complete disconnect the UGV from the computer.
Page 108: Radio Configuration
56700 baud, but after configuration they will connect at 9600 baud • Make the changes you want, or press “Import defaults” to automatically configure it for use with MINDS-i drones • Press “Save Changes”, disconnect, and power cycle the telemetry radio •...
Page 109: Transmitter And Receiver Binding
Servo Reversing (DXe) To enable servo reversing, hold the left and right gimbal sticks in the upper-inside position as shown while powering on the transmitter. Left Gimbal Right Gimbal After the Transmitter is powered on, release the sticks and return to center. Use the right gimbal to select the channel or reverse the selected channel.
Page 110 D R O N E S STEM INTEGRATED ROBOTICS M I N D S - i D a s h b o a r d - 117 -...
Page 111 Dashboard Features & Functions Waypoint Panel Connection Panel Data Panel Terminal - 119 -...
Page 112 Waypoint Panel: 10 10 10 Configuration: Opens a pop up window with the Telemetry Radio Configuration tool. View Button: This button switches the map between satellite and elevation views. Navigation: Zoom in and out. Telemetry: Opens a window allowing you to select the information that will be recorded in the log as well as all of the adjustable settings for the vehicle.
Page 113 Configuration: Toggle ground/air mode: Switches between ground and air mode. Driver Installer: Launches the installer for the radio driver. Refresh: Refreshes the serial port list. Com Port List: Shows the open com ports. Baud Rate: Used to set the communication speed. Connect: Connects to the telemetry radio to adjust the settings.
Page 114 Telemetry: Defines how strongly the drone should attempt to return to the original course between waypoints, versus the direct path from its current location to the target Data Log Window: The data log opens in a new window. ID Column: Lists the names of the preset data to be logged as well as the open slots. Value Column: Includes the value for each row of data.
Page 115 Graph: Configure: Opens Graph Configuration. Anti Alias: Used to smooth jagged edges on curved lines and diagonals. Scaling: Adjusts the scale of the graph. Data Name Check Box: User input for the data to be graphed. Color Settings: User selected color for each row of data selected. Select the check box in the row of the data desired to be graphed then select the color you would like the line to be on the graph, repeat for each row of data.
Page 116: Event Log
Event Log: Event Log: Lists all attempts of communication between the vehicle and the Dashboard software (succesfull or not). - 124 -...
Page 117: Data Panel
Data Panel: Data from the robot will populate this panel when connected. A lack of data when connected could indicate a failing connection to the robot, possibly from distance or obstacles blocking the signal. Altitude (Above Ground), Altitude (Sea Level), Speed (MPH), Battery Voltage (Vcc). Vehicle Direction (compass heading) Vehicle Pitch &...
Page 118: Connection Panel
Connection Panel: The refresh button will repopulate the dropdown menu with the currently available serial ports To connect, select the appropriate serial port in the drop down and press connect. When a connection has been established, the “Connect” button will change to say “Disconnect”...
Page 119: Map View
Map View: • The rover will automatically be placed on the map where the GPS indicates it is located • Click and drag on the map to pan your view • Scroll on the map to zoom • Click on any empty part of the map to add a waypoint to the end of the current path •...
Page 120 Connecting to your Drone First time only: • Follow the setup instructions in the MINDS-i Drone Library repository for your drone • Make sure appropriate drivers are available for your telemetry radios • If you are running windows, a driver installation button is available in the configuration menu.
Page 121: Artificial Horizon
Switching Between Ground and Air Mode To switch the dashboard between ground drone and air drone mode, Open the configuration window, press “Toggle ground/air mode”, and then restart the dashboard Artificial Horizon When in air mode, the artificial horizon widget can be clicked on to open a full size window with altitude and heading overlaid on the right and top edge respectively.
Page 122 For the most up to date version of the instructions go to: mindsirobotics.com/instructions Patents US 7,517,270; US 7,410,225; US 7,736,211; US 7,841,923; MX 288,350; Additional Patents Pending. Trademarks 3,420,137 and 3,487,694 Copyright © 2012 MINDS-i Inc. All rights reserved.

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