Invertible Mast Mechanism
For greater robustness we are trying to guarantee that the swarm mini-bot can function while upside-down. This can be accomplished by using a large track system with an internal accelerometer to measure angle of inclination. Unfortunately, it also makes the problem of ultrasound monitoring more difficult since the ultrasound receiver needs to be mounted near the "top" of the robot. This invertible mast was prototyped as a way of passively keeping the receiver on top of the robot even while upside down.