3-1-1 The bumper
The material of the bumper , which protected the camera ,was altered to acrylic plastic.
It is guessed by MIRS1204 that purpose of alteration was to reduce load of the Motor and to maintain easily by losing weight.

Fig.2 The bumper

3-1-2 The Super Sonic Sensor board　 (Specification of manufacturing the Super Sonic Sensor board)
The oscillator and the Super Sonic Sensor were separated each other on the side of main body.


Fig.3　The Super Sonic Sensor
There was the oscillator in the centre of the chassis. The MIRS1101 members coped with problem which wasn't able to detect correct distance to the walls because of being placed too short , the MIRS1204 members guessed.
Because the MIRS1101 members added two surpluse Super Sonic Sensor , MIRS1101 had three sensors on it. The MIRS1204 members thought it was added for more correct distance detection. Refer to Fig.1 Upper row.
There were smooth plastic covers beside of Super Sonic Sensor , and the MIRS1204 members guessed two Super Sonic Sensor covers availed of restraining the affect , covering with a flat board on the eletric circuit.

Fig.4 The flat electric circuit cover

3-1-3 The Motor Control board
The MIRS1204 members have confirmed that wasn't changed from normal MIRS.
Specification of manufacturing MTCB

3-1-4 The Power Supply board
The MIRS1204 members have confirmed that wasn't changed from normal MIRS.
Satification of manufacturing The Dual Regulator Power Supply board

3-1-5 Whole of Upper row
The connection units were altered to avoid the errors occured from disconnection.
The MIRS1204 members guessed it was set to save repairing time. Refer to Fig.1 Upper row.

3-1-6 The chassis
The alteration of material to the plastic allowed to MIRS to be lighter.
The MIRS1204 members guessed that circle shape adopted by MIRS1101 was formed so as to pass the corner smoothly.

To get more information about alternation , refer to following the documents.

3-1-7 The Posts
The MIRS1101 members could success to reduce weight by altering the material to acrylic. It also contributed to make the manuracturing ease.

To get more information about alternation , refer to following the documents.

3-2-1 The Web camera
The MIRS1204 members confirmed it wasn't changed from normal machine.

3-2-2 The touch sensor
There were 3 touch sensors in front of main body of the machine.
But the normal machine has only one touch sensor in front , MIRS1101 had 3 sensors set by its front shape , curve.
The MIRS1204 members thought the MIRS1101 members used this system to make MIRS become sensitive to detect crash from any side of its front.

Fig.6 The Touch sensor

3-2-3 The cable
　　Some of connection unit were changed from �@ to �A so as to withstand from any vibrations.

Fig.7 Changed connection units

3-2-3　The DOTA board , the CPU board
　The MIRS1101 had 2 boards which were arrenged in parallel. Refer to Fig.5 Miggle row
The MIRS1204 members guessed that the members of MIRS1101 had adopted this structure to make MIRS stable and make maintenance easy.

3-3-1 The line detector
The MIRS1204 members have confirmed it wasn't changed from normal machine.
Process of normal machine

3-3-2 The springs
The springs which aren't installed in normal machine were installed in MIRS1101.
The springs located between middle row and lower row , and in front of its body and in back of its body.

Fig.9　The saspetions
The front-located saspention was set with the bended board which connected with caster.
Each saspention had the ballcaster in center of it so as not to be ovstructed by the any obstacles , such as the step and the seesaw.
Refer to Fig.8 Lower row
The suspentions were linked with , the 2 springs on the middle row , and , the 3 springs on the lower row.
The members of MIRS1204 guessed that , the 3 springs with lower row had been installed to pass the obstacles smoothly , and , the 2 springs with middle row had been installed to reduce the shock by occuring when MIRS passed the bumps.

3-3-3 The ballcaster
The members of MIRS1204 have confirmed it was'n changed from normal machine.
Process of assembling the normal machine

3-3-4 The tyres
The members of MIRS1204 have confirmed it was'n changed from normal machine.
Process of assembling the normal machine