The tempo on major build work on Tenacity has definitely slowed over the past few months. At 2.5 years in, there's not a whole lot of major structural improvement to be done. I've been working on it steadily, but these are enhancements and improvements to things that have been bugging me over the long term. 

Let's start with enclosures for the front and back ends. I created these over the holidays in December/January. 

One thing that has been really useful is the addition of some "Debug Ports", so I don't have to go scrabbling around inside the main box to plug into the LAN or flash new code onto the Arduino, etc.
Shown here: Ethernet, USB and HDMI.

I also designed in some holes for the toggles on the main power switches. They're recessed underneath now along w/ their wiring. The green "roll cage" like bar in the background there is actually a carrying handle for when I need to haul it around.

The front here has slots for the cliff sensors, a pair of VL53L0Xs and slot for another camera or other sensor. Again, out with the sticky tape and zip-ties for actual sockets to mount things on :)

The real remaining work to be done at this point is software and I've been getting some work done on that too with the OAK-D depth-camera.