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Revision f59acf11

IDf59acf11f83bf3f68562a8d2a523aa05d3e523d2

Added by Dan Shope over 12 years ago

Added website and doc files

View differences:

docs/www/colonyscout/.htaccess
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ErrorDocument 404 /error.php?c=400
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ErrorDocument 404 /error.php?c=404
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ErrorDocument 500 /error.php?c=500
docs/www/colonyscout/.htpasswd
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dshope:aq.wETjA0Q6ao
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admin:hcaGBBiZ9/hBA
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roboclub:d3abizoUzexlo
docs/www/colonyscout/BLANK.php
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<?php
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$cacheFile="cache/blank.html";
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if (file_exists($cacheFile)) //we can read this cache file back reduce database load
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{
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   header("Content-Type: text/html");
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   readfile($cacheFile);
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   exit;
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} else {
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   ob_start(); //start buffering so we can cache for future accesses
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}
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?>
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<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd"> 
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<html xmlns="http://www.w3.org/1999/xhtml" xml:lang="en" lang="en"><head> 
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		<meta http-equiv="Content-Type" content="text/html; charset=iso-8859-1"/>	
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		<meta name="description" content="FILL IN"/> 
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		<meta name="keywords" content="FILL IN"/> 
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<?php include("header.php"); ?>
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		<title>TEMPLATE | ColonyScout.com</title> 
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</head>
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<body bgcolor="#eeeeee"> 
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<div id="general"> 
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<?php include("nav.php"); ?> 
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	<div id="body">
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		<div id="body-boxes">
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			<div class="box-row" style="margin-top: 10px;">
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				<div class="white-top"></div>
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				<div class="white-body text-box">
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					<a href="javascript:;" title="Click to Expand" onmousedown="toggleDiv('TEMP');">
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					<h1>Temp Title</h1><img src="images/btn_expand.png" /></a>
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					<p><span class="description">Temp description
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					<br/><br/>
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					<a href="javascript:;" onmousedown="toggleDiv('TEMP');">
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					<em>learn more &gt;&gt;</em></a>
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					</span></p>
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					<div class="hr"></div>
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					<div id="TEMP" style="display:none;">
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					<h2>Sub Section 1</h2>
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					<p>Description here</p>
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					<div class="hr"></div>
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					<h2>Sub Section 2</h2>
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					<p>Description here</p>
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					<div class="hr"></div>
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					</div><!--end 'TEMP' collapse-->	
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				</div>
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				<div class="white-body text-box">					
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					<div id="bottom-nav">
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						<ul id="pagenav">
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							<li class="previous">
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								<a href="<?php echo $nav[$nav_id['vids']-1]; ?></a></li>
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							<li class="next">
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								<a href="<?php echo $nav[$nav_id['vids']+1]; ?></a></li>
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						</ul>
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					</div>
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				</div>
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				</div>
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				<div class="white-bottom"></div>
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			</div>					
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		</div>	
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	</div> <!--BODY!--> 
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<?php include("footer.php"); ?>
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</div><!--GENERAL!--> 
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 <script type="text/javascript" charset="utf-8">
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  var is_ssl = ("https:" == document.location.protocol);
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  var asset_host = is_ssl ? "https://s3.amazonaws.com/getsatisfaction.com/" : "http://s3.amazonaws.com/getsatisfaction.com/";
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  document.write(unescape("%3Cscript src='" + asset_host + "javascripts/feedback-v2.js' type='text/javascript'%3E%3C/script%3E"));
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</script>
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<script type="text/javascript" charset="utf-8">
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  var feedback_widget_options = {};
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  feedback_widget_options.display = "overlay";  
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  feedback_widget_options.company = "roboclub";
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  feedback_widget_options.placement = "right";
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  feedback_widget_options.color = "#222";
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  feedback_widget_options.style = "praise";
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  feedback_widget_options.product = "roboclub_colony_scout";  
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  feedback_widget_options.auto_tag = true;
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  var feedback_widget = new GSFN.feedback_widget(feedback_widget_options);
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</script>
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</body></html>
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<?php
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$buffer = ob_get_contents();
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ob_end_flush();
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$fp = fopen($cacheFile, "w"); fwrite($fp, $buffer); fclose($fp);
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?>
docs/www/colonyscout/Cambria_400.font.js
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/*!
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 * The following copyright notice may not be removed under any circumstances.
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 * 
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 * Copyright:
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 * ? 2009 Microsoft Corporation. All Rights Reserved.
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 * 
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 * Trademark:
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 * Cambria is either a registered trademark or a trademark of Microsoft
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 * Corporation in the United States and/or other countries.
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 * 
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 * Description:
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 * Cambria has been designed for on-screen reading and to look good when printed
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 * at small sizes. It has very even spacing and proportions. Diagonal and vertical
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 * hairlines and serifs are relatively strong, while horizontal serifs are small
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 * and intend to emphasize stroke endings rather than stand out themselves. This
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 * principle is most noticeable in the italics where the lowercase characters are
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 * subdued in style to be at their best as elements of word-images. When Cambria is
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 * used for captions at sizes over 20 point, the  inter-character spacing should be
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 * slightly reduced for best results. The design isn't just intended for business
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 * documents: The regular weight has been extended with a large set of math and
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 * science symbols. The Greek and Cyrillic has been designed under close
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 * supervision of an international team of experts, who aimed to set a historical
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 * new standard in multi-script type design.
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 * 
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 * Manufacturer:
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 * Microsoft Corporation
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 * 
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 * Designer:
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 * Monotype Imaging and Tiro Typeworks
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 * 
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 * Vendor URL:
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 * http://www.microsoft.com/typography/ctfonts
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 * 
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 * License information:
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 * http://www.microsoft.com/typography/fonts/default.aspx
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 */
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docs/www/colonyscout/applications.php
1
<?php
2
$cacheFile="cache/applications.html";
3
if (file_exists($cacheFile)) //we can read this cache file back reduce database load
4
{
5
   header("Content-Type: text/html");
6
   readfile($cacheFile);
7
   exit;
8
} else {
9
   ob_start(); //start buffering so we can cache for future accesses
10
}
11
?>
12

  
13
<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd"> 
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<html xmlns="http://www.w3.org/1999/xhtml" xml:lang="en" lang="en"><head> 
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		<meta http-equiv="Content-Type" content="text/html; charset=iso-8859-1"/>	
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		<meta name="description" content="Scout is a perfect teaching tool for control systems and autonomous robotics"/> 
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		<meta name="keywords" content="control systems, autonomous robotics, mapping, localization, education"/> 
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<?php include("header.php"); ?>
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		<title>Applications | ColonyScout.com</title> 
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</head>
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<body bgcolor="#eeeeee"> 
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<div id="general"> 
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<?php include("nav.php"); ?> 
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	<div id="body">
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		<div id="body-boxes">
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			<div class="box-row" style="margin-top: 10px;">
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				<div class="white-top"></div>
31
				<div class="white-body text-box">
32
					<h1>How will you use Scout?</h1>
33
					<p><span class="description">The Scout platform provides great functionality at a fraction of the 
34
					cost of commercial solutions. It's a perfect teaching tool for universities or companies to train 
35
					students and staff on control theory, automated control systems, and explore swarm robot behaviors. 
36
					The rich feature set of the Scout provides the researchers of today with the tools needed for 
37
					tomorrow's success.</span></p>
38
				</div>
39

  
40
				<div class="white-body text-box">
41
					<div class="hr"></div>	
42
					<a href="javascript:;" title="Click to Expand" onmousedown="toggleDiv('forklift');">
43
					<h1>Autonomous Warehouse Distribution</h1><img src="images/btn_expand.png" alt="expand"/></a>
44
					<p><div class="box-img-side"><img src="images/forklift.jpg" title="forklift" class="box-img"/>
45
					<span class="description">A relatively new technology is changing the distribution 
46
					warehouse. Robots zip back and forth, replacing dangerous man-operated forklifts and 
47
					increasing productivity. The challenge does not yet have an optimized solution, and 
48
					the Scout platform can be used to explore efficient algorithms and varied storage 
49
					paradigms. Since Scout can connect to the internet, real-world server applications can 
50
					also be tested in the simulation environment.
51
					<br/><br/>
52
					<a href="javascript:;" onmousedown="toggleDiv('forklift');">
53
					<em>learn more &gt;&gt;</em></a>
54
					</span></div></p>
55
					
56
					<div id="forklift" style="display:none;">
57

  
58
					<div class="content-box">
59
						<h2>Forklift Hardware</h2><br/>
60
						The Forklift accessory has 6?+ vertical travel and slides into a compact form 
61
						factor that does not interfere with the rear sonar rangefinder. The slides 
62
						are spaced to allow access to the rear charging ports.
63
						<br/><br/>
64
						A <em>smart accessory</em>, the forklift has its own microcontroller that handles 
65
						position control of the slide and pallet identification via an embedded RFID 
66
						reader.
67
						<br/>
68
						
69
						<img src="images/forklift_large.jpg" title="colony scout forklift"/>
70
					</div>
71
					<div class="side-box">
72
						<h3>Behaviors</h3>
73
						<ul>
74
							<li>Localization</li>
75
							<li>Obstacle/Robot Avoidance</li>
76
							<li>Path Planning</li>
77
							<li>Object manipulation</li>
78
							<li>Autonomous Recharging</li>
79
						</ul>
80
					</div>
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					</div><!--end 'forklift' collapse-->			
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				</div>
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				<div class="white-body text-box">
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					<div class="hr"></div>	
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					<a href="javascript:;" title="Click to Expand" onmousedown="toggleDiv('dighaul');">
89
					<h1>Cooperative Excavation: Dig &amp; Haul</h1><img src="images/btn_expand.png" alt="expand" /></a>
90
					<p><div class="box-img-side"><img src="images/digger.jpg" title="digger" class="box-img"/>
91
					<span class="description">Another area of recent automation is in excavation equipment. 
92
					Most excavation is still performed by human operators, but recent work has shown increased 
93
					productivity when machines are trained from productive operators. The Dig &amp; Haul accessory 
94
					is designed to develop algorithms for cooperative manipulation of objects in complex 
95
					environments. Simple excavation tasks can be completed by a group of equipped Scouts.
96
					<br/><br/>
97
					<a href="javascript:;" onmousedown="toggleDiv('dighaul');">
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					<em>learn more &gt;&gt;</em></a>					
99
					</span></div></p>
100
					
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					<div id="dighaul" style="display:none;">
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103
					<div class="content-box">
104
						<h2>Digger &amp; Hauler</h2><br/>
105
						Dig and Haul consists of two cooperative accessories designed for streamlined interaction. 
106
						The multiple degree of freedom digging arm has an articulated bucket for load 
107
						release and folds into a compact form factor for transport.
108
						<br/><br/>
109
						The Hauler component features an FSR load cell to measure the payload mass and signal the Digger 
110
						when the maximum capacity is reached. The powerful drive motors and dump mechanism allow the Scout 
111
						to deliver a payload of up to 2 pounds.
112
						<br/>
113
						
114
						<img src="images/digger_large.jpg" title="dig and haul together"/>
115

  
116
					</div>
117
					<div class="side-box">
118
						<h3>Behaviors</h3>
119
						<ul>
120
							<li>Localization</li>
121
							<li>Obstacle/Robot Avoidance</li>
122
							<li>Path Planning</li>
123
							<li>Coordinated object manipulation</li>
124
						</ul>
125
					</div>
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					</div><!--end 'dighaul' collapse-->			
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				</div>
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				<div class="white-body text-box">
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					<div class="hr"></div>	
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					<a href="javascript:;" title="Click to Expand" onmousedown="toggleDiv('car');">
135
					<h1>Autonomous Vehicle Simulation</h1><img src="images/btn_expand.png" alt="expand" /></a>
136
					<p><div class="box-img-side"><img src="images/car.jpg" title="car robotics" class="box-img"/>
137
					<span class="description">"Car Robotics" is an exciting field of studies dedicated 
138
					to developing next generation intelligent cars. Full scale autonomous vehicles 
139
					equippped with sensors are cost prohibitive and provide a major roadblock to 
140
					widespread research and innovation. The Scout platform provides tools to 
141
					study autonomous movement, inter-vehicle communication, and interaction with 
142
					other external elements.
143
					<br/><br/>
144
					<a href="javascript:;" onmousedown="toggleDiv('car');">
145
					<em>learn more &gt;&gt;</em></a>
146
					</span></div></p>
147
					
148
					<div id="car" style="display:none;">
149

  
150
					<div class="content-box">
151
						<h2>Vehicle Simulation</h2><br/>
152
						Scout provides full coverage ultrasonic ranging around the vehicle, independent 
153
						wheel sensors for odometry and speed control, and an accelerometer and gyroscope for 
154
						tracking vehicle dynamics.
155
						<br/><br/>
156
						The vehicle simulation accessory adds turn signals, brake lights, a backup distance 
157
						sensor, and a horn output to complete the package.
158
					</div>
159
					<div class="side-box">
160
						<h3>Behaviors</h3>
161
						<ul>
162
							<li>Traffic Formation Control</li>
163
							<li>Obstacle/Vehicle Avoidance</li>
164
							<li>Path Planning</li>
165
							<li>Realtime Traffic Updates</li>
166
						</ul>
167
					</div>
168

  
169
					</div><!--end 'car' collapse-->			
170
					
171
				</div>
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173
				<div class="white-body text-box">
174
					<div class="hr"></div>					
175
					<a href="javascript:;" title="Click to Expand" onmousedown="toggleDiv('mapping');">
176
					<h1>Environment Mapping</h1><img src="images/btn_expand.png" alt="expand" /></a>
177
					<p><span class="description">The Scout was designed to handle indoor terrain
178
					with ease. Coupled with a fast scanning sonar array, indoor environments can be 
179
					mapped for proving SLAM algorithms or exploring new locations. Multiple Scouts 
180
					can be used together for even faster data collection.
181
					<br/><br/>
182
					<a href="javascript:;" onmousedown="toggleDiv('mapping');">
183
					<em>learn more &gt;&gt;</em></a>
184
					</span></p>
185
					
186
					<div id="mapping" style="display:none;">
187
					
188
					<div class="content-box">
189
						<h2>Mapping Algorithms</h2><br/>
190
						CONTENT
191
					</div>
192
					<div class="side-box">
193
						<h3>Behaviors</h3>
194
						<ul>
195
							<li>Localization</li>
196
							<li>Obstacle Avoidance</li>
197
							<li>Path Planning</li>
198
						</ul>
199
					</div>
200

  
201

  
202
					</div><!--end 'mapping' collapse-->			
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				</div>
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					<div class="hr"></div>				
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								<a href="<?php echo $nav[$nav_id['app']+1]; ?></a></li>
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$fp = fopen($cacheFile, "w"); fwrite($fp, $buffer); fclose($fp);
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?>
docs/www/colonyscout/cache/applications.html
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33
	<div id="top">
34
		<a href="index.php"><img src="/images/scout_logo.gif"></a>
35
		<div id="top-navigation">
36
			<a title="Introduction to the Scout robot" href="/intro.php">Introduction</a>
37
			<a title="Mechanics of the Colony Scout" href="/mechanics.php">Mechanics</a>
38
			<a title="Sensors and Communications" href="/sensors.php">Sensors &amp; Communication</a>
39
			<a title="Platform: Software and Hardware" href="/platform.php">Platform</a>
40
			<a title="Applications for the Colony Scout" href="/applications.php">Applications</a>
41
			<a title="Video of the Scout in Action" href="/gallery.php">Video</a>
42
			<a title="Meet the Scout Team" href="/contact.php">Contact</a>
43
			<a title="Contact The Scout Design Team" href="/team.php">Team</a>
44
		</div>
45
	</div> 
46
	<div id="body">
47
		<div id="body-boxes">
48
			<div class="box-row" style="margin-top: 10px;">
49
				<div class="white-top"></div>
50
				<div class="white-body text-box">
51
					<h1>How will you use Scout?</h1>
52
					<p><span class="description">The Scout platform provides great functionality at a fraction of the 
53
					cost of commercial solutions. It's a perfect teaching tool for universities or companies to train 
54
					students and staff on control theory, automated control systems, and explore swarm robot behaviors. 
55
					The rich feature set of the Scout provides the researchers of today with the tools needed for 
56
					tomorrow's success.</span></p>
57
				</div>
58

  
59
				<div class="white-body text-box">
60
					<div class="hr"></div>	
61
					<a href="javascript:;" title="Click to Expand" onmousedown="toggleDiv('forklift');">
62
					<h1>Autonomous Warehouse Distribution</h1><img src="images/btn_expand.png" alt="expand"/></a>
63
					<p><div class="box-img-side"><img src="images/forklift.jpg" title="forklift" class="box-img"/>
64
					<span class="description">A relatively new technology is changing the distribution 
65
					warehouse. Robots zip back and forth, replacing dangerous man-operated forklifts and 
66
					increasing productivity. The challenge does not yet have an optimized solution, and 
67
					the Scout platform can be used to explore efficient algorithms and varied storage 
68
					paradigms. Since Scout can connect to the internet, real-world server applications can 
69
					also be tested in the simulation environment.
70
					<br/><br/>
71
					<a href="javascript:;" onmousedown="toggleDiv('forklift');">
72
					<em>learn more &gt;&gt;</em></a>
73
					</span></div></p>
74
					
75
					<div id="forklift" style="display:none;">
76

  
77
					<div class="content-box">
78
						<h2>Forklift Hardware</h2><br/>
79
						The Forklift accessory has 6?+ vertical travel and slides into a compact form 
80
						factor that does not interfere with the rear sonar rangefinder. The slides 
81
						are spaced to allow access to the rear charging ports.
82
						<br/><br/>
83
						A <em>smart accessory</em>, the forklift has its own microcontroller that handles 
84
						position control of the slide and pallet identification via an embedded RFID 
85
						reader.
86
						<br/>
87
						
88
						<img src="images/forklift_large.jpg" title="colony scout forklift"/>
89
					</div>
90
					<div class="side-box">
91
						<h3>Behaviors</h3>
92
						<ul>
93
							<li>Localization</li>
94
							<li>Obstacle/Robot Avoidance</li>
95
							<li>Path Planning</li>
96
							<li>Object manipulation</li>
97
							<li>Autonomous Recharging</li>
98
						</ul>
99
					</div>
100

  
101
					</div><!--end 'forklift' collapse-->			
102
					
103
				</div>
104

  
105
				<div class="white-body text-box">
106
					<div class="hr"></div>	
107
					<a href="javascript:;" title="Click to Expand" onmousedown="toggleDiv('dighaul');">
108
					<h1>Cooperative Excavation: Dig &amp; Haul</h1><img src="images/btn_expand.png" alt="expand" /></a>
109
					<p><div class="box-img-side"><img src="images/digger.jpg" title="digger" class="box-img"/>
110
					<span class="description">Another area of recent automation is in excavation equipment. 
111
					Most excavation is still performed by human operators, but recent work has shown increased 
112
					productivity when machines are trained from productive operators. The Dig &amp; Haul accessory 
113
					is designed to develop algorithms for cooperative manipulation of objects in complex 
114
					environments. Simple excavation tasks can be completed by a group of equipped Scouts.
115
					<br/><br/>
116
					<a href="javascript:;" onmousedown="toggleDiv('dighaul');">
117
					<em>learn more &gt;&gt;</em></a>					
118
					</span></div></p>
119
					
120
					<div id="dighaul" style="display:none;">
121

  
122
					<div class="content-box">
123
						<h2>Digger &amp; Hauler</h2><br/>
124
						Dig and Haul consists of two cooperative accessories designed for streamlined interaction. 
125
						The multiple degree of freedom digging arm has an articulated bucket for load 
126
						release and folds into a compact form factor for transport.
127
						<br/><br/>
128
						The Hauler component features an FSR load cell to measure the payload mass and signal the Digger 
129
						when the maximum capacity is reached. The powerful drive motors and dump mechanism allow the Scout 
130
						to deliver a payload of up to 2 pounds.
131
						<br/>
132
						
133
						<img src="images/digger_large.jpg" title="dig and haul together"/>
134

  
135
					</div>
136
					<div class="side-box">
137
						<h3>Behaviors</h3>
138
						<ul>
139
							<li>Localization</li>
140
							<li>Obstacle/Robot Avoidance</li>
141
							<li>Path Planning</li>
142
							<li>Coordinated object manipulation</li>
143
						</ul>
144
					</div>
145
					
146

  
147
					</div><!--end 'dighaul' collapse-->			
148
					
149
				</div>
150

  
151
				<div class="white-body text-box">
152
					<div class="hr"></div>	
153
					<a href="javascript:;" title="Click to Expand" onmousedown="toggleDiv('car');">
154
					<h1>Autonomous Vehicle Simulation</h1><img src="images/btn_expand.png" alt="expand" /></a>
155
					<p><div class="box-img-side"><img src="images/car.jpg" title="car robotics" class="box-img"/>
156
					<span class="description">"Car Robotics" is an exciting field of studies dedicated 
157
					to developing next generation intelligent cars. Full scale autonomous vehicles 
158
					equippped with sensors are cost prohibitive and provide a major roadblock to 
159
					widespread research and innovation. The Scout platform provides tools to 
160
					study autonomous movement, inter-vehicle communication, and interaction with 
161
					other external elements.
162
					<br/><br/>
163
					<a href="javascript:;" onmousedown="toggleDiv('car');">
164
					<em>learn more &gt;&gt;</em></a>
165
					</span></div></p>
166
					
167
					<div id="car" style="display:none;">
168

  
169
					<div class="content-box">
170
						<h2>Vehicle Simulation</h2><br/>
171
						Scout provides full coverage ultrasonic ranging around the vehicle, independent 
172
						wheel sensors for odometry and speed control, and an accelerometer and gyroscope for 
173
						tracking vehicle dynamics.
174
						<br/><br/>
175
						The vehicle simulation accessory adds turn signals, brake lights, a backup distance 
176
						sensor, and a horn output to complete the package.
177
					</div>
178
					<div class="side-box">
179
						<h3>Behaviors</h3>
180
						<ul>
181
							<li>Traffic Formation Control</li>
182
							<li>Obstacle/Vehicle Avoidance</li>
183
							<li>Path Planning</li>
184
							<li>Realtime Traffic Updates</li>
185
						</ul>
186
					</div>
187

  
188
					</div><!--end 'car' collapse-->			
189
					
190
				</div>
191

  
192
				<div class="white-body text-box">
193
					<div class="hr"></div>					
194
					<a href="javascript:;" title="Click to Expand" onmousedown="toggleDiv('mapping');">
195
					<h1>Environment Mapping</h1><img src="images/btn_expand.png" alt="expand" /></a>
196
					<p><span class="description">The Scout was designed to handle indoor terrain
197
					with ease. Coupled with a fast scanning sonar array, indoor environments can be 
198
					mapped for proving SLAM algorithms or exploring new locations. Multiple Scouts 
199
					can be used together for even faster data collection.
200
					<br/><br/>
201
					<a href="javascript:;" onmousedown="toggleDiv('mapping');">
202
					<em>learn more &gt;&gt;</em></a>
203
					</span></p>
204
					
205
					<div id="mapping" style="display:none;">
206
					
207
					<div class="content-box">
208
						<h2>Mapping Algorithms</h2><br/>
209
						CONTENT
210
					</div>
211
					<div class="side-box">
212
						<h3>Behaviors</h3>
213
						<ul>
214
							<li>Localization</li>
215
							<li>Obstacle Avoidance</li>
216
							<li>Path Planning</li>
217
						</ul>
218
					</div>
219

  
220

  
221
					</div><!--end 'mapping' collapse-->			
222
					
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					<span class="newest"/><small>09.06.2010</small><br/>We're on @BotJunkie! @roboclub Colony Scout Offers Cute And Useful Swarm Robots <a href="http://bit.ly/aSnw7J">http://bit.ly/aSnw7J</a> #robotics #scout</span>
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					<p><small>08.14.2010</small><br/>Scoutfly Board Completed - The Scoutfly board has finally been completed. We have done a lot of simplifying... <a href="http://tumblr.com/xjefqhtis">http://tumblr.com/xjefqhtis</a></p>
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						<h1>What is the Colony Scout?</h1>
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						<p><b>Swarm intelligence</b><i>\'sw&ograve;rm in-'te-l&#x0259;-j&#x0259;n(t)s\</i> describes the collective behavior of decentralized, 
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						self-organized systems, natural or artificial.</p>
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						<img src="images/intro_colony3.jpg" alt="Colony 3"/>
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						technology of the Colony III robots (top picture) and offers new functionality to each individual robot. In this way each robot 
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								<li>Must be low-cost (sub $500 in qty)</li>
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						<p>The cost restriction has been a major driving factor for most design decisions and even the motivation for the project. There are 
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						many commerical solutions that offer compact and capable robots, but at a price point unsuitable for undergraduate studies and 
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						invididual research.</p>
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						<p>We aimed to develop a platform enticing to individuals, companies, and research institutions, but at a price point that doesn't 
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					<p><small><i>Kiva's robots carrying package racks (Credit: Forbes.com)</i></small></p>
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					<p>Colonies of robots have many applications. They can solve larger problems than individual 
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					robots. The Idaho National Engineering and Environmental Laboratory has developed a colony of robots that seeks out 
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					liquid spills. They surround the spill by having each robot locate part of the edge of the spill. Kiva's orange package carrying 
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						<h1>Feature Comparison</h1>
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							<tr><th><strong>Tech</strong></th><th><strong>Colony III</strong></th><th><strong>Scout</strong></th></tr> 
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							<tr><td>Processor</td><td>8MHz 8-bit AVR</td><td>600MHz 32-bit ARM9 + 16MHz 8-bit AVR</td></tr> 
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							<tr><td>Rangefinders</td><td>5 Position (1.5-12in) IR</td><td>48 Position, 360-degree coverage (0-20ft) Sonar</td></tr> 
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							<tr><td>Battery</td><td>6.0VDC 2.6Ah NiMH</td><td>7.4VDC 4.0Ah Lion</td> </tr> 
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							<tr><td>Locomotion</td><td>2 Wheel Differential Drive</td><td>4WD Skid Steer</td> </tr> 
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							<tr><td>Ground Clearance</td><td>None</td><td>1.34" Clearance with Rocker Pivot to conform to terrain</td> </tr> 
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							<tr><td>Cliff Detection</td><td>None</td><td>3 Side Drop-off Detection</td> </tr> 
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							<tr><td>BOM</td><td>16 Point IR</td><td>4 Point IR with modulation</td> </tr> 
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							<tr><td>Wireless</td><td>Zigbee, 300 ft range</td><td>IPv6, 1 mile range</td> </tr> 
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							<tr><td>Charging</td><td> Removable</td><td>Integrated homing and charging contacts</td> </tr> 
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							<tr><td>Extension</td><td>None</td><td> Accessory/Expansion hardpoints and power/data connection</td> </tr> 
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							<tr><td>Production</td><td>Botrics</td><td>In-house design and manufacturing for full control over device lifetime</td> 
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					<h1>Mechanical Platform</h1>
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					<p><span class="description">Powered by a robust 4WD system mated to a rocker 
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					suspension, the Scout can tackle indoor and outdoor terrain with ease. 
54
					The CNC machined aluminum chassis provides a stable, wear resistant platform for the 
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						<h2>Chassis &amp; Suspension</h2><br/>
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						The Scout chassis was designed from the ground up to be robust and versatile. 
61
						Fast 200rpm metal gearmotors propel the Scout at a brisk 90cm/s (~2mph). A rocker 
62
						suspension allows the front and rear half of the robot to rotate independently, 
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						conforming to terrain and increasing the maximum payload.
64
						<br/><br/>
65
						
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						Scout can carry in excess of 15 pounds, or pull (wagon) over 18 pounds on a level surface. Payload 
67
						possibilities are wide open, from extra batteries to an intelligent, active sensor. Unloaded, Scout can 
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						ascend an impressive 80% grade (40deg) at nearly full speed. See the video below for a climbing demo.						<br/><br/>
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						The chassis is cut from 6061 aluminum stock for a low-cost and high strength solution. Areas 
75
						subject to repeated wear such as the front undercarriage and rear accessory plate are coated 
76
						in a protective diamond plate film. Each Scout can be customized with its own color scheme, adding 
77
						"personality".
78
						<br/>
79
						<img src="images/mechanics_dimensions.jpg"/>
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						<h2>Ease of Use</h2><br/>
83
						Components that need frequent access, such as the battery and processing board, are easily accessible. 
84
						Flat flexible cables (FFC) are used between the two chassis halves, providing one step wiring for 
85
						easy assembly/disassembly.
86
						<br/><br/>
87
						The accessory plate provides (6) threaded hardpoints for bolting down new sensors and custom devices. 
88
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						<h3>Specifications</h3>
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						<ul>
93
							<li>200rpm Metal Gearmotors</li>
94
							<li>4WD Skid Steer</li>
95
							<li>1.34" Ground Clearance</li>
96
							<li>15 pound (7kg) carrying capacity</li>
97
							<li>Climb an 80% grade</li>
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							<li>Integrated charging contacts</li>
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					<h1>Hardware Platform</h1><img src="images/btn_expand.png" /></a>
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					<p><span class="description">Scout uses a dual chip architecture to support a vast array of 
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					devices and provide computational prowess. The system flash memory is expandable and can grow to 
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					meet storage demands.
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					<br/><br/><a href="javascript:;" onmousedown="toggleDiv('hardware');"><em>learn more &gt;&gt;</em></a>										
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						<h2>System Overview</h2>
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						<p>The Scout mainboard pairs an 8-bit AVR as an IO node with an 32-bit ARM9 for heavy computational 
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						tasks.</p>
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						<h3>System Specifications</h3>
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							<ul>
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								<li>Atmel&reg; ARM9&trade; (AT91SAM9260)</li>
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									<ul>
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										<li>Clocked at 208Mhz</li>
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										<li>32-bit</li>
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										<li>MMU</li>
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								<li>ATMega&trade; 128</li>
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									<ul>
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										<li>Clocked at 16Mhz</li>
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										<li>8-bit</li>
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									</ul>
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								<li>512MiB SDRAM</li>
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								<li>16Mbit DataFlash + microSD Support</li>
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								<li>Atmel&trade; AT86RF231 Zigbee&reg; Wireless</li>
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					<h1>Software Architecture</h1><img src="images/btn_expand.png" /></a>
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					<p><span class="description">Scout runs a <a href="http://prex.sourceforge.net/"/>Prex soft-RTOS</a> 
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					(real time operating system), which provides guarantees for tasks with strict deadlines. The 
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						Multitasking will allow the software that runs on the robot to be split up into tasks which can each handle a 
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						subsystem such as wireless communication or odometry. Users will be able to write high level programs and 
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						depend on the operating system and Scout library to create robot behaviors.
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						<p>The operating system will also provide abstractions like virtual memory which will prevent errors in 
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						which will do things like cliff detection or even autonomous recharging.</p>
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						<h3>POSIX compliant OS</h3>
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							<li>Use standard UNIX tools (ssh, bash, compile on the robot)</li>
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							<li>IPv6 6LoWPAN Networking</li>
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							<li>Emulate with QEMU</li>
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					<h1>Sensor Fusion</h1><img src="images/btn_expand.png" /></a>
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					<p class="description">The Scout sensor suite affords increased situational awareness over comparably
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					priced platforms<span class="super">1</span>. Scout fuses long range sonar with short 
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					range IR sensors and LED reflectance sensors to provide realtime feedback about the robots' 
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					environment. Commercially available off-the-shelf components were used where possible, 
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					selected based on range, accuracy, and repeatability characteristics.
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					<h2>Environment Mapping</h2>
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					<p>Ultrasonic ranging sweeps 360 degrees around each Scout robot, providing up to 48 
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					measurements per cycle. A compact stepper motor provides precise and rapid position control. The high resolution and 
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					fast scanning speed are appropriate for 2D mapping and navigation.</p>
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					<p>The Maxbotix&reg; EZ&trade; line of sonar rangefinders was chosen for their proven accuracy and 
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					long term reliability<span class="super">2</span>. The EZ4 provides the narrowest sensing 
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					area of the EZ&trade; family, allowing higher precision maps to be produced, while still 
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					providing wide coverage for obstacle detection.</p>
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					<h2>Cliff Detection</h2>
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					<p>A trio of short range Sharp&reg; IR rangefinders provide early warning of sharp drop-offs that 
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