Revision f59acf11
ID | f59acf11f83bf3f68562a8d2a523aa05d3e523d2 |
Added website and doc files
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 >></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 | ||
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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"> |
|
14 |
<html xmlns="http://www.w3.org/1999/xhtml" xml:lang="en" lang="en"><head> |
|
15 |
<meta http-equiv="Content-Type" content="text/html; charset=iso-8859-1"/> |
|
16 |
<meta name="description" content="Scout is a perfect teaching tool for control systems and autonomous robotics"/> |
|
17 |
<meta name="keywords" content="control systems, autonomous robotics, mapping, localization, education"/> |
|
18 |
|
|
19 |
<?php include("header.php"); ?> |
|
20 |
<title>Applications | ColonyScout.com</title> |
|
21 |
|
|
22 |
</head> |
|
23 |
<body bgcolor="#eeeeee"> |
|
24 |
|
|
25 |
<div id="general"> |
|
26 |
<?php include("nav.php"); ?> |
|
27 |
<div id="body"> |
|
28 |
<div id="body-boxes"> |
|
29 |
<div class="box-row" style="margin-top: 10px;"> |
|
30 |
<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 >></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> |
|
81 |
|
|
82 |
</div><!--end 'forklift' collapse--> |
|
83 |
|
|
84 |
</div> |
|
85 |
|
|
86 |
<div class="white-body text-box"> |
|
87 |
<div class="hr"></div> |
|
88 |
<a href="javascript:;" title="Click to Expand" onmousedown="toggleDiv('dighaul');"> |
|
89 |
<h1>Cooperative Excavation: Dig & 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 & 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');"> |
|
98 |
<em>learn more >></em></a> |
|
99 |
</span></div></p> |
|
100 |
|
|
101 |
<div id="dighaul" style="display:none;"> |
|
102 |
|
|
103 |
<div class="content-box"> |
|
104 |
<h2>Digger & 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> |
|
126 |
|
|
127 |
|
|
128 |
</div><!--end 'dighaul' collapse--> |
|
129 |
|
|
130 |
</div> |
|
131 |
|
|
132 |
<div class="white-body text-box"> |
|
133 |
<div class="hr"></div> |
|
134 |
<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 >></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> |
|
172 |
|
|
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 >></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--> |
|
203 |
|
|
204 |
</div> |
|
205 |
|
|
206 |
<div class="white-body text-box"> |
|
207 |
<div class="hr"></div> |
|
208 |
<div id="bottom-nav"> |
|
209 |
<ul id="pagenav"> |
|
210 |
<li class="previous"> |
|
211 |
<a href="<?php echo $nav[$nav_id['app']-1]; ?></a></li> |
|
212 |
<li class="next"> |
|
213 |
<a href="<?php echo $nav[$nav_id['app']+1]; ?></a></li> |
|
214 |
</ul> |
|
215 |
</div> |
|
216 |
</div> |
|
217 |
|
|
218 |
<div class="white-bottom"></div> |
|
219 |
</div> |
|
220 |
|
|
221 |
|
|
222 |
</div> |
|
223 |
</div> <!--BODY!--> |
|
224 |
|
|
225 |
|
|
226 |
<?php include("footer.php"); ?> |
|
227 |
|
|
228 |
</div><!--GENERAL!--> |
|
229 |
|
|
230 |
</body></html> |
|
231 |
<?php |
|
232 |
$buffer = ob_get_contents(); |
|
233 |
ob_end_flush(); |
|
234 |
$fp = fopen($cacheFile, "w"); fwrite($fp, $buffer); fclose($fp); |
|
235 |
?> |
docs/www/colonyscout/cache/applications.html | ||
---|---|---|
1 |
|
|
2 |
<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd"> |
|
3 |
<html xmlns="http://www.w3.org/1999/xhtml" xml:lang="en" lang="en"><head> |
|
4 |
<meta http-equiv="Content-Type" content="text/html; charset=iso-8859-1"/> |
|
5 |
<meta name="description" content="Scout is a perfect teaching tool for control systems and autonomous robotics"/> |
|
6 |
<meta name="keywords" content="control systems, autonomous robotics, mapping, localization, education"/> |
|
7 |
|
|
8 |
|
|
9 |
<script src="/cufon-yui.js" type="text/javascript"></script> |
|
10 |
<script src="/Geogrotesque_Semibold_600.font.js" type="text/javascript"></script> |
|
11 |
<script type="text/javascript"> |
|
12 |
Cufon.replace('h1'); |
|
13 |
Cufon.replace('h2'); |
|
14 |
Cufon.replace('#pagenav'); |
|
15 |
</script> |
|
16 |
|
|
17 |
<script language="javascript"> |
|
18 |
function toggleDiv(divid){ |
|
19 |
if(document.getElementById(divid).style.display == 'none'){ |
|
20 |
document.getElementById(divid).style.display = 'block'; |
|
21 |
}else{ |
|
22 |
document.getElementById(divid).style.display = 'none'; |
|
23 |
} |
|
24 |
} |
|
25 |
</script> |
|
26 |
<link href="/main.css" rel="stylesheet" type="text/css" media="screen"> |
|
27 |
<!--[if lte IE 7]><link rel="stylesheet" type="text/css" href="/mainIE.css" /><![endif]--> <title>Applications | ColonyScout.com</title> |
|
28 |
|
|
29 |
</head> |
|
30 |
<body bgcolor="#eeeeee"> |
|
31 |
|
|
32 |
<div id="general"> |
|
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 & 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 >></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 & 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 & 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 >></em></a> |
|
118 |
</span></div></p> |
|
119 |
|
|
120 |
<div id="dighaul" style="display:none;"> |
|
121 |
|
|
122 |
<div class="content-box"> |
|
123 |
<h2>Digger & 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 >></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 |
|
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wheel sensors for odometry and speed control, and an accelerometer and gyroscope for |
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The vehicle simulation accessory adds turn signals, brake lights, a backup distance |
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<h3>Behaviors</h3> |
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<ul> |
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<li>Traffic Formation Control</li> |
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<h1>Environment Mapping</h1><img src="images/btn_expand.png" alt="expand" /></a> |
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<h3>Behaviors</h3> |
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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>\'swòrm in-'te-lə-jən(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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<p>The Colony project of the <a href="http://www.roboclub.org" target="about:blank">Carnegie Mellon University Robotics Club</a> |
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demonstrates the capabilities of a colony of |
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simple low-cost robots that are able to localize relative to each other using <em>"swarm intelligence".</em> Each device |
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gathers information about its environment via simple one-dimensional sensors, such as IR beacons, and shares data |
|
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via an ad hoc wireless network.</p> |
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|
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<img src="images/intro_scout.jpg" alt="Colony Scout Accessories"/> |
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|
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<p>The Scout is designed as an evolution of the current platform employed by the Carnegie Mellon project. It builds on the |
|
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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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can offer more intelligence to the swarm, operate over more extreme terrain, and cover larger distances more quickly. Scout takes |
|
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the lessons gleaned from several years of research and aims to provide a simple interface into a powerful set of reliable |
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technologies.</p> |
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<div class="hr"></div> |
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<h1>Project Goals</h1> |
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<p>At the outset of the Scout project in April of 2009, several goals were defined. The new robot should have:</p> |
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<ul> |
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<li>enhancements over the current sensor array</li> |
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<li>a more robust localization scheme</li> |
|
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<li>be physically capable of traversing complex terrain (indoor, possibly outdoor)</li> |
|
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<li>an adaptable design that can be modified for different purposes</li> |
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<li>be capable of object/environment manipulation</li> |
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<li>similar form factor and power requirements</li> |
|
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<li>Must be low-cost (sub $500 in qty)</li> |
|
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</ul> |
|
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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 |
|
87 |
invididual research.</p> |
|
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|
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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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hinder innonvative research.</p> |
|
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</div> |
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<div class="side-box gray"> |
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<img src="images/intro_kiva.jpg" alt="Kiva storage rack handling robots"/> |
|
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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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robots perform orchestrated dances in warehouses across the United States, enhancing productivity of the entire delivery system.</p> |
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<h1>Feature Comparison</h1> |
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<table> |
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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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</tr> |
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</table> |
|
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<p><h2>Eager to learn more? Explore the rest of ColonyScout.com.</h2></p> |
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<a title="Introduction to the Scout robot" href="/intro.php">Introduction</a> |
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<a title="Sensors and Communications" href="/sensors.php">Sensors & Communication</a> |
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<a title="Platform: Software and Hardware" href="/platform.php">Platform</a> |
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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. |
|
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The CNC machined aluminum chassis provides a stable, wear resistant platform for the |
|
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sensors and payload.</span></p> |
|
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<div class="hr"></div> |
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|
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<div class="content-box"> |
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<h2>Chassis & Suspension</h2><br/> |
|
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The Scout chassis was designed from the ground up to be robust and versatile. |
|
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Fast 200rpm metal gearmotors propel the Scout at a brisk 90cm/s (~2mph). A rocker |
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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. |
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<br/><br/> |
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|
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Scout can carry in excess of 15 pounds, or pull (wagon) over 18 pounds on a level surface. Payload |
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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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<br/> |
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<img src="images/mechanics_capabilities.jpg"/> |
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<object width="247" height="150"><param name="movie" value="http://www.youtube.com/v/ZRmTcSOsWsQ?fs=1&hl=en_US&rel=0"></param><param name="allowFullScreen" value="true"></param><param name="allowscriptaccess" value="always"></param><embed src="http://www.youtube.com/v/ZRmTcSOsWsQ?fs=1&hl=en_US&rel=0" type="application/x-shockwave-flash" allowscriptaccess="always" allowfullscreen="true" width="247" height="150"></embed></object> |
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<br/><br/> |
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|
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The chassis is cut from 6061 aluminum stock for a low-cost and high strength solution. Areas |
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subject to repeated wear such as the front undercarriage and rear accessory plate are coated |
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in a protective diamond plate film. Each Scout can be customized with its own color scheme, adding |
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"personality". |
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<br/> |
|
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<img src="images/mechanics_dimensions.jpg"/> |
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<div class="hr"></div> |
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<h2>Ease of Use</h2><br/> |
|
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Components that need frequent access, such as the battery and processing board, are easily accessible. |
|
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Flat flexible cables (FFC) are used between the two chassis halves, providing one step wiring for |
|
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easy assembly/disassembly. |
|
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<br/><br/> |
|
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The accessory plate provides (6) threaded hardpoints for bolting down new sensors and custom devices. |
|
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<br/><br/> |
|
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</div> |
|
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<div class="side-box"> |
|
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<h3>Specifications</h3> |
|
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<ul> |
|
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<li>200rpm Metal Gearmotors</li> |
|
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<li>4WD Skid Steer</li> |
|
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<li>1.34" Ground Clearance</li> |
|
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<li>15 pound (7kg) carrying capacity</li> |
|
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<li>Climb an 80% grade</li> |
|
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<li>Integrated charging contacts</li> |
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</ul> |
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|
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|
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<a title="Introduction to the Scout robot" href="/intro.php">Introduction</a> |
|
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<a title="Mechanics of the Colony Scout" href="/mechanics.php">Mechanics</a> |
|
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<a title="Sensors and Communications" href="/sensors.php">Sensors & Communication</a> |
|
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<a title="Platform: Software and Hardware" href="/platform.php">Platform</a> |
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|
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|
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<p><span class="description">Scout uses a dual chip architecture to support a vast array of |
|
54 |
devices and provide computational prowess. The system flash memory is expandable and can grow to |
|
55 |
meet storage demands. |
|
56 |
<br/><br/><a href="javascript:;" onmousedown="toggleDiv('hardware');"><em>learn more >></em></a> |
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<div class="content-box"> |
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<h2>System Overview</h2> |
|
64 |
<p>The Scout mainboard pairs an 8-bit AVR as an IO node with an 32-bit ARM9 for heavy computational |
|
65 |
tasks.</p> |
|
66 |
<p><img src="images/software_blockdiagram.png" alt="Scout board design couples an ARM9 and AVR together."/></p> </div> |
|
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<div class="side-box"> |
|
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<h3>System Specifications</h3> |
|
69 |
<ul> |
|
70 |
<li>Atmel® ARM9™ (AT91SAM9260)</li> |
|
71 |
<ul> |
|
72 |
<li>Clocked at 208Mhz</li> |
|
73 |
<li>32-bit</li> |
|
74 |
<li>MMU</li> |
|
75 |
</ul> |
|
76 |
<li>ATMega™ 128</li> |
|
77 |
<ul> |
|
78 |
<li>Clocked at 16Mhz</li> |
|
79 |
<li>8-bit</li> |
|
80 |
</ul> |
|
81 |
<li>512MiB SDRAM</li> |
|
82 |
<li>16Mbit DataFlash + microSD Support</li> |
|
83 |
<li>Atmel™ AT86RF231 Zigbee® Wireless</li> |
|
84 |
</ul> |
|
85 |
</div> |
|
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|
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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 |
|
97 |
multi-process architecture provides flexibility in programming robot behaviors, and any software |
|
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lanugage can be used. |
|
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<div id="os" style="display:none;"> |
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<div class="content-box"> |
|
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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 |
|
106 |
subsystem such as wireless communication or odometry. Users will be able to write high level programs and |
|
107 |
depend on the operating system and Scout library to create robot behaviors. |
|
108 |
|
|
109 |
<p>The operating system will also provide abstractions like virtual memory which will prevent errors in |
|
110 |
behaviors from crashing the robot. If a user application fails, the system can recover and continue running tasks |
|
111 |
which will do things like cliff detection or even autonomous recharging.</p> |
|
112 |
</div> |
|
113 |
|
|
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<div class="side-box"> |
|
115 |
<h3>POSIX compliant OS</h3> |
|
116 |
<ul> |
|
117 |
<li>Use standard UNIX tools (ssh, bash, compile on the robot)</li> |
|
118 |
<li>IPv6 6LoWPAN Networking</li> |
|
119 |
<li>Program behaviors in any language</li> |
|
120 |
<li>Emulate with QEMU</li> |
|
121 |
</ul> |
|
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<a title="Video of the Scout in Action" href="/gallery.php">Video</a> |
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<a title="Meet the Scout Team" href="/contact.php">Contact</a> |
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<a title="Contact The Scout Design Team" href="/team.php">Team</a> |
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</div> |
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</div> |
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<div id="body"> |
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<div id="body-boxes"> |
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<div class="box-row"> |
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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('sensor');"> |
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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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<br/><br/><a href="javascript:;" onmousedown="toggleDiv('sensor');"><em>learn more >></em></a> |
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</p> |
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<div class="hr"></div> |
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<div id="sensor" style="display:none;"> |
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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® EZ™ 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™ 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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<div class="hr"></div> |
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<h2>Cliff Detection</h2> |
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<p>A trio of short range Sharp® IR rangefinders provide early warning of sharp drop-offs that |
Also available in: Unified diff