Revision 781890a0 docs/www/colonyscout/sensors.php

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docs/www/colonyscout/sensors.php
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					<h2>Environment Mapping</h2>
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					<img src="/images/sensors_sonar.jpg" style="float:left;margin:0px 10px 10px 0px;">
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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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					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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					<img src="/images/sensors_cliff.jpg" style="float:left;margin:0px 10px 10px 0px;">
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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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					could compromise the robot's mission.</p>
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					<h2>Odometry &amp; Vehicle Dynamics</h2>
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					<img src="/images/sensors_imu.jpg" style="float:left;margin:0px 10px 10px 0px;">
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					<p>Vehicle position is tracked by quadrature encoders on each wheel resulting in 3mm linear accuracy
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					<span class="super">3</span>. A custom IMU (inertial measurement unit) consisting of a 3-axis accelerometer 
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					and pitch+yaw-rate gyroscope provide detail of the vehicle's motion in three dimensions.
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					<h2>Complementary Sensing</h2>
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					<p>The sonar rangefinders are optionally supplemented by short range LED reflectance sensors for close wall 
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					following. Dual sensors on the front bumper provide resolved impact detection for escape manuevers or 
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					following. A sensor on the front bumper provides resolved impact detection for escape manuevers or 
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					when manipulating objects.
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					</p>
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