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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="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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<script src="/cufon-yui.js" type="text/javascript"></script> |
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<script type="text/javascript"> |
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</script> |
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<script language="javascript"> |
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function toggleDiv(divid){ |
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document.getElementById(divid).style.display = 'block'; |
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document.getElementById(divid).style.display = 'none'; |
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</script> |
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<link href="/main.css" rel="stylesheet" type="text/css" media="screen"> |
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<!--[if lte IE 7]><link rel="stylesheet" type="text/css" href="/mainIE.css" /><![endif]--> <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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<div id="top"> |
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<a href="index.php"><img src="/images/scout_logo.jpg"></a> |
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<div id="top-navigation"> |
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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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<a title="Applications for the Colony Scout" href="/applications.php">Applications</a> |
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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" 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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<h1>How will you use Scout?</h1> |
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<p><span class="description">The Scout platform provides great functionality at a fraction of the |
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cost of commercial solutions. It's a perfect teaching tool for universities or companies to train |
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students and staff on control theory, automated control systems, and explore swarm robot behaviors. |
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The rich feature set of the Scout provides the researchers of today with the tools needed for |
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tomorrow's success.</span></p> |
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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('forklift');"> |
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<h1>Autonomous Warehouse Distribution</h1><img src="images/btn_expand.png" alt="expand"/></a> |
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<p><div class="box-img-side"><img src="images/forklift.jpg" title="forklift" class="box-img"/> |
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<span class="description">A relatively new technology is changing the distribution |
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warehouse. Robots zip back and forth, replacing dangerous man-operated forklifts and |
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increasing productivity. The challenge does not yet have an optimized solution, and |
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the Scout platform can be used to explore efficient algorithms and varied storage |
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paradigms. Since Scout can connect to the internet, real-world server applications can |
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also be tested in the simulation environment. |
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<br/><br/> |
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<a href="javascript:;" onmousedown="toggleDiv('forklift');"> |
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<em>learn more >></em></a> |
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</span></div></p> |
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<div id="forklift" style="display:none;"> |
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<div class="content-box"> |
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<h2>Forklift Hardware</h2><br/> |
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The Forklift accessory has 6?+ vertical travel and slides into a compact form |
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factor that does not interfere with the rear sonar rangefinder. The slides |
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are spaced to allow access to the rear charging ports. |
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<br/><br/> |
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A <em>smart accessory</em>, the forklift has its own microcontroller that handles |
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position control of the slide and pallet identification via an embedded RFID |
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reader. |
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<br/> |
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<img src="images/forklift_large.jpg" title="colony scout forklift"/> |
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</div> |
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<div class="side-box"> |
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<h3>Behaviors</h3> |
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<ul> |
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<li>Localization</li> |
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<li>Obstacle/Robot Avoidance</li> |
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<li>Path Planning</li> |
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<li>Object manipulation</li> |
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<li>Autonomous Recharging</li> |
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</ul> |
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</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');"> |
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<h1>Cooperative Excavation: Dig & Haul</h1><img src="images/btn_expand.png" alt="expand" /></a> |
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<p><div class="box-img-side"><img src="images/digger.jpg" title="digger" class="box-img"/> |
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<span class="description">Another area of recent automation is in excavation equipment. |
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Most excavation is still performed by human operators, but recent work has shown increased |
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productivity when machines are trained from productive operators. The Dig & Haul accessory |
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is designed to develop algorithms for cooperative manipulation of objects in complex |
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environments. Simple excavation tasks can be completed by a group of equipped Scouts. |
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<br/><br/> |
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<a href="javascript:;" onmousedown="toggleDiv('dighaul');"> |
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<em>learn more >></em></a> |
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</span></div></p> |
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<div id="dighaul" style="display:none;"> |
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<div class="content-box"> |
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<h2>Digger & Hauler</h2><br/> |
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Dig and Haul consists of two cooperative accessories designed for streamlined interaction. |
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The multiple degree of freedom digging arm has an articulated bucket for load |
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release and folds into a compact form factor for transport. |
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<br/><br/> |
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The Hauler component features an FSR load cell to measure the payload mass and signal the Digger |
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when the maximum capacity is reached. The powerful drive motors and dump mechanism allow the Scout |
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to deliver a payload of up to 2 pounds. |
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<br/> |
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<img src="images/digger_large.jpg" title="dig and haul together"/> |
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</div> |
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<div class="side-box"> |
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<h3>Behaviors</h3> |
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<ul> |
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<li>Localization</li> |
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<li>Obstacle/Robot Avoidance</li> |
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<li>Path Planning</li> |
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<li>Coordinated object manipulation</li> |
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</ul> |
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</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');"> |
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<h1>Autonomous Vehicle Simulation</h1><img src="images/btn_expand.png" alt="expand" /></a> |
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<p><div class="box-img-side"><img src="images/car.jpg" title="car robotics" class="box-img"/> |
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<span class="description">"Car Robotics" is an exciting field of studies dedicated |
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to developing next generation intelligent cars. Full scale autonomous vehicles |
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equippped with sensors are cost prohibitive and provide a major roadblock to |
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widespread research and innovation. The Scout platform provides tools to |
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study autonomous movement, inter-vehicle communication, and interaction with |
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other external elements. |
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<br/><br/> |
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<a href="javascript:;" onmousedown="toggleDiv('car');"> |
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<em>learn more >></em></a> |
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</span></div></p> |
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<div id="car" style="display:none;"> |
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<div class="content-box"> |
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<h2>Vehicle Simulation</h2><br/> |
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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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tracking vehicle dynamics. |
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<br/><br/> |
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The vehicle simulation accessory adds turn signals, brake lights, a backup distance |
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sensor, and a horn output to complete the package. |
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</div> |
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<div class="side-box"> |
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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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<li>Obstacle/Vehicle Avoidance</li> |
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<li>Path Planning</li> |
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<li>Realtime Traffic Updates</li> |
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</ul> |
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</div> |
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</div><!--end 'car' 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('mapping');"> |
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<h1>Environment Mapping</h1><img src="images/btn_expand.png" alt="expand" /></a> |
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<p><span class="description">The Scout was designed to handle indoor terrain |
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with ease. Coupled with a fast scanning sonar array, indoor environments can be |
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mapped for proving SLAM algorithms or exploring new locations. Multiple Scouts |
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can be used together for even faster data collection. |
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<br/><br/> |
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<a href="javascript:;" onmousedown="toggleDiv('mapping');"> |
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<em>learn more >></em></a> |
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</span></p> |
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<div id="mapping" style="display:none;"> |
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<div class="content-box"> |
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<h2>Mapping Algorithms</h2><br/> |
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CONTENT |
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</div> |
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<div class="side-box"> |
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<h3>Behaviors</h3> |
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<ul> |
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<li>Localization</li> |
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<li>Obstacle Avoidance</li> |
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<li>Path Planning</li> |
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</ul> |
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</div> |
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</div><!--end 'mapping' collapse--> |
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</div> |
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<a href="/platform.php">Platform</a></li> |
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<a href="/gallery.php">Video</a></li> |
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<!--[if lte IE 7]><link rel="stylesheet" type="text/css" href="/mainIE.css" /><![endif]--> <title>Shopping | ColonyScout.com</title> |
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<a href="index.php"><img src="/images/scout_logo.jpg"></a> |
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<div id="top-navigation"> |
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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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<a title="Applications for the Colony Scout" href="/applications.php">Applications</a> |
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<h1>Lease your Scout Today!</h1> |
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<p><span class="description">Take Scout out for a spin. Pair your Scout with smart accessories to unleash the powerful potential!. |
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<br/><br/> |
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<div class="hr"></div> |
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<div id="leasing"> |
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<h2>How do I lease a Scout?</h2> |
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<p>It's easy! Choose a Scout and add it to your cart. Sign the lease agreement, and we will automatically bill you every month.</p> |
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<p>If you're done using your Scout, you can return it and billing will cease. Ask us about buying your Scout for life!</p> |
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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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<p><b>Swarm intelligence</b><i>\'swòrm in-'te-lə-jən(t)s\</i> describes the collective behavior of decentralized, |
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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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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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<h1>Project Goals</h1> |
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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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<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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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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<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 Cortex A8 + 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 3.0Ah 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 and noise suppression</td> </tr> |
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<tr><td>Wireless</td><td>Zigbee, 300 ft range</td><td>Zigbee, >300 ft 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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<div class="white-top"></div> |
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<div class="white-body text-box"> |
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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 cast urethane 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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<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 320rpm metal gearmotors propel the Scout at a brisk 180cm/s (~4mph). 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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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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The chassis is cast from a hard urethane for a low-cost and high strength solution that minimizes part count. 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>320rpm 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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<a href="index.php"><img src="/images/scout_logo.jpg"></a> |
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<div id="top-navigation"> |
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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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<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> |
|
53 |
<p class="description">The Scout sensor suite affords increased situational awareness over comparably |
|
54 |
priced platforms<span class="super">1</span>. Scout fuses long range sonar with short |
|
55 |
range IR sensors and LED reflectance sensors to provide realtime feedback about the robots' |
|
56 |
environment. Commercially available off-the-shelf components were used where possible, |
|
57 |
selected based on range, accuracy, and repeatability characteristics. |
|
58 |
<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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|
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<div id="sensor" style="display:none;"> |
|
63 |
|
|
64 |
<h2>Environment Mapping</h2> |
|
65 |
<p>Ultrasonic ranging sweeps 360 degrees around each Scout robot, providing up to 48 |
|
66 |
measurements per cycle. A compact stepper motor provides precise and rapid position control. The high resolution and |
|
67 |
fast scanning speed are appropriate for 2D mapping and navigation.</p> |
|
68 |
<p>The Maxbotix® EZ™ line of sonar rangefinders was chosen for their proven accuracy and |
|
69 |
long term reliability<span class="super">2</span>. The EZ4 provides the narrowest sensing |
|
70 |
area of the EZ™ family, allowing higher precision maps to be produced, while still |
|
71 |
providing wide coverage for obstacle detection.</p> |
|
72 |
<div class="hr"></div> |
|
73 |
|
|
74 |
<h2>Cliff Detection</h2> |
|
75 |
<p>A trio of short range Sharp® IR rangefinders provide early warning of sharp drop-offs that |
|
76 |
could compromise the robot's mission.</p> |
|
77 |
<div class="hr"></div> |
|
78 |
|
|
79 |
<h2>Odometry & Vehicle Dynamics</h2> |
|
80 |
<p>Vehicle position is tracked by quadrature encoders on each wheel resulting in 3mm linear accuracy |
|
81 |
<span class="super">3</span>. A custom IMU (inertial measurement unit) consisting of a 3-axis accelerometer |
|
82 |
and pitch+yaw-rate gyroscope provide detail of the vehicle's motion in three dimensions. |
|
83 |
</p> |
|
84 |
<div class="hr"></div> |
|
85 |
|
|
86 |
<h2>Complementary Sensing</h2> |
|
87 |
<p>The sonar rangefinders are optionally supplemented by short range LED reflectance sensors for close wall |
|
88 |
following. Dual sensors on the front bumper provide resolved impact detection for escape manuevers or |
|
89 |
when manipulating objects. |
|
90 |
</p> |
|
91 |
<div class="hr"></div> |
|
92 |
|
|
93 |
<div id="reference-box"> |
|
94 |
<ol> |
|
95 |
<li>Comparison with commercially available robots valued at <$500 USD.</li> |
|
96 |
<li>PDF: <a href="http://www.maxbotix.com/uploads/Pendulum_Test_Results.pdf">Maxbotix® EZ4™ Sensor Testing</a></li> |
|
97 |
<li>48 clicks per revolution, 42mm diameter wheel. (42mm*pi)/48=2.7488mm</li> |
|
98 |
</ol> |
|
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</div> |
|
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|
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<h1>Communications</h1><img src="images/btn_expand.png" /></a> |
|
107 |
<p><span class="description">Scout communicates over several protocols, providing a robust interface |
|
108 |
over long distances. Inter-robot communications and control commands are broadcast over a self organizing |
|
109 |
high bandwidth mesh network. The robots also broadcast over IR (infrared light) for localization. |
|
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<br/><br/><a href="javascript:;" onmousedown="toggleDiv('communication');"><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="communication" style="display:none;"> |
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|
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<h2>Bearing and Orientation Module (BOM)</h2><br/> |
|
117 |
<img src="images/sensor_BOM.jpg" /> |
|
118 |
<p>The Scout BOM provides relative localization information between robots. Four IR transmitters |
|
119 |
around the base broadcast the robot's identification code and the sensor position, allowing |
|
120 |
relative orientation to be determined. The hardware is specially designed to reject environmental |
|
121 |
interference such as noise from fluorescent lights and other source of stray IR. |
|
122 |
The high refresh rate and robust communication permits tighter precision formation control over |
|
123 |
distances up to 12 feet.</p> |
|
124 |
<div class="hr"></div> |
|
125 |
|
|
126 |
<h2>Wireless Network</h2> |
|
127 |
<p>Inter-robot communications are handled over a 2.4GHz Zigbee® network using the IPv6 protocol. |
|
128 |
A transfer rate of up to 2Mbps can be achieved over a distance of nearly one mile line-of-sight |
|
129 |
<span class="super">1</span>. The system uses a true layer 3 mesh network, distributing data |
|
130 |
packets intelligently amongst the robots. The nature of the mesh network is dynamically |
|
131 |
robust, self healing after the loss of any communications node.</p> |
|
132 |
<div class="hr"></div> |
|
133 |
|
|
134 |
<h2>Wifi Bridge</h2> |
|
135 |
<p>An optional network bridge can link the 802.15 Zigbee® radio to standard internet |
|
136 |
enabled devices (802.11b/g). When using this bridge each Scout can be accessed wirelessly over |
|
137 |
the internet.</p> |
|
138 |
<div class="hr"></div> |
|
139 |
|
|
140 |
<div id="reference-box"> |
|
141 |
<ol> |
|
142 |
<li>PDF: <a href="http://www.atmel.com/dyn/resources/prod_documents/doc8111.pdf">802.15.4 Zigbee Radio</a></li> |
|
143 |
</ol> |
|
144 |
</div> |
|
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|
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</div> |
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<div id="body"> |
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</div> |
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<div class="bot-gray"></div> |
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<div class="white-body text-box"> |
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<div class="hr"></div> |
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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="/contact.php">Contact</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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<center><p> |
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<span class="small" style="position:relative; top:30px; left:0px;">©2009-2011 ColonyScout.com. All Rights Reserved. |
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| <a href="/index.php">Home</a> |
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| <a href="/team.php#contact">Contact</a>
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| <a href="/contact.php">Contact</a>
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| <a href="/sitemap.php">Sitemap</a> |
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| <a href="/internal/">Internal</a> |
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| <a href="http://www.roboticsclub.org/redmine/wiki/colonyscout" target="_blank">Wiki</a></span> |
docs/www/colonyscout/computing.php | ||
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<?php |
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$cacheFile="cache/platform.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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|
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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="Scout uses a dual chip architecture of an ARM9 and an AVR."/> |
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<meta name="keywords" content="ARM9, linux, rtos, real time, processing, pcb, Scout"/> |
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|
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<?php include("header.php"); ?> |
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<title>Software Platform | ColonyScout.com</title> |
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|
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</head> |
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<body bgcolor="#eeeeee"> |
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|
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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"> |
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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('hardware');"> |
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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 >></em></a> |
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</span></p> |
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|
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<div id="hardware"> |
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|
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|
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<div class="content-box"> |
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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 ARM Cortex A8 for heavy computational |
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tasks.</p> |
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<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> |
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<ul> |
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<li>ARM Cortex™ A8 (TI OMAP 3503)</li> |
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<ul> |
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<li>Clocked at 600Mhz</li> |
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<li>32-bit</li> |
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<li>MMU</li> |
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</ul> |
|
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<li>ATMega™ 128RFA1</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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<li>Inbuilt Zigbee® Wireless</li> |
|
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</ul> |
|
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<li>256MB SDRAM</li> |
|
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<li>256MB Flash + microSD Support</li> |
|
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</ul> |
|
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</div> |
|
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|
|
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</div><!--end 'hardware' collapse--> |
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|
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</div> |
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|
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<div class="white-body text-box"> |
|
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<div class="hr"></div> |
|
74 |
<a href="javascript:;" title="Click to Expand" onmousedown="toggleDiv('os');"> |
|
75 |
<h1>Software Architecture</h1><img src="images/btn_expand.png" /></a> |
|
76 |
<p><span class="description">Scout runs on a Gumstix (Overo) port of <a href="http://www.ros.org/"/>ROS</a> |
|
77 |
(robot operating system), which provides the infrastructure necessary to control a complex robotic system. ROS has |
|
78 |
an active developer community, and the Scout team is proud to be a part of the developer network. The Scout port of ROS |
|
79 |
runs on top of Ubuntu (ARM). |
|
80 |
<br/><br/><a href="javascript:;" onmousedown="toggleDiv('os');"><em>learn more >></em></a> |
|
81 |
</span></p> |
|
82 |
|
|
83 |
<div id="os" style="display:none;"> |
|
84 |
|
|
85 |
<div class="content-box"> |
|
86 |
Multitasking will allow the software that runs on the robot to be split up into tasks which can each handle a |
|
87 |
subsystem such as wireless communication or odometry. Users will be able to write high level programs and |
|
88 |
depend on the operating system and Scout library to create robot behaviors. |
|
89 |
|
|
90 |
<p>The operating system will also provide abstractions like virtual memory which will prevent errors in |
|
91 |
behaviors from crashing the robot. If a user application fails, the system can recover and continue running tasks |
|
92 |
which will do things like cliff detection or even autonomous recharging.</p> |
|
93 |
</div> |
|
94 |
|
|
95 |
<div class="side-box"> |
|
96 |
<h3>POSIX compliant OS</h3> |
|
97 |
<ul> |
|
98 |
<li>Use standard UNIX tools (ssh, bash, compile on the robot)</li> |
|
99 |
<li>IPv6 6LoWPAN Networking</li> |
|
100 |
<li>Program behaviors in any language</li> |
|
101 |
<li>Emulate with QEMU</li> |
|
102 |
</ul> |
|
103 |
</div> |
|
104 |
|
|
105 |
</div><!--end 'os' collapse--> |
|
106 |
|
|
107 |
</div> |
|
108 |
|
|
109 |
<div class="white-body text-box"> |
|
110 |
<div class="hr"></div> |
|
111 |
<div id="bottom-nav"> |
|
112 |
<ul id="pagenav"> |
|
113 |
<li class="previous"> |
|
114 |
<a href="<?php echo $nav[$nav_id['plat']-1]; ?></a></li> |
|
115 |
<li class="next"> |
|
116 |
<a href="<?php echo $nav[$nav_id['plat']+1]; ?></a></li> |
|
117 |
</ul> |
|
118 |
</div> |
|
119 |
</div> |
|
120 |
|
|
121 |
<div class="white-bottom"></div> |
|
122 |
</div> |
|
123 |
|
|
124 |
|
|
125 |
</div> |
|
126 |
</div> <!--BODY!--> |
|
127 |
|
|
128 |
|
|
129 |
<?php include("footer.php"); ?> |
|
130 |
|
|
131 |
</div><!--GENERAL!--> |
|
132 |
|
|
133 |
</body></html> |
|
134 |
<?php |
|
135 |
$buffer = ob_get_contents(); |
|
136 |
ob_end_flush(); |
|
137 |
$fp = fopen($cacheFile, "w"); fwrite($fp, $buffer); fclose($fp); |
|
138 |
?> |
docs/www/colonyscout/contact.php | ||
---|---|---|
49 | 49 |
<script type="text/javascript" src="http://disqus.com/forums/colonyscout/embed.js"></script><noscript> |
50 | 50 |
<a href="http://disqus.com/forums/colonyscout/?url=ref">View the discussion thread.</a></noscript> |
51 | 51 |
</div> |
52 |
|
|
53 |
<div class="white-body text-box"> |
|
54 |
<h1>Scout Design Team</h1> |
|
55 |
<p><span class="description">Meet the members of the Scout design team.</span> |
|
56 |
<a href="http://www.twitter.com/colonyscout/" target="about:blank:" title="Colony Scout Twitter Feed"> |
|
57 |
<img id="team-twitter" src="/images/team_twitter.jpg"></a> |
|
58 |
</p> |
|
59 |
<div class="hr"></div> |
|
60 |
|
|
61 |
<div class="team-box"> |
|
62 |
<h2 class="blue">Dan</h2> |
|
63 |
<img src="images/team_dan.jpg" alt="Dan, Project Manager, Colony Scout"/> |
|
64 |
<p><em>Project Manager</em></p> |
|
65 |
<p>Howdy! I'm a mechanical engineering student by day, and a roboticist by night. I make sure things |
|
66 |
are pixel perfect from our websites to SolidWorks CAD models. As manager of the Scout team, I oversee |
|
67 |
a talented group of engineers who make every design decision worthwhile.</p> |
|
68 |
</div> |
|
69 |
<div class="team-box"> |
|
70 |
<h2 class="blue">Kevin</h2> |
|
71 |
<img src="images/team_kevin.jpg" alt="Kevin, Lead Electrical Engineer, Colony Scout"/> |
|
72 |
<p><em>Lead Electrical Engineer</em></p> |
|
73 |
<p>I am an electrical and computer engineering student specializing in computer hardware and firmware. |
|
74 |
My passion? Designing awesome embedded systems that you use everyday. I also enjoy naming boards after types of |
|
75 |
flies. I designed the Scoutfly board as well as work with the Mechanical and OS team to provide the hardware |
|
76 |
needed for the robot.</p> |
|
77 |
</div> |
|
78 |
<div class="team-box" style="border-right:none;clear:right;"> |
|
79 |
<h2 class="blue">Brad</h2> |
|
80 |
<img src="images/team_brad.jpg" alt="Brad, OS, Colony Scout"/> |
|
81 |
<p><em>Operating System Master</em></p> |
|
82 |
<p>Hi, I am a computer science student who loves robots! I lead the OS team and I'm also designing Scout's |
|
83 |
software architecture. I'm hoping to spread my love of robots by creating a system that is reliable and |
|
84 |
easy to program and understand.</p> |
|
85 |
</div> |
|
86 |
|
|
87 |
<div class="bot-gray"></div> |
|
88 |
|
|
89 |
<div class="team-box-small"> |
|
90 |
<h3>James</h3> |
|
91 |
<img src="images/team_james.jpg" alt="James, Colony Scout"/> |
|
92 |
<em>Tech Consultant</em> |
|
93 |
<p>I consult on design issues, researched potential operating systems and localization module designs, |
|
94 |
and provided initial encouragement for the Colony Scout project.</p> |
|
95 |
</div> |
|
96 |
<div class="team-box-small"> |
|
97 |
<h3>Chris</h3> |
|
98 |
<img src="images/team_chris.jpg" alt="Chris, BOM, Colony Scout"/> |
|
99 |
<em>BOM/Wireless</em> |
|
100 |
<p>I'm an electrical and computer engineering major designing some of the additional hardware for the Scout, |
|
101 |
including the BOM daughter board. I am also interested in software engineering on embedded systems, and I look |
|
102 |
forward to building and using this new platform.</p> |
|
103 |
</div> |
|
104 |
<div class="team-box-small"> |
|
105 |
<h3>Rich</h3> |
|
106 |
<img src="images/team_rich.jpg" alt="Rich, OS, Colony Scout"/> |
|
107 |
<em>Operating System</em> |
|
108 |
<p>I am the 1337 h4x0r who helps on the Scout's OS. In my spare time I enjoy keeping servers from exploding |
|
109 |
and bringing organizations into the social networking scene. Oh, also I <i>am</i> really a monkey.</p> |
|
110 |
</div> |
|
111 |
<div class="team-box-small" style="border:none;"> |
|
112 |
<h3>David</h3> |
|
113 |
<img src="images/team_david.jpg" alt="David, Wireless Systems, Colony Scout"/> |
|
114 |
<em>Wireless Systems</em> |
|
115 |
<p>I'm a physics and computer science student, and |
|
116 |
dabble in robotics in my free time. I manage the wireless communication |
|
117 |
subsystem both on the main board and as a bridge between the robots and |
|
118 |
the internet.</p> |
|
119 |
</div> |
|
120 |
|
|
121 |
<div class="bot-gray"></div> |
|
122 |
</div> |
|
123 |
|
|
52 | 124 |
|
53 | 125 |
<div class="white-body text-box"> |
54 | 126 |
<div class="hr"></div> |
docs/www/colonyscout/footer.php | ||
---|---|---|
2 | 2 |
<center><p> |
3 | 3 |
<span class="small" style="position:relative; top:30px; left:0px;">©2009-2011 ColonyScout.com. All Rights Reserved. |
4 | 4 |
| <a href="/index.php">Home</a> |
5 |
| <a href="/team.php#contact">Contact</a>
|
|
5 |
| <a href="/contact.php">Contact</a>
|
|
6 | 6 |
| <a href="/sitemap.php">Sitemap</a> |
7 | 7 |
| <a href="/internal/">Internal</a> |
8 | 8 |
| <a href="http://www.roboticsclub.org/redmine/wiki/colonyscout" target="_blank">Wiki</a></span> |
docs/www/colonyscout/index.php | ||
---|---|---|
10 | 10 |
} |
11 | 11 |
|
12 | 12 |
?> |
13 |
|
|
14 |
<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd"> |
|
13 |
<!DOCTYPE html> |
|
15 | 14 |
<html xmlns="http://www.w3.org/1999/xhtml" xml:lang="en" lang="en"><head> |
16 | 15 |
<meta http-equiv="Content-Type" content="text/html; charset=iso-8859-1"> |
17 | 16 |
<meta name="google-site-verification" content="hwSOLj8uDUaKyOjQ4eAfxBHhnmCH0C-tS5hlC-wk0lw" /> |
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