https://airwiki.elet.polimi.it/api.php?action=feedcontributions&user=AnilKoyuncu&feedformat=atomAIRWiki - User contributions [en]2024-03-29T13:58:53ZUser contributionsMediaWiki 1.25.6https://airwiki.elet.polimi.it/index.php?title=Talk:RunBot:_a_Robogame_Robot&diff=13387Talk:RunBot: a Robogame Robot2011-07-19T09:19:16Z<p>AnilKoyuncu: </p>
<hr />
<div>Thesis should be find in the link.[[Media:2011_07_Koyuncu_Anil.pdf|Submitted version of the thesis]]<br />
<br />
[[Image:Robot.jpg|right|500px]]<br />
<br />
== Requirements ==<br />
<br />
The robot should have:<br />
* a dimension of about 25cm of radius, 20 cm height<br />
* a speed of about 1 m/sec<br />
* omnidirectional movement (Kamro wheels)<br />
* sensors to avoid obstacles (sonars)<br />
* a camera that can be moved up and down (and eventually left and right)<br />
* wireless connection to a computer (Wi-fi)<br />
* Bluetooth connection<br />
* have power enough to move and transmit for at least 2 hours without recharging<br />
* Have the possibility to recharge autonomously<br />
<br />
The robot should cost as less as possible<br />
<br />
[[Media:Order list.pdf|File with considerations on parts to be ordered]]<br />
<br />
<br />
TO DO<br />
<br />
* Select HW <br />
** ST ARM HW (ask Martino Migliavacca <martino.migliavacca@gmail.com>, GUMSTIX (http://www.gumstix.org/), ARDUINO (http://www.freeduino.org/), other...)<br />
** Engines (WWW.robot-Italy.com, http://www.jonathan.it/)<br />
** batteries (above, or standard A, AA or AAA type)<br />
** Camera (ST smart cameras, with Ethernet wired link)<br />
** Sonar (already available (see ROBOWII2.0))<br />
** Blue tooth and WI-FI<br />
<br />
* Design body (structure and appearance), sensor placement, eventual movements of the camera<br />
* Implement the robot<br />
* test the robot with a simple game (e.g. [[RoboWII2.0]])<br />
<br />
Source Code Backup<br />
[[Media:STLCam-blob.zip| The backup file]]<br />
<br />
== Part List ==<br />
Camera<br />
Wheels<br />
Motors<br />
Lenses<br />
Batteries<br />
<br />
== Design of The Robot ==<br />
The full design of the robot in the Google SketchUp can be found in the following link. [[Media:Robot-model.zip|Robot Model]]<br />
<br />
[[Image:Bottom_plexi.png|500px]]<br />
[[Image:Side.png|500px]]<br />
[[Image:Ust.png|500px]]<br />
[[Image:Top.png|500px]]<br />
<br />
== Mice ==<br />
[[Image:Lens_setup.JPG]]<br><br />
The results obtained so far with that setup is in the pdf file below.<br><br />
[[Media:Image_of_mice.pdf|The results obtained so far]]<br />
<br />
<br />
<br />
== Camera ==<br />
The demo software given by ST is used in order to test the colr blob detection. <br><br />
<br><br />
Detecting 3 blob colors<br><br />
[[Image:Detect_3.JPG|500px]] <br><br />
Detecting 4 blob colors<br><br />
[[Image:Detect_4.JPG|500px ]] <br><br />
<br />
<br />
== Motion Control ==<br />
<br />
<br />
<br />
[[Image:M_control.JPG]]<br />
<br />
The angle between each wheel is 2*pi/3, which 120 degree.<br><br />
The front wheels are making a pi/6 angle between the ground.<br><br />
The positions of the wheels in the coordinate system is as follows.<br><br />
Wheel 1 is (cos(pi/6),sin(pi/6)) = (0.866,0.5)<br><br />
Wheel 2 is (cos(pi/6),sin(pi/6)) = (0.866,0.5)<br><br />
Wheel 3 is (cos(3*pi/2),sin(3*pi/2))=(0,-1)<br><br />
<br><br />
I wrote simulations in matlab, in two ways.<br><br />
The first one is using the TriskarOdometry directly, and estimates the <br />
necessary wheel speeds to reach the desired frontal, lateral and angular <br />
speed of the robot.<br><br />
The second one is instead giving the motor speeds in terms of rotations and <br />
estimates the frontal ,lateral ,angular speed of the robot according to motor<br />
speeds.<br><br />
<br><br />
The matlab code for the motion control simulation is consist of the following files:<br><br />
<br><br />
-motor_speed.m --This file which takes the motor speed as input and <br />
calculates the Vf,Vl,w of the robot.<br><br />
-TriskarOdometry.m --Giving the input Vf,Vl,w calculates the motor speed<br><br />
-trajectory.m --The function which draws some trajectories based on the <br />
following schema<br><br />
1) DIRECT MOVEMENT<br />
THE HEAD OF THE ROBOT ALWAYS LOOKING IN A FIXED DIRECTION<br />
2) ANGULAR MOVEMENT<br />
THE ROBOT WILL MOVE IN A CIRCULAR TRAJECTORY WITH FIXED HEAD<br />
DIRECTION<br />
3) SPIN & GO<br />
THE ROBOT EITHER GOES ANGULAR BUT THE HEAD POSITION<br />
IS ALSO CHANGES<br />
4) SPIN & GO DIRECT<br />
THE ROBOT EITHER GOES DIRECT BUT THE HEAD POSITION<br />
IS ALSO CHANGES<br />
-direc_motion.m --DIRECT MOVEMENT <br><br />
-angular_motion.m --ANGULAR MOVEMENT <br><br />
-spin_go.m -- SPIN & GO <br><br />
-spin_go_d.m --SPIN & GO DIRECT <br><br />
-draw_arrow.m --A function that is used to draw arrow. <br><br />
[[Media:Mc.zip|File with the matlab files listed above.]]<br />
<br />
<br />
== Processor Comparison ==<br />
<br />
This is the processor comparison table, the cells without entry is left blank<br />
<br />
{| class="wikitable" border="1"<br />
|-<br />
! <br />
! Name<br />
! Clock Speed<br />
! Ram<br />
! Storage<br />
! Onboard Devices<br />
! Power Consumption<br />
! Price<br />
! OS<br />
! Source Page<br />
|-<br />
| 1<br />
| ESOM270<br />
| PXA270@520MHz<br />
| 128 MB SDRAM <br />
| 32 MB FLASH PMIC<br />
| USB device,Camera interface(QCI),USB host<br />
| 0.8 W @ Full running Mode,100mW @ Deep Sleep mode<br />
| 76 €<br />
| Comes with preinstalled uboot & Linux 2.6.25 or eboot Windows CE 6.0 R2<br />
| http://www.e-consystems.com/esom270.asp<br />
|-<br />
| 2<br />
| IGEPv2 BOARD<br />
| OMAP3530@720 Mhz<br />
| 512MB RAM <br />
| 512MB ONENAND-FLASH<br />
| Ethernet 10/100 Mb BaseT.,Wifi IEEE 802.11b/g + Bluetooth 2.0 (Integrated antenna).,1 x USB OTG,1x USB Host<br />
|<br />
| 145 €<br />
| IGEPv2 running Ubuntu 9.04<br />
| http://www.igep-platform.com/index.php?option=com_content&view=article&id=46&Itemid=55<br />
|-<br />
| 3<br />
| Em-x270<br />
| Intel's XScale PXA270 CPU, up to 520 MHz<br />
| 128 Mbyte SDRAM <br />
| 512 Mbyte Flash Disk<br />
| WLAN / WiFi 802.11b/g Interface,Bluetooth interface,Slave and host USB ports, including keyboard and mouse support,100 Mbps Ethernet port<br />
| 0.2 - 2 W<br />
| 76 $<br />
| ce OR linux<br />
| http://www.compulab.co.il/x270cm/html/x270-cm-datasheet.htm<br />
|-<br />
| 4<br />
| S3C2440 Core Board II <br />
| Samsung S3C2440A based on ARM920T, 400MHz<br />
| 64MB SDRAM<br />
| 64MB NAND Flash<br />
| 2-ch USB Host controller / 1-ch USB Device controller (ver 1.1),Camera interface ,(Max. 4096 x 4096 pixels input support. 2048 x 2048 pixel input support for scaling)<br />
| <br />
| 110$<br />
| Windows CE4.2/5.0, 6.0 and Linux2.6<br />
| http://www.embedinfo.com/en/list.asp?id=64<br />
|-<br />
| 5<br />
| Overo™ Air COM [GUM3503A]<br />
| OMAP 3503 Application Processor with ARM Cortex-A8 CPU 600 MHz<br />
| 256MB RAM<br />
| 256MB Flash<br />
| 802.11(g) and Bluetooth®,USB OTG signals, USB HS Host<br />
| <br />
| 199$<br />
| Linux 2.6.31 or higher OpenEmbedded<br />
| http://www.gumstix.com/store/catalog/product_info.php?products_id=226<br />
|-<br />
| 6<br />
| MX31 TurboG5 Module<br />
| Freescale i.MX31 @ 532MHz<br />
| 128 MB of Mobile DDR<br />
| 32 MB of Flash<br />
| Support for 802.11b/g embedded wireless module,One SD/MMC card slot,One USB 2.0 On-The-Go (OTG) port (H/F/L speed),One USB 2.0 host port (H/F/L speeds),One Camera Sensor Interface,One 10/100BASE-T Ethernet port<br />
| <br />
|<br />
| Windows CE 5.0 and 6.0 Linux<br />
| http://www.eurotech-inc.com/single-board-computer-imx31-com-turbog5.asp<br />
|-<br />
|}<br />
<br />
<br />
<br />
==Motor Suggestion ==<br />
<br />
http://www.pololu.com/catalog/product/1092<br />
<br />
no load speed: 500 rpm<br />
stall torque: 29 kg-cm ~= 0.282 Nm<br />
<br />
maximum power output = Pmax = 26.190 rad/s * 0.141 Nm = 3.692 W<br />
occuring at W= 250 rpm and t=0.141 Nm<br />
<br />
<br />
http://www.pololu.com/catalog/product/1085/<br />
<br />
no load speed: 470 rpm<br />
stall torque : 7 oz ( 0.5 kg-cm ) ~= 0.049 Nm<br />
<br />
maximum power output = Pmax = 24.619 rad/s * 0.0245 Nm = 0.603 W<br />
occuring at W=235 rpm and t = 0.0245 Nm<br />
<br />
calculations made according to the reference paper at the link<br />
http://lancet.mit.edu/motors/motors3.html<br />
http://lancet.mit.edu/motors/motors4.html<br />
<br />
== Wheel Specification ==<br />
<br />
=== 2052-3/8X CAT-TRAK ===<br />
Description <br />
[[Image:FXA314-2T.jpg|right]] <br />
*Standard 2" O.D. - 3/8" Bore Double Row<br />
*Metric 49.2mm O.D. - 9.5mm Plain Bore.<br />
*Recommended max load.<br />
**Steel Bottom = 25 lbs. 11.3kg.<br />
**Plywood Surface = 15 lbs. 6.8kg.<br />
*200# Test Corrugated Bottom = 10 lbs. 4.5kg.<br />
*Weight = 1.75 oz.<br />
*Synthetic rubber coated polypropylene rollers.<br />
*Price:$7.48.<br />
*Source: http://store.kornylak.com/ProductDetails.asp?ProductCode=FXA314<br />
<br />
<br />
=== 2052BX CAT-TRAK ===<br />
<br />
Description<br />
<br />
[[Image:FXA317-2T.jpg|right]]<br />
*Standard 2" O.D. - 1/4" I.D. Bushing Double Row<br />
*Metric 49.2mm O.D. - 6.35mm Bushing<br />
*Recommended max load <br />
**Steel Bottom = 25 lbs. 11.3kg<br />
**Plywood Surface = 15 lbs. 6.8kg<br />
*200# Test Corrugated Bottom = 10 lbs. 4.5kg<br />
*Weight = 1.75 oz<br />
*Synthetic rubber coated polypropylene rollers.<br />
*Price :$7.48<br />
*Source: http://store.kornylak.com/ProductDetails.asp?ProductCode=FXA317<br />
<br />
<br />
=== 2052KX CAT-TRAK ===<br />
Description <br />
[[Image:FXA315-2T.jpg|right]]<br />
*Standard 2" O.D. - 1/2" Bore Double Row w/ Keyway<br />
*Metric 49.2mm O.D. - 12.7mm Bore w/ Keyway<br />
*Recommended max load <br />
**Steel Bottom = 25 lbs. 11.3kg<br />
**Plywood Surface = 15 lbs. 6.8kg<br />
*200# Test Corrugated Bottom = 10 lbs. 4.5kg<br />
*Weight = 1.75 oz<br />
*Synthetic rubber coated polypropylene rollers. <br />
*Price :$7.48<br />
*Source: http://store.kornylak.com/ProductDetails.asp?ProductCode=FXA315<br />
<br />
== Related Files == <br />
<br />
Matlab scripts, that are used to calculate, color; motor contributions; and object position.[[Media:Code.zip|Helper scripts]]<br />
<br />
The final version of microcontroller code with the robogame developed.[[Media:Micro_code.zip|Micro-code]]<br />
<br />
Microcontroller code coming with ST, offers demo functionalities, and used mainly for color selection.[[Media:Micro_code_demo.zip|Micro-code of ST]]<br />
<br />
The parts that are used in the robot, placed in a box labeled as Anil Koyuncu. This document contains the list of items inside it.[[Media:Part-lists.pdf|The part list]]</div>AnilKoyuncuhttps://airwiki.elet.polimi.it/index.php?title=File:Part-lists.pdf&diff=13386File:Part-lists.pdf2011-07-19T09:17:52Z<p>AnilKoyuncu: The part list that is used in robot, and the parts remaining in the box(labeled as Anil Koyuncu)</p>
<hr />
<div>The part list that is used in robot, and the parts remaining in the box(labeled as Anil Koyuncu)</div>AnilKoyuncuhttps://airwiki.elet.polimi.it/index.php?title=Talk:RunBot:_a_Robogame_Robot&diff=13333Talk:RunBot: a Robogame Robot2011-07-02T10:14:33Z<p>AnilKoyuncu: </p>
<hr />
<div>Thesis should be find in the link.[[Media:2011_07_Koyuncu_Anil.pdf|Submitted version of the thesis]]<br />
<br />
[[Image:Robot.jpg|right|500px]]<br />
<br />
== Requirements ==<br />
<br />
The robot should have:<br />
* a dimension of about 25cm of radius, 20 cm height<br />
* a speed of about 1 m/sec<br />
* omnidirectional movement (Kamro wheels)<br />
* sensors to avoid obstacles (sonars)<br />
* a camera that can be moved up and down (and eventually left and right)<br />
* wireless connection to a computer (Wi-fi)<br />
* Bluetooth connection<br />
* have power enough to move and transmit for at least 2 hours without recharging<br />
* Have the possibility to recharge autonomously<br />
<br />
The robot should cost as less as possible<br />
<br />
[[Media:Order list.pdf|File with considerations on parts to be ordered]]<br />
<br />
<br />
TO DO<br />
<br />
* Select HW <br />
** ST ARM HW (ask Martino Migliavacca <martino.migliavacca@gmail.com>, GUMSTIX (http://www.gumstix.org/), ARDUINO (http://www.freeduino.org/), other...)<br />
** Engines (WWW.robot-Italy.com, http://www.jonathan.it/)<br />
** batteries (above, or standard A, AA or AAA type)<br />
** Camera (ST smart cameras, with Ethernet wired link)<br />
** Sonar (already available (see ROBOWII2.0))<br />
** Blue tooth and WI-FI<br />
<br />
* Design body (structure and appearance), sensor placement, eventual movements of the camera<br />
* Implement the robot<br />
* test the robot with a simple game (e.g. [[RoboWII2.0]])<br />
<br />
Source Code Backup<br />
[[Media:STLCam-blob.zip| The backup file]]<br />
<br />
== Part List ==<br />
Camera<br />
Wheels<br />
Motors<br />
Lenses<br />
Batteries<br />
<br />
== Design of The Robot ==<br />
The full design of the robot in the Google SketchUp can be found in the following link. [[Media:Robot-model.zip|Robot Model]]<br />
<br />
[[Image:Bottom_plexi.png|500px]]<br />
[[Image:Side.png|500px]]<br />
[[Image:Ust.png|500px]]<br />
[[Image:Top.png|500px]]<br />
<br />
== Mice ==<br />
[[Image:Lens_setup.JPG]]<br><br />
The results obtained so far with that setup is in the pdf file below.<br><br />
[[Media:Image_of_mice.pdf|The results obtained so far]]<br />
<br />
<br />
<br />
== Camera ==<br />
The demo software given by ST is used in order to test the colr blob detection. <br><br />
<br><br />
Detecting 3 blob colors<br><br />
[[Image:Detect_3.JPG|500px]] <br><br />
Detecting 4 blob colors<br><br />
[[Image:Detect_4.JPG|500px ]] <br><br />
<br />
<br />
== Motion Control ==<br />
<br />
<br />
<br />
[[Image:M_control.JPG]]<br />
<br />
The angle between each wheel is 2*pi/3, which 120 degree.<br><br />
The front wheels are making a pi/6 angle between the ground.<br><br />
The positions of the wheels in the coordinate system is as follows.<br><br />
Wheel 1 is (cos(pi/6),sin(pi/6)) = (0.866,0.5)<br><br />
Wheel 2 is (cos(pi/6),sin(pi/6)) = (0.866,0.5)<br><br />
Wheel 3 is (cos(3*pi/2),sin(3*pi/2))=(0,-1)<br><br />
<br><br />
I wrote simulations in matlab, in two ways.<br><br />
The first one is using the TriskarOdometry directly, and estimates the <br />
necessary wheel speeds to reach the desired frontal, lateral and angular <br />
speed of the robot.<br><br />
The second one is instead giving the motor speeds in terms of rotations and <br />
estimates the frontal ,lateral ,angular speed of the robot according to motor<br />
speeds.<br><br />
<br><br />
The matlab code for the motion control simulation is consist of the following files:<br><br />
<br><br />
-motor_speed.m --This file which takes the motor speed as input and <br />
calculates the Vf,Vl,w of the robot.<br><br />
-TriskarOdometry.m --Giving the input Vf,Vl,w calculates the motor speed<br><br />
-trajectory.m --The function which draws some trajectories based on the <br />
following schema<br><br />
1) DIRECT MOVEMENT<br />
THE HEAD OF THE ROBOT ALWAYS LOOKING IN A FIXED DIRECTION<br />
2) ANGULAR MOVEMENT<br />
THE ROBOT WILL MOVE IN A CIRCULAR TRAJECTORY WITH FIXED HEAD<br />
DIRECTION<br />
3) SPIN & GO<br />
THE ROBOT EITHER GOES ANGULAR BUT THE HEAD POSITION<br />
IS ALSO CHANGES<br />
4) SPIN & GO DIRECT<br />
THE ROBOT EITHER GOES DIRECT BUT THE HEAD POSITION<br />
IS ALSO CHANGES<br />
-direc_motion.m --DIRECT MOVEMENT <br><br />
-angular_motion.m --ANGULAR MOVEMENT <br><br />
-spin_go.m -- SPIN & GO <br><br />
-spin_go_d.m --SPIN & GO DIRECT <br><br />
-draw_arrow.m --A function that is used to draw arrow. <br><br />
[[Media:Mc.zip|File with the matlab files listed above.]]<br />
<br />
<br />
== Processor Comparison ==<br />
<br />
This is the processor comparison table, the cells without entry is left blank<br />
<br />
{| class="wikitable" border="1"<br />
|-<br />
! <br />
! Name<br />
! Clock Speed<br />
! Ram<br />
! Storage<br />
! Onboard Devices<br />
! Power Consumption<br />
! Price<br />
! OS<br />
! Source Page<br />
|-<br />
| 1<br />
| ESOM270<br />
| PXA270@520MHz<br />
| 128 MB SDRAM <br />
| 32 MB FLASH PMIC<br />
| USB device,Camera interface(QCI),USB host<br />
| 0.8 W @ Full running Mode,100mW @ Deep Sleep mode<br />
| 76 €<br />
| Comes with preinstalled uboot & Linux 2.6.25 or eboot Windows CE 6.0 R2<br />
| http://www.e-consystems.com/esom270.asp<br />
|-<br />
| 2<br />
| IGEPv2 BOARD<br />
| OMAP3530@720 Mhz<br />
| 512MB RAM <br />
| 512MB ONENAND-FLASH<br />
| Ethernet 10/100 Mb BaseT.,Wifi IEEE 802.11b/g + Bluetooth 2.0 (Integrated antenna).,1 x USB OTG,1x USB Host<br />
|<br />
| 145 €<br />
| IGEPv2 running Ubuntu 9.04<br />
| http://www.igep-platform.com/index.php?option=com_content&view=article&id=46&Itemid=55<br />
|-<br />
| 3<br />
| Em-x270<br />
| Intel's XScale PXA270 CPU, up to 520 MHz<br />
| 128 Mbyte SDRAM <br />
| 512 Mbyte Flash Disk<br />
| WLAN / WiFi 802.11b/g Interface,Bluetooth interface,Slave and host USB ports, including keyboard and mouse support,100 Mbps Ethernet port<br />
| 0.2 - 2 W<br />
| 76 $<br />
| ce OR linux<br />
| http://www.compulab.co.il/x270cm/html/x270-cm-datasheet.htm<br />
|-<br />
| 4<br />
| S3C2440 Core Board II <br />
| Samsung S3C2440A based on ARM920T, 400MHz<br />
| 64MB SDRAM<br />
| 64MB NAND Flash<br />
| 2-ch USB Host controller / 1-ch USB Device controller (ver 1.1),Camera interface ,(Max. 4096 x 4096 pixels input support. 2048 x 2048 pixel input support for scaling)<br />
| <br />
| 110$<br />
| Windows CE4.2/5.0, 6.0 and Linux2.6<br />
| http://www.embedinfo.com/en/list.asp?id=64<br />
|-<br />
| 5<br />
| Overo™ Air COM [GUM3503A]<br />
| OMAP 3503 Application Processor with ARM Cortex-A8 CPU 600 MHz<br />
| 256MB RAM<br />
| 256MB Flash<br />
| 802.11(g) and Bluetooth®,USB OTG signals, USB HS Host<br />
| <br />
| 199$<br />
| Linux 2.6.31 or higher OpenEmbedded<br />
| http://www.gumstix.com/store/catalog/product_info.php?products_id=226<br />
|-<br />
| 6<br />
| MX31 TurboG5 Module<br />
| Freescale i.MX31 @ 532MHz<br />
| 128 MB of Mobile DDR<br />
| 32 MB of Flash<br />
| Support for 802.11b/g embedded wireless module,One SD/MMC card slot,One USB 2.0 On-The-Go (OTG) port (H/F/L speed),One USB 2.0 host port (H/F/L speeds),One Camera Sensor Interface,One 10/100BASE-T Ethernet port<br />
| <br />
|<br />
| Windows CE 5.0 and 6.0 Linux<br />
| http://www.eurotech-inc.com/single-board-computer-imx31-com-turbog5.asp<br />
|-<br />
|}<br />
<br />
<br />
<br />
==Motor Suggestion ==<br />
<br />
http://www.pololu.com/catalog/product/1092<br />
<br />
no load speed: 500 rpm<br />
stall torque: 29 kg-cm ~= 0.282 Nm<br />
<br />
maximum power output = Pmax = 26.190 rad/s * 0.141 Nm = 3.692 W<br />
occuring at W= 250 rpm and t=0.141 Nm<br />
<br />
<br />
http://www.pololu.com/catalog/product/1085/<br />
<br />
no load speed: 470 rpm<br />
stall torque : 7 oz ( 0.5 kg-cm ) ~= 0.049 Nm<br />
<br />
maximum power output = Pmax = 24.619 rad/s * 0.0245 Nm = 0.603 W<br />
occuring at W=235 rpm and t = 0.0245 Nm<br />
<br />
calculations made according to the reference paper at the link<br />
http://lancet.mit.edu/motors/motors3.html<br />
http://lancet.mit.edu/motors/motors4.html<br />
<br />
== Wheel Specification ==<br />
<br />
=== 2052-3/8X CAT-TRAK ===<br />
Description <br />
[[Image:FXA314-2T.jpg|right]] <br />
*Standard 2" O.D. - 3/8" Bore Double Row<br />
*Metric 49.2mm O.D. - 9.5mm Plain Bore.<br />
*Recommended max load.<br />
**Steel Bottom = 25 lbs. 11.3kg.<br />
**Plywood Surface = 15 lbs. 6.8kg.<br />
*200# Test Corrugated Bottom = 10 lbs. 4.5kg.<br />
*Weight = 1.75 oz.<br />
*Synthetic rubber coated polypropylene rollers.<br />
*Price:$7.48.<br />
*Source: http://store.kornylak.com/ProductDetails.asp?ProductCode=FXA314<br />
<br />
<br />
=== 2052BX CAT-TRAK ===<br />
<br />
Description<br />
<br />
[[Image:FXA317-2T.jpg|right]]<br />
*Standard 2" O.D. - 1/4" I.D. Bushing Double Row<br />
*Metric 49.2mm O.D. - 6.35mm Bushing<br />
*Recommended max load <br />
**Steel Bottom = 25 lbs. 11.3kg<br />
**Plywood Surface = 15 lbs. 6.8kg<br />
*200# Test Corrugated Bottom = 10 lbs. 4.5kg<br />
*Weight = 1.75 oz<br />
*Synthetic rubber coated polypropylene rollers.<br />
*Price :$7.48<br />
*Source: http://store.kornylak.com/ProductDetails.asp?ProductCode=FXA317<br />
<br />
<br />
=== 2052KX CAT-TRAK ===<br />
Description <br />
[[Image:FXA315-2T.jpg|right]]<br />
*Standard 2" O.D. - 1/2" Bore Double Row w/ Keyway<br />
*Metric 49.2mm O.D. - 12.7mm Bore w/ Keyway<br />
*Recommended max load <br />
**Steel Bottom = 25 lbs. 11.3kg<br />
**Plywood Surface = 15 lbs. 6.8kg<br />
*200# Test Corrugated Bottom = 10 lbs. 4.5kg<br />
*Weight = 1.75 oz<br />
*Synthetic rubber coated polypropylene rollers. <br />
*Price :$7.48<br />
*Source: http://store.kornylak.com/ProductDetails.asp?ProductCode=FXA315<br />
<br />
== Related Files == <br />
<br />
Matlab scripts, that are used to calculate, color; motor contributions; and object position.[[Media:Code.zip|Helper scripts]]<br />
<br />
The final version of microcontroller code with the robogame developed.[[Media:Micro_code.zip|Micro-code]]<br />
<br />
Microcontroller code coming with ST, offers demo functionalities, and used mainly for color selection.[[Media:Micro_code_demo.zip|Micro-code of ST]]</div>AnilKoyuncuhttps://airwiki.elet.polimi.it/index.php?title=Talk:RunBot:_a_Robogame_Robot&diff=13332Talk:RunBot: a Robogame Robot2011-07-02T10:11:19Z<p>AnilKoyuncu: /* Camera */</p>
<hr />
<div>Thesis should be find in the link.[[Media:2011_07_Koyuncu_Anil.pdf|Submitted version of the thesis]]<br />
<br />
[[Image:Robot.jpg|right|500px]]<br />
<br />
== Requirements ==<br />
<br />
The robot should have:<br />
* a dimension of about 25cm of radius, 20 cm height<br />
* a speed of about 1 m/sec<br />
* omnidirectional movement (Kamro wheels)<br />
* sensors to avoid obstacles (sonars)<br />
* a camera that can be moved up and down (and eventually left and right)<br />
* wireless connection to a computer (Wi-fi)<br />
* Bluetooth connection<br />
* have power enough to move and transmit for at least 2 hours without recharging<br />
* Have the possibility to recharge autonomously<br />
<br />
The robot should cost as less as possible<br />
<br />
[[Media:Order list.pdf|File with considerations on parts to be ordered]]<br />
<br />
<br />
TO DO<br />
<br />
* Select HW <br />
** ST ARM HW (ask Martino Migliavacca <martino.migliavacca@gmail.com>, GUMSTIX (http://www.gumstix.org/), ARDUINO (http://www.freeduino.org/), other...)<br />
** Engines (WWW.robot-Italy.com, http://www.jonathan.it/)<br />
** batteries (above, or standard A, AA or AAA type)<br />
** Camera (ST smart cameras, with Ethernet wired link)<br />
** Sonar (already available (see ROBOWII2.0))<br />
** Blue tooth and WI-FI<br />
<br />
* Design body (structure and appearance), sensor placement, eventual movements of the camera<br />
* Implement the robot<br />
* test the robot with a simple game (e.g. [[RoboWII2.0]])<br />
<br />
Source Code Backup<br />
[[Media:STLCam-blob.zip| The backup file]]<br />
<br />
== Part List ==<br />
Camera<br />
Wheels<br />
Motors<br />
Lenses<br />
Batteries<br />
<br />
== Design of The Robot ==<br />
The full design of the robot in the Google SketchUp can be found in the following link. [[Media:Robot-model.zip|Robot Model]]<br />
<br />
[[Image:Bottom_plexi.png|500px]]<br />
[[Image:Side.png|500px]]<br />
[[Image:Ust.png|500px]]<br />
[[Image:Top.png|500px]]<br />
<br />
== Mice ==<br />
[[Image:Lens_setup.JPG]]<br><br />
The results obtained so far with that setup is in the pdf file below.<br><br />
[[Media:Image_of_mice.pdf|The results obtained so far]]<br />
<br />
<br />
<br />
== Camera ==<br />
The demo software given by ST is used in order to test the colr blob detection. <br><br />
<br><br />
Detecting 3 blob colors ------------------------------------------------------------------------------------------------------ Detecting 4 blob colors<br><br />
[[Image:Detect_3.JPG|left|500px]] <br><br />
[[Image:Detect_4.JPG|right|500px ]] <br><br />
<br />
== Motion Control ==<br />
<br />
<br />
<br />
[[Image:M_control.JPG]]<br />
<br />
The angle between each wheel is 2*pi/3, which 120 degree.<br><br />
The front wheels are making a pi/6 angle between the ground.<br><br />
The positions of the wheels in the coordinate system is as follows.<br><br />
Wheel 1 is (cos(pi/6),sin(pi/6)) = (0.866,0.5)<br><br />
Wheel 2 is (cos(pi/6),sin(pi/6)) = (0.866,0.5)<br><br />
Wheel 3 is (cos(3*pi/2),sin(3*pi/2))=(0,-1)<br><br />
<br><br />
I wrote simulations in matlab, in two ways.<br><br />
The first one is using the TriskarOdometry directly, and estimates the <br />
necessary wheel speeds to reach the desired frontal, lateral and angular <br />
speed of the robot.<br><br />
The second one is instead giving the motor speeds in terms of rotations and <br />
estimates the frontal ,lateral ,angular speed of the robot according to motor<br />
speeds.<br><br />
<br><br />
The matlab code for the motion control simulation is consist of the following files:<br><br />
<br><br />
-motor_speed.m --This file which takes the motor speed as input and <br />
calculates the Vf,Vl,w of the robot.<br><br />
-TriskarOdometry.m --Giving the input Vf,Vl,w calculates the motor speed<br><br />
-trajectory.m --The function which draws some trajectories based on the <br />
following schema<br><br />
1) DIRECT MOVEMENT<br />
THE HEAD OF THE ROBOT ALWAYS LOOKING IN A FIXED DIRECTION<br />
2) ANGULAR MOVEMENT<br />
THE ROBOT WILL MOVE IN A CIRCULAR TRAJECTORY WITH FIXED HEAD<br />
DIRECTION<br />
3) SPIN & GO<br />
THE ROBOT EITHER GOES ANGULAR BUT THE HEAD POSITION<br />
IS ALSO CHANGES<br />
4) SPIN & GO DIRECT<br />
THE ROBOT EITHER GOES DIRECT BUT THE HEAD POSITION<br />
IS ALSO CHANGES<br />
-direc_motion.m --DIRECT MOVEMENT <br><br />
-angular_motion.m --ANGULAR MOVEMENT <br><br />
-spin_go.m -- SPIN & GO <br><br />
-spin_go_d.m --SPIN & GO DIRECT <br><br />
-draw_arrow.m --A function that is used to draw arrow. <br><br />
[[Media:Mc.zip|File with the matlab files listed above.]]<br />
<br />
<br />
== Processor Comparison ==<br />
<br />
This is the processor comparison table, the cells without entry is left blank<br />
<br />
{| class="wikitable" border="1"<br />
|-<br />
! <br />
! Name<br />
! Clock Speed<br />
! Ram<br />
! Storage<br />
! Onboard Devices<br />
! Power Consumption<br />
! Price<br />
! OS<br />
! Source Page<br />
|-<br />
| 1<br />
| ESOM270<br />
| PXA270@520MHz<br />
| 128 MB SDRAM <br />
| 32 MB FLASH PMIC<br />
| USB device,Camera interface(QCI),USB host<br />
| 0.8 W @ Full running Mode,100mW @ Deep Sleep mode<br />
| 76 €<br />
| Comes with preinstalled uboot & Linux 2.6.25 or eboot Windows CE 6.0 R2<br />
| http://www.e-consystems.com/esom270.asp<br />
|-<br />
| 2<br />
| IGEPv2 BOARD<br />
| OMAP3530@720 Mhz<br />
| 512MB RAM <br />
| 512MB ONENAND-FLASH<br />
| Ethernet 10/100 Mb BaseT.,Wifi IEEE 802.11b/g + Bluetooth 2.0 (Integrated antenna).,1 x USB OTG,1x USB Host<br />
|<br />
| 145 €<br />
| IGEPv2 running Ubuntu 9.04<br />
| http://www.igep-platform.com/index.php?option=com_content&view=article&id=46&Itemid=55<br />
|-<br />
| 3<br />
| Em-x270<br />
| Intel's XScale PXA270 CPU, up to 520 MHz<br />
| 128 Mbyte SDRAM <br />
| 512 Mbyte Flash Disk<br />
| WLAN / WiFi 802.11b/g Interface,Bluetooth interface,Slave and host USB ports, including keyboard and mouse support,100 Mbps Ethernet port<br />
| 0.2 - 2 W<br />
| 76 $<br />
| ce OR linux<br />
| http://www.compulab.co.il/x270cm/html/x270-cm-datasheet.htm<br />
|-<br />
| 4<br />
| S3C2440 Core Board II <br />
| Samsung S3C2440A based on ARM920T, 400MHz<br />
| 64MB SDRAM<br />
| 64MB NAND Flash<br />
| 2-ch USB Host controller / 1-ch USB Device controller (ver 1.1),Camera interface ,(Max. 4096 x 4096 pixels input support. 2048 x 2048 pixel input support for scaling)<br />
| <br />
| 110$<br />
| Windows CE4.2/5.0, 6.0 and Linux2.6<br />
| http://www.embedinfo.com/en/list.asp?id=64<br />
|-<br />
| 5<br />
| Overo™ Air COM [GUM3503A]<br />
| OMAP 3503 Application Processor with ARM Cortex-A8 CPU 600 MHz<br />
| 256MB RAM<br />
| 256MB Flash<br />
| 802.11(g) and Bluetooth®,USB OTG signals, USB HS Host<br />
| <br />
| 199$<br />
| Linux 2.6.31 or higher OpenEmbedded<br />
| http://www.gumstix.com/store/catalog/product_info.php?products_id=226<br />
|-<br />
| 6<br />
| MX31 TurboG5 Module<br />
| Freescale i.MX31 @ 532MHz<br />
| 128 MB of Mobile DDR<br />
| 32 MB of Flash<br />
| Support for 802.11b/g embedded wireless module,One SD/MMC card slot,One USB 2.0 On-The-Go (OTG) port (H/F/L speed),One USB 2.0 host port (H/F/L speeds),One Camera Sensor Interface,One 10/100BASE-T Ethernet port<br />
| <br />
|<br />
| Windows CE 5.0 and 6.0 Linux<br />
| http://www.eurotech-inc.com/single-board-computer-imx31-com-turbog5.asp<br />
|-<br />
|}<br />
<br />
<br />
<br />
==Motor Suggestion ==<br />
<br />
http://www.pololu.com/catalog/product/1092<br />
<br />
no load speed: 500 rpm<br />
stall torque: 29 kg-cm ~= 0.282 Nm<br />
<br />
maximum power output = Pmax = 26.190 rad/s * 0.141 Nm = 3.692 W<br />
occuring at W= 250 rpm and t=0.141 Nm<br />
<br />
<br />
http://www.pololu.com/catalog/product/1085/<br />
<br />
no load speed: 470 rpm<br />
stall torque : 7 oz ( 0.5 kg-cm ) ~= 0.049 Nm<br />
<br />
maximum power output = Pmax = 24.619 rad/s * 0.0245 Nm = 0.603 W<br />
occuring at W=235 rpm and t = 0.0245 Nm<br />
<br />
calculations made according to the reference paper at the link<br />
http://lancet.mit.edu/motors/motors3.html<br />
http://lancet.mit.edu/motors/motors4.html<br />
<br />
== Wheel Specification ==<br />
<br />
=== 2052-3/8X CAT-TRAK ===<br />
Description <br />
[[Image:FXA314-2T.jpg|right]] <br />
*Standard 2" O.D. - 3/8" Bore Double Row<br />
*Metric 49.2mm O.D. - 9.5mm Plain Bore.<br />
*Recommended max load.<br />
**Steel Bottom = 25 lbs. 11.3kg.<br />
**Plywood Surface = 15 lbs. 6.8kg.<br />
*200# Test Corrugated Bottom = 10 lbs. 4.5kg.<br />
*Weight = 1.75 oz.<br />
*Synthetic rubber coated polypropylene rollers.<br />
*Price:$7.48.<br />
*Source: http://store.kornylak.com/ProductDetails.asp?ProductCode=FXA314<br />
<br />
<br />
=== 2052BX CAT-TRAK ===<br />
<br />
Description<br />
<br />
[[Image:FXA317-2T.jpg|right]]<br />
*Standard 2" O.D. - 1/4" I.D. Bushing Double Row<br />
*Metric 49.2mm O.D. - 6.35mm Bushing<br />
*Recommended max load <br />
**Steel Bottom = 25 lbs. 11.3kg<br />
**Plywood Surface = 15 lbs. 6.8kg<br />
*200# Test Corrugated Bottom = 10 lbs. 4.5kg<br />
*Weight = 1.75 oz<br />
*Synthetic rubber coated polypropylene rollers.<br />
*Price :$7.48<br />
*Source: http://store.kornylak.com/ProductDetails.asp?ProductCode=FXA317<br />
<br />
<br />
=== 2052KX CAT-TRAK ===<br />
Description <br />
[[Image:FXA315-2T.jpg|right]]<br />
*Standard 2" O.D. - 1/2" Bore Double Row w/ Keyway<br />
*Metric 49.2mm O.D. - 12.7mm Bore w/ Keyway<br />
*Recommended max load <br />
**Steel Bottom = 25 lbs. 11.3kg<br />
**Plywood Surface = 15 lbs. 6.8kg<br />
*200# Test Corrugated Bottom = 10 lbs. 4.5kg<br />
*Weight = 1.75 oz<br />
*Synthetic rubber coated polypropylene rollers. <br />
*Price :$7.48<br />
*Source: http://store.kornylak.com/ProductDetails.asp?ProductCode=FXA315<br />
<br />
== Related Files == <br />
<br />
Matlab scripts, that are used to calculate, color; motor contributions; and object position.[[Media:Code.zip|Helper scripts]]<br />
<br />
The final version of microcontroller code with the robogame developed.[[Media:Micro_code.zip|Micro-code]]<br />
<br />
Microcontroller code coming with ST, offers demo functionalities, and used mainly for color selection.[[Media:Micro_code_demo.zip|Micro-code of ST]]</div>AnilKoyuncuhttps://airwiki.elet.polimi.it/index.php?title=Talk:RunBot:_a_Robogame_Robot&diff=13331Talk:RunBot: a Robogame Robot2011-07-02T10:07:11Z<p>AnilKoyuncu: /* Design of The Robot */</p>
<hr />
<div>Thesis should be find in the link.[[Media:2011_07_Koyuncu_Anil.pdf|Submitted version of the thesis]]<br />
<br />
[[Image:Robot.jpg|right|500px]]<br />
<br />
== Requirements ==<br />
<br />
The robot should have:<br />
* a dimension of about 25cm of radius, 20 cm height<br />
* a speed of about 1 m/sec<br />
* omnidirectional movement (Kamro wheels)<br />
* sensors to avoid obstacles (sonars)<br />
* a camera that can be moved up and down (and eventually left and right)<br />
* wireless connection to a computer (Wi-fi)<br />
* Bluetooth connection<br />
* have power enough to move and transmit for at least 2 hours without recharging<br />
* Have the possibility to recharge autonomously<br />
<br />
The robot should cost as less as possible<br />
<br />
[[Media:Order list.pdf|File with considerations on parts to be ordered]]<br />
<br />
<br />
TO DO<br />
<br />
* Select HW <br />
** ST ARM HW (ask Martino Migliavacca <martino.migliavacca@gmail.com>, GUMSTIX (http://www.gumstix.org/), ARDUINO (http://www.freeduino.org/), other...)<br />
** Engines (WWW.robot-Italy.com, http://www.jonathan.it/)<br />
** batteries (above, or standard A, AA or AAA type)<br />
** Camera (ST smart cameras, with Ethernet wired link)<br />
** Sonar (already available (see ROBOWII2.0))<br />
** Blue tooth and WI-FI<br />
<br />
* Design body (structure and appearance), sensor placement, eventual movements of the camera<br />
* Implement the robot<br />
* test the robot with a simple game (e.g. [[RoboWII2.0]])<br />
<br />
Source Code Backup<br />
[[Media:STLCam-blob.zip| The backup file]]<br />
<br />
== Part List ==<br />
Camera<br />
Wheels<br />
Motors<br />
Lenses<br />
Batteries<br />
<br />
== Design of The Robot ==<br />
The full design of the robot in the Google SketchUp can be found in the following link. [[Media:Robot-model.zip|Robot Model]]<br />
<br />
[[Image:Bottom_plexi.png|500px]]<br />
[[Image:Side.png|500px]]<br />
[[Image:Ust.png|500px]]<br />
[[Image:Top.png|500px]]<br />
<br />
== Mice ==<br />
[[Image:Lens_setup.JPG]]<br><br />
The results obtained so far with that setup is in the pdf file below.<br><br />
[[Media:Image_of_mice.pdf|The results obtained so far]]<br />
<br />
<br />
<br />
== Camera ==<br />
The demo software given by ST is used in order to test the colr blob detection. <br><br />
<br><br />
Detecting 3 blob color<br><br />
[[Image:Detect_3.JPG ]] <br><br />
Detecting 4 blob color<br><br />
[[Image:Detect_4.JPG ]] <br><br />
<br />
== Motion Control ==<br />
<br />
<br />
<br />
[[Image:M_control.JPG]]<br />
<br />
The angle between each wheel is 2*pi/3, which 120 degree.<br><br />
The front wheels are making a pi/6 angle between the ground.<br><br />
The positions of the wheels in the coordinate system is as follows.<br><br />
Wheel 1 is (cos(pi/6),sin(pi/6)) = (0.866,0.5)<br><br />
Wheel 2 is (cos(pi/6),sin(pi/6)) = (0.866,0.5)<br><br />
Wheel 3 is (cos(3*pi/2),sin(3*pi/2))=(0,-1)<br><br />
<br><br />
I wrote simulations in matlab, in two ways.<br><br />
The first one is using the TriskarOdometry directly, and estimates the <br />
necessary wheel speeds to reach the desired frontal, lateral and angular <br />
speed of the robot.<br><br />
The second one is instead giving the motor speeds in terms of rotations and <br />
estimates the frontal ,lateral ,angular speed of the robot according to motor<br />
speeds.<br><br />
<br><br />
The matlab code for the motion control simulation is consist of the following files:<br><br />
<br><br />
-motor_speed.m --This file which takes the motor speed as input and <br />
calculates the Vf,Vl,w of the robot.<br><br />
-TriskarOdometry.m --Giving the input Vf,Vl,w calculates the motor speed<br><br />
-trajectory.m --The function which draws some trajectories based on the <br />
following schema<br><br />
1) DIRECT MOVEMENT<br />
THE HEAD OF THE ROBOT ALWAYS LOOKING IN A FIXED DIRECTION<br />
2) ANGULAR MOVEMENT<br />
THE ROBOT WILL MOVE IN A CIRCULAR TRAJECTORY WITH FIXED HEAD<br />
DIRECTION<br />
3) SPIN & GO<br />
THE ROBOT EITHER GOES ANGULAR BUT THE HEAD POSITION<br />
IS ALSO CHANGES<br />
4) SPIN & GO DIRECT<br />
THE ROBOT EITHER GOES DIRECT BUT THE HEAD POSITION<br />
IS ALSO CHANGES<br />
-direc_motion.m --DIRECT MOVEMENT <br><br />
-angular_motion.m --ANGULAR MOVEMENT <br><br />
-spin_go.m -- SPIN & GO <br><br />
-spin_go_d.m --SPIN & GO DIRECT <br><br />
-draw_arrow.m --A function that is used to draw arrow. <br><br />
[[Media:Mc.zip|File with the matlab files listed above.]]<br />
<br />
<br />
== Processor Comparison ==<br />
<br />
This is the processor comparison table, the cells without entry is left blank<br />
<br />
{| class="wikitable" border="1"<br />
|-<br />
! <br />
! Name<br />
! Clock Speed<br />
! Ram<br />
! Storage<br />
! Onboard Devices<br />
! Power Consumption<br />
! Price<br />
! OS<br />
! Source Page<br />
|-<br />
| 1<br />
| ESOM270<br />
| PXA270@520MHz<br />
| 128 MB SDRAM <br />
| 32 MB FLASH PMIC<br />
| USB device,Camera interface(QCI),USB host<br />
| 0.8 W @ Full running Mode,100mW @ Deep Sleep mode<br />
| 76 €<br />
| Comes with preinstalled uboot & Linux 2.6.25 or eboot Windows CE 6.0 R2<br />
| http://www.e-consystems.com/esom270.asp<br />
|-<br />
| 2<br />
| IGEPv2 BOARD<br />
| OMAP3530@720 Mhz<br />
| 512MB RAM <br />
| 512MB ONENAND-FLASH<br />
| Ethernet 10/100 Mb BaseT.,Wifi IEEE 802.11b/g + Bluetooth 2.0 (Integrated antenna).,1 x USB OTG,1x USB Host<br />
|<br />
| 145 €<br />
| IGEPv2 running Ubuntu 9.04<br />
| http://www.igep-platform.com/index.php?option=com_content&view=article&id=46&Itemid=55<br />
|-<br />
| 3<br />
| Em-x270<br />
| Intel's XScale PXA270 CPU, up to 520 MHz<br />
| 128 Mbyte SDRAM <br />
| 512 Mbyte Flash Disk<br />
| WLAN / WiFi 802.11b/g Interface,Bluetooth interface,Slave and host USB ports, including keyboard and mouse support,100 Mbps Ethernet port<br />
| 0.2 - 2 W<br />
| 76 $<br />
| ce OR linux<br />
| http://www.compulab.co.il/x270cm/html/x270-cm-datasheet.htm<br />
|-<br />
| 4<br />
| S3C2440 Core Board II <br />
| Samsung S3C2440A based on ARM920T, 400MHz<br />
| 64MB SDRAM<br />
| 64MB NAND Flash<br />
| 2-ch USB Host controller / 1-ch USB Device controller (ver 1.1),Camera interface ,(Max. 4096 x 4096 pixels input support. 2048 x 2048 pixel input support for scaling)<br />
| <br />
| 110$<br />
| Windows CE4.2/5.0, 6.0 and Linux2.6<br />
| http://www.embedinfo.com/en/list.asp?id=64<br />
|-<br />
| 5<br />
| Overo™ Air COM [GUM3503A]<br />
| OMAP 3503 Application Processor with ARM Cortex-A8 CPU 600 MHz<br />
| 256MB RAM<br />
| 256MB Flash<br />
| 802.11(g) and Bluetooth®,USB OTG signals, USB HS Host<br />
| <br />
| 199$<br />
| Linux 2.6.31 or higher OpenEmbedded<br />
| http://www.gumstix.com/store/catalog/product_info.php?products_id=226<br />
|-<br />
| 6<br />
| MX31 TurboG5 Module<br />
| Freescale i.MX31 @ 532MHz<br />
| 128 MB of Mobile DDR<br />
| 32 MB of Flash<br />
| Support for 802.11b/g embedded wireless module,One SD/MMC card slot,One USB 2.0 On-The-Go (OTG) port (H/F/L speed),One USB 2.0 host port (H/F/L speeds),One Camera Sensor Interface,One 10/100BASE-T Ethernet port<br />
| <br />
|<br />
| Windows CE 5.0 and 6.0 Linux<br />
| http://www.eurotech-inc.com/single-board-computer-imx31-com-turbog5.asp<br />
|-<br />
|}<br />
<br />
<br />
<br />
==Motor Suggestion ==<br />
<br />
http://www.pololu.com/catalog/product/1092<br />
<br />
no load speed: 500 rpm<br />
stall torque: 29 kg-cm ~= 0.282 Nm<br />
<br />
maximum power output = Pmax = 26.190 rad/s * 0.141 Nm = 3.692 W<br />
occuring at W= 250 rpm and t=0.141 Nm<br />
<br />
<br />
http://www.pololu.com/catalog/product/1085/<br />
<br />
no load speed: 470 rpm<br />
stall torque : 7 oz ( 0.5 kg-cm ) ~= 0.049 Nm<br />
<br />
maximum power output = Pmax = 24.619 rad/s * 0.0245 Nm = 0.603 W<br />
occuring at W=235 rpm and t = 0.0245 Nm<br />
<br />
calculations made according to the reference paper at the link<br />
http://lancet.mit.edu/motors/motors3.html<br />
http://lancet.mit.edu/motors/motors4.html<br />
<br />
== Wheel Specification ==<br />
<br />
=== 2052-3/8X CAT-TRAK ===<br />
Description <br />
[[Image:FXA314-2T.jpg|right]] <br />
*Standard 2" O.D. - 3/8" Bore Double Row<br />
*Metric 49.2mm O.D. - 9.5mm Plain Bore.<br />
*Recommended max load.<br />
**Steel Bottom = 25 lbs. 11.3kg.<br />
**Plywood Surface = 15 lbs. 6.8kg.<br />
*200# Test Corrugated Bottom = 10 lbs. 4.5kg.<br />
*Weight = 1.75 oz.<br />
*Synthetic rubber coated polypropylene rollers.<br />
*Price:$7.48.<br />
*Source: http://store.kornylak.com/ProductDetails.asp?ProductCode=FXA314<br />
<br />
<br />
=== 2052BX CAT-TRAK ===<br />
<br />
Description<br />
<br />
[[Image:FXA317-2T.jpg|right]]<br />
*Standard 2" O.D. - 1/4" I.D. Bushing Double Row<br />
*Metric 49.2mm O.D. - 6.35mm Bushing<br />
*Recommended max load <br />
**Steel Bottom = 25 lbs. 11.3kg<br />
**Plywood Surface = 15 lbs. 6.8kg<br />
*200# Test Corrugated Bottom = 10 lbs. 4.5kg<br />
*Weight = 1.75 oz<br />
*Synthetic rubber coated polypropylene rollers.<br />
*Price :$7.48<br />
*Source: http://store.kornylak.com/ProductDetails.asp?ProductCode=FXA317<br />
<br />
<br />
=== 2052KX CAT-TRAK ===<br />
Description <br />
[[Image:FXA315-2T.jpg|right]]<br />
*Standard 2" O.D. - 1/2" Bore Double Row w/ Keyway<br />
*Metric 49.2mm O.D. - 12.7mm Bore w/ Keyway<br />
*Recommended max load <br />
**Steel Bottom = 25 lbs. 11.3kg<br />
**Plywood Surface = 15 lbs. 6.8kg<br />
*200# Test Corrugated Bottom = 10 lbs. 4.5kg<br />
*Weight = 1.75 oz<br />
*Synthetic rubber coated polypropylene rollers. <br />
*Price :$7.48<br />
*Source: http://store.kornylak.com/ProductDetails.asp?ProductCode=FXA315<br />
<br />
== Related Files == <br />
<br />
Matlab scripts, that are used to calculate, color; motor contributions; and object position.[[Media:Code.zip|Helper scripts]]<br />
<br />
The final version of microcontroller code with the robogame developed.[[Media:Micro_code.zip|Micro-code]]<br />
<br />
Microcontroller code coming with ST, offers demo functionalities, and used mainly for color selection.[[Media:Micro_code_demo.zip|Micro-code of ST]]</div>AnilKoyuncuhttps://airwiki.elet.polimi.it/index.php?title=File:Robot-model.zip&diff=13330File:Robot-model.zip2011-07-02T10:04:43Z<p>AnilKoyuncu: The robot model in Sketchup</p>
<hr />
<div>The robot model in Sketchup</div>AnilKoyuncuhttps://airwiki.elet.polimi.it/index.php?title=Talk:RunBot:_a_Robogame_Robot&diff=13329Talk:RunBot: a Robogame Robot2011-07-02T10:01:00Z<p>AnilKoyuncu: </p>
<hr />
<div>Thesis should be find in the link.[[Media:2011_07_Koyuncu_Anil.pdf|Submitted version of the thesis]]<br />
<br />
[[Image:Robot.jpg|right|500px]]<br />
<br />
== Requirements ==<br />
<br />
The robot should have:<br />
* a dimension of about 25cm of radius, 20 cm height<br />
* a speed of about 1 m/sec<br />
* omnidirectional movement (Kamro wheels)<br />
* sensors to avoid obstacles (sonars)<br />
* a camera that can be moved up and down (and eventually left and right)<br />
* wireless connection to a computer (Wi-fi)<br />
* Bluetooth connection<br />
* have power enough to move and transmit for at least 2 hours without recharging<br />
* Have the possibility to recharge autonomously<br />
<br />
The robot should cost as less as possible<br />
<br />
[[Media:Order list.pdf|File with considerations on parts to be ordered]]<br />
<br />
<br />
TO DO<br />
<br />
* Select HW <br />
** ST ARM HW (ask Martino Migliavacca <martino.migliavacca@gmail.com>, GUMSTIX (http://www.gumstix.org/), ARDUINO (http://www.freeduino.org/), other...)<br />
** Engines (WWW.robot-Italy.com, http://www.jonathan.it/)<br />
** batteries (above, or standard A, AA or AAA type)<br />
** Camera (ST smart cameras, with Ethernet wired link)<br />
** Sonar (already available (see ROBOWII2.0))<br />
** Blue tooth and WI-FI<br />
<br />
* Design body (structure and appearance), sensor placement, eventual movements of the camera<br />
* Implement the robot<br />
* test the robot with a simple game (e.g. [[RoboWII2.0]])<br />
<br />
Source Code Backup<br />
[[Media:STLCam-blob.zip| The backup file]]<br />
<br />
== Part List ==<br />
Camera<br />
Wheels<br />
Motors<br />
Lenses<br />
Batteries<br />
<br />
== Design of The Robot ==<br />
[[Image:Bottom_plexi.png]]<br />
[[Image:Side.png]]<br />
[[Image:Ust.png]]<br />
[[Image:Top.png]]<br />
<br />
== Mice ==<br />
[[Image:Lens_setup.JPG]]<br><br />
The results obtained so far with that setup is in the pdf file below.<br><br />
[[Media:Image_of_mice.pdf|The results obtained so far]]<br />
<br />
<br />
<br />
== Camera ==<br />
The demo software given by ST is used in order to test the colr blob detection. <br><br />
<br><br />
Detecting 3 blob color<br><br />
[[Image:Detect_3.JPG ]] <br><br />
Detecting 4 blob color<br><br />
[[Image:Detect_4.JPG ]] <br><br />
<br />
== Motion Control ==<br />
<br />
<br />
<br />
[[Image:M_control.JPG]]<br />
<br />
The angle between each wheel is 2*pi/3, which 120 degree.<br><br />
The front wheels are making a pi/6 angle between the ground.<br><br />
The positions of the wheels in the coordinate system is as follows.<br><br />
Wheel 1 is (cos(pi/6),sin(pi/6)) = (0.866,0.5)<br><br />
Wheel 2 is (cos(pi/6),sin(pi/6)) = (0.866,0.5)<br><br />
Wheel 3 is (cos(3*pi/2),sin(3*pi/2))=(0,-1)<br><br />
<br><br />
I wrote simulations in matlab, in two ways.<br><br />
The first one is using the TriskarOdometry directly, and estimates the <br />
necessary wheel speeds to reach the desired frontal, lateral and angular <br />
speed of the robot.<br><br />
The second one is instead giving the motor speeds in terms of rotations and <br />
estimates the frontal ,lateral ,angular speed of the robot according to motor<br />
speeds.<br><br />
<br><br />
The matlab code for the motion control simulation is consist of the following files:<br><br />
<br><br />
-motor_speed.m --This file which takes the motor speed as input and <br />
calculates the Vf,Vl,w of the robot.<br><br />
-TriskarOdometry.m --Giving the input Vf,Vl,w calculates the motor speed<br><br />
-trajectory.m --The function which draws some trajectories based on the <br />
following schema<br><br />
1) DIRECT MOVEMENT<br />
THE HEAD OF THE ROBOT ALWAYS LOOKING IN A FIXED DIRECTION<br />
2) ANGULAR MOVEMENT<br />
THE ROBOT WILL MOVE IN A CIRCULAR TRAJECTORY WITH FIXED HEAD<br />
DIRECTION<br />
3) SPIN & GO<br />
THE ROBOT EITHER GOES ANGULAR BUT THE HEAD POSITION<br />
IS ALSO CHANGES<br />
4) SPIN & GO DIRECT<br />
THE ROBOT EITHER GOES DIRECT BUT THE HEAD POSITION<br />
IS ALSO CHANGES<br />
-direc_motion.m --DIRECT MOVEMENT <br><br />
-angular_motion.m --ANGULAR MOVEMENT <br><br />
-spin_go.m -- SPIN & GO <br><br />
-spin_go_d.m --SPIN & GO DIRECT <br><br />
-draw_arrow.m --A function that is used to draw arrow. <br><br />
[[Media:Mc.zip|File with the matlab files listed above.]]<br />
<br />
<br />
== Processor Comparison ==<br />
<br />
This is the processor comparison table, the cells without entry is left blank<br />
<br />
{| class="wikitable" border="1"<br />
|-<br />
! <br />
! Name<br />
! Clock Speed<br />
! Ram<br />
! Storage<br />
! Onboard Devices<br />
! Power Consumption<br />
! Price<br />
! OS<br />
! Source Page<br />
|-<br />
| 1<br />
| ESOM270<br />
| PXA270@520MHz<br />
| 128 MB SDRAM <br />
| 32 MB FLASH PMIC<br />
| USB device,Camera interface(QCI),USB host<br />
| 0.8 W @ Full running Mode,100mW @ Deep Sleep mode<br />
| 76 €<br />
| Comes with preinstalled uboot & Linux 2.6.25 or eboot Windows CE 6.0 R2<br />
| http://www.e-consystems.com/esom270.asp<br />
|-<br />
| 2<br />
| IGEPv2 BOARD<br />
| OMAP3530@720 Mhz<br />
| 512MB RAM <br />
| 512MB ONENAND-FLASH<br />
| Ethernet 10/100 Mb BaseT.,Wifi IEEE 802.11b/g + Bluetooth 2.0 (Integrated antenna).,1 x USB OTG,1x USB Host<br />
|<br />
| 145 €<br />
| IGEPv2 running Ubuntu 9.04<br />
| http://www.igep-platform.com/index.php?option=com_content&view=article&id=46&Itemid=55<br />
|-<br />
| 3<br />
| Em-x270<br />
| Intel's XScale PXA270 CPU, up to 520 MHz<br />
| 128 Mbyte SDRAM <br />
| 512 Mbyte Flash Disk<br />
| WLAN / WiFi 802.11b/g Interface,Bluetooth interface,Slave and host USB ports, including keyboard and mouse support,100 Mbps Ethernet port<br />
| 0.2 - 2 W<br />
| 76 $<br />
| ce OR linux<br />
| http://www.compulab.co.il/x270cm/html/x270-cm-datasheet.htm<br />
|-<br />
| 4<br />
| S3C2440 Core Board II <br />
| Samsung S3C2440A based on ARM920T, 400MHz<br />
| 64MB SDRAM<br />
| 64MB NAND Flash<br />
| 2-ch USB Host controller / 1-ch USB Device controller (ver 1.1),Camera interface ,(Max. 4096 x 4096 pixels input support. 2048 x 2048 pixel input support for scaling)<br />
| <br />
| 110$<br />
| Windows CE4.2/5.0, 6.0 and Linux2.6<br />
| http://www.embedinfo.com/en/list.asp?id=64<br />
|-<br />
| 5<br />
| Overo™ Air COM [GUM3503A]<br />
| OMAP 3503 Application Processor with ARM Cortex-A8 CPU 600 MHz<br />
| 256MB RAM<br />
| 256MB Flash<br />
| 802.11(g) and Bluetooth®,USB OTG signals, USB HS Host<br />
| <br />
| 199$<br />
| Linux 2.6.31 or higher OpenEmbedded<br />
| http://www.gumstix.com/store/catalog/product_info.php?products_id=226<br />
|-<br />
| 6<br />
| MX31 TurboG5 Module<br />
| Freescale i.MX31 @ 532MHz<br />
| 128 MB of Mobile DDR<br />
| 32 MB of Flash<br />
| Support for 802.11b/g embedded wireless module,One SD/MMC card slot,One USB 2.0 On-The-Go (OTG) port (H/F/L speed),One USB 2.0 host port (H/F/L speeds),One Camera Sensor Interface,One 10/100BASE-T Ethernet port<br />
| <br />
|<br />
| Windows CE 5.0 and 6.0 Linux<br />
| http://www.eurotech-inc.com/single-board-computer-imx31-com-turbog5.asp<br />
|-<br />
|}<br />
<br />
<br />
<br />
==Motor Suggestion ==<br />
<br />
http://www.pololu.com/catalog/product/1092<br />
<br />
no load speed: 500 rpm<br />
stall torque: 29 kg-cm ~= 0.282 Nm<br />
<br />
maximum power output = Pmax = 26.190 rad/s * 0.141 Nm = 3.692 W<br />
occuring at W= 250 rpm and t=0.141 Nm<br />
<br />
<br />
http://www.pololu.com/catalog/product/1085/<br />
<br />
no load speed: 470 rpm<br />
stall torque : 7 oz ( 0.5 kg-cm ) ~= 0.049 Nm<br />
<br />
maximum power output = Pmax = 24.619 rad/s * 0.0245 Nm = 0.603 W<br />
occuring at W=235 rpm and t = 0.0245 Nm<br />
<br />
calculations made according to the reference paper at the link<br />
http://lancet.mit.edu/motors/motors3.html<br />
http://lancet.mit.edu/motors/motors4.html<br />
<br />
== Wheel Specification ==<br />
<br />
=== 2052-3/8X CAT-TRAK ===<br />
Description <br />
[[Image:FXA314-2T.jpg|right]] <br />
*Standard 2" O.D. - 3/8" Bore Double Row<br />
*Metric 49.2mm O.D. - 9.5mm Plain Bore.<br />
*Recommended max load.<br />
**Steel Bottom = 25 lbs. 11.3kg.<br />
**Plywood Surface = 15 lbs. 6.8kg.<br />
*200# Test Corrugated Bottom = 10 lbs. 4.5kg.<br />
*Weight = 1.75 oz.<br />
*Synthetic rubber coated polypropylene rollers.<br />
*Price:$7.48.<br />
*Source: http://store.kornylak.com/ProductDetails.asp?ProductCode=FXA314<br />
<br />
<br />
=== 2052BX CAT-TRAK ===<br />
<br />
Description<br />
<br />
[[Image:FXA317-2T.jpg|right]]<br />
*Standard 2" O.D. - 1/4" I.D. Bushing Double Row<br />
*Metric 49.2mm O.D. - 6.35mm Bushing<br />
*Recommended max load <br />
**Steel Bottom = 25 lbs. 11.3kg<br />
**Plywood Surface = 15 lbs. 6.8kg<br />
*200# Test Corrugated Bottom = 10 lbs. 4.5kg<br />
*Weight = 1.75 oz<br />
*Synthetic rubber coated polypropylene rollers.<br />
*Price :$7.48<br />
*Source: http://store.kornylak.com/ProductDetails.asp?ProductCode=FXA317<br />
<br />
<br />
=== 2052KX CAT-TRAK ===<br />
Description <br />
[[Image:FXA315-2T.jpg|right]]<br />
*Standard 2" O.D. - 1/2" Bore Double Row w/ Keyway<br />
*Metric 49.2mm O.D. - 12.7mm Bore w/ Keyway<br />
*Recommended max load <br />
**Steel Bottom = 25 lbs. 11.3kg<br />
**Plywood Surface = 15 lbs. 6.8kg<br />
*200# Test Corrugated Bottom = 10 lbs. 4.5kg<br />
*Weight = 1.75 oz<br />
*Synthetic rubber coated polypropylene rollers. <br />
*Price :$7.48<br />
*Source: http://store.kornylak.com/ProductDetails.asp?ProductCode=FXA315<br />
<br />
== Related Files == <br />
<br />
Matlab scripts, that are used to calculate, color; motor contributions; and object position.[[Media:Code.zip|Helper scripts]]<br />
<br />
The final version of microcontroller code with the robogame developed.[[Media:Micro_code.zip|Micro-code]]<br />
<br />
Microcontroller code coming with ST, offers demo functionalities, and used mainly for color selection.[[Media:Micro_code_demo.zip|Micro-code of ST]]</div>AnilKoyuncuhttps://airwiki.elet.polimi.it/index.php?title=File:Robot.jpg&diff=13328File:Robot.jpg2011-07-02T09:57:41Z<p>AnilKoyuncu: Robot picture</p>
<hr />
<div>Robot picture</div>AnilKoyuncuhttps://airwiki.elet.polimi.it/index.php?title=Talk:RunBot:_a_Robogame_Robot&diff=13327Talk:RunBot: a Robogame Robot2011-07-02T09:53:56Z<p>AnilKoyuncu: </p>
<hr />
<div>Thesis should be find in the link.[[Media:2011_07_Koyuncu_Anil.pdf|Submitted version of the thesis]]<br />
<br />
== Requirements ==<br />
<br />
The robot should have:<br />
* a dimension of about 25cm of radius, 20 cm height<br />
* a speed of about 1 m/sec<br />
* omnidirectional movement (Kamro wheels)<br />
* sensors to avoid obstacles (sonars)<br />
* a camera that can be moved up and down (and eventually left and right)<br />
* wireless connection to a computer (Wi-fi)<br />
* Bluetooth connection<br />
* have power enough to move and transmit for at least 2 hours without recharging<br />
* Have the possibility to recharge autonomously<br />
<br />
The robot should cost as less as possible<br />
<br />
[[Media:Order list.pdf|File with considerations on parts to be ordered]]<br />
<br />
<br />
TO DO<br />
<br />
* Select HW <br />
** ST ARM HW (ask Martino Migliavacca <martino.migliavacca@gmail.com>, GUMSTIX (http://www.gumstix.org/), ARDUINO (http://www.freeduino.org/), other...)<br />
** Engines (WWW.robot-Italy.com, http://www.jonathan.it/)<br />
** batteries (above, or standard A, AA or AAA type)<br />
** Camera (ST smart cameras, with Ethernet wired link)<br />
** Sonar (already available (see ROBOWII2.0))<br />
** Blue tooth and WI-FI<br />
<br />
* Design body (structure and appearance), sensor placement, eventual movements of the camera<br />
* Implement the robot<br />
* test the robot with a simple game (e.g. [[RoboWII2.0]])<br />
<br />
Source Code Backup<br />
[[Media:STLCam-blob.zip| The backup file]]<br />
<br />
== Part List ==<br />
Camera<br />
Wheels<br />
Motors<br />
Lenses<br />
Batteries<br />
<br />
== Design of The Robot ==<br />
[[Image:Bottom_plexi.png]]<br />
[[Image:Side.png]]<br />
[[Image:Ust.png]]<br />
[[Image:Top.png]]<br />
<br />
== Mice ==<br />
[[Image:Lens_setup.JPG]]<br><br />
The results obtained so far with that setup is in the pdf file below.<br><br />
[[Media:Image_of_mice.pdf|The results obtained so far]]<br />
<br />
<br />
<br />
== Camera ==<br />
The demo software given by ST is used in order to test the colr blob detection. <br><br />
<br><br />
Detecting 3 blob color<br><br />
[[Image:Detect_3.JPG ]] <br><br />
Detecting 4 blob color<br><br />
[[Image:Detect_4.JPG ]] <br><br />
<br />
== Motion Control ==<br />
<br />
<br />
<br />
[[Image:M_control.JPG]]<br />
<br />
The angle between each wheel is 2*pi/3, which 120 degree.<br><br />
The front wheels are making a pi/6 angle between the ground.<br><br />
The positions of the wheels in the coordinate system is as follows.<br><br />
Wheel 1 is (cos(pi/6),sin(pi/6)) = (0.866,0.5)<br><br />
Wheel 2 is (cos(pi/6),sin(pi/6)) = (0.866,0.5)<br><br />
Wheel 3 is (cos(3*pi/2),sin(3*pi/2))=(0,-1)<br><br />
<br><br />
I wrote simulations in matlab, in two ways.<br><br />
The first one is using the TriskarOdometry directly, and estimates the <br />
necessary wheel speeds to reach the desired frontal, lateral and angular <br />
speed of the robot.<br><br />
The second one is instead giving the motor speeds in terms of rotations and <br />
estimates the frontal ,lateral ,angular speed of the robot according to motor<br />
speeds.<br><br />
<br><br />
The matlab code for the motion control simulation is consist of the following files:<br><br />
<br><br />
-motor_speed.m --This file which takes the motor speed as input and <br />
calculates the Vf,Vl,w of the robot.<br><br />
-TriskarOdometry.m --Giving the input Vf,Vl,w calculates the motor speed<br><br />
-trajectory.m --The function which draws some trajectories based on the <br />
following schema<br><br />
1) DIRECT MOVEMENT<br />
THE HEAD OF THE ROBOT ALWAYS LOOKING IN A FIXED DIRECTION<br />
2) ANGULAR MOVEMENT<br />
THE ROBOT WILL MOVE IN A CIRCULAR TRAJECTORY WITH FIXED HEAD<br />
DIRECTION<br />
3) SPIN & GO<br />
THE ROBOT EITHER GOES ANGULAR BUT THE HEAD POSITION<br />
IS ALSO CHANGES<br />
4) SPIN & GO DIRECT<br />
THE ROBOT EITHER GOES DIRECT BUT THE HEAD POSITION<br />
IS ALSO CHANGES<br />
-direc_motion.m --DIRECT MOVEMENT <br><br />
-angular_motion.m --ANGULAR MOVEMENT <br><br />
-spin_go.m -- SPIN & GO <br><br />
-spin_go_d.m --SPIN & GO DIRECT <br><br />
-draw_arrow.m --A function that is used to draw arrow. <br><br />
[[Media:Mc.zip|File with the matlab files listed above.]]<br />
<br />
<br />
== Processor Comparison ==<br />
<br />
This is the processor comparison table, the cells without entry is left blank<br />
<br />
{| class="wikitable" border="1"<br />
|-<br />
! <br />
! Name<br />
! Clock Speed<br />
! Ram<br />
! Storage<br />
! Onboard Devices<br />
! Power Consumption<br />
! Price<br />
! OS<br />
! Source Page<br />
|-<br />
| 1<br />
| ESOM270<br />
| PXA270@520MHz<br />
| 128 MB SDRAM <br />
| 32 MB FLASH PMIC<br />
| USB device,Camera interface(QCI),USB host<br />
| 0.8 W @ Full running Mode,100mW @ Deep Sleep mode<br />
| 76 €<br />
| Comes with preinstalled uboot & Linux 2.6.25 or eboot Windows CE 6.0 R2<br />
| http://www.e-consystems.com/esom270.asp<br />
|-<br />
| 2<br />
| IGEPv2 BOARD<br />
| OMAP3530@720 Mhz<br />
| 512MB RAM <br />
| 512MB ONENAND-FLASH<br />
| Ethernet 10/100 Mb BaseT.,Wifi IEEE 802.11b/g + Bluetooth 2.0 (Integrated antenna).,1 x USB OTG,1x USB Host<br />
|<br />
| 145 €<br />
| IGEPv2 running Ubuntu 9.04<br />
| http://www.igep-platform.com/index.php?option=com_content&view=article&id=46&Itemid=55<br />
|-<br />
| 3<br />
| Em-x270<br />
| Intel's XScale PXA270 CPU, up to 520 MHz<br />
| 128 Mbyte SDRAM <br />
| 512 Mbyte Flash Disk<br />
| WLAN / WiFi 802.11b/g Interface,Bluetooth interface,Slave and host USB ports, including keyboard and mouse support,100 Mbps Ethernet port<br />
| 0.2 - 2 W<br />
| 76 $<br />
| ce OR linux<br />
| http://www.compulab.co.il/x270cm/html/x270-cm-datasheet.htm<br />
|-<br />
| 4<br />
| S3C2440 Core Board II <br />
| Samsung S3C2440A based on ARM920T, 400MHz<br />
| 64MB SDRAM<br />
| 64MB NAND Flash<br />
| 2-ch USB Host controller / 1-ch USB Device controller (ver 1.1),Camera interface ,(Max. 4096 x 4096 pixels input support. 2048 x 2048 pixel input support for scaling)<br />
| <br />
| 110$<br />
| Windows CE4.2/5.0, 6.0 and Linux2.6<br />
| http://www.embedinfo.com/en/list.asp?id=64<br />
|-<br />
| 5<br />
| Overo™ Air COM [GUM3503A]<br />
| OMAP 3503 Application Processor with ARM Cortex-A8 CPU 600 MHz<br />
| 256MB RAM<br />
| 256MB Flash<br />
| 802.11(g) and Bluetooth®,USB OTG signals, USB HS Host<br />
| <br />
| 199$<br />
| Linux 2.6.31 or higher OpenEmbedded<br />
| http://www.gumstix.com/store/catalog/product_info.php?products_id=226<br />
|-<br />
| 6<br />
| MX31 TurboG5 Module<br />
| Freescale i.MX31 @ 532MHz<br />
| 128 MB of Mobile DDR<br />
| 32 MB of Flash<br />
| Support for 802.11b/g embedded wireless module,One SD/MMC card slot,One USB 2.0 On-The-Go (OTG) port (H/F/L speed),One USB 2.0 host port (H/F/L speeds),One Camera Sensor Interface,One 10/100BASE-T Ethernet port<br />
| <br />
|<br />
| Windows CE 5.0 and 6.0 Linux<br />
| http://www.eurotech-inc.com/single-board-computer-imx31-com-turbog5.asp<br />
|-<br />
|}<br />
<br />
<br />
<br />
==Motor Suggestion ==<br />
<br />
http://www.pololu.com/catalog/product/1092<br />
<br />
no load speed: 500 rpm<br />
stall torque: 29 kg-cm ~= 0.282 Nm<br />
<br />
maximum power output = Pmax = 26.190 rad/s * 0.141 Nm = 3.692 W<br />
occuring at W= 250 rpm and t=0.141 Nm<br />
<br />
<br />
http://www.pololu.com/catalog/product/1085/<br />
<br />
no load speed: 470 rpm<br />
stall torque : 7 oz ( 0.5 kg-cm ) ~= 0.049 Nm<br />
<br />
maximum power output = Pmax = 24.619 rad/s * 0.0245 Nm = 0.603 W<br />
occuring at W=235 rpm and t = 0.0245 Nm<br />
<br />
calculations made according to the reference paper at the link<br />
http://lancet.mit.edu/motors/motors3.html<br />
http://lancet.mit.edu/motors/motors4.html<br />
<br />
== Wheel Specification ==<br />
<br />
=== 2052-3/8X CAT-TRAK ===<br />
Description <br />
[[Image:FXA314-2T.jpg|right]] <br />
*Standard 2" O.D. - 3/8" Bore Double Row<br />
*Metric 49.2mm O.D. - 9.5mm Plain Bore.<br />
*Recommended max load.<br />
**Steel Bottom = 25 lbs. 11.3kg.<br />
**Plywood Surface = 15 lbs. 6.8kg.<br />
*200# Test Corrugated Bottom = 10 lbs. 4.5kg.<br />
*Weight = 1.75 oz.<br />
*Synthetic rubber coated polypropylene rollers.<br />
*Price:$7.48.<br />
*Source: http://store.kornylak.com/ProductDetails.asp?ProductCode=FXA314<br />
<br />
<br />
=== 2052BX CAT-TRAK ===<br />
<br />
Description<br />
<br />
[[Image:FXA317-2T.jpg|right]]<br />
*Standard 2" O.D. - 1/4" I.D. Bushing Double Row<br />
*Metric 49.2mm O.D. - 6.35mm Bushing<br />
*Recommended max load <br />
**Steel Bottom = 25 lbs. 11.3kg<br />
**Plywood Surface = 15 lbs. 6.8kg<br />
*200# Test Corrugated Bottom = 10 lbs. 4.5kg<br />
*Weight = 1.75 oz<br />
*Synthetic rubber coated polypropylene rollers.<br />
*Price :$7.48<br />
*Source: http://store.kornylak.com/ProductDetails.asp?ProductCode=FXA317<br />
<br />
<br />
=== 2052KX CAT-TRAK ===<br />
Description <br />
[[Image:FXA315-2T.jpg|right]]<br />
*Standard 2" O.D. - 1/2" Bore Double Row w/ Keyway<br />
*Metric 49.2mm O.D. - 12.7mm Bore w/ Keyway<br />
*Recommended max load <br />
**Steel Bottom = 25 lbs. 11.3kg<br />
**Plywood Surface = 15 lbs. 6.8kg<br />
*200# Test Corrugated Bottom = 10 lbs. 4.5kg<br />
*Weight = 1.75 oz<br />
*Synthetic rubber coated polypropylene rollers. <br />
*Price :$7.48<br />
*Source: http://store.kornylak.com/ProductDetails.asp?ProductCode=FXA315<br />
<br />
== Related Files == <br />
<br />
Matlab scripts, that are used to calculate, color; motor contributions; and object position.[[Media:Code.zip|Helper scripts]]<br />
<br />
The final version of microcontroller code with the robogame developed.[[Media:Micro_code.zip|Micro-code]]<br />
<br />
Microcontroller code coming with ST, offers demo functionalities, and used mainly for color selection.[[Media:Micro_code_demo.zip|Micro-code of ST]]</div>AnilKoyuncuhttps://airwiki.elet.polimi.it/index.php?title=File:Micro_code_demo.zip&diff=13326File:Micro code demo.zip2011-07-02T09:53:11Z<p>AnilKoyuncu: Microcontroller code coming with ST, offers demo functionalities, and used mainly for color selection</p>
<hr />
<div>Microcontroller code coming with ST, offers demo functionalities, and used mainly for color selection</div>AnilKoyuncuhttps://airwiki.elet.polimi.it/index.php?title=File:Micro_code.zip&diff=13325File:Micro code.zip2011-07-02T09:51:14Z<p>AnilKoyuncu: The final version of microcontroller code with the robogame developed.</p>
<hr />
<div>The final version of microcontroller code with the robogame developed.</div>AnilKoyuncuhttps://airwiki.elet.polimi.it/index.php?title=Talk:RunBot:_a_Robogame_Robot&diff=13324Talk:RunBot: a Robogame Robot2011-07-02T09:46:17Z<p>AnilKoyuncu: </p>
<hr />
<div>Thesis should be find in the link.[[Media:2011_07_Koyuncu_Anil.pdf|Submitted version of the thesis]]<br />
<br />
== Requirements ==<br />
<br />
The robot should have:<br />
* a dimension of about 25cm of radius, 20 cm height<br />
* a speed of about 1 m/sec<br />
* omnidirectional movement (Kamro wheels)<br />
* sensors to avoid obstacles (sonars)<br />
* a camera that can be moved up and down (and eventually left and right)<br />
* wireless connection to a computer (Wi-fi)<br />
* Bluetooth connection<br />
* have power enough to move and transmit for at least 2 hours without recharging<br />
* Have the possibility to recharge autonomously<br />
<br />
The robot should cost as less as possible<br />
<br />
[[Media:Order list.pdf|File with considerations on parts to be ordered]]<br />
<br />
<br />
TO DO<br />
<br />
* Select HW <br />
** ST ARM HW (ask Martino Migliavacca <martino.migliavacca@gmail.com>, GUMSTIX (http://www.gumstix.org/), ARDUINO (http://www.freeduino.org/), other...)<br />
** Engines (WWW.robot-Italy.com, http://www.jonathan.it/)<br />
** batteries (above, or standard A, AA or AAA type)<br />
** Camera (ST smart cameras, with Ethernet wired link)<br />
** Sonar (already available (see ROBOWII2.0))<br />
** Blue tooth and WI-FI<br />
<br />
* Design body (structure and appearance), sensor placement, eventual movements of the camera<br />
* Implement the robot<br />
* test the robot with a simple game (e.g. [[RoboWII2.0]])<br />
<br />
Source Code Backup<br />
[[Media:STLCam-blob.zip| The backup file]]<br />
<br />
== Part List ==<br />
Camera<br />
Wheels<br />
Motors<br />
Lenses<br />
Batteries<br />
<br />
== Design of The Robot ==<br />
[[Image:Bottom_plexi.png]]<br />
[[Image:Side.png]]<br />
[[Image:Ust.png]]<br />
[[Image:Top.png]]<br />
<br />
== Mice ==<br />
[[Image:Lens_setup.JPG]]<br><br />
The results obtained so far with that setup is in the pdf file below.<br><br />
[[Media:Image_of_mice.pdf|The results obtained so far]]<br />
<br />
<br />
<br />
== Camera ==<br />
The demo software given by ST is used in order to test the colr blob detection. <br><br />
<br><br />
Detecting 3 blob color<br><br />
[[Image:Detect_3.JPG ]] <br><br />
Detecting 4 blob color<br><br />
[[Image:Detect_4.JPG ]] <br><br />
<br />
== Motion Control ==<br />
<br />
<br />
<br />
[[Image:M_control.JPG]]<br />
<br />
The angle between each wheel is 2*pi/3, which 120 degree.<br><br />
The front wheels are making a pi/6 angle between the ground.<br><br />
The positions of the wheels in the coordinate system is as follows.<br><br />
Wheel 1 is (cos(pi/6),sin(pi/6)) = (0.866,0.5)<br><br />
Wheel 2 is (cos(pi/6),sin(pi/6)) = (0.866,0.5)<br><br />
Wheel 3 is (cos(3*pi/2),sin(3*pi/2))=(0,-1)<br><br />
<br><br />
I wrote simulations in matlab, in two ways.<br><br />
The first one is using the TriskarOdometry directly, and estimates the <br />
necessary wheel speeds to reach the desired frontal, lateral and angular <br />
speed of the robot.<br><br />
The second one is instead giving the motor speeds in terms of rotations and <br />
estimates the frontal ,lateral ,angular speed of the robot according to motor<br />
speeds.<br><br />
<br><br />
The matlab code for the motion control simulation is consist of the following files:<br><br />
<br><br />
-motor_speed.m --This file which takes the motor speed as input and <br />
calculates the Vf,Vl,w of the robot.<br><br />
-TriskarOdometry.m --Giving the input Vf,Vl,w calculates the motor speed<br><br />
-trajectory.m --The function which draws some trajectories based on the <br />
following schema<br><br />
1) DIRECT MOVEMENT<br />
THE HEAD OF THE ROBOT ALWAYS LOOKING IN A FIXED DIRECTION<br />
2) ANGULAR MOVEMENT<br />
THE ROBOT WILL MOVE IN A CIRCULAR TRAJECTORY WITH FIXED HEAD<br />
DIRECTION<br />
3) SPIN & GO<br />
THE ROBOT EITHER GOES ANGULAR BUT THE HEAD POSITION<br />
IS ALSO CHANGES<br />
4) SPIN & GO DIRECT<br />
THE ROBOT EITHER GOES DIRECT BUT THE HEAD POSITION<br />
IS ALSO CHANGES<br />
-direc_motion.m --DIRECT MOVEMENT <br><br />
-angular_motion.m --ANGULAR MOVEMENT <br><br />
-spin_go.m -- SPIN & GO <br><br />
-spin_go_d.m --SPIN & GO DIRECT <br><br />
-draw_arrow.m --A function that is used to draw arrow. <br><br />
[[Media:Mc.zip|File with the matlab files listed above.]]<br />
<br />
<br />
== Processor Comparison ==<br />
<br />
This is the processor comparison table, the cells without entry is left blank<br />
<br />
{| class="wikitable" border="1"<br />
|-<br />
! <br />
! Name<br />
! Clock Speed<br />
! Ram<br />
! Storage<br />
! Onboard Devices<br />
! Power Consumption<br />
! Price<br />
! OS<br />
! Source Page<br />
|-<br />
| 1<br />
| ESOM270<br />
| PXA270@520MHz<br />
| 128 MB SDRAM <br />
| 32 MB FLASH PMIC<br />
| USB device,Camera interface(QCI),USB host<br />
| 0.8 W @ Full running Mode,100mW @ Deep Sleep mode<br />
| 76 €<br />
| Comes with preinstalled uboot & Linux 2.6.25 or eboot Windows CE 6.0 R2<br />
| http://www.e-consystems.com/esom270.asp<br />
|-<br />
| 2<br />
| IGEPv2 BOARD<br />
| OMAP3530@720 Mhz<br />
| 512MB RAM <br />
| 512MB ONENAND-FLASH<br />
| Ethernet 10/100 Mb BaseT.,Wifi IEEE 802.11b/g + Bluetooth 2.0 (Integrated antenna).,1 x USB OTG,1x USB Host<br />
|<br />
| 145 €<br />
| IGEPv2 running Ubuntu 9.04<br />
| http://www.igep-platform.com/index.php?option=com_content&view=article&id=46&Itemid=55<br />
|-<br />
| 3<br />
| Em-x270<br />
| Intel's XScale PXA270 CPU, up to 520 MHz<br />
| 128 Mbyte SDRAM <br />
| 512 Mbyte Flash Disk<br />
| WLAN / WiFi 802.11b/g Interface,Bluetooth interface,Slave and host USB ports, including keyboard and mouse support,100 Mbps Ethernet port<br />
| 0.2 - 2 W<br />
| 76 $<br />
| ce OR linux<br />
| http://www.compulab.co.il/x270cm/html/x270-cm-datasheet.htm<br />
|-<br />
| 4<br />
| S3C2440 Core Board II <br />
| Samsung S3C2440A based on ARM920T, 400MHz<br />
| 64MB SDRAM<br />
| 64MB NAND Flash<br />
| 2-ch USB Host controller / 1-ch USB Device controller (ver 1.1),Camera interface ,(Max. 4096 x 4096 pixels input support. 2048 x 2048 pixel input support for scaling)<br />
| <br />
| 110$<br />
| Windows CE4.2/5.0, 6.0 and Linux2.6<br />
| http://www.embedinfo.com/en/list.asp?id=64<br />
|-<br />
| 5<br />
| Overo™ Air COM [GUM3503A]<br />
| OMAP 3503 Application Processor with ARM Cortex-A8 CPU 600 MHz<br />
| 256MB RAM<br />
| 256MB Flash<br />
| 802.11(g) and Bluetooth®,USB OTG signals, USB HS Host<br />
| <br />
| 199$<br />
| Linux 2.6.31 or higher OpenEmbedded<br />
| http://www.gumstix.com/store/catalog/product_info.php?products_id=226<br />
|-<br />
| 6<br />
| MX31 TurboG5 Module<br />
| Freescale i.MX31 @ 532MHz<br />
| 128 MB of Mobile DDR<br />
| 32 MB of Flash<br />
| Support for 802.11b/g embedded wireless module,One SD/MMC card slot,One USB 2.0 On-The-Go (OTG) port (H/F/L speed),One USB 2.0 host port (H/F/L speeds),One Camera Sensor Interface,One 10/100BASE-T Ethernet port<br />
| <br />
|<br />
| Windows CE 5.0 and 6.0 Linux<br />
| http://www.eurotech-inc.com/single-board-computer-imx31-com-turbog5.asp<br />
|-<br />
|}<br />
<br />
<br />
<br />
==Motor Suggestion ==<br />
<br />
http://www.pololu.com/catalog/product/1092<br />
<br />
no load speed: 500 rpm<br />
stall torque: 29 kg-cm ~= 0.282 Nm<br />
<br />
maximum power output = Pmax = 26.190 rad/s * 0.141 Nm = 3.692 W<br />
occuring at W= 250 rpm and t=0.141 Nm<br />
<br />
<br />
http://www.pololu.com/catalog/product/1085/<br />
<br />
no load speed: 470 rpm<br />
stall torque : 7 oz ( 0.5 kg-cm ) ~= 0.049 Nm<br />
<br />
maximum power output = Pmax = 24.619 rad/s * 0.0245 Nm = 0.603 W<br />
occuring at W=235 rpm and t = 0.0245 Nm<br />
<br />
calculations made according to the reference paper at the link<br />
http://lancet.mit.edu/motors/motors3.html<br />
http://lancet.mit.edu/motors/motors4.html<br />
<br />
== Wheel Specification ==<br />
<br />
=== 2052-3/8X CAT-TRAK ===<br />
Description <br />
[[Image:FXA314-2T.jpg|right]] <br />
*Standard 2" O.D. - 3/8" Bore Double Row<br />
*Metric 49.2mm O.D. - 9.5mm Plain Bore.<br />
*Recommended max load.<br />
**Steel Bottom = 25 lbs. 11.3kg.<br />
**Plywood Surface = 15 lbs. 6.8kg.<br />
*200# Test Corrugated Bottom = 10 lbs. 4.5kg.<br />
*Weight = 1.75 oz.<br />
*Synthetic rubber coated polypropylene rollers.<br />
*Price:$7.48.<br />
*Source: http://store.kornylak.com/ProductDetails.asp?ProductCode=FXA314<br />
<br />
<br />
=== 2052BX CAT-TRAK ===<br />
<br />
Description<br />
<br />
[[Image:FXA317-2T.jpg|right]]<br />
*Standard 2" O.D. - 1/4" I.D. Bushing Double Row<br />
*Metric 49.2mm O.D. - 6.35mm Bushing<br />
*Recommended max load <br />
**Steel Bottom = 25 lbs. 11.3kg<br />
**Plywood Surface = 15 lbs. 6.8kg<br />
*200# Test Corrugated Bottom = 10 lbs. 4.5kg<br />
*Weight = 1.75 oz<br />
*Synthetic rubber coated polypropylene rollers.<br />
*Price :$7.48<br />
*Source: http://store.kornylak.com/ProductDetails.asp?ProductCode=FXA317<br />
<br />
<br />
=== 2052KX CAT-TRAK ===<br />
Description <br />
[[Image:FXA315-2T.jpg|right]]<br />
*Standard 2" O.D. - 1/2" Bore Double Row w/ Keyway<br />
*Metric 49.2mm O.D. - 12.7mm Bore w/ Keyway<br />
*Recommended max load <br />
**Steel Bottom = 25 lbs. 11.3kg<br />
**Plywood Surface = 15 lbs. 6.8kg<br />
*200# Test Corrugated Bottom = 10 lbs. 4.5kg<br />
*Weight = 1.75 oz<br />
*Synthetic rubber coated polypropylene rollers. <br />
*Price :$7.48<br />
*Source: http://store.kornylak.com/ProductDetails.asp?ProductCode=FXA315<br />
<br />
== Related Files == <br />
<br />
Matlab scripts, that are used to calculate, color; motor contributions; and object position.[[Media:Code.zip|Helper scripts]]</div>AnilKoyuncuhttps://airwiki.elet.polimi.it/index.php?title=File:Code.zip&diff=13323File:Code.zip2011-07-02T09:45:28Z<p>AnilKoyuncu: Matlab scripts, that are used to calculate, color; motor contributions; and object position.</p>
<hr />
<div>Matlab scripts, that are used to calculate, color; motor contributions; and object position.</div>AnilKoyuncuhttps://airwiki.elet.polimi.it/index.php?title=Talk:RunBot:_a_Robogame_Robot&diff=13322Talk:RunBot: a Robogame Robot2011-07-02T09:41:43Z<p>AnilKoyuncu: </p>
<hr />
<div>Thesis should be find in the link.[[Media:2011_07_Koyuncu_Anil.pdf|Submitted version of the thesis]]<br />
<br />
== Requirements ==<br />
<br />
The robot should have:<br />
* a dimension of about 25cm of radius, 20 cm height<br />
* a speed of about 1 m/sec<br />
* omnidirectional movement (Kamro wheels)<br />
* sensors to avoid obstacles (sonars)<br />
* a camera that can be moved up and down (and eventually left and right)<br />
* wireless connection to a computer (Wi-fi)<br />
* Bluetooth connection<br />
* have power enough to move and transmit for at least 2 hours without recharging<br />
* Have the possibility to recharge autonomously<br />
<br />
The robot should cost as less as possible<br />
<br />
[[Media:Order list.pdf|File with considerations on parts to be ordered]]<br />
<br />
<br />
TO DO<br />
<br />
* Select HW <br />
** ST ARM HW (ask Martino Migliavacca <martino.migliavacca@gmail.com>, GUMSTIX (http://www.gumstix.org/), ARDUINO (http://www.freeduino.org/), other...)<br />
** Engines (WWW.robot-Italy.com, http://www.jonathan.it/)<br />
** batteries (above, or standard A, AA or AAA type)<br />
** Camera (ST smart cameras, with Ethernet wired link)<br />
** Sonar (already available (see ROBOWII2.0))<br />
** Blue tooth and WI-FI<br />
<br />
* Design body (structure and appearance), sensor placement, eventual movements of the camera<br />
* Implement the robot<br />
* test the robot with a simple game (e.g. [[RoboWII2.0]])<br />
<br />
Source Code Backup<br />
[[Media:STLCam-blob.zip| The backup file]]<br />
<br />
== Part List ==<br />
Camera<br />
Wheels<br />
Motors<br />
Lenses<br />
Batteries<br />
<br />
== Design of The Robot ==<br />
[[Image:Bottom_plexi.png]]<br />
[[Image:Side.png]]<br />
[[Image:Ust.png]]<br />
[[Image:Top.png]]<br />
<br />
== Mice ==<br />
[[Image:Lens_setup.JPG]]<br><br />
The results obtained so far with that setup is in the pdf file below.<br><br />
[[Media:Image_of_mice.pdf|The results obtained so far]]<br />
<br />
<br />
<br />
== Camera ==<br />
The demo software given by ST is used in order to test the colr blob detection. <br><br />
<br><br />
Detecting 3 blob color<br><br />
[[Image:Detect_3.JPG ]] <br><br />
Detecting 4 blob color<br><br />
[[Image:Detect_4.JPG ]] <br><br />
<br />
== Motion Control ==<br />
<br />
<br />
<br />
[[Image:M_control.JPG]]<br />
<br />
The angle between each wheel is 2*pi/3, which 120 degree.<br><br />
The front wheels are making a pi/6 angle between the ground.<br><br />
The positions of the wheels in the coordinate system is as follows.<br><br />
Wheel 1 is (cos(pi/6),sin(pi/6)) = (0.866,0.5)<br><br />
Wheel 2 is (cos(pi/6),sin(pi/6)) = (0.866,0.5)<br><br />
Wheel 3 is (cos(3*pi/2),sin(3*pi/2))=(0,-1)<br><br />
<br><br />
I wrote simulations in matlab, in two ways.<br><br />
The first one is using the TriskarOdometry directly, and estimates the <br />
necessary wheel speeds to reach the desired frontal, lateral and angular <br />
speed of the robot.<br><br />
The second one is instead giving the motor speeds in terms of rotations and <br />
estimates the frontal ,lateral ,angular speed of the robot according to motor<br />
speeds.<br><br />
<br><br />
The matlab code for the motion control simulation is consist of the following files:<br><br />
<br><br />
-motor_speed.m --This file which takes the motor speed as input and <br />
calculates the Vf,Vl,w of the robot.<br><br />
-TriskarOdometry.m --Giving the input Vf,Vl,w calculates the motor speed<br><br />
-trajectory.m --The function which draws some trajectories based on the <br />
following schema<br><br />
1) DIRECT MOVEMENT<br />
THE HEAD OF THE ROBOT ALWAYS LOOKING IN A FIXED DIRECTION<br />
2) ANGULAR MOVEMENT<br />
THE ROBOT WILL MOVE IN A CIRCULAR TRAJECTORY WITH FIXED HEAD<br />
DIRECTION<br />
3) SPIN & GO<br />
THE ROBOT EITHER GOES ANGULAR BUT THE HEAD POSITION<br />
IS ALSO CHANGES<br />
4) SPIN & GO DIRECT<br />
THE ROBOT EITHER GOES DIRECT BUT THE HEAD POSITION<br />
IS ALSO CHANGES<br />
-direc_motion.m --DIRECT MOVEMENT <br><br />
-angular_motion.m --ANGULAR MOVEMENT <br><br />
-spin_go.m -- SPIN & GO <br><br />
-spin_go_d.m --SPIN & GO DIRECT <br><br />
-draw_arrow.m --A function that is used to draw arrow. <br><br />
[[Media:Mc.zip|File with the matlab files listed above.]]<br />
<br />
<br />
== Processor Comparison ==<br />
<br />
This is the processor comparison table, the cells without entry is left blank<br />
<br />
{| class="wikitable" border="1"<br />
|-<br />
! <br />
! Name<br />
! Clock Speed<br />
! Ram<br />
! Storage<br />
! Onboard Devices<br />
! Power Consumption<br />
! Price<br />
! OS<br />
! Source Page<br />
|-<br />
| 1<br />
| ESOM270<br />
| PXA270@520MHz<br />
| 128 MB SDRAM <br />
| 32 MB FLASH PMIC<br />
| USB device,Camera interface(QCI),USB host<br />
| 0.8 W @ Full running Mode,100mW @ Deep Sleep mode<br />
| 76 €<br />
| Comes with preinstalled uboot & Linux 2.6.25 or eboot Windows CE 6.0 R2<br />
| http://www.e-consystems.com/esom270.asp<br />
|-<br />
| 2<br />
| IGEPv2 BOARD<br />
| OMAP3530@720 Mhz<br />
| 512MB RAM <br />
| 512MB ONENAND-FLASH<br />
| Ethernet 10/100 Mb BaseT.,Wifi IEEE 802.11b/g + Bluetooth 2.0 (Integrated antenna).,1 x USB OTG,1x USB Host<br />
|<br />
| 145 €<br />
| IGEPv2 running Ubuntu 9.04<br />
| http://www.igep-platform.com/index.php?option=com_content&view=article&id=46&Itemid=55<br />
|-<br />
| 3<br />
| Em-x270<br />
| Intel's XScale PXA270 CPU, up to 520 MHz<br />
| 128 Mbyte SDRAM <br />
| 512 Mbyte Flash Disk<br />
| WLAN / WiFi 802.11b/g Interface,Bluetooth interface,Slave and host USB ports, including keyboard and mouse support,100 Mbps Ethernet port<br />
| 0.2 - 2 W<br />
| 76 $<br />
| ce OR linux<br />
| http://www.compulab.co.il/x270cm/html/x270-cm-datasheet.htm<br />
|-<br />
| 4<br />
| S3C2440 Core Board II <br />
| Samsung S3C2440A based on ARM920T, 400MHz<br />
| 64MB SDRAM<br />
| 64MB NAND Flash<br />
| 2-ch USB Host controller / 1-ch USB Device controller (ver 1.1),Camera interface ,(Max. 4096 x 4096 pixels input support. 2048 x 2048 pixel input support for scaling)<br />
| <br />
| 110$<br />
| Windows CE4.2/5.0, 6.0 and Linux2.6<br />
| http://www.embedinfo.com/en/list.asp?id=64<br />
|-<br />
| 5<br />
| Overo™ Air COM [GUM3503A]<br />
| OMAP 3503 Application Processor with ARM Cortex-A8 CPU 600 MHz<br />
| 256MB RAM<br />
| 256MB Flash<br />
| 802.11(g) and Bluetooth®,USB OTG signals, USB HS Host<br />
| <br />
| 199$<br />
| Linux 2.6.31 or higher OpenEmbedded<br />
| http://www.gumstix.com/store/catalog/product_info.php?products_id=226<br />
|-<br />
| 6<br />
| MX31 TurboG5 Module<br />
| Freescale i.MX31 @ 532MHz<br />
| 128 MB of Mobile DDR<br />
| 32 MB of Flash<br />
| Support for 802.11b/g embedded wireless module,One SD/MMC card slot,One USB 2.0 On-The-Go (OTG) port (H/F/L speed),One USB 2.0 host port (H/F/L speeds),One Camera Sensor Interface,One 10/100BASE-T Ethernet port<br />
| <br />
|<br />
| Windows CE 5.0 and 6.0 Linux<br />
| http://www.eurotech-inc.com/single-board-computer-imx31-com-turbog5.asp<br />
|-<br />
|}<br />
<br />
<br />
<br />
==Motor Suggestion ==<br />
<br />
http://www.pololu.com/catalog/product/1092<br />
<br />
no load speed: 500 rpm<br />
stall torque: 29 kg-cm ~= 0.282 Nm<br />
<br />
maximum power output = Pmax = 26.190 rad/s * 0.141 Nm = 3.692 W<br />
occuring at W= 250 rpm and t=0.141 Nm<br />
<br />
<br />
http://www.pololu.com/catalog/product/1085/<br />
<br />
no load speed: 470 rpm<br />
stall torque : 7 oz ( 0.5 kg-cm ) ~= 0.049 Nm<br />
<br />
maximum power output = Pmax = 24.619 rad/s * 0.0245 Nm = 0.603 W<br />
occuring at W=235 rpm and t = 0.0245 Nm<br />
<br />
calculations made according to the reference paper at the link<br />
http://lancet.mit.edu/motors/motors3.html<br />
http://lancet.mit.edu/motors/motors4.html<br />
<br />
== Wheel Specification ==<br />
<br />
=== 2052-3/8X CAT-TRAK ===<br />
Description <br />
[[Image:FXA314-2T.jpg|right]] <br />
*Standard 2" O.D. - 3/8" Bore Double Row<br />
*Metric 49.2mm O.D. - 9.5mm Plain Bore.<br />
*Recommended max load.<br />
**Steel Bottom = 25 lbs. 11.3kg.<br />
**Plywood Surface = 15 lbs. 6.8kg.<br />
*200# Test Corrugated Bottom = 10 lbs. 4.5kg.<br />
*Weight = 1.75 oz.<br />
*Synthetic rubber coated polypropylene rollers.<br />
*Price:$7.48.<br />
*Source: http://store.kornylak.com/ProductDetails.asp?ProductCode=FXA314<br />
<br />
<br />
=== 2052BX CAT-TRAK ===<br />
<br />
Description<br />
<br />
[[Image:FXA317-2T.jpg|right]]<br />
*Standard 2" O.D. - 1/4" I.D. Bushing Double Row<br />
*Metric 49.2mm O.D. - 6.35mm Bushing<br />
*Recommended max load <br />
**Steel Bottom = 25 lbs. 11.3kg<br />
**Plywood Surface = 15 lbs. 6.8kg<br />
*200# Test Corrugated Bottom = 10 lbs. 4.5kg<br />
*Weight = 1.75 oz<br />
*Synthetic rubber coated polypropylene rollers.<br />
*Price :$7.48<br />
*Source: http://store.kornylak.com/ProductDetails.asp?ProductCode=FXA317<br />
<br />
<br />
=== 2052KX CAT-TRAK ===<br />
Description <br />
[[Image:FXA315-2T.jpg|right]]<br />
*Standard 2" O.D. - 1/2" Bore Double Row w/ Keyway<br />
*Metric 49.2mm O.D. - 12.7mm Bore w/ Keyway<br />
*Recommended max load <br />
**Steel Bottom = 25 lbs. 11.3kg<br />
**Plywood Surface = 15 lbs. 6.8kg<br />
*200# Test Corrugated Bottom = 10 lbs. 4.5kg<br />
*Weight = 1.75 oz<br />
*Synthetic rubber coated polypropylene rollers. <br />
*Price :$7.48<br />
*Source: http://store.kornylak.com/ProductDetails.asp?ProductCode=FXA315</div>AnilKoyuncuhttps://airwiki.elet.polimi.it/index.php?title=File:2011_07_Koyuncu_Anil.pdf&diff=13321File:2011 07 Koyuncu Anil.pdf2011-07-02T09:38:09Z<p>AnilKoyuncu: Thesis</p>
<hr />
<div>Thesis</div>AnilKoyuncuhttps://airwiki.elet.polimi.it/index.php?title=Talk:RunBot:_a_Robogame_Robot&diff=12707Talk:RunBot: a Robogame Robot2010-11-15T16:19:55Z<p>AnilKoyuncu: </p>
<hr />
<div>Requirements<br />
<br />
The robot should have:<br />
* a dimension of about 25cm of radius, 20 cm height<br />
* a speed of about 1 m/sec<br />
* omnidirectional movement (Kamro wheels)<br />
* sensors to avoid obstacles (sonars)<br />
* a camera that can be moved up and down (and eventually left and right)<br />
* wireless connection to a computer (Wi-fi)<br />
* Bluetooth connection<br />
* have power enough to move and transmit for at least 2 hours without recharging<br />
* Have the possibility to recharge autonomously<br />
<br />
The robot should cost as less as possible<br />
<br />
[[Media:Order list.pdf|File with considerations on parts to be ordered]]<br />
<br />
<br />
TO DO<br />
<br />
* Select HW <br />
** ST ARM HW (ask Martino Migliavacca <martino.migliavacca@gmail.com>, GUMSTIX (http://www.gumstix.org/), ARDUINO (http://www.freeduino.org/), other...)<br />
** Engines (WWW.robot-Italy.com, http://www.jonathan.it/)<br />
** batteries (above, or standard A, AA or AAA type)<br />
** Camera (ST smart cameras, with Ethernet wired link)<br />
** Sonar (already available (see ROBOWII2.0))<br />
** Blue tooth and WI-FI<br />
<br />
* Design body (structure and appearance), sensor placement, eventual movements of the camera<br />
* Implement the robot<br />
* test the robot with a simple game (e.g. [[RoboWII2.0]])<br />
<br />
Source Code Backup<br />
[[Media:STLCam-blob.zip| The backup file]]<br />
<br />
== Part List ==<br />
Camera<br />
Wheels<br />
Motors<br />
Lenses<br />
Batteries<br />
<br />
== Design of The Robot ==<br />
[[Image:Bottom_plexi.png]]<br />
[[Image:Side.png]]<br />
[[Image:Ust.png]]<br />
[[Image:Top.png]]<br />
<br />
== Mice ==<br />
[[Image:Lens_setup.JPG]]<br><br />
The results obtained so far with that setup is in the pdf file below.<br><br />
[[Media:Image_of_mice.pdf|The results obtained so far]]<br />
<br />
<br />
<br />
== Camera ==<br />
The demo software given by ST is used in order to test the colr blob detection. <br><br />
<br><br />
Detecting 3 blob color<br><br />
[[Image:Detect_3.JPG ]] <br><br />
Detecting 4 blob color<br><br />
[[Image:Detect_4.JPG ]] <br><br />
<br />
== Motion Control ==<br />
<br />
<br />
<br />
[[Image:M_control.JPG]]<br />
<br />
The angle between each wheel is 2*pi/3, which 120 degree.<br><br />
The front wheels are making a pi/6 angle between the ground.<br><br />
The positions of the wheels in the coordinate system is as follows.<br><br />
Wheel 1 is (cos(pi/6),sin(pi/6)) = (0.866,0.5)<br><br />
Wheel 2 is (cos(pi/6),sin(pi/6)) = (0.866,0.5)<br><br />
Wheel 3 is (cos(3*pi/2),sin(3*pi/2))=(0,-1)<br><br />
<br><br />
I wrote simulations in matlab, in two ways.<br><br />
The first one is using the TriskarOdometry directly, and estimates the <br />
necessary wheel speeds to reach the desired frontal, lateral and angular <br />
speed of the robot.<br><br />
The second one is instead giving the motor speeds in terms of rotations and <br />
estimates the frontal ,lateral ,angular speed of the robot according to motor<br />
speeds.<br><br />
<br><br />
The matlab code for the motion control simulation is consist of the following files:<br><br />
<br><br />
-motor_speed.m --This file which takes the motor speed as input and <br />
calculates the Vf,Vl,w of the robot.<br><br />
-TriskarOdometry.m --Giving the input Vf,Vl,w calculates the motor speed<br><br />
-trajectory.m --The function which draws some trajectories based on the <br />
following schema<br><br />
1) DIRECT MOVEMENT<br />
THE HEAD OF THE ROBOT ALWAYS LOOKING IN A FIXED DIRECTION<br />
2) ANGULAR MOVEMENT<br />
THE ROBOT WILL MOVE IN A CIRCULAR TRAJECTORY WITH FIXED HEAD<br />
DIRECTION<br />
3) SPIN & GO<br />
THE ROBOT EITHER GOES ANGULAR BUT THE HEAD POSITION<br />
IS ALSO CHANGES<br />
4) SPIN & GO DIRECT<br />
THE ROBOT EITHER GOES DIRECT BUT THE HEAD POSITION<br />
IS ALSO CHANGES<br />
-direc_motion.m --DIRECT MOVEMENT <br><br />
-angular_motion.m --ANGULAR MOVEMENT <br><br />
-spin_go.m -- SPIN & GO <br><br />
-spin_go_d.m --SPIN & GO DIRECT <br><br />
-draw_arrow.m --A function that is used to draw arrow. <br><br />
[[Media:Mc.zip|File with the matlab files listed above.]]<br />
<br />
<br />
== Processor Comparison ==<br />
<br />
This is the processor comparison table, the cells without entry is left blank<br />
<br />
{| class="wikitable" border="1"<br />
|-<br />
! <br />
! Name<br />
! Clock Speed<br />
! Ram<br />
! Storage<br />
! Onboard Devices<br />
! Power Consumption<br />
! Price<br />
! OS<br />
! Source Page<br />
|-<br />
| 1<br />
| ESOM270<br />
| PXA270@520MHz<br />
| 128 MB SDRAM <br />
| 32 MB FLASH PMIC<br />
| USB device,Camera interface(QCI),USB host<br />
| 0.8 W @ Full running Mode,100mW @ Deep Sleep mode<br />
| 76 €<br />
| Comes with preinstalled uboot & Linux 2.6.25 or eboot Windows CE 6.0 R2<br />
| http://www.e-consystems.com/esom270.asp<br />
|-<br />
| 2<br />
| IGEPv2 BOARD<br />
| OMAP3530@720 Mhz<br />
| 512MB RAM <br />
| 512MB ONENAND-FLASH<br />
| Ethernet 10/100 Mb BaseT.,Wifi IEEE 802.11b/g + Bluetooth 2.0 (Integrated antenna).,1 x USB OTG,1x USB Host<br />
|<br />
| 145 €<br />
| IGEPv2 running Ubuntu 9.04<br />
| http://www.igep-platform.com/index.php?option=com_content&view=article&id=46&Itemid=55<br />
|-<br />
| 3<br />
| Em-x270<br />
| Intel's XScale PXA270 CPU, up to 520 MHz<br />
| 128 Mbyte SDRAM <br />
| 512 Mbyte Flash Disk<br />
| WLAN / WiFi 802.11b/g Interface,Bluetooth interface,Slave and host USB ports, including keyboard and mouse support,100 Mbps Ethernet port<br />
| 0.2 - 2 W<br />
| 76 $<br />
| ce OR linux<br />
| http://www.compulab.co.il/x270cm/html/x270-cm-datasheet.htm<br />
|-<br />
| 4<br />
| S3C2440 Core Board II <br />
| Samsung S3C2440A based on ARM920T, 400MHz<br />
| 64MB SDRAM<br />
| 64MB NAND Flash<br />
| 2-ch USB Host controller / 1-ch USB Device controller (ver 1.1),Camera interface ,(Max. 4096 x 4096 pixels input support. 2048 x 2048 pixel input support for scaling)<br />
| <br />
| 110$<br />
| Windows CE4.2/5.0, 6.0 and Linux2.6<br />
| http://www.embedinfo.com/en/list.asp?id=64<br />
|-<br />
| 5<br />
| Overo™ Air COM [GUM3503A]<br />
| OMAP 3503 Application Processor with ARM Cortex-A8 CPU 600 MHz<br />
| 256MB RAM<br />
| 256MB Flash<br />
| 802.11(g) and Bluetooth®,USB OTG signals, USB HS Host<br />
| <br />
| 199$<br />
| Linux 2.6.31 or higher OpenEmbedded<br />
| http://www.gumstix.com/store/catalog/product_info.php?products_id=226<br />
|-<br />
| 6<br />
| MX31 TurboG5 Module<br />
| Freescale i.MX31 @ 532MHz<br />
| 128 MB of Mobile DDR<br />
| 32 MB of Flash<br />
| Support for 802.11b/g embedded wireless module,One SD/MMC card slot,One USB 2.0 On-The-Go (OTG) port (H/F/L speed),One USB 2.0 host port (H/F/L speeds),One Camera Sensor Interface,One 10/100BASE-T Ethernet port<br />
| <br />
|<br />
| Windows CE 5.0 and 6.0 Linux<br />
| http://www.eurotech-inc.com/single-board-computer-imx31-com-turbog5.asp<br />
|-<br />
|}<br />
<br />
<br />
<br />
==Motor Suggestion ==<br />
<br />
http://www.pololu.com/catalog/product/1092<br />
<br />
no load speed: 500 rpm<br />
stall torque: 29 kg-cm ~= 0.282 Nm<br />
<br />
maximum power output = Pmax = 26.190 rad/s * 0.141 Nm = 3.692 W<br />
occuring at W= 250 rpm and t=0.141 Nm<br />
<br />
<br />
http://www.pololu.com/catalog/product/1085/<br />
<br />
no load speed: 470 rpm<br />
stall torque : 7 oz ( 0.5 kg-cm ) ~= 0.049 Nm<br />
<br />
maximum power output = Pmax = 24.619 rad/s * 0.0245 Nm = 0.603 W<br />
occuring at W=235 rpm and t = 0.0245 Nm<br />
<br />
calculations made according to the reference paper at the link<br />
http://lancet.mit.edu/motors/motors3.html<br />
http://lancet.mit.edu/motors/motors4.html<br />
<br />
== Wheel Specification ==<br />
<br />
=== 2052-3/8X CAT-TRAK ===<br />
Description <br />
[[Image:FXA314-2T.jpg|right]] <br />
*Standard 2" O.D. - 3/8" Bore Double Row<br />
*Metric 49.2mm O.D. - 9.5mm Plain Bore.<br />
*Recommended max load.<br />
**Steel Bottom = 25 lbs. 11.3kg.<br />
**Plywood Surface = 15 lbs. 6.8kg.<br />
*200# Test Corrugated Bottom = 10 lbs. 4.5kg.<br />
*Weight = 1.75 oz.<br />
*Synthetic rubber coated polypropylene rollers.<br />
*Price:$7.48.<br />
*Source: http://store.kornylak.com/ProductDetails.asp?ProductCode=FXA314<br />
<br />
<br />
=== 2052BX CAT-TRAK ===<br />
<br />
Description<br />
<br />
[[Image:FXA317-2T.jpg|right]]<br />
*Standard 2" O.D. - 1/4" I.D. Bushing Double Row<br />
*Metric 49.2mm O.D. - 6.35mm Bushing<br />
*Recommended max load <br />
**Steel Bottom = 25 lbs. 11.3kg<br />
**Plywood Surface = 15 lbs. 6.8kg<br />
*200# Test Corrugated Bottom = 10 lbs. 4.5kg<br />
*Weight = 1.75 oz<br />
*Synthetic rubber coated polypropylene rollers.<br />
*Price :$7.48<br />
*Source: http://store.kornylak.com/ProductDetails.asp?ProductCode=FXA317<br />
<br />
<br />
=== 2052KX CAT-TRAK ===<br />
Description <br />
[[Image:FXA315-2T.jpg|right]]<br />
*Standard 2" O.D. - 1/2" Bore Double Row w/ Keyway<br />
*Metric 49.2mm O.D. - 12.7mm Bore w/ Keyway<br />
*Recommended max load <br />
**Steel Bottom = 25 lbs. 11.3kg<br />
**Plywood Surface = 15 lbs. 6.8kg<br />
*200# Test Corrugated Bottom = 10 lbs. 4.5kg<br />
*Weight = 1.75 oz<br />
*Synthetic rubber coated polypropylene rollers. <br />
*Price :$7.48<br />
*Source: http://store.kornylak.com/ProductDetails.asp?ProductCode=FXA315</div>AnilKoyuncuhttps://airwiki.elet.polimi.it/index.php?title=File:STLCam-blob.zip&diff=12706File:STLCam-blob.zip2010-11-15T16:18:11Z<p>AnilKoyuncu: The firmware code for the camera, that search for the red blob.
The first version and the simplified version</p>
<hr />
<div>The firmware code for the camera, that search for the red blob.<br />
The first version and the simplified version</div>AnilKoyuncuhttps://airwiki.elet.polimi.it/index.php?title=Cameras,_lenses_and_mirrors&diff=12696Cameras, lenses and mirrors2010-11-12T17:35:29Z<p>AnilKoyuncu: /* List of Cameras */</p>
<hr />
<div>==IMPORTANT NOTES==<br />
'''Never touch the sensor element (CCD or CMOS) of a camera with anything!''' It can very easily be scratched.<br />
<br />
'''Never touch the glass elements of a lens with your hands!''' The oil from human skin will cause damage.<br />
<br />
==Cameras==<br />
In the AIRLab you can find different kind of cameras. These are the main groups:<br />
*'''Analogue cameras'''. Video output is given as an electrical signal, which needs analogue-to-digital conversion to be processed by a computer; this is done by a specific card called ''frame grabber'' or ''video capture card'' (the latter tend to be the lowest-performance items; see [[Cameras, lenses and mirrors#Frame grabbers]] for details). Analogue video is outdated for computer vision and robotics applications, due to its cost, low performance and complexity; nowadays digital camera systems (such as all the ones listed below) are always preferred.<br />
*'''USB cameras'''. Usually very cheap, they are suitable for low-performance applications (i.e. those where low frame rate is needed and low image quality can be accepted). Their main advantage (along with cost) is the fact that every modern computer has USB ports. The fact that the USB standard includes 5V DC power supply lines helps simplifying camera design and use.<br />
*'''FireWire cameras'''. The FireWire (or IEEE1394) bus is generally used for low-end industrial cameras, i.e. devices with technical characteristics much superior to those typical of USB cameras but low-performance according to typical machine vision standards. Industrial cameras usually give to the user a much wider control over the acquisition parameters compared to consumer cameras, and therefore they are usually preferred in robotics; their downside is the higher cost. There are different versions of IEE1394 link (see http://en.wikipedia.org/wiki/Firewire for details), with different bitrates, starting from the 400Mbit/s FireWire 400. Generally they are all considered superior to USB 2.0, even if theoretical bandwidth is lower for FireWire 400. Firewire ports can include power supply lines, but some interfaces (and in particular those on portable computers) omit them. Although the use of FireWire interfaces has expanded in recent years, they are not yet considered a standard feature for motherboards.<br />
*'''GigE Vision cameras'''. GigE Vision (or Gigabit Ethernet Vision) is a rather new connection standard for machine vision, based upon the established Ethernet protocol in its Gigabit (i.e. 1000Mbps) version. It is very interesting, as complex multiple-camera systems can be easily built using existing (Gigabit) Ethernet hardware, such as cables and switches. Vision data is acquired simply through a generic Ethernet port, commonly found on motherboards or easily added. However, 100Mbps (or ''fast Ethernet'') ports are not guaranteed to work and can sustain only modest video streams; on the other hand, 1000Mbps ports are now standard on motherboards, so this will not be a problem anymore in a few years. It seems that GigE Vision is becoming the most common interface for low- to medium-performance industrial cameras.<br />
*'''CameraLink cameras'''. Cameralink is a high-speed interface expressly developed for high-performance machine vision applications. It is a point-to-point link, i.e. a CameraLink connection is used to connect a single camera to a digital acquisition card (''frame grabber''). Its diffusion is limited to applications where extreme frame rates ''and'' resolutions are needed, because CameraLink gear is very expensive.<br />
*'''ST Camera boards'''. Cameras with cell phone sensor and ARM processor for onboard computation.<br />
<br />
The following is a list of the cameras available in the AIRLab. (To be precise, it is a list of the cameras that are modern enough to be useful.) For each of them the main specifications (and a link to the full specifications) are given. Details on the different types of lens mount are given below in [[Cameras, lenses and mirrors#Lenses]]. The 'how many?' field tells if multiple, identical items are available. Finally, the 'where?' field tells you in which of the AIRLab sites (listed in [[The Labs]]) you can find an item, and the 'project' field is used to specify which project (if any) is using it.<br />
<br />
Ah, one last thing. People like to actually ''find'' things when they look for them, so '''don't forget to update the table when you move something away from its current location'''. If you don't know where you are taking it, just put your name in the table.<br />
<br />
<br />
==List of Cameras==<br />
{| border="1" cellpadding="5" cellspacing="0"<br />
!resolution<br />
!B/W, color<br />
!max. frame rate<br />
!sensor size<br />
!interface<br />
!maker<br />
!model<br />
!lens mount<br />
!how many?<br />
!where?<br />
!project<br />
!link to full specifications and/or manuals<br />
|-<br />
|1628x1236<br />
|B/W<br />
|24fps<br />
|1/1.8"<br />
|CameraLink<br />
|Hitachi<br />
|KP-F200CL<br />
|C-mount<br />
|1<br />
|DEI<br />
|<br />
|[[media:KP-F200-Op_Manual.pdf]]<br />
|-<br />
|752x480<br />
|color<br />
|70fps<br />
|1/3"<br />
|GigE<br />
|Prosilica<br />
|GC750C<br />
|C-mount<br />
|3<br />
|Lambrate (1/3), [[User:SimoneTognetti| Simone Tognetti]](from 19/05/2009, dal 14/12/2009 sono impiegate per esperimenti Affective nell'Airlab del DEI)(2/3)<br />
|Driving companions (2/3)<br />
|http://www.prosilica.com/products/gc_series.html<br />
|-<br />
|659x493<br />
|color<br />
|90fps<br />
|1/3"<br />
|GigE<br />
|Prosilica<br />
|GC650C<br />
|C-mount<br />
|1<br />
|???<br />
|???<br />
|http://www.prosilica.com/products/gc_series.html<br />
|-<br />
|1024x768<br />
|color<br />
|30fps<br />
|1/3"<br />
|GigE<br />
|Prosilica<br />
|GC1020C<br />
|C-mount<br />
|2<br />
|Lambrate (2/2)<br />
|RAWSEEDS (1/2)<br />
|http://www.prosilica.com/products/gc_series.html<br />
|-<br />
|CCIR (625 lines)<br />
|B/W<br />
|CCIR (50fps, interlaced)<br />
|2/3"<br />
|analogue<br />
|Sony<br />
|XC-ST70CE<br />
|C-mount<br />
|2<br />
|DEI (2/2)<br />
|<br />
|[[media:XCST70E_manual.pdf]]<br />
|-<br />
|659x494<br />
|color<br />
|30fps<br />
|1/4"<br />
|FireWire 400<br />
|Unibrain<br />
|Fire-i 400 industrial<br />
|C-mount<br />
|3<br />
|Lambrate (3/3)<br />
|RAWSEEDS (3/3)<br />
|http://www.unibrain.com/Products/VisionImg/Fire_i_400_Industrial.htm<br />
|-<br />
|659x494<br />
|color<br />
|30fps<br />
|1/4"<br />
|FireWire 400<br />
|Unibrain<br />
|Fire-i board camera<br />
|proprietary<br />
|8<br />
|Lambrate (3/8), Bovisa (2/8), [[User:PaoloCalloni]] (1/8), [[User:DavideMigliore]] (1/8), [[User:CristianoAlessandro]] (1/8),<br />
<br />
presa 1 a fine febbraio10 con lente wide (quella di riserva di robocom), montaggio "a la rizzi" con lastrine di plexiglass e pezzo di profilato item [[User:Domenicogsorrenti]] (1/8)<br />
|RAWSEEDS (2/8), MRT (?/8)<br />
queste sono quelle "nuove"? se si una e' su rabbiati, portiere di mrt, sin da cuvio, e' nella testa omnidir Domenicogsorrenti 21.04.09<br />
<br />
1 nuova e' la frontale di recam<br />
<br />
1 nuova sulla testa omnidir di ridan<br />
<br />
|http://www.unibrain.com/Products/VisionImg/Fire_i_BC.htm<br />
|-<br />
|640x480<br />
|color<br />
|30fps<br />
|1/4"<br />
|FireWire 400<br />
|Unibrain<br />
|Fire-i digital camera<br />
|fixed optics (4.3mm, f2.0)<br />
|4<br />
|<br />
1 e' sulla testa omnidir di rigo<br />
<br />
1 e' sulla testa omnidir di recam<br />
<br />
1 e' sulla testa omnidir mrt05-03 (armadio domenico@unimib)<br />
<br />
1 e' sulla testa omnidir mrt05-04 (armadio domenico@unimib)<br />
|<br />
|http://www.unibrain.com/Products/VisionImg/Fire_i_DC.htm<br />
|-<br />
|640x480 dual sensor, 9cm baseline<br />
|color<br />
|30fps<br />
|1/3"<br />
|FireWire 400<br />
|Videre Design<br />
|STOC stereo-on-a-chip stereo camera<br />
|C-mount, fitted with two 3.5mm, f1.6, 1/2" lenses<br />
|1<br />
|Lambrate => li lin office => Domenicogsorrenti 13.01.09 => giulio fontana 23.01.09<br />
|<br />
|http://www.videredesign.com/vision/stoc.htm<br />
|-<br />
|640x480<br />
|color<br />
|60fps<br />
|1/3"<br />
|FireWire 400<br />
|Videre Design<br />
|DCSG (associated with STOC)<br />
|C-mount, fitted with one 3.5mm, f1.6, 1/2" lens<br />
|1<br />
|Lambrate<br />
|<br />
|http://www.videredesign.com/vision/dcsg.htm<br />
|-<br />
|?<br />
|color<br />
|30 fps<br />
|1/3.8 inch optical format<br />
|?<br />
|ST Microelectronics<br />
|ST1-Cam + ST2-Cam<br />
|integrated<br />
|2<br />
|ST1-Cam (STLCam (ST LEGO Camera)) (with Anil until 15.10.2010)[[User:AnilKoyuncu| Anil Koyuncu]], ST2-Cam [[User:LorenzoConsolaro | Lorenzo Consolaro]] and [[User:DarioCecchetto | Dario Cecchetto]] <br />
|ST1-Cam [[RunBot: a Robogame Robot]]<br />
| [[Media:Cameradatasheet.pdf]],[[Media:Rvs-v1-0.pdf]], [[Media:RVS_Datasheet_v2.1.pdf]] ,http://www.danielecaltabiano.com/wwme/ST-SW/st-sw.htm, [[Media:Cam_pin_map.pdf]]<br />
|-<br />
|?<br />
|color<br />
|?<br />
|?<br />
|?<br />
|ST Microelectronics<br />
|ST5-CamMic + ST6-CamMic<br />
|integrated with microphone<br />
|2<br />
|ST5-CamMic [[User:AndreaBonarini| Andrea Bonarini]], ST6-CamMic AIRLab per E-2? <br />
|ST6-CamMic [[E-2?]]<br />
|<br />
|-<br />
|?<br />
|color<br />
|?<br />
|?<br />
|?<br />
|ST Microelectronics<br />
|ST4-DC (Demo board)<br />
|integrated<br />
|1<br />
|[[User:RaffaelePetta|Raffaele Petta]]<br />
|<br />
|<br />
|}<br />
<br><br />
<br />
==Lenses==<br />
Be aware that sensor dimension (i.e. its diagonal, measured in fractions of an inch) is ''not'' the same for all cameras. Therefore one of the key specifications for a lens is the maximum sensor dimension supported. If you use a given lens with too big a sensor, the edges of the image will be black as they lie outside the circle of the projected image. Also beware of the strange convention used for sensor diagonals, i.e. a fraction in the form A/B" where A and B are integer ''or non-integer'' numbers. For instance an 1/2" sensor is smaller than an 1/1.8" one.<br />
The variability of sensor dimensions has another side effect: the same lens has a different angle of view if you change the sensor size. Therefore the same lens can behave as a wide-angle with a large sensor and as a telephoto with a small sensor.<br />
<br />
An useful guide to lenses (in Italian or English) can be found at http://www.rapitron.it/guidaob.htm.<br />
<br />
The following is a list of the actual lenses available in the AIRLab. For each of them the main specifications (and a link to the maker's or vendor's page for full specifications) are given. A '?' means an unknown parameter: if you know its value or experimentally find out it when using the lens (e.g. the maximum sensor size), please ''update the table'' before the information is lost again! Lenses having 'M12x0.5' in Column 'mount type' are only usable with Unibrain's Fire-i board cameras. A 'YES' in the 'Mpixel' column indicates a so-called ''Megapixel lens'', i.e. a high quality, low-distortion lens designed for high-resolution industrial cameras (typically having large sensors); please note that some of these are specifically designed for B/W (i.e. black and white) cameras. The 'how many?' field tells if multiple, identical items are available. Finally, the 'where?' field tells you in which of the AIRLab sites (listed in [[The Labs]]) you can find an item, and the 'project' field is used to specify which project (if any) is using it. <br />
<br />
Ah, one last thing. People like to actually ''find'' things when they look for them, so '''don't forget to update the table when you move something away from its current location'''. If you don't know where you are bringing it, just put your name in the table.<br />
<br />
===C-mount and CS-mount lenses===<br />
Industrial cameras usually have interchangeable lenses. This allows for the choice of the lens that is more suitable to the considered application. There are two main standards for industrial camera lenses: '''C-mount''' and '''CS-mount'''. Both are screw-type mounts. CS-mount is simply a modified C-mount where the distance between the back of the lens and the sensor element (CCD or CMOS) is shorter: therefore a CS-mount lens can be mounted on a C-mount camera if an ''adapter ring'' (i.e. a distancing cylinder with suitable threads) is placed between them. It is impossible, though, to use a C-mount lens on a CS-mount camera: if you try you will almost certainly break the sensor, scratch the lens, or both. Just because a lens fits a camera, it doesn't mean it can be actually mounted on it!<br />
<br />
{| border="1" cellpadding="5" cellspacing="0"<br />
!focal length<br />
!max. aperture<br />
!max. sensor size<br />
!mount type<br />
!maker<br />
!model<br />
!Mpixel<br />
!how many?<br />
!where?<br />
!project<br />
!link to full specifications<br />
|-<br />
|3.5mm<br />
|f1.4<br />
|?<br />
|C-mount<br />
|?<br />
|?<br />
|?<br />
|1<br />
|Lambrate<br />
|LURCH<br />
|?<br />
|-<br />
|4.0mm<br />
|f2.0<br />
|1/2"<br />
|C-mount<br />
|Microtron<br />
|FV0420<br />
|YES (B/W only)<br />
|2<br />
|Lambrate<br />
|<br />
|http://www.rapitron.it/obmegpxman1.htm<br />
|-<br />
|4.5mm<br />
|f1.4<br />
|1/2"<br />
|C-mount<br />
|?<br />
|?<br />
|?<br />
|1<br />
|DEI<br />
|<br />
|?<br />
|-<br />
|4.8mm<br />
|f1.8<br />
|2/3"<br />
|C-mount<br />
|Computar<br />
|M0518<br />
|NO<br />
|1<br />
|DEI<br />
|<br />
|http://www.computar.com/cctvprod/computar/mono/048.html<br />
|-<br />
|6mm<br />
|f1.4<br />
|?<br />
|C-mount<br />
|?<br />
|?<br />
|?<br />
|1<br />
|Lambrate (?)<br />
|<br />
|?<br />
|-<br />
|6mm<br />
|f1.4<br />
|1/2"<br />
|C-mount<br />
|Goyo<br />
|GMHR26014MCN<br />
|YES<br />
|4<br />
|Lambrate<br />
|2 nell'armadio + 2 scatole vuote<br />
|http://www.goyooptical.com/products/industrial/hrmegapixel.html<br />
|-<br />
|8mm<br />
|f1.4<br />
|?<br />
|C-mount<br />
|?<br />
|?<br />
|?<br />
|1<br />
|DEI<br />
|<br />
|?<br />
|-<br />
|8mm<br />
|f1.4<br />
|2/3"<br />
|C-mount<br />
|Goyo<br />
|GMHR38014MCN<br />
|YES<br />
|2<br />
|Lambrate<br />
|Only 1...<br />
|http://www.goyooptical.com/products/industrial/hrmegapixel.html<br />
|-<br />
|8.5mm<br />
|f1.3<br />
|2/3"<br />
|C-mount<br />
|Computar<br />
|?<br />
|?<br />
|2<br />
|DEI<br />
|<br />
|(old model)<br />
|-<br />
|12mm<br />
|f1.8<br />
|2/3"<br />
|C-mount<br />
|?<br />
|?<br />
|?<br />
|2<br />
|1 Lambrate + ? DEI<br />
|<br />
|<br />
|-<br />
|12mm<br />
|f1.4<br />
|2/3"<br />
|C-mount<br />
|Goyo<br />
|GMHR31214MCN<br />
|YES<br />
|2<br />
|Lambrate<br />
|<br />
|http://www.goyooptical.com/products/industrial/hrmegapixel.html<br />
|-<br />
|15mm<br />
|f2.0<br />
|2/3"<br />
|C-mount<br />
|Microtron<br />
|FV1520<br />
|YES<br />
|1<br />
|Lambrate<br />
|<br />
|http://www.rapitron.it/obmegpxman1.htm<br />
|-<br />
|6-15mm<br />
|f1.4<br />
|?<br />
|C-mount<br />
|?<br />
|?<br />
|?<br />
|1<br />
|Lambrate<br />
|<br />
|?<br />
|-<br />
|12.5-75mm<br />
|f1.8<br />
|?<br />
|C-mount<br />
|?<br />
|?<br />
|?<br />
|1<br />
|DEI<br />
|<br />
|?<br />
|}<br />
<br><br />
<br />
===M12 lenses===<br />
We also use M12 lenses. These lenses are very simple, with no iris, and very small. Their mounting system is an M12x0.5 metric screw thread. They are commonly used for webcams, and usually do not provide the top optical quality.<br />
<br />
{| border="1" cellpadding="5" cellspacing="0"<br />
!focal length<br />
!max. aperture<br />
!max. sensor size<br />
!mount type<br />
!maker<br />
!model<br />
!Mpixel<br />
!how many?<br />
!where?<br />
!project<br />
!link to full specifications<br />
|-<br />
|2.1mm<br />
|f2.0<br />
|1/4"<br />
|M12x0.5<br />
|Unibrain<br />
|2042<br />
|NO<br />
|6<br />
|<br />
1 e' a bovisa nelle mani di marcello<br />
<br />
1 e' a lambrate su un giano riusato come robowii<br />
<br />
1 e' a bovisa sulla frontale del triskar recam<br />
<br />
1 e' in mano a martino per fare una frontale => 06.05.09 E' in bovisa montata sul triskar #3<br />
<br />
1 l'ha Davide Migliore per acquisizioni monoslam<br />
<br />
1 e' sulla testa omnidir di rabbiati<br />
<br />
Domenicogsorrenti 04.05.09<br />
|MRT midsize, robowii, monoslam<br />
|http://www.unibrain.com/Products/VisionImg/Fire_i_BC.htm<br />
|-<br />
|4.3mm, no IR filter<br />
|f2.0<br />
|1/4"<br />
|M12x0.5<br />
|Unibrain<br />
|2046<br />
|NO<br />
|1<br />
|Lambrate (1/1)<br />
|<br />
|http://www.unibrain.com/Products/VisionImg/Fire_i_BC.htm<br />
|-<br />
|4.3mm<br />
|f2.0<br />
|1/4"<br />
|M12x0.5<br />
|Unibrain<br />
|2043<br />
|NO<br />
|3<br />
|Bovisa (1/3), Lambrate (2/3)<br />
|<br />
|http://www.unibrain.com/Products/VisionImg/Fire_i_BC.htm<br />
|-<br />
|8mm<br />
|f2.0<br />
|1/4"<br />
|M12x0.5<br />
|Unibrain<br />
|2044<br />
|NO<br />
|1<br />
|Lambrate (1/1)<br />
|<br />
|http://www.unibrain.com/Products/VisionImg/Fire_i_BC.htm<br />
|}<br />
<br><br />
<br />
==Frame grabbers==<br />
As previously said, a '''frame grabber''' is an electronic board that connects to one or more cameras, and converts the signals from the cameras into a data stream that can be elaborated by a computer. They are usually designed as expansion boards to be fitted into the computer case. Frame grabbers are necessary for ''analogue cameras'' (as they include the analogue/digital converters) or for CameraLink digital cameras (in this case the frame grabber is essentially a high speed dedicated digital interface). Other kinds of digital cameras don't need a frame grabber: this is one of the main advantages of digital cameras over analogue ones in machine vision applications, where the processing is almost always performed by computers.<br />
In the AIRLab two models of frame grabber are available:<br />
*a digital frame grabber from Euresys, model Expert 2, having two CameraLink inputs (http://www.euresys.com/Products/grablink/GrablinkSeries.asp). ''Notes: needs a PCI-X slot; one of the inputs is not working due to a fault.''<br />
*two multichannel analogue frame grabbers from Matrox, model Meteor II/Multi-Channel, having three analogue inputs that can be combined into a single three-channel RGB analogue input (http://www.matrox.com/imaging/support/old_products/home.cfm). ''Note: one item is permanently mounted on the MO.RO.1 robot: see [[The MO.RO. family]] for details.''<br />
*two multichannel analogue frame grabbers from Matrox, model Meteor II/Multi-Channel, having three analogue inputs that can be combined into a single three-channel RGB analogue input (http://www.matrox.com/imaging/support/old_products/home.cfm). ''Note: one item is permanently mounted on the MO.RO.1 robot: see [[The MO.RO. family]] for details.''<br />
*two single-channel analogue frame grabbers from Matrox, models Meteor and Meteor Pro (http://www.matrox.com/imaging/support/old_products/home.cfm).<br />
All the frame grabbers (except the one on the MO.RO.1) are currently in AIRLab/DEI. If you move one of them, please '''write it down here'''... and do it NOW!<br />
<br />
<br />
==Mirrors==<br />
Much work has been done and is being done at the AIRLab on the topic of '''omnidirectional (machine) vision''' (sometimes referred to as ''omnivision''). Omnidirectional vision systems use special hardware to overcome the limitations of conventional vision systems in terms of field of view. The approach to this problem that we generally adopt is the use of conventional cameras in association with convex '''mirrors''', i.e. the capturing of the image reflected by a suitably-shaped mirror with a camera. The possibility of designing mirrors with specific geometric properties gives a very useful means to control the geometric behaviour of the whole camera+mirror system.<br />
<br />
TODO for someone who knows better ;-) : mirror list<br />
<br />
==Cable==<br />
The complete list of cable for camera connection and/or power is under construction. You can partecipate listing below which cables are you using...<br />
<br />
{| border="1" cellpadding="5" cellspacing="0"<br />
!Type<br />
!length<br />
!how many?<br />
!where?<br />
!project<br />
|-<br />
|FireWire 6-6 <br />
|?<br />
|2<br />
|Bicocca (refer to Domenico G. Sorrenti, 2009-11-11)<br />
|?<br />
|-<br />
|FireWire 6-6 <br />
|?<br />
|1<br />
|on LURCH wheelchair<br />
|LURCH<br />
|}</div>AnilKoyuncuhttps://airwiki.elet.polimi.it/index.php?title=Cameras,_lenses_and_mirrors&diff=12644Cameras, lenses and mirrors2010-10-25T17:04:50Z<p>AnilKoyuncu: /* List of Cameras */</p>
<hr />
<div>==IMPORTANT NOTES==<br />
'''Never touch the sensor element (CCD or CMOS) of a camera with anything!''' It can very easily be scratched.<br />
<br />
'''Never touch the glass elements of a lens with your hands!''' The oil from human skin will cause damage.<br />
<br />
==Cameras==<br />
In the AIRLab you can find different kind of cameras. These are the main groups:<br />
*'''Analogue cameras'''. Video output is given as an electrical signal, which needs analogue-to-digital conversion to be processed by a computer; this is done by a specific card called ''frame grabber'' or ''video capture card'' (the latter tend to be the lowest-performance items; see [[Cameras, lenses and mirrors#Frame grabbers]] for details). Analogue video is outdated for computer vision and robotics applications, due to its cost, low performance and complexity; nowadays digital camera systems (such as all the ones listed below) are always preferred.<br />
*'''USB cameras'''. Usually very cheap, they are suitable for low-performance applications (i.e. those where low frame rate is needed and low image quality can be accepted). Their main advantage (along with cost) is the fact that every modern computer has USB ports. The fact that the USB standard includes 5V DC power supply lines helps simplifying camera design and use.<br />
*'''FireWire cameras'''. The FireWire (or IEEE1394) bus is generally used for low-end industrial cameras, i.e. devices with technical characteristics much superior to those typical of USB cameras but low-performance according to typical machine vision standards. Industrial cameras usually give to the user a much wider control over the acquisition parameters compared to consumer cameras, and therefore they are usually preferred in robotics; their downside is the higher cost. There are different versions of IEE1394 link (see http://en.wikipedia.org/wiki/Firewire for details), with different bitrates, starting from the 400Mbit/s FireWire 400. Generally they are all considered superior to USB 2.0, even if theoretical bandwidth is lower for FireWire 400. Firewire ports can include power supply lines, but some interfaces (and in particular those on portable computers) omit them. Although the use of FireWire interfaces has expanded in recent years, they are not yet considered a standard feature for motherboards.<br />
*'''GigE Vision cameras'''. GigE Vision (or Gigabit Ethernet Vision) is a rather new connection standard for machine vision, based upon the established Ethernet protocol in its Gigabit (i.e. 1000Mbps) version. It is very interesting, as complex multiple-camera systems can be easily built using existing (Gigabit) Ethernet hardware, such as cables and switches. Vision data is acquired simply through a generic Ethernet port, commonly found on motherboards or easily added. However, 100Mbps (or ''fast Ethernet'') ports are not guaranteed to work and can sustain only modest video streams; on the other hand, 1000Mbps ports are now standard on motherboards, so this will not be a problem anymore in a few years. It seems that GigE Vision is becoming the most common interface for low- to medium-performance industrial cameras.<br />
*'''CameraLink cameras'''. Cameralink is a high-speed interface expressly developed for high-performance machine vision applications. It is a point-to-point link, i.e. a CameraLink connection is used to connect a single camera to a digital acquisition card (''frame grabber''). Its diffusion is limited to applications where extreme frame rates ''and'' resolutions are needed, because CameraLink gear is very expensive.<br />
*'''ST Camera boards'''. Cameras with cell phone sensor and ARM processor for onboard computation.<br />
<br />
The following is a list of the cameras available in the AIRLab. (To be precise, it is a list of the cameras that are modern enough to be useful.) For each of them the main specifications (and a link to the full specifications) are given. Details on the different types of lens mount are given below in [[Cameras, lenses and mirrors#Lenses]]. The 'how many?' field tells if multiple, identical items are available. Finally, the 'where?' field tells you in which of the AIRLab sites (listed in [[The Labs]]) you can find an item, and the 'project' field is used to specify which project (if any) is using it.<br />
<br />
Ah, one last thing. People like to actually ''find'' things when they look for them, so '''don't forget to update the table when you move something away from its current location'''. If you don't know where you are taking it, just put your name in the table.<br />
<br />
<br />
==List of Cameras==<br />
{| border="1" cellpadding="5" cellspacing="0"<br />
!resolution<br />
!B/W, color<br />
!max. frame rate<br />
!sensor size<br />
!interface<br />
!maker<br />
!model<br />
!lens mount<br />
!how many?<br />
!where?<br />
!project<br />
!link to full specifications and/or manuals<br />
|-<br />
|1628x1236<br />
|B/W<br />
|24fps<br />
|1/1.8"<br />
|CameraLink<br />
|Hitachi<br />
|KP-F200CL<br />
|C-mount<br />
|1<br />
|DEI<br />
|<br />
|[[media:KP-F200-Op_Manual.pdf]]<br />
|-<br />
|752x480<br />
|color<br />
|70fps<br />
|1/3"<br />
|GigE<br />
|Prosilica<br />
|GC750C<br />
|C-mount<br />
|3<br />
|Lambrate (1/3), [[User:SimoneTognetti| Simone Tognetti]](from 19/05/2009, dal 14/12/2009 sono impiegate per esperimenti Affective nell'Airlab del DEI)(2/3)<br />
|Driving companions (2/3)<br />
|http://www.prosilica.com/products/gc_series.html<br />
|-<br />
|659x493<br />
|color<br />
|90fps<br />
|1/3"<br />
|GigE<br />
|Prosilica<br />
|GC650C<br />
|C-mount<br />
|1<br />
|???<br />
|???<br />
|http://www.prosilica.com/products/gc_series.html<br />
|-<br />
|1024x768<br />
|color<br />
|30fps<br />
|1/3"<br />
|GigE<br />
|Prosilica<br />
|GC1020C<br />
|C-mount<br />
|2<br />
|Lambrate (2/2)<br />
|RAWSEEDS (1/2)<br />
|http://www.prosilica.com/products/gc_series.html<br />
|-<br />
|CCIR (625 lines)<br />
|B/W<br />
|CCIR (50fps, interlaced)<br />
|2/3"<br />
|analogue<br />
|Sony<br />
|XC-ST70CE<br />
|C-mount<br />
|2<br />
|DEI (2/2)<br />
|<br />
|[[media:XCST70E_manual.pdf]]<br />
|-<br />
|659x494<br />
|color<br />
|30fps<br />
|1/4"<br />
|FireWire 400<br />
|Unibrain<br />
|Fire-i 400 industrial<br />
|C-mount<br />
|3<br />
|Lambrate (3/3)<br />
|RAWSEEDS (3/3)<br />
|http://www.unibrain.com/Products/VisionImg/Fire_i_400_Industrial.htm<br />
|-<br />
|659x494<br />
|color<br />
|30fps<br />
|1/4"<br />
|FireWire 400<br />
|Unibrain<br />
|Fire-i board camera<br />
|proprietary<br />
|8<br />
|Lambrate (3/8), Bovisa (2/8), [[User:PaoloCalloni]] (1/8), [[User:DavideMigliore]] (1/8), [[User:CristianoAlessandro]] (1/8),<br />
<br />
presa 1 a fine febbraio10 con lente wide (quella di riserva di robocom), montaggio "a la rizzi" con lastrine di plexiglass e pezzo di profilato item [[User:Domenicogsorrenti]] (1/8)<br />
|RAWSEEDS (2/8), MRT (?/8)<br />
queste sono quelle "nuove"? se si una e' su rabbiati, portiere di mrt, sin da cuvio, e' nella testa omnidir Domenicogsorrenti 21.04.09<br />
<br />
1 nuova e' la frontale di recam<br />
<br />
1 nuova sulla testa omnidir di ridan<br />
<br />
|http://www.unibrain.com/Products/VisionImg/Fire_i_BC.htm<br />
|-<br />
|640x480<br />
|color<br />
|30fps<br />
|1/4"<br />
|FireWire 400<br />
|Unibrain<br />
|Fire-i digital camera<br />
|fixed optics (4.3mm, f2.0)<br />
|4<br />
|<br />
1 e' sulla testa omnidir di rigo<br />
<br />
1 e' sulla testa omnidir di recam<br />
<br />
1 e' sulla testa omnidir mrt05-03 (armadio domenico@unimib)<br />
<br />
1 e' sulla testa omnidir mrt05-04 (armadio domenico@unimib)<br />
|<br />
|http://www.unibrain.com/Products/VisionImg/Fire_i_DC.htm<br />
|-<br />
|640x480 dual sensor, 9cm baseline<br />
|color<br />
|30fps<br />
|1/3"<br />
|FireWire 400<br />
|Videre Design<br />
|STOC stereo-on-a-chip stereo camera<br />
|C-mount, fitted with two 3.5mm, f1.6, 1/2" lenses<br />
|1<br />
|Lambrate => li lin office => Domenicogsorrenti 13.01.09 => giulio fontana 23.01.09<br />
|<br />
|http://www.videredesign.com/vision/stoc.htm<br />
|-<br />
|640x480<br />
|color<br />
|60fps<br />
|1/3"<br />
|FireWire 400<br />
|Videre Design<br />
|DCSG (associated with STOC)<br />
|C-mount, fitted with one 3.5mm, f1.6, 1/2" lens<br />
|1<br />
|Lambrate<br />
|<br />
|http://www.videredesign.com/vision/dcsg.htm<br />
|-<br />
|?<br />
|color<br />
|30 fps<br />
|1/3.8 inch optical format<br />
|?<br />
|ST Microelectronics<br />
|ST1-Cam + ST2-Cam<br />
|integrated<br />
|2<br />
|ST1-Cam (STLCam (ST LEGO Camera)) [[User:AnilKoyuncu| Anil Koyuncu]], ST2-Cam [[User:LorenzoConsolaro | Lorenzo Consolaro]] and [[User:DarioCecchetto | Dario Cecchetto]] <br />
|ST1-Cam [[RunBot: a Robogame Robot]]<br />
| [[Media:Cameradatasheet.pdf]],[[Media:Rvs-v1-0.pdf]], [[Media:RVS_Datasheet_v2.1.pdf]] ,http://www.danielecaltabiano.com/wwme/ST-SW/st-sw.htm, [[Media:Cam_pin_map.pdf]]<br />
|-<br />
|?<br />
|color<br />
|?<br />
|?<br />
|?<br />
|ST Microelectronics<br />
|ST5-CamMic + ST6-CamMic<br />
|integrated with microphone<br />
|2<br />
|ST5-CamMic [[User:AndreaBonarini| Andrea Bonarini]], ST6-CamMic [[User:GiulioFiscella|Giulio Fiscella]] [[User:FedericoSem|Federico Sem]] <br />
|ST6-CamMic [[Face detection]]<br />
|<br />
|-<br />
|?<br />
|color<br />
|?<br />
|?<br />
|?<br />
|ST Microelectronics<br />
|ST4-DC (Demo board)<br />
|integrated<br />
|1<br />
|[[User:RaffaelePetta|Raffaele Petta]]<br />
|<br />
|<br />
|}<br />
<br><br />
<br />
==Lenses==<br />
Be aware that sensor dimension (i.e. its diagonal, measured in fractions of an inch) is ''not'' the same for all cameras. Therefore one of the key specifications for a lens is the maximum sensor dimension supported. If you use a given lens with too big a sensor, the edges of the image will be black as they lie outside the circle of the projected image. Also beware of the strange convention used for sensor diagonals, i.e. a fraction in the form A/B" where A and B are integer ''or non-integer'' numbers. For instance an 1/2" sensor is smaller than an 1/1.8" one.<br />
The variability of sensor dimensions has another side effect: the same lens has a different angle of view if you change the sensor size. Therefore the same lens can behave as a wide-angle with a large sensor and as a telephoto with a small sensor.<br />
<br />
An useful guide to lenses (in Italian or English) can be found at http://www.rapitron.it/guidaob.htm.<br />
<br />
The following is a list of the actual lenses available in the AIRLab. For each of them the main specifications (and a link to the maker's or vendor's page for full specifications) are given. A '?' means an unknown parameter: if you know its value or experimentally find out it when using the lens (e.g. the maximum sensor size), please ''update the table'' before the information is lost again! Lenses having 'M12x0.5' in Column 'mount type' are only usable with Unibrain's Fire-i board cameras. A 'YES' in the 'Mpixel' column indicates a so-called ''Megapixel lens'', i.e. a high quality, low-distortion lens designed for high-resolution industrial cameras (typically having large sensors); please note that some of these are specifically designed for B/W (i.e. black and white) cameras. The 'how many?' field tells if multiple, identical items are available. Finally, the 'where?' field tells you in which of the AIRLab sites (listed in [[The Labs]]) you can find an item, and the 'project' field is used to specify which project (if any) is using it. <br />
<br />
Ah, one last thing. People like to actually ''find'' things when they look for them, so '''don't forget to update the table when you move something away from its current location'''. If you don't know where you are bringing it, just put your name in the table.<br />
<br />
===C-mount and CS-mount lenses===<br />
Industrial cameras usually have interchangeable lenses. This allows for the choice of the lens that is more suitable to the considered application. There are two main standards for industrial camera lenses: '''C-mount''' and '''CS-mount'''. Both are screw-type mounts. CS-mount is simply a modified C-mount where the distance between the back of the lens and the sensor element (CCD or CMOS) is shorter: therefore a CS-mount lens can be mounted on a C-mount camera if an ''adapter ring'' (i.e. a distancing cylinder with suitable threads) is placed between them. It is impossible, though, to use a C-mount lens on a CS-mount camera: if you try you will almost certainly break the sensor, scratch the lens, or both. Just because a lens fits a camera, it doesn't mean it can be actually mounted on it!<br />
<br />
{| border="1" cellpadding="5" cellspacing="0"<br />
!focal length<br />
!max. aperture<br />
!max. sensor size<br />
!mount type<br />
!maker<br />
!model<br />
!Mpixel<br />
!how many?<br />
!where?<br />
!project<br />
!link to full specifications<br />
|-<br />
|3.5mm<br />
|f1.4<br />
|?<br />
|C-mount<br />
|?<br />
|?<br />
|?<br />
|1<br />
|Lambrate<br />
|LURCH<br />
|?<br />
|-<br />
|4.0mm<br />
|f2.0<br />
|1/2"<br />
|C-mount<br />
|Microtron<br />
|FV0420<br />
|YES (B/W only)<br />
|2<br />
|Lambrate<br />
|<br />
|http://www.rapitron.it/obmegpxman1.htm<br />
|-<br />
|4.5mm<br />
|f1.4<br />
|1/2"<br />
|C-mount<br />
|?<br />
|?<br />
|?<br />
|1<br />
|DEI<br />
|<br />
|?<br />
|-<br />
|4.8mm<br />
|f1.8<br />
|2/3"<br />
|C-mount<br />
|Computar<br />
|M0518<br />
|NO<br />
|1<br />
|DEI<br />
|<br />
|http://www.computar.com/cctvprod/computar/mono/048.html<br />
|-<br />
|6mm<br />
|f1.4<br />
|?<br />
|C-mount<br />
|?<br />
|?<br />
|?<br />
|1<br />
|Lambrate (?)<br />
|<br />
|?<br />
|-<br />
|6mm<br />
|f1.4<br />
|1/2"<br />
|C-mount<br />
|Goyo<br />
|GMHR26014MCN<br />
|YES<br />
|4<br />
|Lambrate<br />
|2 nell'armadio + 2 scatole vuote<br />
|http://www.goyooptical.com/products/industrial/hrmegapixel.html<br />
|-<br />
|8mm<br />
|f1.4<br />
|?<br />
|C-mount<br />
|?<br />
|?<br />
|?<br />
|1<br />
|DEI<br />
|<br />
|?<br />
|-<br />
|8mm<br />
|f1.4<br />
|2/3"<br />
|C-mount<br />
|Goyo<br />
|GMHR38014MCN<br />
|YES<br />
|2<br />
|Lambrate<br />
|Only 1...<br />
|http://www.goyooptical.com/products/industrial/hrmegapixel.html<br />
|-<br />
|8.5mm<br />
|f1.3<br />
|2/3"<br />
|C-mount<br />
|Computar<br />
|?<br />
|?<br />
|2<br />
|DEI<br />
|<br />
|(old model)<br />
|-<br />
|12mm<br />
|f1.8<br />
|2/3"<br />
|C-mount<br />
|?<br />
|?<br />
|?<br />
|2<br />
|1 Lambrate + ? DEI<br />
|<br />
|<br />
|-<br />
|12mm<br />
|f1.4<br />
|2/3"<br />
|C-mount<br />
|Goyo<br />
|GMHR31214MCN<br />
|YES<br />
|2<br />
|Lambrate<br />
|<br />
|http://www.goyooptical.com/products/industrial/hrmegapixel.html<br />
|-<br />
|15mm<br />
|f2.0<br />
|2/3"<br />
|C-mount<br />
|Microtron<br />
|FV1520<br />
|YES<br />
|1<br />
|Lambrate<br />
|<br />
|http://www.rapitron.it/obmegpxman1.htm<br />
|-<br />
|6-15mm<br />
|f1.4<br />
|?<br />
|C-mount<br />
|?<br />
|?<br />
|?<br />
|1<br />
|Lambrate<br />
|<br />
|?<br />
|-<br />
|12.5-75mm<br />
|f1.8<br />
|?<br />
|C-mount<br />
|?<br />
|?<br />
|?<br />
|1<br />
|DEI<br />
|<br />
|?<br />
|}<br />
<br><br />
<br />
===M12 lenses===<br />
We also use M12 lenses. These lenses are very simple, with no iris, and very small. Their mounting system is an M12x0.5 metric screw thread. They are commonly used for webcams, and usually do not provide the top optical quality.<br />
<br />
{| border="1" cellpadding="5" cellspacing="0"<br />
!focal length<br />
!max. aperture<br />
!max. sensor size<br />
!mount type<br />
!maker<br />
!model<br />
!Mpixel<br />
!how many?<br />
!where?<br />
!project<br />
!link to full specifications<br />
|-<br />
|2.1mm<br />
|f2.0<br />
|1/4"<br />
|M12x0.5<br />
|Unibrain<br />
|2042<br />
|NO<br />
|6<br />
|<br />
1 e' a bovisa nelle mani di marcello<br />
<br />
1 e' a lambrate su un giano riusato come robowii<br />
<br />
1 e' a bovisa sulla frontale del triskar recam<br />
<br />
1 e' in mano a martino per fare una frontale => 06.05.09 E' in bovisa montata sul triskar #3<br />
<br />
1 l'ha Davide Migliore per acquisizioni monoslam<br />
<br />
1 e' sulla testa omnidir di rabbiati<br />
<br />
Domenicogsorrenti 04.05.09<br />
|MRT midsize, robowii, monoslam<br />
|http://www.unibrain.com/Products/VisionImg/Fire_i_BC.htm<br />
|-<br />
|4.3mm, no IR filter<br />
|f2.0<br />
|1/4"<br />
|M12x0.5<br />
|Unibrain<br />
|2046<br />
|NO<br />
|1<br />
|Lambrate (1/1)<br />
|<br />
|http://www.unibrain.com/Products/VisionImg/Fire_i_BC.htm<br />
|-<br />
|4.3mm<br />
|f2.0<br />
|1/4"<br />
|M12x0.5<br />
|Unibrain<br />
|2043<br />
|NO<br />
|3<br />
|Bovisa (1/3), Lambrate (2/3)<br />
|<br />
|http://www.unibrain.com/Products/VisionImg/Fire_i_BC.htm<br />
|-<br />
|8mm<br />
|f2.0<br />
|1/4"<br />
|M12x0.5<br />
|Unibrain<br />
|2044<br />
|NO<br />
|1<br />
|Lambrate (1/1)<br />
|<br />
|http://www.unibrain.com/Products/VisionImg/Fire_i_BC.htm<br />
|}<br />
<br><br />
<br />
==Frame grabbers==<br />
As previously said, a '''frame grabber''' is an electronic board that connects to one or more cameras, and converts the signals from the cameras into a data stream that can be elaborated by a computer. They are usually designed as expansion boards to be fitted into the computer case. Frame grabbers are necessary for ''analogue cameras'' (as they include the analogue/digital converters) or for CameraLink digital cameras (in this case the frame grabber is essentially a high speed dedicated digital interface). Other kinds of digital cameras don't need a frame grabber: this is one of the main advantages of digital cameras over analogue ones in machine vision applications, where the processing is almost always performed by computers.<br />
In the AIRLab two models of frame grabber are available:<br />
*a digital frame grabber from Euresys, model Expert 2, having two CameraLink inputs (http://www.euresys.com/Products/grablink/GrablinkSeries.asp). ''Notes: needs a PCI-X slot; one of the inputs is not working due to a fault.''<br />
*two multichannel analogue frame grabbers from Matrox, model Meteor II/Multi-Channel, having three analogue inputs that can be combined into a single three-channel RGB analogue input (http://www.matrox.com/imaging/support/old_products/home.cfm). ''Note: one item is permanently mounted on the MO.RO.1 robot: see [[The MO.RO. family]] for details.''<br />
*two multichannel analogue frame grabbers from Matrox, model Meteor II/Multi-Channel, having three analogue inputs that can be combined into a single three-channel RGB analogue input (http://www.matrox.com/imaging/support/old_products/home.cfm). ''Note: one item is permanently mounted on the MO.RO.1 robot: see [[The MO.RO. family]] for details.''<br />
*two single-channel analogue frame grabbers from Matrox, models Meteor and Meteor Pro (http://www.matrox.com/imaging/support/old_products/home.cfm).<br />
All the frame grabbers (except the one on the MO.RO.1) are currently in AIRLab/DEI. If you move one of them, please '''write it down here'''... and do it NOW!<br />
<br />
<br />
==Mirrors==<br />
Much work has been done and is being done at the AIRLab on the topic of '''omnidirectional (machine) vision''' (sometimes referred to as ''omnivision''). Omnidirectional vision systems use special hardware to overcome the limitations of conventional vision systems in terms of field of view. The approach to this problem that we generally adopt is the use of conventional cameras in association with convex '''mirrors''', i.e. the capturing of the image reflected by a suitably-shaped mirror with a camera. The possibility of designing mirrors with specific geometric properties gives a very useful means to control the geometric behaviour of the whole camera+mirror system.<br />
<br />
TODO for someone who knows better ;-) : mirror list<br />
<br />
==Cable==<br />
The complete list of cable for camera connection and/or power is under construction. You can partecipate listing below which cables are you using...<br />
<br />
{| border="1" cellpadding="5" cellspacing="0"<br />
!Type<br />
!length<br />
!how many?<br />
!where?<br />
!project<br />
|-<br />
|FireWire 6-6 <br />
|?<br />
|2<br />
|Bicocca (refer to Domenico G. Sorrenti, 2009-11-11)<br />
|?<br />
|-<br />
|FireWire 6-6 <br />
|?<br />
|1<br />
|on LURCH wheelchair<br />
|LURCH<br />
|}</div>AnilKoyuncuhttps://airwiki.elet.polimi.it/index.php?title=Cameras,_lenses_and_mirrors&diff=12643Cameras, lenses and mirrors2010-10-22T10:15:02Z<p>AnilKoyuncu: /* List of Cameras */</p>
<hr />
<div>==IMPORTANT NOTES==<br />
'''Never touch the sensor element (CCD or CMOS) of a camera with anything!''' It can very easily be scratched.<br />
<br />
'''Never touch the glass elements of a lens with your hands!''' The oil from human skin will cause damage.<br />
<br />
==Cameras==<br />
In the AIRLab you can find different kind of cameras. These are the main groups:<br />
*'''Analogue cameras'''. Video output is given as an electrical signal, which needs analogue-to-digital conversion to be processed by a computer; this is done by a specific card called ''frame grabber'' or ''video capture card'' (the latter tend to be the lowest-performance items; see [[Cameras, lenses and mirrors#Frame grabbers]] for details). Analogue video is outdated for computer vision and robotics applications, due to its cost, low performance and complexity; nowadays digital camera systems (such as all the ones listed below) are always preferred.<br />
*'''USB cameras'''. Usually very cheap, they are suitable for low-performance applications (i.e. those where low frame rate is needed and low image quality can be accepted). Their main advantage (along with cost) is the fact that every modern computer has USB ports. The fact that the USB standard includes 5V DC power supply lines helps simplifying camera design and use.<br />
*'''FireWire cameras'''. The FireWire (or IEEE1394) bus is generally used for low-end industrial cameras, i.e. devices with technical characteristics much superior to those typical of USB cameras but low-performance according to typical machine vision standards. Industrial cameras usually give to the user a much wider control over the acquisition parameters compared to consumer cameras, and therefore they are usually preferred in robotics; their downside is the higher cost. There are different versions of IEE1394 link (see http://en.wikipedia.org/wiki/Firewire for details), with different bitrates, starting from the 400Mbit/s FireWire 400. Generally they are all considered superior to USB 2.0, even if theoretical bandwidth is lower for FireWire 400. Firewire ports can include power supply lines, but some interfaces (and in particular those on portable computers) omit them. Although the use of FireWire interfaces has expanded in recent years, they are not yet considered a standard feature for motherboards.<br />
*'''GigE Vision cameras'''. GigE Vision (or Gigabit Ethernet Vision) is a rather new connection standard for machine vision, based upon the established Ethernet protocol in its Gigabit (i.e. 1000Mbps) version. It is very interesting, as complex multiple-camera systems can be easily built using existing (Gigabit) Ethernet hardware, such as cables and switches. Vision data is acquired simply through a generic Ethernet port, commonly found on motherboards or easily added. However, 100Mbps (or ''fast Ethernet'') ports are not guaranteed to work and can sustain only modest video streams; on the other hand, 1000Mbps ports are now standard on motherboards, so this will not be a problem anymore in a few years. It seems that GigE Vision is becoming the most common interface for low- to medium-performance industrial cameras.<br />
*'''CameraLink cameras'''. Cameralink is a high-speed interface expressly developed for high-performance machine vision applications. It is a point-to-point link, i.e. a CameraLink connection is used to connect a single camera to a digital acquisition card (''frame grabber''). Its diffusion is limited to applications where extreme frame rates ''and'' resolutions are needed, because CameraLink gear is very expensive.<br />
*'''ST Camera boards'''. Cameras with cell phone sensor and ARM processor for onboard computation.<br />
<br />
The following is a list of the cameras available in the AIRLab. (To be precise, it is a list of the cameras that are modern enough to be useful.) For each of them the main specifications (and a link to the full specifications) are given. Details on the different types of lens mount are given below in [[Cameras, lenses and mirrors#Lenses]]. The 'how many?' field tells if multiple, identical items are available. Finally, the 'where?' field tells you in which of the AIRLab sites (listed in [[The Labs]]) you can find an item, and the 'project' field is used to specify which project (if any) is using it.<br />
<br />
Ah, one last thing. People like to actually ''find'' things when they look for them, so '''don't forget to update the table when you move something away from its current location'''. If you don't know where you are taking it, just put your name in the table.<br />
<br />
<br />
==List of Cameras==<br />
{| border="1" cellpadding="5" cellspacing="0"<br />
!resolution<br />
!B/W, color<br />
!max. frame rate<br />
!sensor size<br />
!interface<br />
!maker<br />
!model<br />
!lens mount<br />
!how many?<br />
!where?<br />
!project<br />
!link to full specifications and/or manuals<br />
|-<br />
|1628x1236<br />
|B/W<br />
|24fps<br />
|1/1.8"<br />
|CameraLink<br />
|Hitachi<br />
|KP-F200CL<br />
|C-mount<br />
|1<br />
|DEI<br />
|<br />
|[[media:KP-F200-Op_Manual.pdf]]<br />
|-<br />
|752x480<br />
|color<br />
|70fps<br />
|1/3"<br />
|GigE<br />
|Prosilica<br />
|GC750C<br />
|C-mount<br />
|3<br />
|Lambrate (1/3), [[User:SimoneTognetti| Simone Tognetti]](from 19/05/2009, dal 14/12/2009 sono impiegate per esperimenti Affective nell'Airlab del DEI)(2/3)<br />
|Driving companions (2/3)<br />
|http://www.prosilica.com/products/gc_series.html<br />
|-<br />
|659x493<br />
|color<br />
|90fps<br />
|1/3"<br />
|GigE<br />
|Prosilica<br />
|GC650C<br />
|C-mount<br />
|1<br />
|???<br />
|???<br />
|http://www.prosilica.com/products/gc_series.html<br />
|-<br />
|1024x768<br />
|color<br />
|30fps<br />
|1/3"<br />
|GigE<br />
|Prosilica<br />
|GC1020C<br />
|C-mount<br />
|2<br />
|Lambrate (2/2)<br />
|RAWSEEDS (1/2)<br />
|http://www.prosilica.com/products/gc_series.html<br />
|-<br />
|CCIR (625 lines)<br />
|B/W<br />
|CCIR (50fps, interlaced)<br />
|2/3"<br />
|analogue<br />
|Sony<br />
|XC-ST70CE<br />
|C-mount<br />
|2<br />
|DEI (2/2)<br />
|<br />
|[[media:XCST70E_manual.pdf]]<br />
|-<br />
|659x494<br />
|color<br />
|30fps<br />
|1/4"<br />
|FireWire 400<br />
|Unibrain<br />
|Fire-i 400 industrial<br />
|C-mount<br />
|3<br />
|Lambrate (3/3)<br />
|RAWSEEDS (3/3)<br />
|http://www.unibrain.com/Products/VisionImg/Fire_i_400_Industrial.htm<br />
|-<br />
|659x494<br />
|color<br />
|30fps<br />
|1/4"<br />
|FireWire 400<br />
|Unibrain<br />
|Fire-i board camera<br />
|proprietary<br />
|8<br />
|Lambrate (3/8), Bovisa (2/8), [[User:PaoloCalloni]] (1/8), [[User:DavideMigliore]] (1/8), [[User:CristianoAlessandro]] (1/8),<br />
<br />
presa 1 a fine febbraio10 con lente wide (quella di riserva di robocom), montaggio "a la rizzi" con lastrine di plexiglass e pezzo di profilato item [[User:Domenicogsorrenti]] (1/8)<br />
|RAWSEEDS (2/8), MRT (?/8)<br />
queste sono quelle "nuove"? se si una e' su rabbiati, portiere di mrt, sin da cuvio, e' nella testa omnidir Domenicogsorrenti 21.04.09<br />
<br />
1 nuova e' la frontale di recam<br />
<br />
1 nuova sulla testa omnidir di ridan<br />
<br />
|http://www.unibrain.com/Products/VisionImg/Fire_i_BC.htm<br />
|-<br />
|640x480<br />
|color<br />
|30fps<br />
|1/4"<br />
|FireWire 400<br />
|Unibrain<br />
|Fire-i digital camera<br />
|fixed optics (4.3mm, f2.0)<br />
|4<br />
|<br />
1 e' sulla testa omnidir di rigo<br />
<br />
1 e' sulla testa omnidir di recam<br />
<br />
1 e' sulla testa omnidir mrt05-03 (armadio domenico@unimib)<br />
<br />
1 e' sulla testa omnidir mrt05-04 (armadio domenico@unimib)<br />
|<br />
|http://www.unibrain.com/Products/VisionImg/Fire_i_DC.htm<br />
|-<br />
|640x480 dual sensor, 9cm baseline<br />
|color<br />
|30fps<br />
|1/3"<br />
|FireWire 400<br />
|Videre Design<br />
|STOC stereo-on-a-chip stereo camera<br />
|C-mount, fitted with two 3.5mm, f1.6, 1/2" lenses<br />
|1<br />
|Lambrate => li lin office => Domenicogsorrenti 13.01.09 => giulio fontana 23.01.09<br />
|<br />
|http://www.videredesign.com/vision/stoc.htm<br />
|-<br />
|640x480<br />
|color<br />
|60fps<br />
|1/3"<br />
|FireWire 400<br />
|Videre Design<br />
|DCSG (associated with STOC)<br />
|C-mount, fitted with one 3.5mm, f1.6, 1/2" lens<br />
|1<br />
|Lambrate<br />
|<br />
|http://www.videredesign.com/vision/dcsg.htm<br />
|-<br />
|?<br />
|color<br />
|30 fps<br />
|1/3.8 inch optical format<br />
|?<br />
|ST Microelectronics<br />
|ST1-Cam + ST2-Cam<br />
|integrated<br />
|2<br />
|ST1-Cam (STLCam (ST LEGO Camera)) (from 21.10.2010-25.10.2010 I took the camera from the lab.)[[User:AnilKoyuncu| Anil Koyuncu]], ST2-Cam [[User:LorenzoConsolaro | Lorenzo Consolaro]] and [[User:DarioCecchetto | Dario Cecchetto]] <br />
|ST1-Cam [[RunBot: a Robogame Robot]]<br />
| [[Media:Cameradatasheet.pdf]],[[Media:Rvs-v1-0.pdf]], [[Media:RVS_Datasheet_v2.1.pdf]] ,http://www.danielecaltabiano.com/wwme/ST-SW/st-sw.htm, [[Media:Cam_pin_map.pdf]]<br />
|-<br />
|?<br />
|color<br />
|?<br />
|?<br />
|?<br />
|ST Microelectronics<br />
|ST5-CamMic + ST6-CamMic<br />
|integrated with microphone<br />
|2<br />
|ST5-CamMic [[User:AndreaBonarini| Andrea Bonarini]], ST6-CamMic [[User:GiulioFiscella|Giulio Fiscella]] [[User:FedericoSem|Federico Sem]] <br />
|ST6-CamMic [[Face detection]]<br />
|<br />
|-<br />
|?<br />
|color<br />
|?<br />
|?<br />
|?<br />
|ST Microelectronics<br />
|ST4-DC (Demo board)<br />
|integrated<br />
|1<br />
|[[User:RaffaelePetta|Raffaele Petta]]<br />
|<br />
|<br />
|}<br />
<br><br />
<br />
==Lenses==<br />
Be aware that sensor dimension (i.e. its diagonal, measured in fractions of an inch) is ''not'' the same for all cameras. Therefore one of the key specifications for a lens is the maximum sensor dimension supported. If you use a given lens with too big a sensor, the edges of the image will be black as they lie outside the circle of the projected image. Also beware of the strange convention used for sensor diagonals, i.e. a fraction in the form A/B" where A and B are integer ''or non-integer'' numbers. For instance an 1/2" sensor is smaller than an 1/1.8" one.<br />
The variability of sensor dimensions has another side effect: the same lens has a different angle of view if you change the sensor size. Therefore the same lens can behave as a wide-angle with a large sensor and as a telephoto with a small sensor.<br />
<br />
An useful guide to lenses (in Italian or English) can be found at http://www.rapitron.it/guidaob.htm.<br />
<br />
The following is a list of the actual lenses available in the AIRLab. For each of them the main specifications (and a link to the maker's or vendor's page for full specifications) are given. A '?' means an unknown parameter: if you know its value or experimentally find out it when using the lens (e.g. the maximum sensor size), please ''update the table'' before the information is lost again! Lenses having 'M12x0.5' in Column 'mount type' are only usable with Unibrain's Fire-i board cameras. A 'YES' in the 'Mpixel' column indicates a so-called ''Megapixel lens'', i.e. a high quality, low-distortion lens designed for high-resolution industrial cameras (typically having large sensors); please note that some of these are specifically designed for B/W (i.e. black and white) cameras. The 'how many?' field tells if multiple, identical items are available. Finally, the 'where?' field tells you in which of the AIRLab sites (listed in [[The Labs]]) you can find an item, and the 'project' field is used to specify which project (if any) is using it. <br />
<br />
Ah, one last thing. People like to actually ''find'' things when they look for them, so '''don't forget to update the table when you move something away from its current location'''. If you don't know where you are bringing it, just put your name in the table.<br />
<br />
===C-mount and CS-mount lenses===<br />
Industrial cameras usually have interchangeable lenses. This allows for the choice of the lens that is more suitable to the considered application. There are two main standards for industrial camera lenses: '''C-mount''' and '''CS-mount'''. Both are screw-type mounts. CS-mount is simply a modified C-mount where the distance between the back of the lens and the sensor element (CCD or CMOS) is shorter: therefore a CS-mount lens can be mounted on a C-mount camera if an ''adapter ring'' (i.e. a distancing cylinder with suitable threads) is placed between them. It is impossible, though, to use a C-mount lens on a CS-mount camera: if you try you will almost certainly break the sensor, scratch the lens, or both. Just because a lens fits a camera, it doesn't mean it can be actually mounted on it!<br />
<br />
{| border="1" cellpadding="5" cellspacing="0"<br />
!focal length<br />
!max. aperture<br />
!max. sensor size<br />
!mount type<br />
!maker<br />
!model<br />
!Mpixel<br />
!how many?<br />
!where?<br />
!project<br />
!link to full specifications<br />
|-<br />
|3.5mm<br />
|f1.4<br />
|?<br />
|C-mount<br />
|?<br />
|?<br />
|?<br />
|1<br />
|Lambrate<br />
|LURCH<br />
|?<br />
|-<br />
|4.0mm<br />
|f2.0<br />
|1/2"<br />
|C-mount<br />
|Microtron<br />
|FV0420<br />
|YES (B/W only)<br />
|2<br />
|Lambrate<br />
|<br />
|http://www.rapitron.it/obmegpxman1.htm<br />
|-<br />
|4.5mm<br />
|f1.4<br />
|1/2"<br />
|C-mount<br />
|?<br />
|?<br />
|?<br />
|1<br />
|DEI<br />
|<br />
|?<br />
|-<br />
|4.8mm<br />
|f1.8<br />
|2/3"<br />
|C-mount<br />
|Computar<br />
|M0518<br />
|NO<br />
|1<br />
|DEI<br />
|<br />
|http://www.computar.com/cctvprod/computar/mono/048.html<br />
|-<br />
|6mm<br />
|f1.4<br />
|?<br />
|C-mount<br />
|?<br />
|?<br />
|?<br />
|1<br />
|Lambrate (?)<br />
|<br />
|?<br />
|-<br />
|6mm<br />
|f1.4<br />
|1/2"<br />
|C-mount<br />
|Goyo<br />
|GMHR26014MCN<br />
|YES<br />
|4<br />
|Lambrate<br />
|2 nell'armadio + 2 scatole vuote<br />
|http://www.goyooptical.com/products/industrial/hrmegapixel.html<br />
|-<br />
|8mm<br />
|f1.4<br />
|?<br />
|C-mount<br />
|?<br />
|?<br />
|?<br />
|1<br />
|DEI<br />
|<br />
|?<br />
|-<br />
|8mm<br />
|f1.4<br />
|2/3"<br />
|C-mount<br />
|Goyo<br />
|GMHR38014MCN<br />
|YES<br />
|2<br />
|Lambrate<br />
|Only 1...<br />
|http://www.goyooptical.com/products/industrial/hrmegapixel.html<br />
|-<br />
|8.5mm<br />
|f1.3<br />
|2/3"<br />
|C-mount<br />
|Computar<br />
|?<br />
|?<br />
|2<br />
|DEI<br />
|<br />
|(old model)<br />
|-<br />
|12mm<br />
|f1.8<br />
|2/3"<br />
|C-mount<br />
|?<br />
|?<br />
|?<br />
|2<br />
|1 Lambrate + ? DEI<br />
|<br />
|<br />
|-<br />
|12mm<br />
|f1.4<br />
|2/3"<br />
|C-mount<br />
|Goyo<br />
|GMHR31214MCN<br />
|YES<br />
|2<br />
|Lambrate<br />
|<br />
|http://www.goyooptical.com/products/industrial/hrmegapixel.html<br />
|-<br />
|15mm<br />
|f2.0<br />
|2/3"<br />
|C-mount<br />
|Microtron<br />
|FV1520<br />
|YES<br />
|1<br />
|Lambrate<br />
|<br />
|http://www.rapitron.it/obmegpxman1.htm<br />
|-<br />
|6-15mm<br />
|f1.4<br />
|?<br />
|C-mount<br />
|?<br />
|?<br />
|?<br />
|1<br />
|Lambrate<br />
|<br />
|?<br />
|-<br />
|12.5-75mm<br />
|f1.8<br />
|?<br />
|C-mount<br />
|?<br />
|?<br />
|?<br />
|1<br />
|DEI<br />
|<br />
|?<br />
|}<br />
<br><br />
<br />
===M12 lenses===<br />
We also use M12 lenses. These lenses are very simple, with no iris, and very small. Their mounting system is an M12x0.5 metric screw thread. They are commonly used for webcams, and usually do not provide the top optical quality.<br />
<br />
{| border="1" cellpadding="5" cellspacing="0"<br />
!focal length<br />
!max. aperture<br />
!max. sensor size<br />
!mount type<br />
!maker<br />
!model<br />
!Mpixel<br />
!how many?<br />
!where?<br />
!project<br />
!link to full specifications<br />
|-<br />
|2.1mm<br />
|f2.0<br />
|1/4"<br />
|M12x0.5<br />
|Unibrain<br />
|2042<br />
|NO<br />
|6<br />
|<br />
1 e' a bovisa nelle mani di marcello<br />
<br />
1 e' a lambrate su un giano riusato come robowii<br />
<br />
1 e' a bovisa sulla frontale del triskar recam<br />
<br />
1 e' in mano a martino per fare una frontale => 06.05.09 E' in bovisa montata sul triskar #3<br />
<br />
1 l'ha Davide Migliore per acquisizioni monoslam<br />
<br />
1 e' sulla testa omnidir di rabbiati<br />
<br />
Domenicogsorrenti 04.05.09<br />
|MRT midsize, robowii, monoslam<br />
|http://www.unibrain.com/Products/VisionImg/Fire_i_BC.htm<br />
|-<br />
|4.3mm, no IR filter<br />
|f2.0<br />
|1/4"<br />
|M12x0.5<br />
|Unibrain<br />
|2046<br />
|NO<br />
|1<br />
|Lambrate (1/1)<br />
|<br />
|http://www.unibrain.com/Products/VisionImg/Fire_i_BC.htm<br />
|-<br />
|4.3mm<br />
|f2.0<br />
|1/4"<br />
|M12x0.5<br />
|Unibrain<br />
|2043<br />
|NO<br />
|3<br />
|Bovisa (1/3), Lambrate (2/3)<br />
|<br />
|http://www.unibrain.com/Products/VisionImg/Fire_i_BC.htm<br />
|-<br />
|8mm<br />
|f2.0<br />
|1/4"<br />
|M12x0.5<br />
|Unibrain<br />
|2044<br />
|NO<br />
|1<br />
|Lambrate (1/1)<br />
|<br />
|http://www.unibrain.com/Products/VisionImg/Fire_i_BC.htm<br />
|}<br />
<br><br />
<br />
==Frame grabbers==<br />
As previously said, a '''frame grabber''' is an electronic board that connects to one or more cameras, and converts the signals from the cameras into a data stream that can be elaborated by a computer. They are usually designed as expansion boards to be fitted into the computer case. Frame grabbers are necessary for ''analogue cameras'' (as they include the analogue/digital converters) or for CameraLink digital cameras (in this case the frame grabber is essentially a high speed dedicated digital interface). Other kinds of digital cameras don't need a frame grabber: this is one of the main advantages of digital cameras over analogue ones in machine vision applications, where the processing is almost always performed by computers.<br />
In the AIRLab two models of frame grabber are available:<br />
*a digital frame grabber from Euresys, model Expert 2, having two CameraLink inputs (http://www.euresys.com/Products/grablink/GrablinkSeries.asp). ''Notes: needs a PCI-X slot; one of the inputs is not working due to a fault.''<br />
*two multichannel analogue frame grabbers from Matrox, model Meteor II/Multi-Channel, having three analogue inputs that can be combined into a single three-channel RGB analogue input (http://www.matrox.com/imaging/support/old_products/home.cfm). ''Note: one item is permanently mounted on the MO.RO.1 robot: see [[The MO.RO. family]] for details.''<br />
*two multichannel analogue frame grabbers from Matrox, model Meteor II/Multi-Channel, having three analogue inputs that can be combined into a single three-channel RGB analogue input (http://www.matrox.com/imaging/support/old_products/home.cfm). ''Note: one item is permanently mounted on the MO.RO.1 robot: see [[The MO.RO. family]] for details.''<br />
*two single-channel analogue frame grabbers from Matrox, models Meteor and Meteor Pro (http://www.matrox.com/imaging/support/old_products/home.cfm).<br />
All the frame grabbers (except the one on the MO.RO.1) are currently in AIRLab/DEI. If you move one of them, please '''write it down here'''... and do it NOW!<br />
<br />
<br />
==Mirrors==<br />
Much work has been done and is being done at the AIRLab on the topic of '''omnidirectional (machine) vision''' (sometimes referred to as ''omnivision''). Omnidirectional vision systems use special hardware to overcome the limitations of conventional vision systems in terms of field of view. The approach to this problem that we generally adopt is the use of conventional cameras in association with convex '''mirrors''', i.e. the capturing of the image reflected by a suitably-shaped mirror with a camera. The possibility of designing mirrors with specific geometric properties gives a very useful means to control the geometric behaviour of the whole camera+mirror system.<br />
<br />
TODO for someone who knows better ;-) : mirror list<br />
<br />
==Cable==<br />
The complete list of cable for camera connection and/or power is under construction. You can partecipate listing below which cables are you using...<br />
<br />
{| border="1" cellpadding="5" cellspacing="0"<br />
!Type<br />
!length<br />
!how many?<br />
!where?<br />
!project<br />
|-<br />
|FireWire 6-6 <br />
|?<br />
|2<br />
|Bicocca (refer to Domenico G. Sorrenti, 2009-11-11)<br />
|?<br />
|-<br />
|FireWire 6-6 <br />
|?<br />
|1<br />
|on LURCH wheelchair<br />
|LURCH<br />
|}</div>AnilKoyuncuhttps://airwiki.elet.polimi.it/index.php?title=Talk:RunBot:_a_Robogame_Robot&diff=12499Talk:RunBot: a Robogame Robot2010-09-29T15:29:23Z<p>AnilKoyuncu: /* Design of The Robot */</p>
<hr />
<div>Requirements<br />
<br />
The robot should have:<br />
* a dimension of about 25cm of radius, 20 cm height<br />
* a speed of about 1 m/sec<br />
* omnidirectional movement (Kamro wheels)<br />
* sensors to avoid obstacles (sonars)<br />
* a camera that can be moved up and down (and eventually left and right)<br />
* wireless connection to a computer (Wi-fi)<br />
* Bluetooth connection<br />
* have power enough to move and transmit for at least 2 hours without recharging<br />
* Have the possibility to recharge autonomously<br />
<br />
The robot should cost as less as possible<br />
<br />
[[Media:Order list.pdf|File with considerations on parts to be ordered]]<br />
<br />
<br />
TO DO<br />
<br />
* Select HW <br />
** ST ARM HW (ask Martino Migliavacca <martino.migliavacca@gmail.com>, GUMSTIX (http://www.gumstix.org/), ARDUINO (http://www.freeduino.org/), other...)<br />
** Engines (WWW.robot-Italy.com, http://www.jonathan.it/)<br />
** batteries (above, or standard A, AA or AAA type)<br />
** Camera (ST smart cameras, with Ethernet wired link)<br />
** Sonar (already available (see ROBOWII2.0))<br />
** Blue tooth and WI-FI<br />
<br />
* Design body (structure and appearance), sensor placement, eventual movements of the camera<br />
* Implement the robot<br />
* test the robot with a simple game (e.g. [[RoboWII2.0]])<br />
<br />
== Part List ==<br />
Camera<br />
Wheels<br />
Motors<br />
Lenses<br />
Batteries<br />
<br />
== Design of The Robot ==<br />
[[Image:Bottom_plexi.png]]<br />
[[Image:Side.png]]<br />
[[Image:Ust.png]]<br />
[[Image:Top.png]]<br />
<br />
== Mice ==<br />
[[Image:Lens_setup.JPG]]<br><br />
The results obtained so far with that setup is in the pdf file below.<br><br />
[[Media:Image_of_mice.pdf|The results obtained so far]]<br />
<br />
<br />
<br />
== Camera ==<br />
The demo software given by ST is used in order to test the colr blob detection. <br><br />
<br><br />
Detecting 3 blob color<br><br />
[[Image:Detect_3.JPG ]] <br><br />
Detecting 4 blob color<br><br />
[[Image:Detect_4.JPG ]] <br><br />
<br />
== Motion Control ==<br />
<br />
<br />
<br />
[[Image:M_control.JPG]]<br />
<br />
The angle between each wheel is 2*pi/3, which 120 degree.<br><br />
The front wheels are making a pi/6 angle between the ground.<br><br />
The positions of the wheels in the coordinate system is as follows.<br><br />
Wheel 1 is (cos(pi/6),sin(pi/6)) = (0.866,0.5)<br><br />
Wheel 2 is (cos(pi/6),sin(pi/6)) = (0.866,0.5)<br><br />
Wheel 3 is (cos(3*pi/2),sin(3*pi/2))=(0,-1)<br><br />
<br><br />
I wrote simulations in matlab, in two ways.<br><br />
The first one is using the TriskarOdometry directly, and estimates the <br />
necessary wheel speeds to reach the desired frontal, lateral and angular <br />
speed of the robot.<br><br />
The second one is instead giving the motor speeds in terms of rotations and <br />
estimates the frontal ,lateral ,angular speed of the robot according to motor<br />
speeds.<br><br />
<br><br />
The matlab code for the motion control simulation is consist of the following files:<br><br />
<br><br />
-motor_speed.m --This file which takes the motor speed as input and <br />
calculates the Vf,Vl,w of the robot.<br><br />
-TriskarOdometry.m --Giving the input Vf,Vl,w calculates the motor speed<br><br />
-trajectory.m --The function which draws some trajectories based on the <br />
following schema<br><br />
1) DIRECT MOVEMENT<br />
THE HEAD OF THE ROBOT ALWAYS LOOKING IN A FIXED DIRECTION<br />
2) ANGULAR MOVEMENT<br />
THE ROBOT WILL MOVE IN A CIRCULAR TRAJECTORY WITH FIXED HEAD<br />
DIRECTION<br />
3) SPIN & GO<br />
THE ROBOT EITHER GOES ANGULAR BUT THE HEAD POSITION<br />
IS ALSO CHANGES<br />
4) SPIN & GO DIRECT<br />
THE ROBOT EITHER GOES DIRECT BUT THE HEAD POSITION<br />
IS ALSO CHANGES<br />
-direc_motion.m --DIRECT MOVEMENT <br><br />
-angular_motion.m --ANGULAR MOVEMENT <br><br />
-spin_go.m -- SPIN & GO <br><br />
-spin_go_d.m --SPIN & GO DIRECT <br><br />
-draw_arrow.m --A function that is used to draw arrow. <br><br />
[[Media:Mc.zip|File with the matlab files listed above.]]<br />
<br />
<br />
== Processor Comparison ==<br />
<br />
This is the processor comparison table, the cells without entry is left blank<br />
<br />
{| class="wikitable" border="1"<br />
|-<br />
! <br />
! Name<br />
! Clock Speed<br />
! Ram<br />
! Storage<br />
! Onboard Devices<br />
! Power Consumption<br />
! Price<br />
! OS<br />
! Source Page<br />
|-<br />
| 1<br />
| ESOM270<br />
| PXA270@520MHz<br />
| 128 MB SDRAM <br />
| 32 MB FLASH PMIC<br />
| USB device,Camera interface(QCI),USB host<br />
| 0.8 W @ Full running Mode,100mW @ Deep Sleep mode<br />
| 76 €<br />
| Comes with preinstalled uboot & Linux 2.6.25 or eboot Windows CE 6.0 R2<br />
| http://www.e-consystems.com/esom270.asp<br />
|-<br />
| 2<br />
| IGEPv2 BOARD<br />
| OMAP3530@720 Mhz<br />
| 512MB RAM <br />
| 512MB ONENAND-FLASH<br />
| Ethernet 10/100 Mb BaseT.,Wifi IEEE 802.11b/g + Bluetooth 2.0 (Integrated antenna).,1 x USB OTG,1x USB Host<br />
|<br />
| 145 €<br />
| IGEPv2 running Ubuntu 9.04<br />
| http://www.igep-platform.com/index.php?option=com_content&view=article&id=46&Itemid=55<br />
|-<br />
| 3<br />
| Em-x270<br />
| Intel's XScale PXA270 CPU, up to 520 MHz<br />
| 128 Mbyte SDRAM <br />
| 512 Mbyte Flash Disk<br />
| WLAN / WiFi 802.11b/g Interface,Bluetooth interface,Slave and host USB ports, including keyboard and mouse support,100 Mbps Ethernet port<br />
| 0.2 - 2 W<br />
| 76 $<br />
| ce OR linux<br />
| http://www.compulab.co.il/x270cm/html/x270-cm-datasheet.htm<br />
|-<br />
| 4<br />
| S3C2440 Core Board II <br />
| Samsung S3C2440A based on ARM920T, 400MHz<br />
| 64MB SDRAM<br />
| 64MB NAND Flash<br />
| 2-ch USB Host controller / 1-ch USB Device controller (ver 1.1),Camera interface ,(Max. 4096 x 4096 pixels input support. 2048 x 2048 pixel input support for scaling)<br />
| <br />
| 110$<br />
| Windows CE4.2/5.0, 6.0 and Linux2.6<br />
| http://www.embedinfo.com/en/list.asp?id=64<br />
|-<br />
| 5<br />
| Overo™ Air COM [GUM3503A]<br />
| OMAP 3503 Application Processor with ARM Cortex-A8 CPU 600 MHz<br />
| 256MB RAM<br />
| 256MB Flash<br />
| 802.11(g) and Bluetooth®,USB OTG signals, USB HS Host<br />
| <br />
| 199$<br />
| Linux 2.6.31 or higher OpenEmbedded<br />
| http://www.gumstix.com/store/catalog/product_info.php?products_id=226<br />
|-<br />
| 6<br />
| MX31 TurboG5 Module<br />
| Freescale i.MX31 @ 532MHz<br />
| 128 MB of Mobile DDR<br />
| 32 MB of Flash<br />
| Support for 802.11b/g embedded wireless module,One SD/MMC card slot,One USB 2.0 On-The-Go (OTG) port (H/F/L speed),One USB 2.0 host port (H/F/L speeds),One Camera Sensor Interface,One 10/100BASE-T Ethernet port<br />
| <br />
|<br />
| Windows CE 5.0 and 6.0 Linux<br />
| http://www.eurotech-inc.com/single-board-computer-imx31-com-turbog5.asp<br />
|-<br />
|}<br />
<br />
<br />
<br />
==Motor Suggestion ==<br />
<br />
http://www.pololu.com/catalog/product/1092<br />
<br />
no load speed: 500 rpm<br />
stall torque: 29 kg-cm ~= 0.282 Nm<br />
<br />
maximum power output = Pmax = 26.190 rad/s * 0.141 Nm = 3.692 W<br />
occuring at W= 250 rpm and t=0.141 Nm<br />
<br />
<br />
http://www.pololu.com/catalog/product/1085/<br />
<br />
no load speed: 470 rpm<br />
stall torque : 7 oz ( 0.5 kg-cm ) ~= 0.049 Nm<br />
<br />
maximum power output = Pmax = 24.619 rad/s * 0.0245 Nm = 0.603 W<br />
occuring at W=235 rpm and t = 0.0245 Nm<br />
<br />
calculations made according to the reference paper at the link<br />
http://lancet.mit.edu/motors/motors3.html<br />
http://lancet.mit.edu/motors/motors4.html<br />
<br />
== Wheel Specification ==<br />
<br />
=== 2052-3/8X CAT-TRAK ===<br />
Description <br />
[[Image:FXA314-2T.jpg|right]] <br />
*Standard 2" O.D. - 3/8" Bore Double Row<br />
*Metric 49.2mm O.D. - 9.5mm Plain Bore.<br />
*Recommended max load.<br />
**Steel Bottom = 25 lbs. 11.3kg.<br />
**Plywood Surface = 15 lbs. 6.8kg.<br />
*200# Test Corrugated Bottom = 10 lbs. 4.5kg.<br />
*Weight = 1.75 oz.<br />
*Synthetic rubber coated polypropylene rollers.<br />
*Price:$7.48.<br />
*Source: http://store.kornylak.com/ProductDetails.asp?ProductCode=FXA314<br />
<br />
<br />
=== 2052BX CAT-TRAK ===<br />
<br />
Description<br />
<br />
[[Image:FXA317-2T.jpg|right]]<br />
*Standard 2" O.D. - 1/4" I.D. Bushing Double Row<br />
*Metric 49.2mm O.D. - 6.35mm Bushing<br />
*Recommended max load <br />
**Steel Bottom = 25 lbs. 11.3kg<br />
**Plywood Surface = 15 lbs. 6.8kg<br />
*200# Test Corrugated Bottom = 10 lbs. 4.5kg<br />
*Weight = 1.75 oz<br />
*Synthetic rubber coated polypropylene rollers.<br />
*Price :$7.48<br />
*Source: http://store.kornylak.com/ProductDetails.asp?ProductCode=FXA317<br />
<br />
<br />
=== 2052KX CAT-TRAK ===<br />
Description <br />
[[Image:FXA315-2T.jpg|right]]<br />
*Standard 2" O.D. - 1/2" Bore Double Row w/ Keyway<br />
*Metric 49.2mm O.D. - 12.7mm Bore w/ Keyway<br />
*Recommended max load <br />
**Steel Bottom = 25 lbs. 11.3kg<br />
**Plywood Surface = 15 lbs. 6.8kg<br />
*200# Test Corrugated Bottom = 10 lbs. 4.5kg<br />
*Weight = 1.75 oz<br />
*Synthetic rubber coated polypropylene rollers. <br />
*Price :$7.48<br />
*Source: http://store.kornylak.com/ProductDetails.asp?ProductCode=FXA315</div>AnilKoyuncuhttps://airwiki.elet.polimi.it/index.php?title=File:Ust.png&diff=12498File:Ust.png2010-09-29T15:29:14Z<p>AnilKoyuncu: Vertical view of robot</p>
<hr />
<div>Vertical view of robot</div>AnilKoyuncuhttps://airwiki.elet.polimi.it/index.php?title=File:Top.png&diff=12497File:Top.png2010-09-29T15:28:42Z<p>AnilKoyuncu: Top view of robot</p>
<hr />
<div>Top view of robot</div>AnilKoyuncuhttps://airwiki.elet.polimi.it/index.php?title=File:Side.png&diff=12496File:Side.png2010-09-29T15:28:00Z<p>AnilKoyuncu: Side view of robot</p>
<hr />
<div>Side view of robot</div>AnilKoyuncuhttps://airwiki.elet.polimi.it/index.php?title=File:Bottom_plexi.png&diff=12495File:Bottom plexi.png2010-09-29T15:27:09Z<p>AnilKoyuncu: The technical drawing of plexiglass</p>
<hr />
<div>The technical drawing of plexiglass</div>AnilKoyuncuhttps://airwiki.elet.polimi.it/index.php?title=Cameras,_lenses_and_mirrors&diff=11969Cameras, lenses and mirrors2010-07-16T13:18:42Z<p>AnilKoyuncu: /* List of Cameras */</p>
<hr />
<div>==IMPORTANT NOTES==<br />
'''Never touch the sensor element (CCD or CMOS) of a camera with anything!''' It can very easily be scratched.<br />
<br />
'''Never touch the glass elements of a lens with your hands!''' The oil from human skin will cause damage.<br />
<br />
==Cameras==<br />
In the AIRLab you can find different kind of cameras. These are the main groups:<br />
*'''Analogue cameras'''. Video output is given as an electrical signal, which needs analogue-to-digital conversion to be processed by a computer; this is done by a specific card called ''frame grabber'' or ''video capture card'' (the latter tend to be the lowest-performance items; see [[Cameras, lenses and mirrors#Frame grabbers]] for details). Analogue video is outdated for computer vision and robotics applications, due to its cost, low performance and complexity; nowadays digital camera systems (such as all the ones listed below) are always preferred.<br />
*'''USB cameras'''. Usually very cheap, they are suitable for low-performance applications (i.e. those where low frame rate is needed and low image quality can be accepted). Their main advantage (along with cost) is the fact that every modern computer has USB ports. The fact that the USB standard includes 5V DC power supply lines helps simplifying camera design and use.<br />
*'''FireWire cameras'''. The FireWire (or IEEE1394) bus is generally used for low-end industrial cameras, i.e. devices with technical characteristics much superior to those typical of USB cameras but low-performance according to typical machine vision standards. Industrial cameras usually give to the user a much wider control over the acquisition parameters compared to consumer cameras, and therefore they are usually preferred in robotics; their downside is the higher cost. There are different versions of IEE1394 link (see http://en.wikipedia.org/wiki/Firewire for details), with different bitrates, starting from the 400Mbit/s FireWire 400. Generally they are all considered superior to USB 2.0, even if theoretical bandwidth is lower for FireWire 400. Firewire ports can include power supply lines, but some interfaces (and in particular those on portable computers) omit them. Although the use of FireWire interfaces has expanded in recent years, they are not yet considered a standard feature for motherboards.<br />
*'''GigE Vision cameras'''. GigE Vision (or Gigabit Ethernet Vision) is a rather new connection standard for machine vision, based upon the established Ethernet protocol in its Gigabit (i.e. 1000Mbps) version. It is very interesting, as complex multiple-camera systems can be easily built using existing (Gigabit) Ethernet hardware, such as cables and switches. Vision data is acquired simply through a generic Ethernet port, commonly found on motherboards or easily added. However, 100Mbps (or ''fast Ethernet'') ports are not guaranteed to work and can sustain only modest video streams; on the other hand, 1000Mbps ports are now standard on motherboards, so this will not be a problem anymore in a few years. It seems that GigE Vision is becoming the most common interface for low- to medium-performance industrial cameras.<br />
*'''CameraLink cameras'''. Cameralink is a high-speed interface expressly developed for high-performance machine vision applications. It is a point-to-point link, i.e. a CameraLink connection is used to connect a single camera to a digital acquisition card (''frame grabber''). Its diffusion is limited to applications where extreme frame rates ''and'' resolutions are needed, because CameraLink gear is very expensive.<br />
*'''ST Camera boards'''. Cameras with cell phone sensor and ARM processor for onboard computation.<br />
<br />
The following is a list of the cameras available in the AIRLab. (To be precise, it is a list of the cameras that are modern enough to be useful.) For each of them the main specifications (and a link to the full specifications) are given. Details on the different types of lens mount are given below in [[Cameras, lenses and mirrors#Lenses]]. The 'how many?' field tells if multiple, identical items are available. Finally, the 'where?' field tells you in which of the AIRLab sites (listed in [[The Labs]]) you can find an item, and the 'project' field is used to specify which project (if any) is using it.<br />
<br />
Ah, one last thing. People like to actually ''find'' things when they look for them, so '''don't forget to update the table when you move something away from its current location'''. If you don't know where you are taking it, just put your name in the table.<br />
<br />
<br />
==List of Cameras==<br />
{| border="1" cellpadding="5" cellspacing="0"<br />
!resolution<br />
!B/W, color<br />
!max. frame rate<br />
!sensor size<br />
!interface<br />
!maker<br />
!model<br />
!lens mount<br />
!how many?<br />
!where?<br />
!project<br />
!link to full specifications and/or manuals<br />
|-<br />
|1628x1236<br />
|B/W<br />
|24fps<br />
|1/1.8"<br />
|CameraLink<br />
|Hitachi<br />
|KP-F200CL<br />
|C-mount<br />
|1<br />
|DEI<br />
|<br />
|[[media:KP-F200-Op_Manual.pdf]]<br />
|-<br />
|752x480<br />
|color<br />
|70fps<br />
|1/3"<br />
|GigE<br />
|Prosilica<br />
|GC750C<br />
|C-mount<br />
|3<br />
|Lambrate (1/3), [[User:SimoneTognetti| Simone Tognetti]](from 19/05/2009, dal 14/12/2009 sono impiegate per esperimenti Affective nell'Airlab del DEI)(2/3)<br />
|Driving companions (2/3)<br />
|http://www.prosilica.com/products/gc_series.html<br />
|-<br />
|659x493<br />
|color<br />
|90fps<br />
|1/3"<br />
|GigE<br />
|Prosilica<br />
|GC650C<br />
|C-mount<br />
|1<br />
|???<br />
|???<br />
|http://www.prosilica.com/products/gc_series.html<br />
|-<br />
|1024x768<br />
|color<br />
|30fps<br />
|1/3"<br />
|GigE<br />
|Prosilica<br />
|GC1020C<br />
|C-mount<br />
|2<br />
|Lambrate (2/2)<br />
|RAWSEEDS (1/2)<br />
|http://www.prosilica.com/products/gc_series.html<br />
|-<br />
|CCIR (625 lines)<br />
|B/W<br />
|CCIR (50fps, interlaced)<br />
|2/3"<br />
|analogue<br />
|Sony<br />
|XC-ST70CE<br />
|C-mount<br />
|2<br />
|DEI (2/2)<br />
|<br />
|[[media:XCST70E_manual.pdf]]<br />
|-<br />
|659x494<br />
|color<br />
|30fps<br />
|1/4"<br />
|FireWire 400<br />
|Unibrain<br />
|Fire-i 400 industrial<br />
|C-mount<br />
|3<br />
|Lambrate (3/3)<br />
|RAWSEEDS (3/3)<br />
|http://www.unibrain.com/Products/VisionImg/Fire_i_400_Industrial.htm<br />
|-<br />
|659x494<br />
|color<br />
|30fps<br />
|1/4"<br />
|FireWire 400<br />
|Unibrain<br />
|Fire-i board camera<br />
|proprietary<br />
|8<br />
|Lambrate (3/8), Bovisa (2/8), [[User:PaoloCalloni]] (1/8), [[User:DavideMigliore]] (1/8), [[User:CristianoAlessandro]] (1/8),<br />
<br />
presa 1 a fine febbraio10 con lente wide (quella di riserva di robocom), montaggio "a la rizzi" con lastrine di plexiglass e pezzo di profilato item [[User:Domenicogsorrenti]] (1/8)<br />
|RAWSEEDS (2/8), MRT (?/8)<br />
queste sono quelle "nuove"? se si una e' su rabbiati, portiere di mrt, sin da cuvio, e' nella testa omnidir Domenicogsorrenti 21.04.09<br />
<br />
1 nuova e' la frontale di recam<br />
<br />
1 nuova sulla testa omnidir di ridan<br />
<br />
|http://www.unibrain.com/Products/VisionImg/Fire_i_BC.htm<br />
|-<br />
|640x480<br />
|color<br />
|30fps<br />
|1/4"<br />
|FireWire 400<br />
|Unibrain<br />
|Fire-i digital camera<br />
|fixed optics (4.3mm, f2.0)<br />
|4<br />
|<br />
1 e' sulla testa omnidir di rigo<br />
<br />
1 e' sulla testa omnidir di recam<br />
<br />
1 e' sulla testa omnidir mrt05-03 (armadio domenico@unimib)<br />
<br />
1 e' sulla testa omnidir mrt05-04 (armadio domenico@unimib)<br />
|<br />
|http://www.unibrain.com/Products/VisionImg/Fire_i_DC.htm<br />
|-<br />
|640x480 dual sensor, 9cm baseline<br />
|color<br />
|30fps<br />
|1/3"<br />
|FireWire 400<br />
|Videre Design<br />
|STOC stereo-on-a-chip stereo camera<br />
|C-mount, fitted with two 3.5mm, f1.6, 1/2" lenses<br />
|1<br />
|Lambrate => li lin office => Domenicogsorrenti 13.01.09 => giulio fontana 23.01.09<br />
|<br />
|http://www.videredesign.com/vision/stoc.htm<br />
|-<br />
|640x480<br />
|color<br />
|60fps<br />
|1/3"<br />
|FireWire 400<br />
|Videre Design<br />
|DCSG (associated with STOC)<br />
|C-mount, fitted with one 3.5mm, f1.6, 1/2" lens<br />
|1<br />
|Lambrate<br />
|<br />
|http://www.videredesign.com/vision/dcsg.htm<br />
|-<br />
|?<br />
|color<br />
|30 fps<br />
|1/3.8 inch optical format<br />
|?<br />
|ST Microelectronics<br />
|ST1-Cam + ST2-Cam<br />
|integrated<br />
|2<br />
|ST1-Cam (STLCam (ST LEGO Camera)) [[User:AnilKoyuncu| Anil Koyuncu]], ST2-Cam [[User:LorenzoConsolaro | Lorenzo Consolaro]] and [[User:DarioCecchetto | Dario Cecchetto]] <br />
|ST1-Cam [[RunBot: a Robogame Robot]]<br />
| [[Media:Cameradatasheet.pdf]],[[Media:Rvs-v1-0.pdf]], [[Media:RVS_Datasheet_v2.1.pdf]] ,http://www.danielecaltabiano.com/wwme/ST-SW/st-sw.htm, [[Media:Cam_pin_map.pdf]]<br />
|-<br />
|?<br />
|color<br />
|?<br />
|?<br />
|?<br />
|ST Microelectronics<br />
|ST5-CamMic + ST6-CamMic<br />
|integrated with microphone<br />
|2<br />
|ST5-CamMic [[User:AndreaBonarini| Andrea Bonarini]], ST6-CamMic [[User:GiulioFiscella|Giulio Fiscella]] [[User:FedericoSem|Federico Sem]] <br />
|ST6-CamMic [[Face detection]]<br />
|<br />
|-<br />
|?<br />
|color<br />
|?<br />
|?<br />
|?<br />
|ST Microelectronics<br />
|ST4-DC (Demo board)<br />
|integrated<br />
|1<br />
|[[User:RaffaelePetta|Raffaele Petta]]<br />
|<br />
|<br />
|}<br />
<br><br />
<br />
==Lenses==<br />
Be aware that sensor dimension (i.e. its diagonal, measured in fractions of an inch) is ''not'' the same for all cameras. Therefore one of the key specifications for a lens is the maximum sensor dimension supported. If you use a given lens with too big a sensor, the edges of the image will be black as they lie outside the circle of the projected image. Also beware of the strange convention used for sensor diagonals, i.e. a fraction in the form A/B" where A and B are integer ''or non-integer'' numbers. For instance an 1/2" sensor is smaller than an 1/1.8" one.<br />
The variability of sensor dimensions has another side effect: the same lens has a different angle of view if you change the sensor size. Therefore the same lens can behave as a wide-angle with a large sensor and as a telephoto with a small sensor.<br />
<br />
An useful guide to lenses (in Italian or English) can be found at http://www.rapitron.it/guidaob.htm.<br />
<br />
The following is a list of the actual lenses available in the AIRLab. For each of them the main specifications (and a link to the maker's or vendor's page for full specifications) are given. A '?' means an unknown parameter: if you know its value or experimentally find out it when using the lens (e.g. the maximum sensor size), please ''update the table'' before the information is lost again! Lenses having 'M12x0.5' in Column 'mount type' are only usable with Unibrain's Fire-i board cameras. A 'YES' in the 'Mpixel' column indicates a so-called ''Megapixel lens'', i.e. a high quality, low-distortion lens designed for high-resolution industrial cameras (typically having large sensors); please note that some of these are specifically designed for B/W (i.e. black and white) cameras. The 'how many?' field tells if multiple, identical items are available. Finally, the 'where?' field tells you in which of the AIRLab sites (listed in [[The Labs]]) you can find an item, and the 'project' field is used to specify which project (if any) is using it. <br />
<br />
Ah, one last thing. People like to actually ''find'' things when they look for them, so '''don't forget to update the table when you move something away from its current location'''. If you don't know where you are bringing it, just put your name in the table.<br />
<br />
===C-mount and CS-mount lenses===<br />
Industrial cameras usually have interchangeable lenses. This allows for the choice of the lens that is more suitable to the considered application. There are two main standards for industrial camera lenses: '''C-mount''' and '''CS-mount'''. Both are screw-type mounts. CS-mount is simply a modified C-mount where the distance between the back of the lens and the sensor element (CCD or CMOS) is shorter: therefore a CS-mount lens can be mounted on a C-mount camera if an ''adapter ring'' (i.e. a distancing cylinder with suitable threads) is placed between them. It is impossible, though, to use a C-mount lens on a CS-mount camera: if you try you will almost certainly break the sensor, scratch the lens, or both. Just because a lens fits a camera, it doesn't mean it can be actually mounted on it!<br />
<br />
{| border="1" cellpadding="5" cellspacing="0"<br />
!focal length<br />
!max. aperture<br />
!max. sensor size<br />
!mount type<br />
!maker<br />
!model<br />
!Mpixel<br />
!how many?<br />
!where?<br />
!project<br />
!link to full specifications<br />
|-<br />
|3.5mm<br />
|f1.4<br />
|?<br />
|C-mount<br />
|?<br />
|?<br />
|?<br />
|1<br />
|Lambrate<br />
|LURCH<br />
|?<br />
|-<br />
|4.0mm<br />
|f2.0<br />
|1/2"<br />
|C-mount<br />
|Microtron<br />
|FV0420<br />
|YES (B/W only)<br />
|2<br />
|Lambrate<br />
|<br />
|http://www.rapitron.it/obmegpxman1.htm<br />
|-<br />
|4.5mm<br />
|f1.4<br />
|1/2"<br />
|C-mount<br />
|?<br />
|?<br />
|?<br />
|1<br />
|DEI<br />
|<br />
|?<br />
|-<br />
|4.8mm<br />
|f1.8<br />
|2/3"<br />
|C-mount<br />
|Computar<br />
|M0518<br />
|NO<br />
|1<br />
|DEI<br />
|<br />
|http://www.computar.com/cctvprod/computar/mono/048.html<br />
|-<br />
|6mm<br />
|f1.4<br />
|?<br />
|C-mount<br />
|?<br />
|?<br />
|?<br />
|1<br />
|Lambrate (?)<br />
|<br />
|?<br />
|-<br />
|6mm<br />
|f1.4<br />
|1/2"<br />
|C-mount<br />
|Goyo<br />
|GMHR26014MCN<br />
|YES<br />
|4<br />
|Lambrate<br />
|2 nell'armadio + 2 scatole vuote<br />
|http://www.goyooptical.com/products/industrial/hrmegapixel.html<br />
|-<br />
|8mm<br />
|f1.4<br />
|?<br />
|C-mount<br />
|?<br />
|?<br />
|?<br />
|1<br />
|DEI<br />
|<br />
|?<br />
|-<br />
|8mm<br />
|f1.4<br />
|2/3"<br />
|C-mount<br />
|Goyo<br />
|GMHR38014MCN<br />
|YES<br />
|2<br />
|Lambrate<br />
|Only 1...<br />
|http://www.goyooptical.com/products/industrial/hrmegapixel.html<br />
|-<br />
|8.5mm<br />
|f1.3<br />
|2/3"<br />
|C-mount<br />
|Computar<br />
|?<br />
|?<br />
|2<br />
|DEI<br />
|<br />
|(old model)<br />
|-<br />
|12mm<br />
|f1.8<br />
|2/3"<br />
|C-mount<br />
|?<br />
|?<br />
|?<br />
|2<br />
|1 Lambrate + ? DEI<br />
|<br />
|<br />
|-<br />
|12mm<br />
|f1.4<br />
|2/3"<br />
|C-mount<br />
|Goyo<br />
|GMHR31214MCN<br />
|YES<br />
|2<br />
|Lambrate<br />
|<br />
|http://www.goyooptical.com/products/industrial/hrmegapixel.html<br />
|-<br />
|15mm<br />
|f2.0<br />
|2/3"<br />
|C-mount<br />
|Microtron<br />
|FV1520<br />
|YES<br />
|1<br />
|Lambrate<br />
|<br />
|http://www.rapitron.it/obmegpxman1.htm<br />
|-<br />
|6-15mm<br />
|f1.4<br />
|?<br />
|C-mount<br />
|?<br />
|?<br />
|?<br />
|1<br />
|Lambrate<br />
|<br />
|?<br />
|-<br />
|12.5-75mm<br />
|f1.8<br />
|?<br />
|C-mount<br />
|?<br />
|?<br />
|?<br />
|1<br />
|DEI<br />
|<br />
|?<br />
|}<br />
<br><br />
<br />
===M12 lenses===<br />
We also use M12 lenses. These lenses are very simple, with no iris, and very small. Their mounting system is an M12x0.5 metric screw thread. They are commonly used for webcams, and usually do not provide the top optical quality.<br />
<br />
{| border="1" cellpadding="5" cellspacing="0"<br />
!focal length<br />
!max. aperture<br />
!max. sensor size<br />
!mount type<br />
!maker<br />
!model<br />
!Mpixel<br />
!how many?<br />
!where?<br />
!project<br />
!link to full specifications<br />
|-<br />
|2.1mm<br />
|f2.0<br />
|1/4"<br />
|M12x0.5<br />
|Unibrain<br />
|2042<br />
|NO<br />
|6<br />
|<br />
1 e' a bovisa nelle mani di marcello<br />
<br />
1 e' a lambrate su un giano riusato come robowii<br />
<br />
1 e' a bovisa sulla frontale del triskar recam<br />
<br />
1 e' in mano a martino per fare una frontale => 06.05.09 E' in bovisa montata sul triskar #3<br />
<br />
1 l'ha Davide Migliore per acquisizioni monoslam<br />
<br />
1 e' sulla testa omnidir di rabbiati<br />
<br />
Domenicogsorrenti 04.05.09<br />
|MRT midsize, robowii, monoslam<br />
|http://www.unibrain.com/Products/VisionImg/Fire_i_BC.htm<br />
|-<br />
|4.3mm, no IR filter<br />
|f2.0<br />
|1/4"<br />
|M12x0.5<br />
|Unibrain<br />
|2046<br />
|NO<br />
|1<br />
|Lambrate (1/1)<br />
|<br />
|http://www.unibrain.com/Products/VisionImg/Fire_i_BC.htm<br />
|-<br />
|4.3mm<br />
|f2.0<br />
|1/4"<br />
|M12x0.5<br />
|Unibrain<br />
|2043<br />
|NO<br />
|3<br />
|Bovisa (1/3), Lambrate (2/3)<br />
|<br />
|http://www.unibrain.com/Products/VisionImg/Fire_i_BC.htm<br />
|-<br />
|8mm<br />
|f2.0<br />
|1/4"<br />
|M12x0.5<br />
|Unibrain<br />
|2044<br />
|NO<br />
|1<br />
|Lambrate (1/1)<br />
|<br />
|http://www.unibrain.com/Products/VisionImg/Fire_i_BC.htm<br />
|}<br />
<br><br />
<br />
==Frame grabbers==<br />
As previously said, a '''frame grabber''' is an electronic board that connects to one or more cameras, and converts the signals from the cameras into a data stream that can be elaborated by a computer. They are usually designed as expansion boards to be fitted into the computer case. Frame grabbers are necessary for ''analogue cameras'' (as they include the analogue/digital converters) or for CameraLink digital cameras (in this case the frame grabber is essentially a high speed dedicated digital interface). Other kinds of digital cameras don't need a frame grabber: this is one of the main advantages of digital cameras over analogue ones in machine vision applications, where the processing is almost always performed by computers.<br />
In the AIRLab two models of frame grabber are available:<br />
*a digital frame grabber from Euresys, model Expert 2, having two CameraLink inputs (http://www.euresys.com/Products/grablink/GrablinkSeries.asp). ''Notes: needs a PCI-X slot; one of the inputs is not working due to a fault.''<br />
*two multichannel analogue frame grabbers from Matrox, model Meteor II/Multi-Channel, having three analogue inputs that can be combined into a single three-channel RGB analogue input (http://www.matrox.com/imaging/support/old_products/home.cfm). ''Note: one item is permanently mounted on the MO.RO.1 robot: see [[The MO.RO. family]] for details.''<br />
*two multichannel analogue frame grabbers from Matrox, model Meteor II/Multi-Channel, having three analogue inputs that can be combined into a single three-channel RGB analogue input (http://www.matrox.com/imaging/support/old_products/home.cfm). ''Note: one item is permanently mounted on the MO.RO.1 robot: see [[The MO.RO. family]] for details.''<br />
*two single-channel analogue frame grabbers from Matrox, models Meteor and Meteor Pro (http://www.matrox.com/imaging/support/old_products/home.cfm).<br />
All the frame grabbers (except the one on the MO.RO.1) are currently in AIRLab/DEI. If you move one of them, please '''write it down here'''... and do it NOW!<br />
<br />
<br />
==Mirrors==<br />
Much work has been done and is being done at the AIRLab on the topic of '''omnidirectional (machine) vision''' (sometimes referred to as ''omnivision''). Omnidirectional vision systems use special hardware to overcome the limitations of conventional vision systems in terms of field of view. The approach to this problem that we generally adopt is the use of conventional cameras in association with convex '''mirrors''', i.e. the capturing of the image reflected by a suitably-shaped mirror with a camera. The possibility of designing mirrors with specific geometric properties gives a very useful means to control the geometric behaviour of the whole camera+mirror system.<br />
<br />
TODO for someone who knows better ;-) : mirror list<br />
<br />
==Cable==<br />
The complete list of cable for camera connection and/or power is under construction. You can partecipate listing below which cables are you using...<br />
<br />
{| border="1" cellpadding="5" cellspacing="0"<br />
!Type<br />
!length<br />
!how many?<br />
!where?<br />
!project<br />
|-<br />
|FireWire 6-6 <br />
|?<br />
|2<br />
|Bicocca (refer to Domenico G. Sorrenti, 2009-11-11)<br />
|?<br />
|-<br />
|FireWire 6-6 <br />
|?<br />
|1<br />
|on LURCH wheelchair<br />
|LURCH<br />
|}</div>AnilKoyuncuhttps://airwiki.elet.polimi.it/index.php?title=File:Cam_pin_map.pdf&diff=11968File:Cam pin map.pdf2010-07-16T13:15:51Z<p>AnilKoyuncu: STLCAM pin mappings with the RVS Module v.1.0</p>
<hr />
<div>STLCAM pin mappings with the RVS Module v.1.0</div>AnilKoyuncuhttps://airwiki.elet.polimi.it/index.php?title=Talk:RunBot:_a_Robogame_Robot&diff=11840Talk:RunBot: a Robogame Robot2010-06-16T11:28:17Z<p>AnilKoyuncu: </p>
<hr />
<div>Requirements<br />
<br />
The robot should have:<br />
* a dimension of about 25cm of radius, 20 cm height<br />
* a speed of about 1 m/sec<br />
* omnidirectional movement (Kamro wheels)<br />
* sensors to avoid obstacles (sonars)<br />
* a camera that can be moved up and down (and eventually left and right)<br />
* wireless connection to a computer (Wi-fi)<br />
* Bluetooth connection<br />
* have power enough to move and transmit for at least 2 hours without recharging<br />
* Have the possibility to recharge autonomously<br />
<br />
The robot should cost as less as possible<br />
<br />
[[Media:Order list.pdf|File with considerations on parts to be ordered]]<br />
<br />
<br />
TO DO<br />
<br />
* Select HW <br />
** ST ARM HW (ask Martino Migliavacca <martino.migliavacca@gmail.com>, GUMSTIX (http://www.gumstix.org/), ARDUINO (http://www.freeduino.org/), other...)<br />
** Engines (WWW.robot-Italy.com, http://www.jonathan.it/)<br />
** batteries (above, or standard A, AA or AAA type)<br />
** Camera (ST smart cameras, with Ethernet wired link)<br />
** Sonar (already available (see ROBOWII2.0))<br />
** Blue tooth and WI-FI<br />
<br />
* Design body (structure and appearance), sensor placement, eventual movements of the camera<br />
* Implement the robot<br />
* test the robot with a simple game (e.g. [[RoboWII2.0]])<br />
<br />
== Part List ==<br />
Camera<br />
Wheels<br />
Motors<br />
Lenses<br />
Batteries<br />
<br />
== Design of The Robot ==<br />
[[Image:Model.JPG]]<br />
<br />
== Mice ==<br />
[[Image:Lens_setup.JPG]]<br><br />
The results obtained so far with that setup is in the pdf file below.<br><br />
[[Media:Image_of_mice.pdf|The results obtained so far]]<br />
<br />
<br />
<br />
== Camera ==<br />
The demo software given by ST is used in order to test the colr blob detection. <br><br />
<br><br />
Detecting 3 blob color<br><br />
[[Image:Detect_3.JPG ]] <br><br />
Detecting 4 blob color<br><br />
[[Image:Detect_4.JPG ]] <br><br />
<br />
== Motion Control ==<br />
<br />
<br />
<br />
[[Image:M_control.JPG]]<br />
<br />
The angle between each wheel is 2*pi/3, which 120 degree.<br><br />
The front wheels are making a pi/6 angle between the ground.<br><br />
The positions of the wheels in the coordinate system is as follows.<br><br />
Wheel 1 is (cos(pi/6),sin(pi/6)) = (0.866,0.5)<br><br />
Wheel 2 is (cos(pi/6),sin(pi/6)) = (0.866,0.5)<br><br />
Wheel 3 is (cos(3*pi/2),sin(3*pi/2))=(0,-1)<br><br />
<br><br />
I wrote simulations in matlab, in two ways.<br><br />
The first one is using the TriskarOdometry directly, and estimates the <br />
necessary wheel speeds to reach the desired frontal, lateral and angular <br />
speed of the robot.<br><br />
The second one is instead giving the motor speeds in terms of rotations and <br />
estimates the frontal ,lateral ,angular speed of the robot according to motor<br />
speeds.<br><br />
<br><br />
The matlab code for the motion control simulation is consist of the following files:<br><br />
<br><br />
-motor_speed.m --This file which takes the motor speed as input and <br />
calculates the Vf,Vl,w of the robot.<br><br />
-TriskarOdometry.m --Giving the input Vf,Vl,w calculates the motor speed<br><br />
-trajectory.m --The function which draws some trajectories based on the <br />
following schema<br><br />
1) DIRECT MOVEMENT<br />
THE HEAD OF THE ROBOT ALWAYS LOOKING IN A FIXED DIRECTION<br />
2) ANGULAR MOVEMENT<br />
THE ROBOT WILL MOVE IN A CIRCULAR TRAJECTORY WITH FIXED HEAD<br />
DIRECTION<br />
3) SPIN & GO<br />
THE ROBOT EITHER GOES ANGULAR BUT THE HEAD POSITION<br />
IS ALSO CHANGES<br />
4) SPIN & GO DIRECT<br />
THE ROBOT EITHER GOES DIRECT BUT THE HEAD POSITION<br />
IS ALSO CHANGES<br />
-direc_motion.m --DIRECT MOVEMENT <br><br />
-angular_motion.m --ANGULAR MOVEMENT <br><br />
-spin_go.m -- SPIN & GO <br><br />
-spin_go_d.m --SPIN & GO DIRECT <br><br />
-draw_arrow.m --A function that is used to draw arrow. <br><br />
[[Media:Mc.zip|File with the matlab files listed above.]]<br />
<br />
<br />
== Processor Comparison ==<br />
<br />
This is the processor comparison table, the cells without entry is left blank<br />
<br />
{| class="wikitable" border="1"<br />
|-<br />
! <br />
! Name<br />
! Clock Speed<br />
! Ram<br />
! Storage<br />
! Onboard Devices<br />
! Power Consumption<br />
! Price<br />
! OS<br />
! Source Page<br />
|-<br />
| 1<br />
| ESOM270<br />
| PXA270@520MHz<br />
| 128 MB SDRAM <br />
| 32 MB FLASH PMIC<br />
| USB device,Camera interface(QCI),USB host<br />
| 0.8 W @ Full running Mode,100mW @ Deep Sleep mode<br />
| 76 €<br />
| Comes with preinstalled uboot & Linux 2.6.25 or eboot Windows CE 6.0 R2<br />
| http://www.e-consystems.com/esom270.asp<br />
|-<br />
| 2<br />
| IGEPv2 BOARD<br />
| OMAP3530@720 Mhz<br />
| 512MB RAM <br />
| 512MB ONENAND-FLASH<br />
| Ethernet 10/100 Mb BaseT.,Wifi IEEE 802.11b/g + Bluetooth 2.0 (Integrated antenna).,1 x USB OTG,1x USB Host<br />
|<br />
| 145 €<br />
| IGEPv2 running Ubuntu 9.04<br />
| http://www.igep-platform.com/index.php?option=com_content&view=article&id=46&Itemid=55<br />
|-<br />
| 3<br />
| Em-x270<br />
| Intel's XScale PXA270 CPU, up to 520 MHz<br />
| 128 Mbyte SDRAM <br />
| 512 Mbyte Flash Disk<br />
| WLAN / WiFi 802.11b/g Interface,Bluetooth interface,Slave and host USB ports, including keyboard and mouse support,100 Mbps Ethernet port<br />
| 0.2 - 2 W<br />
| 76 $<br />
| ce OR linux<br />
| http://www.compulab.co.il/x270cm/html/x270-cm-datasheet.htm<br />
|-<br />
| 4<br />
| S3C2440 Core Board II <br />
| Samsung S3C2440A based on ARM920T, 400MHz<br />
| 64MB SDRAM<br />
| 64MB NAND Flash<br />
| 2-ch USB Host controller / 1-ch USB Device controller (ver 1.1),Camera interface ,(Max. 4096 x 4096 pixels input support. 2048 x 2048 pixel input support for scaling)<br />
| <br />
| 110$<br />
| Windows CE4.2/5.0, 6.0 and Linux2.6<br />
| http://www.embedinfo.com/en/list.asp?id=64<br />
|-<br />
| 5<br />
| Overo™ Air COM [GUM3503A]<br />
| OMAP 3503 Application Processor with ARM Cortex-A8 CPU 600 MHz<br />
| 256MB RAM<br />
| 256MB Flash<br />
| 802.11(g) and Bluetooth®,USB OTG signals, USB HS Host<br />
| <br />
| 199$<br />
| Linux 2.6.31 or higher OpenEmbedded<br />
| http://www.gumstix.com/store/catalog/product_info.php?products_id=226<br />
|-<br />
| 6<br />
| MX31 TurboG5 Module<br />
| Freescale i.MX31 @ 532MHz<br />
| 128 MB of Mobile DDR<br />
| 32 MB of Flash<br />
| Support for 802.11b/g embedded wireless module,One SD/MMC card slot,One USB 2.0 On-The-Go (OTG) port (H/F/L speed),One USB 2.0 host port (H/F/L speeds),One Camera Sensor Interface,One 10/100BASE-T Ethernet port<br />
| <br />
|<br />
| Windows CE 5.0 and 6.0 Linux<br />
| http://www.eurotech-inc.com/single-board-computer-imx31-com-turbog5.asp<br />
|-<br />
|}<br />
<br />
<br />
<br />
==Motor Suggestion ==<br />
<br />
http://www.pololu.com/catalog/product/1092<br />
<br />
no load speed: 500 rpm<br />
stall torque: 29 kg-cm ~= 0.282 Nm<br />
<br />
maximum power output = Pmax = 26.190 rad/s * 0.141 Nm = 3.692 W<br />
occuring at W= 250 rpm and t=0.141 Nm<br />
<br />
<br />
http://www.pololu.com/catalog/product/1085/<br />
<br />
no load speed: 470 rpm<br />
stall torque : 7 oz ( 0.5 kg-cm ) ~= 0.049 Nm<br />
<br />
maximum power output = Pmax = 24.619 rad/s * 0.0245 Nm = 0.603 W<br />
occuring at W=235 rpm and t = 0.0245 Nm<br />
<br />
calculations made according to the reference paper at the link<br />
http://lancet.mit.edu/motors/motors3.html<br />
http://lancet.mit.edu/motors/motors4.html<br />
<br />
== Wheel Specification ==<br />
<br />
=== 2052-3/8X CAT-TRAK ===<br />
Description <br />
[[Image:FXA314-2T.jpg|right]] <br />
*Standard 2" O.D. - 3/8" Bore Double Row<br />
*Metric 49.2mm O.D. - 9.5mm Plain Bore.<br />
*Recommended max load.<br />
**Steel Bottom = 25 lbs. 11.3kg.<br />
**Plywood Surface = 15 lbs. 6.8kg.<br />
*200# Test Corrugated Bottom = 10 lbs. 4.5kg.<br />
*Weight = 1.75 oz.<br />
*Synthetic rubber coated polypropylene rollers.<br />
*Price:$7.48.<br />
*Source: http://store.kornylak.com/ProductDetails.asp?ProductCode=FXA314<br />
<br />
<br />
=== 2052BX CAT-TRAK ===<br />
<br />
Description<br />
<br />
[[Image:FXA317-2T.jpg|right]]<br />
*Standard 2" O.D. - 1/4" I.D. Bushing Double Row<br />
*Metric 49.2mm O.D. - 6.35mm Bushing<br />
*Recommended max load <br />
**Steel Bottom = 25 lbs. 11.3kg<br />
**Plywood Surface = 15 lbs. 6.8kg<br />
*200# Test Corrugated Bottom = 10 lbs. 4.5kg<br />
*Weight = 1.75 oz<br />
*Synthetic rubber coated polypropylene rollers.<br />
*Price :$7.48<br />
*Source: http://store.kornylak.com/ProductDetails.asp?ProductCode=FXA317<br />
<br />
<br />
=== 2052KX CAT-TRAK ===<br />
Description <br />
[[Image:FXA315-2T.jpg|right]]<br />
*Standard 2" O.D. - 1/2" Bore Double Row w/ Keyway<br />
*Metric 49.2mm O.D. - 12.7mm Bore w/ Keyway<br />
*Recommended max load <br />
**Steel Bottom = 25 lbs. 11.3kg<br />
**Plywood Surface = 15 lbs. 6.8kg<br />
*200# Test Corrugated Bottom = 10 lbs. 4.5kg<br />
*Weight = 1.75 oz<br />
*Synthetic rubber coated polypropylene rollers. <br />
*Price :$7.48<br />
*Source: http://store.kornylak.com/ProductDetails.asp?ProductCode=FXA315</div>AnilKoyuncuhttps://airwiki.elet.polimi.it/index.php?title=Talk:RunBot:_a_Robogame_Robot&diff=11839Talk:RunBot: a Robogame Robot2010-06-16T11:26:37Z<p>AnilKoyuncu: </p>
<hr />
<div>Requirements<br />
<br />
The robot should have:<br />
* a dimension of about 25cm of radius, 20 cm height<br />
* a speed of about 1 m/sec<br />
* omnidirectional movement (Kamro wheels)<br />
* sensors to avoid obstacles (sonars)<br />
* a camera that can be moved up and down (and eventually left and right)<br />
* wireless connection to a computer (Wi-fi)<br />
* Bluetooth connection<br />
* have power enough to move and transmit for at least 2 hours without recharging<br />
* Have the possibility to recharge autonomously<br />
<br />
The robot should cost as less as possible<br />
<br />
[[Media:Order list.pdf|File with considerations on parts to be ordered]]<br />
<br />
<br />
TO DO<br />
<br />
* Select HW <br />
** ST ARM HW (ask Martino Migliavacca <martino.migliavacca@gmail.com>, GUMSTIX (http://www.gumstix.org/), ARDUINO (http://www.freeduino.org/), other...)<br />
** Engines (WWW.robot-Italy.com, http://www.jonathan.it/)<br />
** batteries (above, or standard A, AA or AAA type)<br />
** Camera (ST smart cameras, with Ethernet wired link)<br />
** Sonar (already available (see ROBOWII2.0))<br />
** Blue tooth and WI-FI<br />
<br />
* Design body (structure and appearance), sensor placement, eventual movements of the camera<br />
* Implement the robot<br />
* test the robot with a simple game (e.g. [[RoboWII2.0]])<br />
<br />
== Design of The Robot ==<br />
[[Image:Model.JPG]]<br />
<br />
== Mice ==<br />
[[Image:Lens_setup.JPG]]<br><br />
The results obtained so far with that setup is in the pdf file below.<br><br />
[[Media:Image_of_mice.pdf|The results obtained so far]]<br />
<br />
<br />
<br />
== Camera ==<br />
The demo software given by ST is used in order to test the colr blob detection. <br><br />
<br><br />
Detecting 3 blob color<br><br />
[[Image:Detect_3.JPG ]] <br><br />
Detecting 4 blob color<br><br />
[[Image:Detect_4.JPG ]] <br><br />
<br />
== Motion Control ==<br />
<br />
<br />
<br />
[[Image:M_control.JPG]]<br />
<br />
The angle between each wheel is 2*pi/3, which 120 degree.<br><br />
The front wheels are making a pi/6 angle between the ground.<br><br />
The positions of the wheels in the coordinate system is as follows.<br><br />
Wheel 1 is (cos(pi/6),sin(pi/6)) = (0.866,0.5)<br><br />
Wheel 2 is (cos(pi/6),sin(pi/6)) = (0.866,0.5)<br><br />
Wheel 3 is (cos(3*pi/2),sin(3*pi/2))=(0,-1)<br><br />
<br><br />
I wrote simulations in matlab, in two ways.<br><br />
The first one is using the TriskarOdometry directly, and estimates the <br />
necessary wheel speeds to reach the desired frontal, lateral and angular <br />
speed of the robot.<br><br />
The second one is instead giving the motor speeds in terms of rotations and <br />
estimates the frontal ,lateral ,angular speed of the robot according to motor<br />
speeds.<br><br />
<br><br />
The matlab code for the motion control simulation is consist of the following files:<br><br />
<br><br />
-motor_speed.m --This file which takes the motor speed as input and <br />
calculates the Vf,Vl,w of the robot.<br><br />
-TriskarOdometry.m --Giving the input Vf,Vl,w calculates the motor speed<br><br />
-trajectory.m --The function which draws some trajectories based on the <br />
following schema<br><br />
1) DIRECT MOVEMENT<br />
THE HEAD OF THE ROBOT ALWAYS LOOKING IN A FIXED DIRECTION<br />
2) ANGULAR MOVEMENT<br />
THE ROBOT WILL MOVE IN A CIRCULAR TRAJECTORY WITH FIXED HEAD<br />
DIRECTION<br />
3) SPIN & GO<br />
THE ROBOT EITHER GOES ANGULAR BUT THE HEAD POSITION<br />
IS ALSO CHANGES<br />
4) SPIN & GO DIRECT<br />
THE ROBOT EITHER GOES DIRECT BUT THE HEAD POSITION<br />
IS ALSO CHANGES<br />
-direc_motion.m --DIRECT MOVEMENT <br><br />
-angular_motion.m --ANGULAR MOVEMENT <br><br />
-spin_go.m -- SPIN & GO <br><br />
-spin_go_d.m --SPIN & GO DIRECT <br><br />
-draw_arrow.m --A function that is used to draw arrow. <br><br />
[[Media:Mc.zip|File with the matlab files listed above.]]<br />
<br />
<br />
== Processor Comparison ==<br />
<br />
This is the processor comparison table, the cells without entry is left blank<br />
<br />
{| class="wikitable" border="1"<br />
|-<br />
! <br />
! Name<br />
! Clock Speed<br />
! Ram<br />
! Storage<br />
! Onboard Devices<br />
! Power Consumption<br />
! Price<br />
! OS<br />
! Source Page<br />
|-<br />
| 1<br />
| ESOM270<br />
| PXA270@520MHz<br />
| 128 MB SDRAM <br />
| 32 MB FLASH PMIC<br />
| USB device,Camera interface(QCI),USB host<br />
| 0.8 W @ Full running Mode,100mW @ Deep Sleep mode<br />
| 76 €<br />
| Comes with preinstalled uboot & Linux 2.6.25 or eboot Windows CE 6.0 R2<br />
| http://www.e-consystems.com/esom270.asp<br />
|-<br />
| 2<br />
| IGEPv2 BOARD<br />
| OMAP3530@720 Mhz<br />
| 512MB RAM <br />
| 512MB ONENAND-FLASH<br />
| Ethernet 10/100 Mb BaseT.,Wifi IEEE 802.11b/g + Bluetooth 2.0 (Integrated antenna).,1 x USB OTG,1x USB Host<br />
|<br />
| 145 €<br />
| IGEPv2 running Ubuntu 9.04<br />
| http://www.igep-platform.com/index.php?option=com_content&view=article&id=46&Itemid=55<br />
|-<br />
| 3<br />
| Em-x270<br />
| Intel's XScale PXA270 CPU, up to 520 MHz<br />
| 128 Mbyte SDRAM <br />
| 512 Mbyte Flash Disk<br />
| WLAN / WiFi 802.11b/g Interface,Bluetooth interface,Slave and host USB ports, including keyboard and mouse support,100 Mbps Ethernet port<br />
| 0.2 - 2 W<br />
| 76 $<br />
| ce OR linux<br />
| http://www.compulab.co.il/x270cm/html/x270-cm-datasheet.htm<br />
|-<br />
| 4<br />
| S3C2440 Core Board II <br />
| Samsung S3C2440A based on ARM920T, 400MHz<br />
| 64MB SDRAM<br />
| 64MB NAND Flash<br />
| 2-ch USB Host controller / 1-ch USB Device controller (ver 1.1),Camera interface ,(Max. 4096 x 4096 pixels input support. 2048 x 2048 pixel input support for scaling)<br />
| <br />
| 110$<br />
| Windows CE4.2/5.0, 6.0 and Linux2.6<br />
| http://www.embedinfo.com/en/list.asp?id=64<br />
|-<br />
| 5<br />
| Overo™ Air COM [GUM3503A]<br />
| OMAP 3503 Application Processor with ARM Cortex-A8 CPU 600 MHz<br />
| 256MB RAM<br />
| 256MB Flash<br />
| 802.11(g) and Bluetooth®,USB OTG signals, USB HS Host<br />
| <br />
| 199$<br />
| Linux 2.6.31 or higher OpenEmbedded<br />
| http://www.gumstix.com/store/catalog/product_info.php?products_id=226<br />
|-<br />
| 6<br />
| MX31 TurboG5 Module<br />
| Freescale i.MX31 @ 532MHz<br />
| 128 MB of Mobile DDR<br />
| 32 MB of Flash<br />
| Support for 802.11b/g embedded wireless module,One SD/MMC card slot,One USB 2.0 On-The-Go (OTG) port (H/F/L speed),One USB 2.0 host port (H/F/L speeds),One Camera Sensor Interface,One 10/100BASE-T Ethernet port<br />
| <br />
|<br />
| Windows CE 5.0 and 6.0 Linux<br />
| http://www.eurotech-inc.com/single-board-computer-imx31-com-turbog5.asp<br />
|-<br />
|}<br />
<br />
<br />
<br />
==Motor Suggestion ==<br />
<br />
http://www.pololu.com/catalog/product/1092<br />
<br />
no load speed: 500 rpm<br />
stall torque: 29 kg-cm ~= 0.282 Nm<br />
<br />
maximum power output = Pmax = 26.190 rad/s * 0.141 Nm = 3.692 W<br />
occuring at W= 250 rpm and t=0.141 Nm<br />
<br />
<br />
http://www.pololu.com/catalog/product/1085/<br />
<br />
no load speed: 470 rpm<br />
stall torque : 7 oz ( 0.5 kg-cm ) ~= 0.049 Nm<br />
<br />
maximum power output = Pmax = 24.619 rad/s * 0.0245 Nm = 0.603 W<br />
occuring at W=235 rpm and t = 0.0245 Nm<br />
<br />
calculations made according to the reference paper at the link<br />
http://lancet.mit.edu/motors/motors3.html<br />
http://lancet.mit.edu/motors/motors4.html<br />
<br />
== Wheel Specification ==<br />
<br />
=== 2052-3/8X CAT-TRAK ===<br />
Description <br />
[[Image:FXA314-2T.jpg|right]] <br />
*Standard 2" O.D. - 3/8" Bore Double Row<br />
*Metric 49.2mm O.D. - 9.5mm Plain Bore.<br />
*Recommended max load.<br />
**Steel Bottom = 25 lbs. 11.3kg.<br />
**Plywood Surface = 15 lbs. 6.8kg.<br />
*200# Test Corrugated Bottom = 10 lbs. 4.5kg.<br />
*Weight = 1.75 oz.<br />
*Synthetic rubber coated polypropylene rollers.<br />
*Price:$7.48.<br />
*Source: http://store.kornylak.com/ProductDetails.asp?ProductCode=FXA314<br />
<br />
<br />
=== 2052BX CAT-TRAK ===<br />
<br />
Description<br />
<br />
[[Image:FXA317-2T.jpg|right]]<br />
*Standard 2" O.D. - 1/4" I.D. Bushing Double Row<br />
*Metric 49.2mm O.D. - 6.35mm Bushing<br />
*Recommended max load <br />
**Steel Bottom = 25 lbs. 11.3kg<br />
**Plywood Surface = 15 lbs. 6.8kg<br />
*200# Test Corrugated Bottom = 10 lbs. 4.5kg<br />
*Weight = 1.75 oz<br />
*Synthetic rubber coated polypropylene rollers.<br />
*Price :$7.48<br />
*Source: http://store.kornylak.com/ProductDetails.asp?ProductCode=FXA317<br />
<br />
<br />
=== 2052KX CAT-TRAK ===<br />
Description <br />
[[Image:FXA315-2T.jpg|right]]<br />
*Standard 2" O.D. - 1/2" Bore Double Row w/ Keyway<br />
*Metric 49.2mm O.D. - 12.7mm Bore w/ Keyway<br />
*Recommended max load <br />
**Steel Bottom = 25 lbs. 11.3kg<br />
**Plywood Surface = 15 lbs. 6.8kg<br />
*200# Test Corrugated Bottom = 10 lbs. 4.5kg<br />
*Weight = 1.75 oz<br />
*Synthetic rubber coated polypropylene rollers. <br />
*Price :$7.48<br />
*Source: http://store.kornylak.com/ProductDetails.asp?ProductCode=FXA315</div>AnilKoyuncuhttps://airwiki.elet.polimi.it/index.php?title=Talk:RunBot:_a_Robogame_Robot&diff=11838Talk:RunBot: a Robogame Robot2010-06-16T11:26:11Z<p>AnilKoyuncu: /* Camera */</p>
<hr />
<div>Requirements<br />
<br />
The robot should have:<br />
* a dimension of about 25cm of radius, 20 cm height<br />
* a speed of about 1 m/sec<br />
* omnidirectional movement (Kamro wheels)<br />
* sensors to avoid obstacles (sonars)<br />
* a camera that can be moved up and down (and eventually left and right)<br />
* wireless connection to a computer (Wi-fi)<br />
* Bluetooth connection<br />
* have power enough to move and transmit for at least 2 hours without recharging<br />
* Have the possibility to recharge autonomously<br />
<br />
The robot should cost as less as possible<br />
<br />
[[Media:Order list.pdf|File with considerations on parts to be ordered]]<br />
<br />
<br />
TO DO<br />
<br />
* Select HW <br />
** ST ARM HW (ask Martino Migliavacca <martino.migliavacca@gmail.com>, GUMSTIX (http://www.gumstix.org/), ARDUINO (http://www.freeduino.org/), other...)<br />
** Engines (WWW.robot-Italy.com, http://www.jonathan.it/)<br />
** batteries (above, or standard A, AA or AAA type)<br />
** Camera (ST smart cameras, with Ethernet wired link)<br />
** Sonar (already available (see ROBOWII2.0))<br />
** Blue tooth and WI-FI<br />
<br />
* Design body (structure and appearance), sensor placement, eventual movements of the camera<br />
* Implement the robot<br />
* test the robot with a simple game (e.g. [[RoboWII2.0]])<br />
<br />
== Design of The Robot ==<br />
[[Image:Model.JPG]]<br />
<br />
== Mice ==<br />
[[Image:Lens_setup.JPG]]<br><br />
The results obtained so far with that setup is in the pdf file below.<br><br />
[[Media:Image_of_mice.pdf|The results obtained so far]]<br />
<br />
<br />
<br />
== Camera (Will be updated soon) ==<br />
The demo software given by ST is used in order to test the colr blob detection. <br><br />
<br><br />
Detecting 3 blob color<br><br />
[[Image:Detect_3.JPG ]] <br><br />
Detecting 4 blob color<br><br />
[[Image:Detect_4.JPG ]] <br><br />
<br />
== Motion Control ==<br />
<br />
<br />
<br />
[[Image:M_control.JPG]]<br />
<br />
The angle between each wheel is 2*pi/3, which 120 degree.<br><br />
The front wheels are making a pi/6 angle between the ground.<br><br />
The positions of the wheels in the coordinate system is as follows.<br><br />
Wheel 1 is (cos(pi/6),sin(pi/6)) = (0.866,0.5)<br><br />
Wheel 2 is (cos(pi/6),sin(pi/6)) = (0.866,0.5)<br><br />
Wheel 3 is (cos(3*pi/2),sin(3*pi/2))=(0,-1)<br><br />
<br><br />
I wrote simulations in matlab, in two ways.<br><br />
The first one is using the TriskarOdometry directly, and estimates the <br />
necessary wheel speeds to reach the desired frontal, lateral and angular <br />
speed of the robot.<br><br />
The second one is instead giving the motor speeds in terms of rotations and <br />
estimates the frontal ,lateral ,angular speed of the robot according to motor<br />
speeds.<br><br />
<br><br />
The matlab code for the motion control simulation is consist of the following files:<br><br />
<br><br />
-motor_speed.m --This file which takes the motor speed as input and <br />
calculates the Vf,Vl,w of the robot.<br><br />
-TriskarOdometry.m --Giving the input Vf,Vl,w calculates the motor speed<br><br />
-trajectory.m --The function which draws some trajectories based on the <br />
following schema<br><br />
1) DIRECT MOVEMENT<br />
THE HEAD OF THE ROBOT ALWAYS LOOKING IN A FIXED DIRECTION<br />
2) ANGULAR MOVEMENT<br />
THE ROBOT WILL MOVE IN A CIRCULAR TRAJECTORY WITH FIXED HEAD<br />
DIRECTION<br />
3) SPIN & GO<br />
THE ROBOT EITHER GOES ANGULAR BUT THE HEAD POSITION<br />
IS ALSO CHANGES<br />
4) SPIN & GO DIRECT<br />
THE ROBOT EITHER GOES DIRECT BUT THE HEAD POSITION<br />
IS ALSO CHANGES<br />
-direc_motion.m --DIRECT MOVEMENT <br><br />
-angular_motion.m --ANGULAR MOVEMENT <br><br />
-spin_go.m -- SPIN & GO <br><br />
-spin_go_d.m --SPIN & GO DIRECT <br><br />
-draw_arrow.m --A function that is used to draw arrow. <br><br />
[[Media:Mc.zip|File with the matlab files listed above.]]<br />
<br />
<br />
== Processor Comparison ==<br />
<br />
This is the processor comparison table, the cells without entry is left blank<br />
<br />
{| class="wikitable" border="1"<br />
|-<br />
! <br />
! Name<br />
! Clock Speed<br />
! Ram<br />
! Storage<br />
! Onboard Devices<br />
! Power Consumption<br />
! Price<br />
! OS<br />
! Source Page<br />
|-<br />
| 1<br />
| ESOM270<br />
| PXA270@520MHz<br />
| 128 MB SDRAM <br />
| 32 MB FLASH PMIC<br />
| USB device,Camera interface(QCI),USB host<br />
| 0.8 W @ Full running Mode,100mW @ Deep Sleep mode<br />
| 76 €<br />
| Comes with preinstalled uboot & Linux 2.6.25 or eboot Windows CE 6.0 R2<br />
| http://www.e-consystems.com/esom270.asp<br />
|-<br />
| 2<br />
| IGEPv2 BOARD<br />
| OMAP3530@720 Mhz<br />
| 512MB RAM <br />
| 512MB ONENAND-FLASH<br />
| Ethernet 10/100 Mb BaseT.,Wifi IEEE 802.11b/g + Bluetooth 2.0 (Integrated antenna).,1 x USB OTG,1x USB Host<br />
|<br />
| 145 €<br />
| IGEPv2 running Ubuntu 9.04<br />
| http://www.igep-platform.com/index.php?option=com_content&view=article&id=46&Itemid=55<br />
|-<br />
| 3<br />
| Em-x270<br />
| Intel's XScale PXA270 CPU, up to 520 MHz<br />
| 128 Mbyte SDRAM <br />
| 512 Mbyte Flash Disk<br />
| WLAN / WiFi 802.11b/g Interface,Bluetooth interface,Slave and host USB ports, including keyboard and mouse support,100 Mbps Ethernet port<br />
| 0.2 - 2 W<br />
| 76 $<br />
| ce OR linux<br />
| http://www.compulab.co.il/x270cm/html/x270-cm-datasheet.htm<br />
|-<br />
| 4<br />
| S3C2440 Core Board II <br />
| Samsung S3C2440A based on ARM920T, 400MHz<br />
| 64MB SDRAM<br />
| 64MB NAND Flash<br />
| 2-ch USB Host controller / 1-ch USB Device controller (ver 1.1),Camera interface ,(Max. 4096 x 4096 pixels input support. 2048 x 2048 pixel input support for scaling)<br />
| <br />
| 110$<br />
| Windows CE4.2/5.0, 6.0 and Linux2.6<br />
| http://www.embedinfo.com/en/list.asp?id=64<br />
|-<br />
| 5<br />
| Overo™ Air COM [GUM3503A]<br />
| OMAP 3503 Application Processor with ARM Cortex-A8 CPU 600 MHz<br />
| 256MB RAM<br />
| 256MB Flash<br />
| 802.11(g) and Bluetooth®,USB OTG signals, USB HS Host<br />
| <br />
| 199$<br />
| Linux 2.6.31 or higher OpenEmbedded<br />
| http://www.gumstix.com/store/catalog/product_info.php?products_id=226<br />
|-<br />
| 6<br />
| MX31 TurboG5 Module<br />
| Freescale i.MX31 @ 532MHz<br />
| 128 MB of Mobile DDR<br />
| 32 MB of Flash<br />
| Support for 802.11b/g embedded wireless module,One SD/MMC card slot,One USB 2.0 On-The-Go (OTG) port (H/F/L speed),One USB 2.0 host port (H/F/L speeds),One Camera Sensor Interface,One 10/100BASE-T Ethernet port<br />
| <br />
|<br />
| Windows CE 5.0 and 6.0 Linux<br />
| http://www.eurotech-inc.com/single-board-computer-imx31-com-turbog5.asp<br />
|-<br />
|}<br />
<br />
<br />
<br />
==Motor Suggestion ==<br />
<br />
http://www.pololu.com/catalog/product/1092<br />
<br />
no load speed: 500 rpm<br />
stall torque: 29 kg-cm ~= 0.282 Nm<br />
<br />
maximum power output = Pmax = 26.190 rad/s * 0.141 Nm = 3.692 W<br />
occuring at W= 250 rpm and t=0.141 Nm<br />
<br />
<br />
http://www.pololu.com/catalog/product/1085/<br />
<br />
no load speed: 470 rpm<br />
stall torque : 7 oz ( 0.5 kg-cm ) ~= 0.049 Nm<br />
<br />
maximum power output = Pmax = 24.619 rad/s * 0.0245 Nm = 0.603 W<br />
occuring at W=235 rpm and t = 0.0245 Nm<br />
<br />
calculations made according to the reference paper at the link<br />
http://lancet.mit.edu/motors/motors3.html<br />
http://lancet.mit.edu/motors/motors4.html<br />
<br />
== Wheel Specification ==<br />
<br />
=== 2052-3/8X CAT-TRAK ===<br />
Description <br />
[[Image:FXA314-2T.jpg|right]] <br />
*Standard 2" O.D. - 3/8" Bore Double Row<br />
*Metric 49.2mm O.D. - 9.5mm Plain Bore.<br />
*Recommended max load.<br />
**Steel Bottom = 25 lbs. 11.3kg.<br />
**Plywood Surface = 15 lbs. 6.8kg.<br />
*200# Test Corrugated Bottom = 10 lbs. 4.5kg.<br />
*Weight = 1.75 oz.<br />
*Synthetic rubber coated polypropylene rollers.<br />
*Price:$7.48.<br />
*Source: http://store.kornylak.com/ProductDetails.asp?ProductCode=FXA314<br />
<br />
<br />
=== 2052BX CAT-TRAK ===<br />
<br />
Description<br />
<br />
[[Image:FXA317-2T.jpg|right]]<br />
*Standard 2" O.D. - 1/4" I.D. Bushing Double Row<br />
*Metric 49.2mm O.D. - 6.35mm Bushing<br />
*Recommended max load <br />
**Steel Bottom = 25 lbs. 11.3kg<br />
**Plywood Surface = 15 lbs. 6.8kg<br />
*200# Test Corrugated Bottom = 10 lbs. 4.5kg<br />
*Weight = 1.75 oz<br />
*Synthetic rubber coated polypropylene rollers.<br />
*Price :$7.48<br />
*Source: http://store.kornylak.com/ProductDetails.asp?ProductCode=FXA317<br />
<br />
<br />
=== 2052KX CAT-TRAK ===<br />
Description <br />
[[Image:FXA315-2T.jpg|right]]<br />
*Standard 2" O.D. - 1/2" Bore Double Row w/ Keyway<br />
*Metric 49.2mm O.D. - 12.7mm Bore w/ Keyway<br />
*Recommended max load <br />
**Steel Bottom = 25 lbs. 11.3kg<br />
**Plywood Surface = 15 lbs. 6.8kg<br />
*200# Test Corrugated Bottom = 10 lbs. 4.5kg<br />
*Weight = 1.75 oz<br />
*Synthetic rubber coated polypropylene rollers. <br />
*Price :$7.48<br />
*Source: http://store.kornylak.com/ProductDetails.asp?ProductCode=FXA315</div>AnilKoyuncuhttps://airwiki.elet.polimi.it/index.php?title=File:Detect_4.JPG&diff=11837File:Detect 4.JPG2010-06-16T11:24:11Z<p>AnilKoyuncu: 4 colors detected using ST demo software</p>
<hr />
<div>4 colors detected using ST demo software</div>AnilKoyuncuhttps://airwiki.elet.polimi.it/index.php?title=File:Detect_3.JPG&diff=11836File:Detect 3.JPG2010-06-16T11:23:40Z<p>AnilKoyuncu: Three colors detected using ST demo software.</p>
<hr />
<div>Three colors detected using ST demo software.</div>AnilKoyuncuhttps://airwiki.elet.polimi.it/index.php?title=Talk:RunBot:_a_Robogame_Robot&diff=11835Talk:RunBot: a Robogame Robot2010-06-16T11:20:57Z<p>AnilKoyuncu: </p>
<hr />
<div>Requirements<br />
<br />
The robot should have:<br />
* a dimension of about 25cm of radius, 20 cm height<br />
* a speed of about 1 m/sec<br />
* omnidirectional movement (Kamro wheels)<br />
* sensors to avoid obstacles (sonars)<br />
* a camera that can be moved up and down (and eventually left and right)<br />
* wireless connection to a computer (Wi-fi)<br />
* Bluetooth connection<br />
* have power enough to move and transmit for at least 2 hours without recharging<br />
* Have the possibility to recharge autonomously<br />
<br />
The robot should cost as less as possible<br />
<br />
[[Media:Order list.pdf|File with considerations on parts to be ordered]]<br />
<br />
<br />
TO DO<br />
<br />
* Select HW <br />
** ST ARM HW (ask Martino Migliavacca <martino.migliavacca@gmail.com>, GUMSTIX (http://www.gumstix.org/), ARDUINO (http://www.freeduino.org/), other...)<br />
** Engines (WWW.robot-Italy.com, http://www.jonathan.it/)<br />
** batteries (above, or standard A, AA or AAA type)<br />
** Camera (ST smart cameras, with Ethernet wired link)<br />
** Sonar (already available (see ROBOWII2.0))<br />
** Blue tooth and WI-FI<br />
<br />
* Design body (structure and appearance), sensor placement, eventual movements of the camera<br />
* Implement the robot<br />
* test the robot with a simple game (e.g. [[RoboWII2.0]])<br />
<br />
== Design of The Robot ==<br />
[[Image:Model.JPG]]<br />
<br />
== Mice ==<br />
[[Image:Lens_setup.JPG]]<br><br />
The results obtained so far with that setup is in the pdf file below.<br><br />
[[Media:Image_of_mice.pdf|The results obtained so far]]<br />
<br />
<br />
<br />
== Camera (Will be updated soon) ==<br />
<br />
<br />
== Motion Control ==<br />
<br />
<br />
<br />
[[Image:M_control.JPG]]<br />
<br />
The angle between each wheel is 2*pi/3, which 120 degree.<br><br />
The front wheels are making a pi/6 angle between the ground.<br><br />
The positions of the wheels in the coordinate system is as follows.<br><br />
Wheel 1 is (cos(pi/6),sin(pi/6)) = (0.866,0.5)<br><br />
Wheel 2 is (cos(pi/6),sin(pi/6)) = (0.866,0.5)<br><br />
Wheel 3 is (cos(3*pi/2),sin(3*pi/2))=(0,-1)<br><br />
<br><br />
I wrote simulations in matlab, in two ways.<br><br />
The first one is using the TriskarOdometry directly, and estimates the <br />
necessary wheel speeds to reach the desired frontal, lateral and angular <br />
speed of the robot.<br><br />
The second one is instead giving the motor speeds in terms of rotations and <br />
estimates the frontal ,lateral ,angular speed of the robot according to motor<br />
speeds.<br><br />
<br><br />
The matlab code for the motion control simulation is consist of the following files:<br><br />
<br><br />
-motor_speed.m --This file which takes the motor speed as input and <br />
calculates the Vf,Vl,w of the robot.<br><br />
-TriskarOdometry.m --Giving the input Vf,Vl,w calculates the motor speed<br><br />
-trajectory.m --The function which draws some trajectories based on the <br />
following schema<br><br />
1) DIRECT MOVEMENT<br />
THE HEAD OF THE ROBOT ALWAYS LOOKING IN A FIXED DIRECTION<br />
2) ANGULAR MOVEMENT<br />
THE ROBOT WILL MOVE IN A CIRCULAR TRAJECTORY WITH FIXED HEAD<br />
DIRECTION<br />
3) SPIN & GO<br />
THE ROBOT EITHER GOES ANGULAR BUT THE HEAD POSITION<br />
IS ALSO CHANGES<br />
4) SPIN & GO DIRECT<br />
THE ROBOT EITHER GOES DIRECT BUT THE HEAD POSITION<br />
IS ALSO CHANGES<br />
-direc_motion.m --DIRECT MOVEMENT <br><br />
-angular_motion.m --ANGULAR MOVEMENT <br><br />
-spin_go.m -- SPIN & GO <br><br />
-spin_go_d.m --SPIN & GO DIRECT <br><br />
-draw_arrow.m --A function that is used to draw arrow. <br><br />
[[Media:Mc.zip|File with the matlab files listed above.]]<br />
<br />
<br />
== Processor Comparison ==<br />
<br />
This is the processor comparison table, the cells without entry is left blank<br />
<br />
{| class="wikitable" border="1"<br />
|-<br />
! <br />
! Name<br />
! Clock Speed<br />
! Ram<br />
! Storage<br />
! Onboard Devices<br />
! Power Consumption<br />
! Price<br />
! OS<br />
! Source Page<br />
|-<br />
| 1<br />
| ESOM270<br />
| PXA270@520MHz<br />
| 128 MB SDRAM <br />
| 32 MB FLASH PMIC<br />
| USB device,Camera interface(QCI),USB host<br />
| 0.8 W @ Full running Mode,100mW @ Deep Sleep mode<br />
| 76 €<br />
| Comes with preinstalled uboot & Linux 2.6.25 or eboot Windows CE 6.0 R2<br />
| http://www.e-consystems.com/esom270.asp<br />
|-<br />
| 2<br />
| IGEPv2 BOARD<br />
| OMAP3530@720 Mhz<br />
| 512MB RAM <br />
| 512MB ONENAND-FLASH<br />
| Ethernet 10/100 Mb BaseT.,Wifi IEEE 802.11b/g + Bluetooth 2.0 (Integrated antenna).,1 x USB OTG,1x USB Host<br />
|<br />
| 145 €<br />
| IGEPv2 running Ubuntu 9.04<br />
| http://www.igep-platform.com/index.php?option=com_content&view=article&id=46&Itemid=55<br />
|-<br />
| 3<br />
| Em-x270<br />
| Intel's XScale PXA270 CPU, up to 520 MHz<br />
| 128 Mbyte SDRAM <br />
| 512 Mbyte Flash Disk<br />
| WLAN / WiFi 802.11b/g Interface,Bluetooth interface,Slave and host USB ports, including keyboard and mouse support,100 Mbps Ethernet port<br />
| 0.2 - 2 W<br />
| 76 $<br />
| ce OR linux<br />
| http://www.compulab.co.il/x270cm/html/x270-cm-datasheet.htm<br />
|-<br />
| 4<br />
| S3C2440 Core Board II <br />
| Samsung S3C2440A based on ARM920T, 400MHz<br />
| 64MB SDRAM<br />
| 64MB NAND Flash<br />
| 2-ch USB Host controller / 1-ch USB Device controller (ver 1.1),Camera interface ,(Max. 4096 x 4096 pixels input support. 2048 x 2048 pixel input support for scaling)<br />
| <br />
| 110$<br />
| Windows CE4.2/5.0, 6.0 and Linux2.6<br />
| http://www.embedinfo.com/en/list.asp?id=64<br />
|-<br />
| 5<br />
| Overo™ Air COM [GUM3503A]<br />
| OMAP 3503 Application Processor with ARM Cortex-A8 CPU 600 MHz<br />
| 256MB RAM<br />
| 256MB Flash<br />
| 802.11(g) and Bluetooth®,USB OTG signals, USB HS Host<br />
| <br />
| 199$<br />
| Linux 2.6.31 or higher OpenEmbedded<br />
| http://www.gumstix.com/store/catalog/product_info.php?products_id=226<br />
|-<br />
| 6<br />
| MX31 TurboG5 Module<br />
| Freescale i.MX31 @ 532MHz<br />
| 128 MB of Mobile DDR<br />
| 32 MB of Flash<br />
| Support for 802.11b/g embedded wireless module,One SD/MMC card slot,One USB 2.0 On-The-Go (OTG) port (H/F/L speed),One USB 2.0 host port (H/F/L speeds),One Camera Sensor Interface,One 10/100BASE-T Ethernet port<br />
| <br />
|<br />
| Windows CE 5.0 and 6.0 Linux<br />
| http://www.eurotech-inc.com/single-board-computer-imx31-com-turbog5.asp<br />
|-<br />
|}<br />
<br />
<br />
<br />
==Motor Suggestion ==<br />
<br />
http://www.pololu.com/catalog/product/1092<br />
<br />
no load speed: 500 rpm<br />
stall torque: 29 kg-cm ~= 0.282 Nm<br />
<br />
maximum power output = Pmax = 26.190 rad/s * 0.141 Nm = 3.692 W<br />
occuring at W= 250 rpm and t=0.141 Nm<br />
<br />
<br />
http://www.pololu.com/catalog/product/1085/<br />
<br />
no load speed: 470 rpm<br />
stall torque : 7 oz ( 0.5 kg-cm ) ~= 0.049 Nm<br />
<br />
maximum power output = Pmax = 24.619 rad/s * 0.0245 Nm = 0.603 W<br />
occuring at W=235 rpm and t = 0.0245 Nm<br />
<br />
calculations made according to the reference paper at the link<br />
http://lancet.mit.edu/motors/motors3.html<br />
http://lancet.mit.edu/motors/motors4.html<br />
<br />
== Wheel Specification ==<br />
<br />
=== 2052-3/8X CAT-TRAK ===<br />
Description <br />
[[Image:FXA314-2T.jpg|right]] <br />
*Standard 2" O.D. - 3/8" Bore Double Row<br />
*Metric 49.2mm O.D. - 9.5mm Plain Bore.<br />
*Recommended max load.<br />
**Steel Bottom = 25 lbs. 11.3kg.<br />
**Plywood Surface = 15 lbs. 6.8kg.<br />
*200# Test Corrugated Bottom = 10 lbs. 4.5kg.<br />
*Weight = 1.75 oz.<br />
*Synthetic rubber coated polypropylene rollers.<br />
*Price:$7.48.<br />
*Source: http://store.kornylak.com/ProductDetails.asp?ProductCode=FXA314<br />
<br />
<br />
=== 2052BX CAT-TRAK ===<br />
<br />
Description<br />
<br />
[[Image:FXA317-2T.jpg|right]]<br />
*Standard 2" O.D. - 1/4" I.D. Bushing Double Row<br />
*Metric 49.2mm O.D. - 6.35mm Bushing<br />
*Recommended max load <br />
**Steel Bottom = 25 lbs. 11.3kg<br />
**Plywood Surface = 15 lbs. 6.8kg<br />
*200# Test Corrugated Bottom = 10 lbs. 4.5kg<br />
*Weight = 1.75 oz<br />
*Synthetic rubber coated polypropylene rollers.<br />
*Price :$7.48<br />
*Source: http://store.kornylak.com/ProductDetails.asp?ProductCode=FXA317<br />
<br />
<br />
=== 2052KX CAT-TRAK ===<br />
Description <br />
[[Image:FXA315-2T.jpg|right]]<br />
*Standard 2" O.D. - 1/2" Bore Double Row w/ Keyway<br />
*Metric 49.2mm O.D. - 12.7mm Bore w/ Keyway<br />
*Recommended max load <br />
**Steel Bottom = 25 lbs. 11.3kg<br />
**Plywood Surface = 15 lbs. 6.8kg<br />
*200# Test Corrugated Bottom = 10 lbs. 4.5kg<br />
*Weight = 1.75 oz<br />
*Synthetic rubber coated polypropylene rollers. <br />
*Price :$7.48<br />
*Source: http://store.kornylak.com/ProductDetails.asp?ProductCode=FXA315</div>AnilKoyuncuhttps://airwiki.elet.polimi.it/index.php?title=File:Model.JPG&diff=11834File:Model.JPG2010-06-16T11:20:41Z<p>AnilKoyuncu: The design of the robot model</p>
<hr />
<div>The design of the robot model</div>AnilKoyuncuhttps://airwiki.elet.polimi.it/index.php?title=Talk:RunBot:_a_Robogame_Robot&diff=11833Talk:RunBot: a Robogame Robot2010-06-16T11:16:44Z<p>AnilKoyuncu: /* Mice */</p>
<hr />
<div>Requirements<br />
<br />
The robot should have:<br />
* a dimension of about 25cm of radius, 20 cm height<br />
* a speed of about 1 m/sec<br />
* omnidirectional movement (Kamro wheels)<br />
* sensors to avoid obstacles (sonars)<br />
* a camera that can be moved up and down (and eventually left and right)<br />
* wireless connection to a computer (Wi-fi)<br />
* Bluetooth connection<br />
* have power enough to move and transmit for at least 2 hours without recharging<br />
* Have the possibility to recharge autonomously<br />
<br />
The robot should cost as less as possible<br />
<br />
[[Media:Order list.pdf|File with considerations on parts to be ordered]]<br />
<br />
<br />
TO DO<br />
<br />
* Select HW <br />
** ST ARM HW (ask Martino Migliavacca <martino.migliavacca@gmail.com>, GUMSTIX (http://www.gumstix.org/), ARDUINO (http://www.freeduino.org/), other...)<br />
** Engines (WWW.robot-Italy.com, http://www.jonathan.it/)<br />
** batteries (above, or standard A, AA or AAA type)<br />
** Camera (ST smart cameras, with Ethernet wired link)<br />
** Sonar (already available (see ROBOWII2.0))<br />
** Blue tooth and WI-FI<br />
<br />
* Design body (structure and appearance), sensor placement, eventual movements of the camera<br />
* Implement the robot<br />
* test the robot with a simple game (e.g. [[RoboWII2.0]])<br />
<br />
<br />
== Mice ==<br />
[[Image:Lens_setup.JPG]]<br><br />
The results obtained so far with that setup is in the pdf file below.<br><br />
[[Media:Image_of_mice.pdf|The results obtained so far]]<br />
<br />
== Camera (Will be updated soon) ==<br />
<br />
<br />
== Motion Control ==<br />
<br />
<br />
<br />
[[Image:M_control.JPG]]<br />
<br />
The angle between each wheel is 2*pi/3, which 120 degree.<br><br />
The front wheels are making a pi/6 angle between the ground.<br><br />
The positions of the wheels in the coordinate system is as follows.<br><br />
Wheel 1 is (cos(pi/6),sin(pi/6)) = (0.866,0.5)<br><br />
Wheel 2 is (cos(pi/6),sin(pi/6)) = (0.866,0.5)<br><br />
Wheel 3 is (cos(3*pi/2),sin(3*pi/2))=(0,-1)<br><br />
<br><br />
I wrote simulations in matlab, in two ways.<br><br />
The first one is using the TriskarOdometry directly, and estimates the <br />
necessary wheel speeds to reach the desired frontal, lateral and angular <br />
speed of the robot.<br><br />
The second one is instead giving the motor speeds in terms of rotations and <br />
estimates the frontal ,lateral ,angular speed of the robot according to motor<br />
speeds.<br><br />
<br><br />
The matlab code for the motion control simulation is consist of the following files:<br><br />
<br><br />
-motor_speed.m --This file which takes the motor speed as input and <br />
calculates the Vf,Vl,w of the robot.<br><br />
-TriskarOdometry.m --Giving the input Vf,Vl,w calculates the motor speed<br><br />
-trajectory.m --The function which draws some trajectories based on the <br />
following schema<br><br />
1) DIRECT MOVEMENT<br />
THE HEAD OF THE ROBOT ALWAYS LOOKING IN A FIXED DIRECTION<br />
2) ANGULAR MOVEMENT<br />
THE ROBOT WILL MOVE IN A CIRCULAR TRAJECTORY WITH FIXED HEAD<br />
DIRECTION<br />
3) SPIN & GO<br />
THE ROBOT EITHER GOES ANGULAR BUT THE HEAD POSITION<br />
IS ALSO CHANGES<br />
4) SPIN & GO DIRECT<br />
THE ROBOT EITHER GOES DIRECT BUT THE HEAD POSITION<br />
IS ALSO CHANGES<br />
-direc_motion.m --DIRECT MOVEMENT <br><br />
-angular_motion.m --ANGULAR MOVEMENT <br><br />
-spin_go.m -- SPIN & GO <br><br />
-spin_go_d.m --SPIN & GO DIRECT <br><br />
-draw_arrow.m --A function that is used to draw arrow. <br><br />
[[Media:Mc.zip|File with the matlab files listed above.]]<br />
<br />
<br />
== Processor Comparison ==<br />
<br />
This is the processor comparison table, the cells without entry is left blank<br />
<br />
{| class="wikitable" border="1"<br />
|-<br />
! <br />
! Name<br />
! Clock Speed<br />
! Ram<br />
! Storage<br />
! Onboard Devices<br />
! Power Consumption<br />
! Price<br />
! OS<br />
! Source Page<br />
|-<br />
| 1<br />
| ESOM270<br />
| PXA270@520MHz<br />
| 128 MB SDRAM <br />
| 32 MB FLASH PMIC<br />
| USB device,Camera interface(QCI),USB host<br />
| 0.8 W @ Full running Mode,100mW @ Deep Sleep mode<br />
| 76 €<br />
| Comes with preinstalled uboot & Linux 2.6.25 or eboot Windows CE 6.0 R2<br />
| http://www.e-consystems.com/esom270.asp<br />
|-<br />
| 2<br />
| IGEPv2 BOARD<br />
| OMAP3530@720 Mhz<br />
| 512MB RAM <br />
| 512MB ONENAND-FLASH<br />
| Ethernet 10/100 Mb BaseT.,Wifi IEEE 802.11b/g + Bluetooth 2.0 (Integrated antenna).,1 x USB OTG,1x USB Host<br />
|<br />
| 145 €<br />
| IGEPv2 running Ubuntu 9.04<br />
| http://www.igep-platform.com/index.php?option=com_content&view=article&id=46&Itemid=55<br />
|-<br />
| 3<br />
| Em-x270<br />
| Intel's XScale PXA270 CPU, up to 520 MHz<br />
| 128 Mbyte SDRAM <br />
| 512 Mbyte Flash Disk<br />
| WLAN / WiFi 802.11b/g Interface,Bluetooth interface,Slave and host USB ports, including keyboard and mouse support,100 Mbps Ethernet port<br />
| 0.2 - 2 W<br />
| 76 $<br />
| ce OR linux<br />
| http://www.compulab.co.il/x270cm/html/x270-cm-datasheet.htm<br />
|-<br />
| 4<br />
| S3C2440 Core Board II <br />
| Samsung S3C2440A based on ARM920T, 400MHz<br />
| 64MB SDRAM<br />
| 64MB NAND Flash<br />
| 2-ch USB Host controller / 1-ch USB Device controller (ver 1.1),Camera interface ,(Max. 4096 x 4096 pixels input support. 2048 x 2048 pixel input support for scaling)<br />
| <br />
| 110$<br />
| Windows CE4.2/5.0, 6.0 and Linux2.6<br />
| http://www.embedinfo.com/en/list.asp?id=64<br />
|-<br />
| 5<br />
| Overo™ Air COM [GUM3503A]<br />
| OMAP 3503 Application Processor with ARM Cortex-A8 CPU 600 MHz<br />
| 256MB RAM<br />
| 256MB Flash<br />
| 802.11(g) and Bluetooth®,USB OTG signals, USB HS Host<br />
| <br />
| 199$<br />
| Linux 2.6.31 or higher OpenEmbedded<br />
| http://www.gumstix.com/store/catalog/product_info.php?products_id=226<br />
|-<br />
| 6<br />
| MX31 TurboG5 Module<br />
| Freescale i.MX31 @ 532MHz<br />
| 128 MB of Mobile DDR<br />
| 32 MB of Flash<br />
| Support for 802.11b/g embedded wireless module,One SD/MMC card slot,One USB 2.0 On-The-Go (OTG) port (H/F/L speed),One USB 2.0 host port (H/F/L speeds),One Camera Sensor Interface,One 10/100BASE-T Ethernet port<br />
| <br />
|<br />
| Windows CE 5.0 and 6.0 Linux<br />
| http://www.eurotech-inc.com/single-board-computer-imx31-com-turbog5.asp<br />
|-<br />
|}<br />
<br />
<br />
<br />
==Motor Suggestion ==<br />
<br />
http://www.pololu.com/catalog/product/1092<br />
<br />
no load speed: 500 rpm<br />
stall torque: 29 kg-cm ~= 0.282 Nm<br />
<br />
maximum power output = Pmax = 26.190 rad/s * 0.141 Nm = 3.692 W<br />
occuring at W= 250 rpm and t=0.141 Nm<br />
<br />
<br />
http://www.pololu.com/catalog/product/1085/<br />
<br />
no load speed: 470 rpm<br />
stall torque : 7 oz ( 0.5 kg-cm ) ~= 0.049 Nm<br />
<br />
maximum power output = Pmax = 24.619 rad/s * 0.0245 Nm = 0.603 W<br />
occuring at W=235 rpm and t = 0.0245 Nm<br />
<br />
calculations made according to the reference paper at the link<br />
http://lancet.mit.edu/motors/motors3.html<br />
http://lancet.mit.edu/motors/motors4.html<br />
<br />
== Wheel Specification ==<br />
<br />
=== 2052-3/8X CAT-TRAK ===<br />
Description <br />
[[Image:FXA314-2T.jpg|right]] <br />
*Standard 2" O.D. - 3/8" Bore Double Row<br />
*Metric 49.2mm O.D. - 9.5mm Plain Bore.<br />
*Recommended max load.<br />
**Steel Bottom = 25 lbs. 11.3kg.<br />
**Plywood Surface = 15 lbs. 6.8kg.<br />
*200# Test Corrugated Bottom = 10 lbs. 4.5kg.<br />
*Weight = 1.75 oz.<br />
*Synthetic rubber coated polypropylene rollers.<br />
*Price:$7.48.<br />
*Source: http://store.kornylak.com/ProductDetails.asp?ProductCode=FXA314<br />
<br />
<br />
=== 2052BX CAT-TRAK ===<br />
<br />
Description<br />
<br />
[[Image:FXA317-2T.jpg|right]]<br />
*Standard 2" O.D. - 1/4" I.D. Bushing Double Row<br />
*Metric 49.2mm O.D. - 6.35mm Bushing<br />
*Recommended max load <br />
**Steel Bottom = 25 lbs. 11.3kg<br />
**Plywood Surface = 15 lbs. 6.8kg<br />
*200# Test Corrugated Bottom = 10 lbs. 4.5kg<br />
*Weight = 1.75 oz<br />
*Synthetic rubber coated polypropylene rollers.<br />
*Price :$7.48<br />
*Source: http://store.kornylak.com/ProductDetails.asp?ProductCode=FXA317<br />
<br />
<br />
=== 2052KX CAT-TRAK ===<br />
Description <br />
[[Image:FXA315-2T.jpg|right]]<br />
*Standard 2" O.D. - 1/2" Bore Double Row w/ Keyway<br />
*Metric 49.2mm O.D. - 12.7mm Bore w/ Keyway<br />
*Recommended max load <br />
**Steel Bottom = 25 lbs. 11.3kg<br />
**Plywood Surface = 15 lbs. 6.8kg<br />
*200# Test Corrugated Bottom = 10 lbs. 4.5kg<br />
*Weight = 1.75 oz<br />
*Synthetic rubber coated polypropylene rollers. <br />
*Price :$7.48<br />
*Source: http://store.kornylak.com/ProductDetails.asp?ProductCode=FXA315</div>AnilKoyuncuhttps://airwiki.elet.polimi.it/index.php?title=Talk:RunBot:_a_Robogame_Robot&diff=11832Talk:RunBot: a Robogame Robot2010-06-16T11:15:31Z<p>AnilKoyuncu: /* Mice */</p>
<hr />
<div>Requirements<br />
<br />
The robot should have:<br />
* a dimension of about 25cm of radius, 20 cm height<br />
* a speed of about 1 m/sec<br />
* omnidirectional movement (Kamro wheels)<br />
* sensors to avoid obstacles (sonars)<br />
* a camera that can be moved up and down (and eventually left and right)<br />
* wireless connection to a computer (Wi-fi)<br />
* Bluetooth connection<br />
* have power enough to move and transmit for at least 2 hours without recharging<br />
* Have the possibility to recharge autonomously<br />
<br />
The robot should cost as less as possible<br />
<br />
[[Media:Order list.pdf|File with considerations on parts to be ordered]]<br />
<br />
<br />
TO DO<br />
<br />
* Select HW <br />
** ST ARM HW (ask Martino Migliavacca <martino.migliavacca@gmail.com>, GUMSTIX (http://www.gumstix.org/), ARDUINO (http://www.freeduino.org/), other...)<br />
** Engines (WWW.robot-Italy.com, http://www.jonathan.it/)<br />
** batteries (above, or standard A, AA or AAA type)<br />
** Camera (ST smart cameras, with Ethernet wired link)<br />
** Sonar (already available (see ROBOWII2.0))<br />
** Blue tooth and WI-FI<br />
<br />
* Design body (structure and appearance), sensor placement, eventual movements of the camera<br />
* Implement the robot<br />
* test the robot with a simple game (e.g. [[RoboWII2.0]])<br />
<br />
<br />
== Mice ==<br />
[[Image:Lens_setup.JPG]]<br />
The results obtained so far with that setup is in the pdf file below.<br />
Image_of_mice.pdf<br />
<br />
== Camera (Will be updated soon) ==<br />
<br />
<br />
== Motion Control ==<br />
<br />
<br />
<br />
[[Image:M_control.JPG]]<br />
<br />
The angle between each wheel is 2*pi/3, which 120 degree.<br><br />
The front wheels are making a pi/6 angle between the ground.<br><br />
The positions of the wheels in the coordinate system is as follows.<br><br />
Wheel 1 is (cos(pi/6),sin(pi/6)) = (0.866,0.5)<br><br />
Wheel 2 is (cos(pi/6),sin(pi/6)) = (0.866,0.5)<br><br />
Wheel 3 is (cos(3*pi/2),sin(3*pi/2))=(0,-1)<br><br />
<br><br />
I wrote simulations in matlab, in two ways.<br><br />
The first one is using the TriskarOdometry directly, and estimates the <br />
necessary wheel speeds to reach the desired frontal, lateral and angular <br />
speed of the robot.<br><br />
The second one is instead giving the motor speeds in terms of rotations and <br />
estimates the frontal ,lateral ,angular speed of the robot according to motor<br />
speeds.<br><br />
<br><br />
The matlab code for the motion control simulation is consist of the following files:<br><br />
<br><br />
-motor_speed.m --This file which takes the motor speed as input and <br />
calculates the Vf,Vl,w of the robot.<br><br />
-TriskarOdometry.m --Giving the input Vf,Vl,w calculates the motor speed<br><br />
-trajectory.m --The function which draws some trajectories based on the <br />
following schema<br><br />
1) DIRECT MOVEMENT<br />
THE HEAD OF THE ROBOT ALWAYS LOOKING IN A FIXED DIRECTION<br />
2) ANGULAR MOVEMENT<br />
THE ROBOT WILL MOVE IN A CIRCULAR TRAJECTORY WITH FIXED HEAD<br />
DIRECTION<br />
3) SPIN & GO<br />
THE ROBOT EITHER GOES ANGULAR BUT THE HEAD POSITION<br />
IS ALSO CHANGES<br />
4) SPIN & GO DIRECT<br />
THE ROBOT EITHER GOES DIRECT BUT THE HEAD POSITION<br />
IS ALSO CHANGES<br />
-direc_motion.m --DIRECT MOVEMENT <br><br />
-angular_motion.m --ANGULAR MOVEMENT <br><br />
-spin_go.m -- SPIN & GO <br><br />
-spin_go_d.m --SPIN & GO DIRECT <br><br />
-draw_arrow.m --A function that is used to draw arrow. <br><br />
[[Media:Mc.zip|File with the matlab files listed above.]]<br />
<br />
<br />
== Processor Comparison ==<br />
<br />
This is the processor comparison table, the cells without entry is left blank<br />
<br />
{| class="wikitable" border="1"<br />
|-<br />
! <br />
! Name<br />
! Clock Speed<br />
! Ram<br />
! Storage<br />
! Onboard Devices<br />
! Power Consumption<br />
! Price<br />
! OS<br />
! Source Page<br />
|-<br />
| 1<br />
| ESOM270<br />
| PXA270@520MHz<br />
| 128 MB SDRAM <br />
| 32 MB FLASH PMIC<br />
| USB device,Camera interface(QCI),USB host<br />
| 0.8 W @ Full running Mode,100mW @ Deep Sleep mode<br />
| 76 €<br />
| Comes with preinstalled uboot & Linux 2.6.25 or eboot Windows CE 6.0 R2<br />
| http://www.e-consystems.com/esom270.asp<br />
|-<br />
| 2<br />
| IGEPv2 BOARD<br />
| OMAP3530@720 Mhz<br />
| 512MB RAM <br />
| 512MB ONENAND-FLASH<br />
| Ethernet 10/100 Mb BaseT.,Wifi IEEE 802.11b/g + Bluetooth 2.0 (Integrated antenna).,1 x USB OTG,1x USB Host<br />
|<br />
| 145 €<br />
| IGEPv2 running Ubuntu 9.04<br />
| http://www.igep-platform.com/index.php?option=com_content&view=article&id=46&Itemid=55<br />
|-<br />
| 3<br />
| Em-x270<br />
| Intel's XScale PXA270 CPU, up to 520 MHz<br />
| 128 Mbyte SDRAM <br />
| 512 Mbyte Flash Disk<br />
| WLAN / WiFi 802.11b/g Interface,Bluetooth interface,Slave and host USB ports, including keyboard and mouse support,100 Mbps Ethernet port<br />
| 0.2 - 2 W<br />
| 76 $<br />
| ce OR linux<br />
| http://www.compulab.co.il/x270cm/html/x270-cm-datasheet.htm<br />
|-<br />
| 4<br />
| S3C2440 Core Board II <br />
| Samsung S3C2440A based on ARM920T, 400MHz<br />
| 64MB SDRAM<br />
| 64MB NAND Flash<br />
| 2-ch USB Host controller / 1-ch USB Device controller (ver 1.1),Camera interface ,(Max. 4096 x 4096 pixels input support. 2048 x 2048 pixel input support for scaling)<br />
| <br />
| 110$<br />
| Windows CE4.2/5.0, 6.0 and Linux2.6<br />
| http://www.embedinfo.com/en/list.asp?id=64<br />
|-<br />
| 5<br />
| Overo™ Air COM [GUM3503A]<br />
| OMAP 3503 Application Processor with ARM Cortex-A8 CPU 600 MHz<br />
| 256MB RAM<br />
| 256MB Flash<br />
| 802.11(g) and Bluetooth®,USB OTG signals, USB HS Host<br />
| <br />
| 199$<br />
| Linux 2.6.31 or higher OpenEmbedded<br />
| http://www.gumstix.com/store/catalog/product_info.php?products_id=226<br />
|-<br />
| 6<br />
| MX31 TurboG5 Module<br />
| Freescale i.MX31 @ 532MHz<br />
| 128 MB of Mobile DDR<br />
| 32 MB of Flash<br />
| Support for 802.11b/g embedded wireless module,One SD/MMC card slot,One USB 2.0 On-The-Go (OTG) port (H/F/L speed),One USB 2.0 host port (H/F/L speeds),One Camera Sensor Interface,One 10/100BASE-T Ethernet port<br />
| <br />
|<br />
| Windows CE 5.0 and 6.0 Linux<br />
| http://www.eurotech-inc.com/single-board-computer-imx31-com-turbog5.asp<br />
|-<br />
|}<br />
<br />
<br />
<br />
==Motor Suggestion ==<br />
<br />
http://www.pololu.com/catalog/product/1092<br />
<br />
no load speed: 500 rpm<br />
stall torque: 29 kg-cm ~= 0.282 Nm<br />
<br />
maximum power output = Pmax = 26.190 rad/s * 0.141 Nm = 3.692 W<br />
occuring at W= 250 rpm and t=0.141 Nm<br />
<br />
<br />
http://www.pololu.com/catalog/product/1085/<br />
<br />
no load speed: 470 rpm<br />
stall torque : 7 oz ( 0.5 kg-cm ) ~= 0.049 Nm<br />
<br />
maximum power output = Pmax = 24.619 rad/s * 0.0245 Nm = 0.603 W<br />
occuring at W=235 rpm and t = 0.0245 Nm<br />
<br />
calculations made according to the reference paper at the link<br />
http://lancet.mit.edu/motors/motors3.html<br />
http://lancet.mit.edu/motors/motors4.html<br />
<br />
== Wheel Specification ==<br />
<br />
=== 2052-3/8X CAT-TRAK ===<br />
Description <br />
[[Image:FXA314-2T.jpg|right]] <br />
*Standard 2" O.D. - 3/8" Bore Double Row<br />
*Metric 49.2mm O.D. - 9.5mm Plain Bore.<br />
*Recommended max load.<br />
**Steel Bottom = 25 lbs. 11.3kg.<br />
**Plywood Surface = 15 lbs. 6.8kg.<br />
*200# Test Corrugated Bottom = 10 lbs. 4.5kg.<br />
*Weight = 1.75 oz.<br />
*Synthetic rubber coated polypropylene rollers.<br />
*Price:$7.48.<br />
*Source: http://store.kornylak.com/ProductDetails.asp?ProductCode=FXA314<br />
<br />
<br />
=== 2052BX CAT-TRAK ===<br />
<br />
Description<br />
<br />
[[Image:FXA317-2T.jpg|right]]<br />
*Standard 2" O.D. - 1/4" I.D. Bushing Double Row<br />
*Metric 49.2mm O.D. - 6.35mm Bushing<br />
*Recommended max load <br />
**Steel Bottom = 25 lbs. 11.3kg<br />
**Plywood Surface = 15 lbs. 6.8kg<br />
*200# Test Corrugated Bottom = 10 lbs. 4.5kg<br />
*Weight = 1.75 oz<br />
*Synthetic rubber coated polypropylene rollers.<br />
*Price :$7.48<br />
*Source: http://store.kornylak.com/ProductDetails.asp?ProductCode=FXA317<br />
<br />
<br />
=== 2052KX CAT-TRAK ===<br />
Description <br />
[[Image:FXA315-2T.jpg|right]]<br />
*Standard 2" O.D. - 1/2" Bore Double Row w/ Keyway<br />
*Metric 49.2mm O.D. - 12.7mm Bore w/ Keyway<br />
*Recommended max load <br />
**Steel Bottom = 25 lbs. 11.3kg<br />
**Plywood Surface = 15 lbs. 6.8kg<br />
*200# Test Corrugated Bottom = 10 lbs. 4.5kg<br />
*Weight = 1.75 oz<br />
*Synthetic rubber coated polypropylene rollers. <br />
*Price :$7.48<br />
*Source: http://store.kornylak.com/ProductDetails.asp?ProductCode=FXA315</div>AnilKoyuncuhttps://airwiki.elet.polimi.it/index.php?title=File:Image_of_mice.pdf&diff=11831File:Image of mice.pdf2010-06-16T11:15:16Z<p>AnilKoyuncu: The results obtained with the mice sensor</p>
<hr />
<div>The results obtained with the mice sensor</div>AnilKoyuncuhttps://airwiki.elet.polimi.it/index.php?title=Talk:RunBot:_a_Robogame_Robot&diff=11830Talk:RunBot: a Robogame Robot2010-06-16T11:14:07Z<p>AnilKoyuncu: /* Mice (Will be updated soon) */</p>
<hr />
<div>Requirements<br />
<br />
The robot should have:<br />
* a dimension of about 25cm of radius, 20 cm height<br />
* a speed of about 1 m/sec<br />
* omnidirectional movement (Kamro wheels)<br />
* sensors to avoid obstacles (sonars)<br />
* a camera that can be moved up and down (and eventually left and right)<br />
* wireless connection to a computer (Wi-fi)<br />
* Bluetooth connection<br />
* have power enough to move and transmit for at least 2 hours without recharging<br />
* Have the possibility to recharge autonomously<br />
<br />
The robot should cost as less as possible<br />
<br />
[[Media:Order list.pdf|File with considerations on parts to be ordered]]<br />
<br />
<br />
TO DO<br />
<br />
* Select HW <br />
** ST ARM HW (ask Martino Migliavacca <martino.migliavacca@gmail.com>, GUMSTIX (http://www.gumstix.org/), ARDUINO (http://www.freeduino.org/), other...)<br />
** Engines (WWW.robot-Italy.com, http://www.jonathan.it/)<br />
** batteries (above, or standard A, AA or AAA type)<br />
** Camera (ST smart cameras, with Ethernet wired link)<br />
** Sonar (already available (see ROBOWII2.0))<br />
** Blue tooth and WI-FI<br />
<br />
* Design body (structure and appearance), sensor placement, eventual movements of the camera<br />
* Implement the robot<br />
* test the robot with a simple game (e.g. [[RoboWII2.0]])<br />
<br />
<br />
== Mice ==<br />
[[Image:Lens_setup.JPG]]<br />
<br />
== Camera (Will be updated soon) ==<br />
<br />
<br />
== Motion Control ==<br />
<br />
<br />
<br />
[[Image:M_control.JPG]]<br />
<br />
The angle between each wheel is 2*pi/3, which 120 degree.<br><br />
The front wheels are making a pi/6 angle between the ground.<br><br />
The positions of the wheels in the coordinate system is as follows.<br><br />
Wheel 1 is (cos(pi/6),sin(pi/6)) = (0.866,0.5)<br><br />
Wheel 2 is (cos(pi/6),sin(pi/6)) = (0.866,0.5)<br><br />
Wheel 3 is (cos(3*pi/2),sin(3*pi/2))=(0,-1)<br><br />
<br><br />
I wrote simulations in matlab, in two ways.<br><br />
The first one is using the TriskarOdometry directly, and estimates the <br />
necessary wheel speeds to reach the desired frontal, lateral and angular <br />
speed of the robot.<br><br />
The second one is instead giving the motor speeds in terms of rotations and <br />
estimates the frontal ,lateral ,angular speed of the robot according to motor<br />
speeds.<br><br />
<br><br />
The matlab code for the motion control simulation is consist of the following files:<br><br />
<br><br />
-motor_speed.m --This file which takes the motor speed as input and <br />
calculates the Vf,Vl,w of the robot.<br><br />
-TriskarOdometry.m --Giving the input Vf,Vl,w calculates the motor speed<br><br />
-trajectory.m --The function which draws some trajectories based on the <br />
following schema<br><br />
1) DIRECT MOVEMENT<br />
THE HEAD OF THE ROBOT ALWAYS LOOKING IN A FIXED DIRECTION<br />
2) ANGULAR MOVEMENT<br />
THE ROBOT WILL MOVE IN A CIRCULAR TRAJECTORY WITH FIXED HEAD<br />
DIRECTION<br />
3) SPIN & GO<br />
THE ROBOT EITHER GOES ANGULAR BUT THE HEAD POSITION<br />
IS ALSO CHANGES<br />
4) SPIN & GO DIRECT<br />
THE ROBOT EITHER GOES DIRECT BUT THE HEAD POSITION<br />
IS ALSO CHANGES<br />
-direc_motion.m --DIRECT MOVEMENT <br><br />
-angular_motion.m --ANGULAR MOVEMENT <br><br />
-spin_go.m -- SPIN & GO <br><br />
-spin_go_d.m --SPIN & GO DIRECT <br><br />
-draw_arrow.m --A function that is used to draw arrow. <br><br />
[[Media:Mc.zip|File with the matlab files listed above.]]<br />
<br />
<br />
== Processor Comparison ==<br />
<br />
This is the processor comparison table, the cells without entry is left blank<br />
<br />
{| class="wikitable" border="1"<br />
|-<br />
! <br />
! Name<br />
! Clock Speed<br />
! Ram<br />
! Storage<br />
! Onboard Devices<br />
! Power Consumption<br />
! Price<br />
! OS<br />
! Source Page<br />
|-<br />
| 1<br />
| ESOM270<br />
| PXA270@520MHz<br />
| 128 MB SDRAM <br />
| 32 MB FLASH PMIC<br />
| USB device,Camera interface(QCI),USB host<br />
| 0.8 W @ Full running Mode,100mW @ Deep Sleep mode<br />
| 76 €<br />
| Comes with preinstalled uboot & Linux 2.6.25 or eboot Windows CE 6.0 R2<br />
| http://www.e-consystems.com/esom270.asp<br />
|-<br />
| 2<br />
| IGEPv2 BOARD<br />
| OMAP3530@720 Mhz<br />
| 512MB RAM <br />
| 512MB ONENAND-FLASH<br />
| Ethernet 10/100 Mb BaseT.,Wifi IEEE 802.11b/g + Bluetooth 2.0 (Integrated antenna).,1 x USB OTG,1x USB Host<br />
|<br />
| 145 €<br />
| IGEPv2 running Ubuntu 9.04<br />
| http://www.igep-platform.com/index.php?option=com_content&view=article&id=46&Itemid=55<br />
|-<br />
| 3<br />
| Em-x270<br />
| Intel's XScale PXA270 CPU, up to 520 MHz<br />
| 128 Mbyte SDRAM <br />
| 512 Mbyte Flash Disk<br />
| WLAN / WiFi 802.11b/g Interface,Bluetooth interface,Slave and host USB ports, including keyboard and mouse support,100 Mbps Ethernet port<br />
| 0.2 - 2 W<br />
| 76 $<br />
| ce OR linux<br />
| http://www.compulab.co.il/x270cm/html/x270-cm-datasheet.htm<br />
|-<br />
| 4<br />
| S3C2440 Core Board II <br />
| Samsung S3C2440A based on ARM920T, 400MHz<br />
| 64MB SDRAM<br />
| 64MB NAND Flash<br />
| 2-ch USB Host controller / 1-ch USB Device controller (ver 1.1),Camera interface ,(Max. 4096 x 4096 pixels input support. 2048 x 2048 pixel input support for scaling)<br />
| <br />
| 110$<br />
| Windows CE4.2/5.0, 6.0 and Linux2.6<br />
| http://www.embedinfo.com/en/list.asp?id=64<br />
|-<br />
| 5<br />
| Overo™ Air COM [GUM3503A]<br />
| OMAP 3503 Application Processor with ARM Cortex-A8 CPU 600 MHz<br />
| 256MB RAM<br />
| 256MB Flash<br />
| 802.11(g) and Bluetooth®,USB OTG signals, USB HS Host<br />
| <br />
| 199$<br />
| Linux 2.6.31 or higher OpenEmbedded<br />
| http://www.gumstix.com/store/catalog/product_info.php?products_id=226<br />
|-<br />
| 6<br />
| MX31 TurboG5 Module<br />
| Freescale i.MX31 @ 532MHz<br />
| 128 MB of Mobile DDR<br />
| 32 MB of Flash<br />
| Support for 802.11b/g embedded wireless module,One SD/MMC card slot,One USB 2.0 On-The-Go (OTG) port (H/F/L speed),One USB 2.0 host port (H/F/L speeds),One Camera Sensor Interface,One 10/100BASE-T Ethernet port<br />
| <br />
|<br />
| Windows CE 5.0 and 6.0 Linux<br />
| http://www.eurotech-inc.com/single-board-computer-imx31-com-turbog5.asp<br />
|-<br />
|}<br />
<br />
<br />
<br />
==Motor Suggestion ==<br />
<br />
http://www.pololu.com/catalog/product/1092<br />
<br />
no load speed: 500 rpm<br />
stall torque: 29 kg-cm ~= 0.282 Nm<br />
<br />
maximum power output = Pmax = 26.190 rad/s * 0.141 Nm = 3.692 W<br />
occuring at W= 250 rpm and t=0.141 Nm<br />
<br />
<br />
http://www.pololu.com/catalog/product/1085/<br />
<br />
no load speed: 470 rpm<br />
stall torque : 7 oz ( 0.5 kg-cm ) ~= 0.049 Nm<br />
<br />
maximum power output = Pmax = 24.619 rad/s * 0.0245 Nm = 0.603 W<br />
occuring at W=235 rpm and t = 0.0245 Nm<br />
<br />
calculations made according to the reference paper at the link<br />
http://lancet.mit.edu/motors/motors3.html<br />
http://lancet.mit.edu/motors/motors4.html<br />
<br />
== Wheel Specification ==<br />
<br />
=== 2052-3/8X CAT-TRAK ===<br />
Description <br />
[[Image:FXA314-2T.jpg|right]] <br />
*Standard 2" O.D. - 3/8" Bore Double Row<br />
*Metric 49.2mm O.D. - 9.5mm Plain Bore.<br />
*Recommended max load.<br />
**Steel Bottom = 25 lbs. 11.3kg.<br />
**Plywood Surface = 15 lbs. 6.8kg.<br />
*200# Test Corrugated Bottom = 10 lbs. 4.5kg.<br />
*Weight = 1.75 oz.<br />
*Synthetic rubber coated polypropylene rollers.<br />
*Price:$7.48.<br />
*Source: http://store.kornylak.com/ProductDetails.asp?ProductCode=FXA314<br />
<br />
<br />
=== 2052BX CAT-TRAK ===<br />
<br />
Description<br />
<br />
[[Image:FXA317-2T.jpg|right]]<br />
*Standard 2" O.D. - 1/4" I.D. Bushing Double Row<br />
*Metric 49.2mm O.D. - 6.35mm Bushing<br />
*Recommended max load <br />
**Steel Bottom = 25 lbs. 11.3kg<br />
**Plywood Surface = 15 lbs. 6.8kg<br />
*200# Test Corrugated Bottom = 10 lbs. 4.5kg<br />
*Weight = 1.75 oz<br />
*Synthetic rubber coated polypropylene rollers.<br />
*Price :$7.48<br />
*Source: http://store.kornylak.com/ProductDetails.asp?ProductCode=FXA317<br />
<br />
<br />
=== 2052KX CAT-TRAK ===<br />
Description <br />
[[Image:FXA315-2T.jpg|right]]<br />
*Standard 2" O.D. - 1/2" Bore Double Row w/ Keyway<br />
*Metric 49.2mm O.D. - 12.7mm Bore w/ Keyway<br />
*Recommended max load <br />
**Steel Bottom = 25 lbs. 11.3kg<br />
**Plywood Surface = 15 lbs. 6.8kg<br />
*200# Test Corrugated Bottom = 10 lbs. 4.5kg<br />
*Weight = 1.75 oz<br />
*Synthetic rubber coated polypropylene rollers. <br />
*Price :$7.48<br />
*Source: http://store.kornylak.com/ProductDetails.asp?ProductCode=FXA315</div>AnilKoyuncuhttps://airwiki.elet.polimi.it/index.php?title=File:Lens_setup.JPG&diff=11829File:Lens setup.JPG2010-06-16T11:13:30Z<p>AnilKoyuncu: The lens setup of the board</p>
<hr />
<div>The lens setup of the board</div>AnilKoyuncuhttps://airwiki.elet.polimi.it/index.php?title=Talk:RunBot:_a_Robogame_Robot&diff=11827Talk:RunBot: a Robogame Robot2010-06-16T10:39:23Z<p>AnilKoyuncu: </p>
<hr />
<div>Requirements<br />
<br />
The robot should have:<br />
* a dimension of about 25cm of radius, 20 cm height<br />
* a speed of about 1 m/sec<br />
* omnidirectional movement (Kamro wheels)<br />
* sensors to avoid obstacles (sonars)<br />
* a camera that can be moved up and down (and eventually left and right)<br />
* wireless connection to a computer (Wi-fi)<br />
* Bluetooth connection<br />
* have power enough to move and transmit for at least 2 hours without recharging<br />
* Have the possibility to recharge autonomously<br />
<br />
The robot should cost as less as possible<br />
<br />
[[Media:Order list.pdf|File with considerations on parts to be ordered]]<br />
<br />
<br />
TO DO<br />
<br />
* Select HW <br />
** ST ARM HW (ask Martino Migliavacca <martino.migliavacca@gmail.com>, GUMSTIX (http://www.gumstix.org/), ARDUINO (http://www.freeduino.org/), other...)<br />
** Engines (WWW.robot-Italy.com, http://www.jonathan.it/)<br />
** batteries (above, or standard A, AA or AAA type)<br />
** Camera (ST smart cameras, with Ethernet wired link)<br />
** Sonar (already available (see ROBOWII2.0))<br />
** Blue tooth and WI-FI<br />
<br />
* Design body (structure and appearance), sensor placement, eventual movements of the camera<br />
* Implement the robot<br />
* test the robot with a simple game (e.g. [[RoboWII2.0]])<br />
<br />
<br />
== Mice (Will be updated soon) ==<br />
== Camera (Will be updated soon) ==<br />
<br />
<br />
== Motion Control ==<br />
<br />
<br />
<br />
[[Image:M_control.JPG]]<br />
<br />
The angle between each wheel is 2*pi/3, which 120 degree.<br><br />
The front wheels are making a pi/6 angle between the ground.<br><br />
The positions of the wheels in the coordinate system is as follows.<br><br />
Wheel 1 is (cos(pi/6),sin(pi/6)) = (0.866,0.5)<br><br />
Wheel 2 is (cos(pi/6),sin(pi/6)) = (0.866,0.5)<br><br />
Wheel 3 is (cos(3*pi/2),sin(3*pi/2))=(0,-1)<br><br />
<br><br />
I wrote simulations in matlab, in two ways.<br><br />
The first one is using the TriskarOdometry directly, and estimates the <br />
necessary wheel speeds to reach the desired frontal, lateral and angular <br />
speed of the robot.<br><br />
The second one is instead giving the motor speeds in terms of rotations and <br />
estimates the frontal ,lateral ,angular speed of the robot according to motor<br />
speeds.<br><br />
<br><br />
The matlab code for the motion control simulation is consist of the following files:<br><br />
<br><br />
-motor_speed.m --This file which takes the motor speed as input and <br />
calculates the Vf,Vl,w of the robot.<br><br />
-TriskarOdometry.m --Giving the input Vf,Vl,w calculates the motor speed<br><br />
-trajectory.m --The function which draws some trajectories based on the <br />
following schema<br><br />
1) DIRECT MOVEMENT<br />
THE HEAD OF THE ROBOT ALWAYS LOOKING IN A FIXED DIRECTION<br />
2) ANGULAR MOVEMENT<br />
THE ROBOT WILL MOVE IN A CIRCULAR TRAJECTORY WITH FIXED HEAD<br />
DIRECTION<br />
3) SPIN & GO<br />
THE ROBOT EITHER GOES ANGULAR BUT THE HEAD POSITION<br />
IS ALSO CHANGES<br />
4) SPIN & GO DIRECT<br />
THE ROBOT EITHER GOES DIRECT BUT THE HEAD POSITION<br />
IS ALSO CHANGES<br />
-direc_motion.m --DIRECT MOVEMENT <br><br />
-angular_motion.m --ANGULAR MOVEMENT <br><br />
-spin_go.m -- SPIN & GO <br><br />
-spin_go_d.m --SPIN & GO DIRECT <br><br />
-draw_arrow.m --A function that is used to draw arrow. <br><br />
[[Media:Mc.zip|File with the matlab files listed above.]]<br />
<br />
<br />
== Processor Comparison ==<br />
<br />
This is the processor comparison table, the cells without entry is left blank<br />
<br />
{| class="wikitable" border="1"<br />
|-<br />
! <br />
! Name<br />
! Clock Speed<br />
! Ram<br />
! Storage<br />
! Onboard Devices<br />
! Power Consumption<br />
! Price<br />
! OS<br />
! Source Page<br />
|-<br />
| 1<br />
| ESOM270<br />
| PXA270@520MHz<br />
| 128 MB SDRAM <br />
| 32 MB FLASH PMIC<br />
| USB device,Camera interface(QCI),USB host<br />
| 0.8 W @ Full running Mode,100mW @ Deep Sleep mode<br />
| 76 €<br />
| Comes with preinstalled uboot & Linux 2.6.25 or eboot Windows CE 6.0 R2<br />
| http://www.e-consystems.com/esom270.asp<br />
|-<br />
| 2<br />
| IGEPv2 BOARD<br />
| OMAP3530@720 Mhz<br />
| 512MB RAM <br />
| 512MB ONENAND-FLASH<br />
| Ethernet 10/100 Mb BaseT.,Wifi IEEE 802.11b/g + Bluetooth 2.0 (Integrated antenna).,1 x USB OTG,1x USB Host<br />
|<br />
| 145 €<br />
| IGEPv2 running Ubuntu 9.04<br />
| http://www.igep-platform.com/index.php?option=com_content&view=article&id=46&Itemid=55<br />
|-<br />
| 3<br />
| Em-x270<br />
| Intel's XScale PXA270 CPU, up to 520 MHz<br />
| 128 Mbyte SDRAM <br />
| 512 Mbyte Flash Disk<br />
| WLAN / WiFi 802.11b/g Interface,Bluetooth interface,Slave and host USB ports, including keyboard and mouse support,100 Mbps Ethernet port<br />
| 0.2 - 2 W<br />
| 76 $<br />
| ce OR linux<br />
| http://www.compulab.co.il/x270cm/html/x270-cm-datasheet.htm<br />
|-<br />
| 4<br />
| S3C2440 Core Board II <br />
| Samsung S3C2440A based on ARM920T, 400MHz<br />
| 64MB SDRAM<br />
| 64MB NAND Flash<br />
| 2-ch USB Host controller / 1-ch USB Device controller (ver 1.1),Camera interface ,(Max. 4096 x 4096 pixels input support. 2048 x 2048 pixel input support for scaling)<br />
| <br />
| 110$<br />
| Windows CE4.2/5.0, 6.0 and Linux2.6<br />
| http://www.embedinfo.com/en/list.asp?id=64<br />
|-<br />
| 5<br />
| Overo™ Air COM [GUM3503A]<br />
| OMAP 3503 Application Processor with ARM Cortex-A8 CPU 600 MHz<br />
| 256MB RAM<br />
| 256MB Flash<br />
| 802.11(g) and Bluetooth®,USB OTG signals, USB HS Host<br />
| <br />
| 199$<br />
| Linux 2.6.31 or higher OpenEmbedded<br />
| http://www.gumstix.com/store/catalog/product_info.php?products_id=226<br />
|-<br />
| 6<br />
| MX31 TurboG5 Module<br />
| Freescale i.MX31 @ 532MHz<br />
| 128 MB of Mobile DDR<br />
| 32 MB of Flash<br />
| Support for 802.11b/g embedded wireless module,One SD/MMC card slot,One USB 2.0 On-The-Go (OTG) port (H/F/L speed),One USB 2.0 host port (H/F/L speeds),One Camera Sensor Interface,One 10/100BASE-T Ethernet port<br />
| <br />
|<br />
| Windows CE 5.0 and 6.0 Linux<br />
| http://www.eurotech-inc.com/single-board-computer-imx31-com-turbog5.asp<br />
|-<br />
|}<br />
<br />
<br />
<br />
==Motor Suggestion ==<br />
<br />
http://www.pololu.com/catalog/product/1092<br />
<br />
no load speed: 500 rpm<br />
stall torque: 29 kg-cm ~= 0.282 Nm<br />
<br />
maximum power output = Pmax = 26.190 rad/s * 0.141 Nm = 3.692 W<br />
occuring at W= 250 rpm and t=0.141 Nm<br />
<br />
<br />
http://www.pololu.com/catalog/product/1085/<br />
<br />
no load speed: 470 rpm<br />
stall torque : 7 oz ( 0.5 kg-cm ) ~= 0.049 Nm<br />
<br />
maximum power output = Pmax = 24.619 rad/s * 0.0245 Nm = 0.603 W<br />
occuring at W=235 rpm and t = 0.0245 Nm<br />
<br />
calculations made according to the reference paper at the link<br />
http://lancet.mit.edu/motors/motors3.html<br />
http://lancet.mit.edu/motors/motors4.html<br />
<br />
== Wheel Specification ==<br />
<br />
=== 2052-3/8X CAT-TRAK ===<br />
Description <br />
[[Image:FXA314-2T.jpg|right]] <br />
*Standard 2" O.D. - 3/8" Bore Double Row<br />
*Metric 49.2mm O.D. - 9.5mm Plain Bore.<br />
*Recommended max load.<br />
**Steel Bottom = 25 lbs. 11.3kg.<br />
**Plywood Surface = 15 lbs. 6.8kg.<br />
*200# Test Corrugated Bottom = 10 lbs. 4.5kg.<br />
*Weight = 1.75 oz.<br />
*Synthetic rubber coated polypropylene rollers.<br />
*Price:$7.48.<br />
*Source: http://store.kornylak.com/ProductDetails.asp?ProductCode=FXA314<br />
<br />
<br />
=== 2052BX CAT-TRAK ===<br />
<br />
Description<br />
<br />
[[Image:FXA317-2T.jpg|right]]<br />
*Standard 2" O.D. - 1/4" I.D. Bushing Double Row<br />
*Metric 49.2mm O.D. - 6.35mm Bushing<br />
*Recommended max load <br />
**Steel Bottom = 25 lbs. 11.3kg<br />
**Plywood Surface = 15 lbs. 6.8kg<br />
*200# Test Corrugated Bottom = 10 lbs. 4.5kg<br />
*Weight = 1.75 oz<br />
*Synthetic rubber coated polypropylene rollers.<br />
*Price :$7.48<br />
*Source: http://store.kornylak.com/ProductDetails.asp?ProductCode=FXA317<br />
<br />
<br />
=== 2052KX CAT-TRAK ===<br />
Description <br />
[[Image:FXA315-2T.jpg|right]]<br />
*Standard 2" O.D. - 1/2" Bore Double Row w/ Keyway<br />
*Metric 49.2mm O.D. - 12.7mm Bore w/ Keyway<br />
*Recommended max load <br />
**Steel Bottom = 25 lbs. 11.3kg<br />
**Plywood Surface = 15 lbs. 6.8kg<br />
*200# Test Corrugated Bottom = 10 lbs. 4.5kg<br />
*Weight = 1.75 oz<br />
*Synthetic rubber coated polypropylene rollers. <br />
*Price :$7.48<br />
*Source: http://store.kornylak.com/ProductDetails.asp?ProductCode=FXA315</div>AnilKoyuncuhttps://airwiki.elet.polimi.it/index.php?title=Talk:RunBot:_a_Robogame_Robot&diff=11826Talk:RunBot: a Robogame Robot2010-06-16T10:31:12Z<p>AnilKoyuncu: </p>
<hr />
<div>Requirements<br />
<br />
The robot should have:<br />
* a dimension of about 25cm of radius, 20 cm height<br />
* a speed of about 1 m/sec<br />
* omnidirectional movement (Kamro wheels)<br />
* sensors to avoid obstacles (sonars)<br />
* a camera that can be moved up and down (and eventually left and right)<br />
* wireless connection to a computer (Wi-fi)<br />
* Bluetooth connection<br />
* have power enough to move and transmit for at least 2 hours without recharging<br />
* Have the possibility to recharge autonomously<br />
<br />
The robot should cost as less as possible<br />
<br />
[[Media:Order list.pdf|File with considerations on parts to be ordered]]<br />
<br />
<br />
TO DO<br />
<br />
* Select HW <br />
** ST ARM HW (ask Martino Migliavacca <martino.migliavacca@gmail.com>, GUMSTIX (http://www.gumstix.org/), ARDUINO (http://www.freeduino.org/), other...)<br />
** Engines (WWW.robot-Italy.com, http://www.jonathan.it/)<br />
** batteries (above, or standard A, AA or AAA type)<br />
** Camera (ST smart cameras, with Ethernet wired link)<br />
** Sonar (already available (see ROBOWII2.0))<br />
** Blue tooth and WI-FI<br />
<br />
* Design body (structure and appearance), sensor placement, eventual movements of the camera<br />
* Implement the robot<br />
* test the robot with a simple game (e.g. [[RoboWII2.0]])<br />
<br />
<br />
== Mice == Will be updated soon<br />
== Camera == Will be updated soon<br />
<br />
<br />
== Motion Control ==<br />
<br />
<br />
<br />
[[Image:M_control.JPG]]<br />
<br />
The angle between each wheel is 2*pi/3, which 120 degree.<br><br />
The front wheels are making a pi/6 angle between the ground.<br><br />
The positions of the wheels in the coordinate system is as follows.<br><br />
Wheel 1 is (cos(pi/6),sin(pi/6)) = (0.866,0.5)<br><br />
Wheel 2 is (cos(pi/6),sin(pi/6)) = (0.866,0.5)<br><br />
Wheel 3 is (cos(3*pi/2),sin(3*pi/2))=(0,-1)<br><br />
<br><br />
I wrote simulations in matlab, in two ways.<br><br />
The first one is using the TriskarOdometry directly, and estimates the <br />
necessary wheel speeds to reach the desired frontal, lateral and angular <br />
speed of the robot.<br><br />
The second one is instead giving the motor speeds in terms of rotations and <br />
estimates the frontal ,lateral ,angular speed of the robot according to motor<br />
speeds.<br><br />
<br><br />
The matlab code for the motion control simulation is consist of the following files:<br><br />
<br><br />
-motor_speed.m --This file which takes the motor speed as input and <br />
calculates the Vf,Vl,w of the robot.<br><br />
-TriskarOdometry.m --Giving the input Vf,Vl,w calculates the motor speed<br><br />
-trajectory.m --The function which draws some trajectories based on the <br />
following schema<br><br />
1) DIRECT MOVEMENT<br />
THE HEAD OF THE ROBOT ALWAYS LOOKING IN A FIXED DIRECTION<br />
2) ANGULAR MOVEMENT<br />
THE ROBOT WILL MOVE IN A CIRCULAR TRAJECTORY WITH FIXED HEAD<br />
DIRECTION<br />
3) SPIN & GO<br />
THE ROBOT EITHER GOES ANGULAR BUT THE HEAD POSITION<br />
IS ALSO CHANGES<br />
4) SPIN & GO DIRECT<br />
THE ROBOT EITHER GOES DIRECT BUT THE HEAD POSITION<br />
IS ALSO CHANGES<br />
-direc_motion.m --DIRECT MOVEMENT <br><br />
-angular_motion.m --ANGULAR MOVEMENT <br><br />
-spin_go.m -- SPIN & GO <br><br />
-spin_go_d.m --SPIN & GO DIRECT <br><br />
-draw_arrow.m --A function that is used to draw arrow. <br><br />
[[Media:Mc.zip|File with the matlab files listed above.]]<br />
<br />
<br />
== Processor Comparison ==<br />
<br />
This is the processor comparison table, the cells without entry is left blank<br />
<br />
{| class="wikitable" border="1"<br />
|-<br />
! <br />
! Name<br />
! Clock Speed<br />
! Ram<br />
! Storage<br />
! Onboard Devices<br />
! Power Consumption<br />
! Price<br />
! OS<br />
! Source Page<br />
|-<br />
| 1<br />
| ESOM270<br />
| PXA270@520MHz<br />
| 128 MB SDRAM <br />
| 32 MB FLASH PMIC<br />
| USB device,Camera interface(QCI),USB host<br />
| 0.8 W @ Full running Mode,100mW @ Deep Sleep mode<br />
| 76 €<br />
| Comes with preinstalled uboot & Linux 2.6.25 or eboot Windows CE 6.0 R2<br />
| http://www.e-consystems.com/esom270.asp<br />
|-<br />
| 2<br />
| IGEPv2 BOARD<br />
| OMAP3530@720 Mhz<br />
| 512MB RAM <br />
| 512MB ONENAND-FLASH<br />
| Ethernet 10/100 Mb BaseT.,Wifi IEEE 802.11b/g + Bluetooth 2.0 (Integrated antenna).,1 x USB OTG,1x USB Host<br />
|<br />
| 145 €<br />
| IGEPv2 running Ubuntu 9.04<br />
| http://www.igep-platform.com/index.php?option=com_content&view=article&id=46&Itemid=55<br />
|-<br />
| 3<br />
| Em-x270<br />
| Intel's XScale PXA270 CPU, up to 520 MHz<br />
| 128 Mbyte SDRAM <br />
| 512 Mbyte Flash Disk<br />
| WLAN / WiFi 802.11b/g Interface,Bluetooth interface,Slave and host USB ports, including keyboard and mouse support,100 Mbps Ethernet port<br />
| 0.2 - 2 W<br />
| 76 $<br />
| ce OR linux<br />
| http://www.compulab.co.il/x270cm/html/x270-cm-datasheet.htm<br />
|-<br />
| 4<br />
| S3C2440 Core Board II <br />
| Samsung S3C2440A based on ARM920T, 400MHz<br />
| 64MB SDRAM<br />
| 64MB NAND Flash<br />
| 2-ch USB Host controller / 1-ch USB Device controller (ver 1.1),Camera interface ,(Max. 4096 x 4096 pixels input support. 2048 x 2048 pixel input support for scaling)<br />
| <br />
| 110$<br />
| Windows CE4.2/5.0, 6.0 and Linux2.6<br />
| http://www.embedinfo.com/en/list.asp?id=64<br />
|-<br />
| 5<br />
| Overo™ Air COM [GUM3503A]<br />
| OMAP 3503 Application Processor with ARM Cortex-A8 CPU 600 MHz<br />
| 256MB RAM<br />
| 256MB Flash<br />
| 802.11(g) and Bluetooth®,USB OTG signals, USB HS Host<br />
| <br />
| 199$<br />
| Linux 2.6.31 or higher OpenEmbedded<br />
| http://www.gumstix.com/store/catalog/product_info.php?products_id=226<br />
|-<br />
| 6<br />
| MX31 TurboG5 Module<br />
| Freescale i.MX31 @ 532MHz<br />
| 128 MB of Mobile DDR<br />
| 32 MB of Flash<br />
| Support for 802.11b/g embedded wireless module,One SD/MMC card slot,One USB 2.0 On-The-Go (OTG) port (H/F/L speed),One USB 2.0 host port (H/F/L speeds),One Camera Sensor Interface,One 10/100BASE-T Ethernet port<br />
| <br />
|<br />
| Windows CE 5.0 and 6.0 Linux<br />
| http://www.eurotech-inc.com/single-board-computer-imx31-com-turbog5.asp<br />
|-<br />
|}<br />
<br />
<br />
<br />
==Motor Suggestion ==<br />
<br />
http://www.pololu.com/catalog/product/1092<br />
<br />
no load speed: 500 rpm<br />
stall torque: 29 kg-cm ~= 0.282 Nm<br />
<br />
maximum power output = Pmax = 26.190 rad/s * 0.141 Nm = 3.692 W<br />
occuring at W= 250 rpm and t=0.141 Nm<br />
<br />
<br />
http://www.pololu.com/catalog/product/1085/<br />
<br />
no load speed: 470 rpm<br />
stall torque : 7 oz ( 0.5 kg-cm ) ~= 0.049 Nm<br />
<br />
maximum power output = Pmax = 24.619 rad/s * 0.0245 Nm = 0.603 W<br />
occuring at W=235 rpm and t = 0.0245 Nm<br />
<br />
calculations made according to the reference paper at the link<br />
http://lancet.mit.edu/motors/motors3.html<br />
http://lancet.mit.edu/motors/motors4.html<br />
<br />
== Wheel Specification ==<br />
<br />
=== 2052-3/8X CAT-TRAK ===<br />
Description <br />
[[Image:FXA314-2T.jpg|right]] <br />
*Standard 2" O.D. - 3/8" Bore Double Row<br />
*Metric 49.2mm O.D. - 9.5mm Plain Bore.<br />
*Recommended max load.<br />
**Steel Bottom = 25 lbs. 11.3kg.<br />
**Plywood Surface = 15 lbs. 6.8kg.<br />
*200# Test Corrugated Bottom = 10 lbs. 4.5kg.<br />
*Weight = 1.75 oz.<br />
*Synthetic rubber coated polypropylene rollers.<br />
*Price:$7.48.<br />
*Source: http://store.kornylak.com/ProductDetails.asp?ProductCode=FXA314<br />
<br />
<br />
=== 2052BX CAT-TRAK ===<br />
<br />
Description<br />
<br />
[[Image:FXA317-2T.jpg|right]]<br />
*Standard 2" O.D. - 1/4" I.D. Bushing Double Row<br />
*Metric 49.2mm O.D. - 6.35mm Bushing<br />
*Recommended max load <br />
**Steel Bottom = 25 lbs. 11.3kg<br />
**Plywood Surface = 15 lbs. 6.8kg<br />
*200# Test Corrugated Bottom = 10 lbs. 4.5kg<br />
*Weight = 1.75 oz<br />
*Synthetic rubber coated polypropylene rollers.<br />
*Price :$7.48<br />
*Source: http://store.kornylak.com/ProductDetails.asp?ProductCode=FXA317<br />
<br />
<br />
=== 2052KX CAT-TRAK ===<br />
Description <br />
[[Image:FXA315-2T.jpg|right]]<br />
*Standard 2" O.D. - 1/2" Bore Double Row w/ Keyway<br />
*Metric 49.2mm O.D. - 12.7mm Bore w/ Keyway<br />
*Recommended max load <br />
**Steel Bottom = 25 lbs. 11.3kg<br />
**Plywood Surface = 15 lbs. 6.8kg<br />
*200# Test Corrugated Bottom = 10 lbs. 4.5kg<br />
*Weight = 1.75 oz<br />
*Synthetic rubber coated polypropylene rollers. <br />
*Price :$7.48<br />
*Source: http://store.kornylak.com/ProductDetails.asp?ProductCode=FXA315</div>AnilKoyuncuhttps://airwiki.elet.polimi.it/index.php?title=File:Mc.zip&diff=11825File:Mc.zip2010-06-16T10:28:05Z<p>AnilKoyuncu: Motion Control Matlab Files.</p>
<hr />
<div>Motion Control Matlab Files.</div>AnilKoyuncuhttps://airwiki.elet.polimi.it/index.php?title=Talk:RunBot:_a_Robogame_Robot&diff=11824Talk:RunBot: a Robogame Robot2010-06-16T10:27:30Z<p>AnilKoyuncu: </p>
<hr />
<div>Requirements<br />
<br />
The robot should have:<br />
* a dimension of about 25cm of radius, 20 cm height<br />
* a speed of about 1 m/sec<br />
* omnidirectional movement (Kamro wheels)<br />
* sensors to avoid obstacles (sonars)<br />
* a camera that can be moved up and down (and eventually left and right)<br />
* wireless connection to a computer (Wi-fi)<br />
* Bluetooth connection<br />
* have power enough to move and transmit for at least 2 hours without recharging<br />
* Have the possibility to recharge autonomously<br />
<br />
The robot should cost as less as possible<br />
<br />
[[Media:Order list.pdf|File with considerations on parts to be ordered]]<br />
<br />
TO DO<br />
<br />
* Select HW <br />
** ST ARM HW (ask Martino Migliavacca <martino.migliavacca@gmail.com>, GUMSTIX (http://www.gumstix.org/), ARDUINO (http://www.freeduino.org/), other...)<br />
** Engines (WWW.robot-Italy.com, http://www.jonathan.it/)<br />
** batteries (above, or standard A, AA or AAA type)<br />
** Camera (ST smart cameras, with Ethernet wired link)<br />
** Sonar (already available (see ROBOWII2.0))<br />
** Blue tooth and WI-FI<br />
<br />
* Design body (structure and appearance), sensor placement, eventual movements of the camera<br />
* Implement the robot<br />
* test the robot with a simple game (e.g. [[RoboWII2.0]])<br />
<br />
== Processor Comparison ==<br />
<br />
This is the processor comparison table, the cells without entry is left blank<br />
<br />
{| class="wikitable" border="1"<br />
|-<br />
! <br />
! Name<br />
! Clock Speed<br />
! Ram<br />
! Storage<br />
! Onboard Devices<br />
! Power Consumption<br />
! Price<br />
! OS<br />
! Source Page<br />
|-<br />
| 1<br />
| ESOM270<br />
| PXA270@520MHz<br />
| 128 MB SDRAM <br />
| 32 MB FLASH PMIC<br />
| USB device,Camera interface(QCI),USB host<br />
| 0.8 W @ Full running Mode,100mW @ Deep Sleep mode<br />
| 76 €<br />
| Comes with preinstalled uboot & Linux 2.6.25 or eboot Windows CE 6.0 R2<br />
| http://www.e-consystems.com/esom270.asp<br />
|-<br />
| 2<br />
| IGEPv2 BOARD<br />
| OMAP3530@720 Mhz<br />
| 512MB RAM <br />
| 512MB ONENAND-FLASH<br />
| Ethernet 10/100 Mb BaseT.,Wifi IEEE 802.11b/g + Bluetooth 2.0 (Integrated antenna).,1 x USB OTG,1x USB Host<br />
|<br />
| 145 €<br />
| IGEPv2 running Ubuntu 9.04<br />
| http://www.igep-platform.com/index.php?option=com_content&view=article&id=46&Itemid=55<br />
|-<br />
| 3<br />
| Em-x270<br />
| Intel's XScale PXA270 CPU, up to 520 MHz<br />
| 128 Mbyte SDRAM <br />
| 512 Mbyte Flash Disk<br />
| WLAN / WiFi 802.11b/g Interface,Bluetooth interface,Slave and host USB ports, including keyboard and mouse support,100 Mbps Ethernet port<br />
| 0.2 - 2 W<br />
| 76 $<br />
| ce OR linux<br />
| http://www.compulab.co.il/x270cm/html/x270-cm-datasheet.htm<br />
|-<br />
| 4<br />
| S3C2440 Core Board II <br />
| Samsung S3C2440A based on ARM920T, 400MHz<br />
| 64MB SDRAM<br />
| 64MB NAND Flash<br />
| 2-ch USB Host controller / 1-ch USB Device controller (ver 1.1),Camera interface ,(Max. 4096 x 4096 pixels input support. 2048 x 2048 pixel input support for scaling)<br />
| <br />
| 110$<br />
| Windows CE4.2/5.0, 6.0 and Linux2.6<br />
| http://www.embedinfo.com/en/list.asp?id=64<br />
|-<br />
| 5<br />
| Overo™ Air COM [GUM3503A]<br />
| OMAP 3503 Application Processor with ARM Cortex-A8 CPU 600 MHz<br />
| 256MB RAM<br />
| 256MB Flash<br />
| 802.11(g) and Bluetooth®,USB OTG signals, USB HS Host<br />
| <br />
| 199$<br />
| Linux 2.6.31 or higher OpenEmbedded<br />
| http://www.gumstix.com/store/catalog/product_info.php?products_id=226<br />
|-<br />
| 6<br />
| MX31 TurboG5 Module<br />
| Freescale i.MX31 @ 532MHz<br />
| 128 MB of Mobile DDR<br />
| 32 MB of Flash<br />
| Support for 802.11b/g embedded wireless module,One SD/MMC card slot,One USB 2.0 On-The-Go (OTG) port (H/F/L speed),One USB 2.0 host port (H/F/L speeds),One Camera Sensor Interface,One 10/100BASE-T Ethernet port<br />
| <br />
|<br />
| Windows CE 5.0 and 6.0 Linux<br />
| http://www.eurotech-inc.com/single-board-computer-imx31-com-turbog5.asp<br />
|-<br />
|}<br />
<br />
== Motion Control ==<br />
<br />
<br />
<br />
[[Image:M_control.JPG]]<br />
<br />
The angle between each wheel is 2*pi/3, which 120 degree.<br><br />
The front wheels are making a pi/6 angle between the ground.<br><br />
The positions of the wheels in the coordinate system is as follows.<br><br />
Wheel 1 is (cos(pi/6),sin(pi/6)) = (0.866,0.5)<br><br />
Wheel 2 is (cos(pi/6),sin(pi/6)) = (0.866,0.5)<br><br />
Wheel 3 is (cos(3*pi/2),sin(3*pi/2))=(0,-1)<br><br />
<br><br />
I wrote simulations in matlab, in two ways.<br><br />
The first one is using the TriskarOdometry directly, and estimates the <br />
necessary wheel speeds to reach the desired frontal, lateral and angular <br />
speed of the robot.<br><br />
The second one is instead giving the motor speeds in terms of rotations and <br />
estimates the frontal ,lateral ,angular speed of the robot according to motor<br />
speeds.<br><br />
<br><br />
The matlab code for the motion control simulation is consist of the following files:<br><br />
<br><br />
-motor_speed.m --This file which takes the motor speed as input and <br />
calculates the Vf,Vl,w of the robot.<br><br />
-TriskarOdometry.m --Giving the input Vf,Vl,w calculates the motor speed<br><br />
-trajectory.m --The function which draws some trajectories based on the <br />
following schema<br><br />
1) DIRECT MOVEMENT<br />
THE HEAD OF THE ROBOT ALWAYS LOOKING IN A FIXED DIRECTION<br />
2) ANGULAR MOVEMENT<br />
THE ROBOT WILL MOVE IN A CIRCULAR TRAJECTORY WITH FIXED HEAD<br />
DIRECTION<br />
3) SPIN & GO<br />
THE ROBOT EITHER GOES ANGULAR BUT THE HEAD POSITION<br />
IS ALSO CHANGES<br />
4) SPIN & GO DIRECT<br />
THE ROBOT EITHER GOES DIRECT BUT THE HEAD POSITION<br />
IS ALSO CHANGES<br />
-direc_motion.m --DIRECT MOVEMENT <br><br />
-angular_motion.m --ANGULAR MOVEMENT <br><br />
-spin_go.m -- SPIN & GO <br><br />
-spin_go_d.m --SPIN & GO DIRECT <br><br />
-draw_arrow.m --A function that is used to draw arrow. <br><br />
<br />
<br />
<br />
<br />
<br />
==Motor Suggestion ==<br />
<br />
http://www.pololu.com/catalog/product/1092<br />
<br />
no load speed: 500 rpm<br />
stall torque: 29 kg-cm ~= 0.282 Nm<br />
<br />
maximum power output = Pmax = 26.190 rad/s * 0.141 Nm = 3.692 W<br />
occuring at W= 250 rpm and t=0.141 Nm<br />
<br />
<br />
http://www.pololu.com/catalog/product/1085/<br />
<br />
no load speed: 470 rpm<br />
stall torque : 7 oz ( 0.5 kg-cm ) ~= 0.049 Nm<br />
<br />
maximum power output = Pmax = 24.619 rad/s * 0.0245 Nm = 0.603 W<br />
occuring at W=235 rpm and t = 0.0245 Nm<br />
<br />
calculations made according to the reference paper at the link<br />
http://lancet.mit.edu/motors/motors3.html<br />
http://lancet.mit.edu/motors/motors4.html<br />
<br />
== Wheel Specification ==<br />
<br />
=== 2052-3/8X CAT-TRAK ===<br />
Description <br />
[[Image:FXA314-2T.jpg|right]] <br />
*Standard 2" O.D. - 3/8" Bore Double Row<br />
*Metric 49.2mm O.D. - 9.5mm Plain Bore.<br />
*Recommended max load.<br />
**Steel Bottom = 25 lbs. 11.3kg.<br />
**Plywood Surface = 15 lbs. 6.8kg.<br />
*200# Test Corrugated Bottom = 10 lbs. 4.5kg.<br />
*Weight = 1.75 oz.<br />
*Synthetic rubber coated polypropylene rollers.<br />
*Price:$7.48.<br />
*Source: http://store.kornylak.com/ProductDetails.asp?ProductCode=FXA314<br />
<br />
<br />
=== 2052BX CAT-TRAK ===<br />
<br />
Description<br />
<br />
[[Image:FXA317-2T.jpg|right]]<br />
*Standard 2" O.D. - 1/4" I.D. Bushing Double Row<br />
*Metric 49.2mm O.D. - 6.35mm Bushing<br />
*Recommended max load <br />
**Steel Bottom = 25 lbs. 11.3kg<br />
**Plywood Surface = 15 lbs. 6.8kg<br />
*200# Test Corrugated Bottom = 10 lbs. 4.5kg<br />
*Weight = 1.75 oz<br />
*Synthetic rubber coated polypropylene rollers.<br />
*Price :$7.48<br />
*Source: http://store.kornylak.com/ProductDetails.asp?ProductCode=FXA317<br />
<br />
<br />
=== 2052KX CAT-TRAK ===<br />
Description <br />
[[Image:FXA315-2T.jpg|right]]<br />
*Standard 2" O.D. - 1/2" Bore Double Row w/ Keyway<br />
*Metric 49.2mm O.D. - 12.7mm Bore w/ Keyway<br />
*Recommended max load <br />
**Steel Bottom = 25 lbs. 11.3kg<br />
**Plywood Surface = 15 lbs. 6.8kg<br />
*200# Test Corrugated Bottom = 10 lbs. 4.5kg<br />
*Weight = 1.75 oz<br />
*Synthetic rubber coated polypropylene rollers. <br />
*Price :$7.48<br />
*Source: http://store.kornylak.com/ProductDetails.asp?ProductCode=FXA315</div>AnilKoyuncuhttps://airwiki.elet.polimi.it/index.php?title=File:M_control.JPG&diff=11821File:M control.JPG2010-06-16T09:59:56Z<p>AnilKoyuncu: This is the design of the motors that is used in the odometry</p>
<hr />
<div>This is the design of the motors that is used in the odometry</div>AnilKoyuncuhttps://airwiki.elet.polimi.it/index.php?title=File:Motion_control.JPG&diff=11820File:Motion control.JPG2010-06-16T09:56:08Z<p>AnilKoyuncu: uploaded a new version of "Image:Motion control.JPG": The design of the motors and the odometry used</p>
<hr />
<div>This is motion control of the robot and wheels in a given direction</div>AnilKoyuncuhttps://airwiki.elet.polimi.it/index.php?title=Talk:RunBot:_a_Robogame_Robot&diff=11594Talk:RunBot: a Robogame Robot2010-05-02T16:19:23Z<p>AnilKoyuncu: /* Motion Control */</p>
<hr />
<div>Requirements<br />
<br />
The robot should have:<br />
* a dimension of about 25cm of radius, 20 cm height<br />
* a speed of about 1 m/sec<br />
* omnidirectional movement (Kamro wheels)<br />
* sensors to avoid obstacles (sonars)<br />
* a camera that can be moved up and down (and eventually left and right)<br />
* wireless connection to a computer (Wi-fi)<br />
* Bluetooth connection<br />
* have power enough to move and transmit for at least 2 hours without recharging<br />
* Have the possibility to recharge autonomously<br />
<br />
The robot should cost as less as possible<br />
<br />
TO DO<br />
<br />
* Select HW <br />
** ST ARM HW (ask Martino Migliavacca <martino.migliavacca@gmail.com>, GUMSTIX (http://www.gumstix.org/), ARDUINO (http://www.freeduino.org/), other...)<br />
** Engines (WWW.robot-Italy.com, http://www.jonathan.it/)<br />
** batteries (above, or standard A, AA or AAA type)<br />
** Camera (ST smart cameras, with Ethernet wired link)<br />
** Sonar (already available (see ROBOWII2.0))<br />
** Blue tooth and WI-FI<br />
<br />
* Design body (structure and appearance), sensor placement, eventual movements of the camera<br />
* Implement the robot<br />
* test the robot with a simple game (e.g. [[RoboWII2.0]])<br />
<br />
== Processor Comparison ==<br />
<br />
This is the processor comparison table, the cells without entry is left blank<br />
<br />
{| class="wikitable" border="1"<br />
|-<br />
! <br />
! Name<br />
! Clock Speed<br />
! Ram<br />
! Storage<br />
! Onboard Devices<br />
! Power Consumption<br />
! Price<br />
! OS<br />
! Source Page<br />
|-<br />
| 1<br />
| ESOM270<br />
| PXA270@520MHz<br />
| 128 MB SDRAM <br />
| 32 MB FLASH PMIC<br />
| USB device,Camera interface(QCI),USB host<br />
| 0.8 W @ Full running Mode,100mW @ Deep Sleep mode<br />
| 76 €<br />
| Comes with preinstalled uboot & Linux 2.6.25 or eboot Windows CE 6.0 R2<br />
| http://www.e-consystems.com/esom270.asp<br />
|-<br />
| 2<br />
| IGEPv2 BOARD<br />
| OMAP3530@720 Mhz<br />
| 512MB RAM <br />
| 512MB ONENAND-FLASH<br />
| Ethernet 10/100 Mb BaseT.,Wifi IEEE 802.11b/g + Bluetooth 2.0 (Integrated antenna).,1 x USB OTG,1x USB Host<br />
|<br />
| 145 €<br />
| IGEPv2 running Ubuntu 9.04<br />
| http://www.igep-platform.com/index.php?option=com_content&view=article&id=46&Itemid=55<br />
|-<br />
| 3<br />
| Em-x270<br />
| Intel's XScale PXA270 CPU, up to 520 MHz<br />
| 128 Mbyte SDRAM <br />
| 512 Mbyte Flash Disk<br />
| WLAN / WiFi 802.11b/g Interface,Bluetooth interface,Slave and host USB ports, including keyboard and mouse support,100 Mbps Ethernet port<br />
| 0.2 - 2 W<br />
| 76 $<br />
| ce OR linux<br />
| http://www.compulab.co.il/x270cm/html/x270-cm-datasheet.htm<br />
|-<br />
| 4<br />
| S3C2440 Core Board II <br />
| Samsung S3C2440A based on ARM920T, 400MHz<br />
| 64MB SDRAM<br />
| 64MB NAND Flash<br />
| 2-ch USB Host controller / 1-ch USB Device controller (ver 1.1),Camera interface ,(Max. 4096 x 4096 pixels input support. 2048 x 2048 pixel input support for scaling)<br />
| <br />
| 110$<br />
| Windows CE4.2/5.0, 6.0 and Linux2.6<br />
| http://www.embedinfo.com/en/list.asp?id=64<br />
|-<br />
| 5<br />
| Overo™ Air COM [GUM3503A]<br />
| OMAP 3503 Application Processor with ARM Cortex-A8 CPU 600 MHz<br />
| 256MB RAM<br />
| 256MB Flash<br />
| 802.11(g) and Bluetooth®,USB OTG signals, USB HS Host<br />
| <br />
| 199$<br />
| Linux 2.6.31 or higher OpenEmbedded<br />
| http://www.gumstix.com/store/catalog/product_info.php?products_id=226<br />
|-<br />
| 6<br />
| MX31 TurboG5 Module<br />
| Freescale i.MX31 @ 532MHz<br />
| 128 MB of Mobile DDR<br />
| 32 MB of Flash<br />
| Support for 802.11b/g embedded wireless module,One SD/MMC card slot,One USB 2.0 On-The-Go (OTG) port (H/F/L speed),One USB 2.0 host port (H/F/L speeds),One Camera Sensor Interface,One 10/100BASE-T Ethernet port<br />
| <br />
|<br />
| Windows CE 5.0 and 6.0 Linux<br />
| http://www.eurotech-inc.com/single-board-computer-imx31-com-turbog5.asp<br />
|-<br />
|}<br />
<br />
== Motion Control(Needs Update) ==<br />
<br />
<br />
<span style="color:#009000"> <br />
[[Image:Motion_control.JPG]]<br />
<br />
Angle between V1 and X-axis is 30°<br />
Angle between V2 and X-axis is 150°<br />
Angle between V3 and X-axis is 270°<br />
<br />
V1 = F3-F1<br />
V2= F1-F2<br />
V3= F2-F3<br />
<br />
Vt= c1*V1 + c3*V3 (region 3)<br />
Vt= c1*V1 + c2*V2 (region 2)<br />
Vt= c2*V2 + c3*V3 (region 1)<br />
<br />
If Vt is between V1 and V3 then region 3<br />
V1 and V2 region 1<br />
V2 and V3 region 2<br />
<br />
The matlab code for the motion control simulation is as follows:<br />
<br />
<br />
[[Media:M control.zip]]<br />
<br />
This model previously developed according to the [http://www.google.com/url?sa=t&source=web&ct=res&cd=1&ved=0CAsQFjAA&url=http%3A%2F%2Fciteseerx.ist.psu.edu%2Fviewdoc%2Fdownload%3Fdoi%3D10.1.1.69.7392%26rep%3Drep1%26type%3Dpdf&ei=WaPdS_anCMSbOOvEhLsH&usg=AFQjCNFIkckyyaM5UQfFw1DJtw2t66C0-Q&sig2=6nwS1622_e0zmLt5bqCf7w paper], but the assumption given in the paper that is " We are assuming here that the wheels cannot slip, that is, all the torque from the motors is transmitted to the robot via the floor. This is an unrealistic assumption which we discuss later." was neglected in my model, so it was previously was not correct. <br />
<br />
</span><br />
<br />
The correct model is the TriskarOdometer that is used in MRT for robocup. Will be updated soon.<br />
<br />
==Motor Suggestion ==<br />
<br />
http://www.pololu.com/catalog/product/1092<br />
<br />
no load speed: 500 rpm<br />
stall torque: 29 kg-cm ~= 0.282 Nm<br />
<br />
maximum power output = Pmax = 26.190 rad/s * 0.141 Nm = 3.692 W<br />
occuring at W= 250 rpm and t=0.141 Nm<br />
<br />
<br />
http://www.pololu.com/catalog/product/1085/<br />
<br />
no load speed: 470 rpm<br />
stall torque : 7 oz ( 0.5 kg-cm ) ~= 0.049 Nm<br />
<br />
maximum power output = Pmax = 24.619 rad/s * 0.0245 Nm = 0.603 W<br />
occuring at W=235 rpm and t = 0.0245 Nm<br />
<br />
calculations made according to the reference paper at the link<br />
http://lancet.mit.edu/motors/motors3.html<br />
http://lancet.mit.edu/motors/motors4.html<br />
<br />
== Wheel Specification ==<br />
<br />
=== 2052-3/8X CAT-TRAK ===<br />
Description <br />
[[Image:FXA314-2T.jpg|right]] <br />
*Standard 2" O.D. - 3/8" Bore Double Row<br />
*Metric 49.2mm O.D. - 9.5mm Plain Bore.<br />
*Recommended max load.<br />
**Steel Bottom = 25 lbs. 11.3kg.<br />
**Plywood Surface = 15 lbs. 6.8kg.<br />
*200# Test Corrugated Bottom = 10 lbs. 4.5kg.<br />
*Weight = 1.75 oz.<br />
*Synthetic rubber coated polypropylene rollers.<br />
*Price:$7.48.<br />
*Source: http://store.kornylak.com/ProductDetails.asp?ProductCode=FXA314<br />
<br />
<br />
=== 2052BX CAT-TRAK ===<br />
<br />
Description<br />
<br />
[[Image:FXA317-2T.jpg|right]]<br />
*Standard 2" O.D. - 1/4" I.D. Bushing Double Row<br />
*Metric 49.2mm O.D. - 6.35mm Bushing<br />
*Recommended max load <br />
**Steel Bottom = 25 lbs. 11.3kg<br />
**Plywood Surface = 15 lbs. 6.8kg<br />
*200# Test Corrugated Bottom = 10 lbs. 4.5kg<br />
*Weight = 1.75 oz<br />
*Synthetic rubber coated polypropylene rollers.<br />
*Price :$7.48<br />
*Source: http://store.kornylak.com/ProductDetails.asp?ProductCode=FXA317<br />
<br />
<br />
=== 2052KX CAT-TRAK ===<br />
Description <br />
[[Image:FXA315-2T.jpg|right]]<br />
*Standard 2" O.D. - 1/2" Bore Double Row w/ Keyway<br />
*Metric 49.2mm O.D. - 12.7mm Bore w/ Keyway<br />
*Recommended max load <br />
**Steel Bottom = 25 lbs. 11.3kg<br />
**Plywood Surface = 15 lbs. 6.8kg<br />
*200# Test Corrugated Bottom = 10 lbs. 4.5kg<br />
*Weight = 1.75 oz<br />
*Synthetic rubber coated polypropylene rollers. <br />
*Price :$7.48<br />
*Source: http://store.kornylak.com/ProductDetails.asp?ProductCode=FXA315</div>AnilKoyuncuhttps://airwiki.elet.polimi.it/index.php?title=Talk:RunBot:_a_Robogame_Robot&diff=11593Talk:RunBot: a Robogame Robot2010-05-02T16:17:05Z<p>AnilKoyuncu: /* Motion Control */</p>
<hr />
<div>Requirements<br />
<br />
The robot should have:<br />
* a dimension of about 25cm of radius, 20 cm height<br />
* a speed of about 1 m/sec<br />
* omnidirectional movement (Kamro wheels)<br />
* sensors to avoid obstacles (sonars)<br />
* a camera that can be moved up and down (and eventually left and right)<br />
* wireless connection to a computer (Wi-fi)<br />
* Bluetooth connection<br />
* have power enough to move and transmit for at least 2 hours without recharging<br />
* Have the possibility to recharge autonomously<br />
<br />
The robot should cost as less as possible<br />
<br />
TO DO<br />
<br />
* Select HW <br />
** ST ARM HW (ask Martino Migliavacca <martino.migliavacca@gmail.com>, GUMSTIX (http://www.gumstix.org/), ARDUINO (http://www.freeduino.org/), other...)<br />
** Engines (WWW.robot-Italy.com, http://www.jonathan.it/)<br />
** batteries (above, or standard A, AA or AAA type)<br />
** Camera (ST smart cameras, with Ethernet wired link)<br />
** Sonar (already available (see ROBOWII2.0))<br />
** Blue tooth and WI-FI<br />
<br />
* Design body (structure and appearance), sensor placement, eventual movements of the camera<br />
* Implement the robot<br />
* test the robot with a simple game (e.g. [[RoboWII2.0]])<br />
<br />
== Processor Comparison ==<br />
<br />
This is the processor comparison table, the cells without entry is left blank<br />
<br />
{| class="wikitable" border="1"<br />
|-<br />
! <br />
! Name<br />
! Clock Speed<br />
! Ram<br />
! Storage<br />
! Onboard Devices<br />
! Power Consumption<br />
! Price<br />
! OS<br />
! Source Page<br />
|-<br />
| 1<br />
| ESOM270<br />
| PXA270@520MHz<br />
| 128 MB SDRAM <br />
| 32 MB FLASH PMIC<br />
| USB device,Camera interface(QCI),USB host<br />
| 0.8 W @ Full running Mode,100mW @ Deep Sleep mode<br />
| 76 €<br />
| Comes with preinstalled uboot & Linux 2.6.25 or eboot Windows CE 6.0 R2<br />
| http://www.e-consystems.com/esom270.asp<br />
|-<br />
| 2<br />
| IGEPv2 BOARD<br />
| OMAP3530@720 Mhz<br />
| 512MB RAM <br />
| 512MB ONENAND-FLASH<br />
| Ethernet 10/100 Mb BaseT.,Wifi IEEE 802.11b/g + Bluetooth 2.0 (Integrated antenna).,1 x USB OTG,1x USB Host<br />
|<br />
| 145 €<br />
| IGEPv2 running Ubuntu 9.04<br />
| http://www.igep-platform.com/index.php?option=com_content&view=article&id=46&Itemid=55<br />
|-<br />
| 3<br />
| Em-x270<br />
| Intel's XScale PXA270 CPU, up to 520 MHz<br />
| 128 Mbyte SDRAM <br />
| 512 Mbyte Flash Disk<br />
| WLAN / WiFi 802.11b/g Interface,Bluetooth interface,Slave and host USB ports, including keyboard and mouse support,100 Mbps Ethernet port<br />
| 0.2 - 2 W<br />
| 76 $<br />
| ce OR linux<br />
| http://www.compulab.co.il/x270cm/html/x270-cm-datasheet.htm<br />
|-<br />
| 4<br />
| S3C2440 Core Board II <br />
| Samsung S3C2440A based on ARM920T, 400MHz<br />
| 64MB SDRAM<br />
| 64MB NAND Flash<br />
| 2-ch USB Host controller / 1-ch USB Device controller (ver 1.1),Camera interface ,(Max. 4096 x 4096 pixels input support. 2048 x 2048 pixel input support for scaling)<br />
| <br />
| 110$<br />
| Windows CE4.2/5.0, 6.0 and Linux2.6<br />
| http://www.embedinfo.com/en/list.asp?id=64<br />
|-<br />
| 5<br />
| Overo™ Air COM [GUM3503A]<br />
| OMAP 3503 Application Processor with ARM Cortex-A8 CPU 600 MHz<br />
| 256MB RAM<br />
| 256MB Flash<br />
| 802.11(g) and Bluetooth®,USB OTG signals, USB HS Host<br />
| <br />
| 199$<br />
| Linux 2.6.31 or higher OpenEmbedded<br />
| http://www.gumstix.com/store/catalog/product_info.php?products_id=226<br />
|-<br />
| 6<br />
| MX31 TurboG5 Module<br />
| Freescale i.MX31 @ 532MHz<br />
| 128 MB of Mobile DDR<br />
| 32 MB of Flash<br />
| Support for 802.11b/g embedded wireless module,One SD/MMC card slot,One USB 2.0 On-The-Go (OTG) port (H/F/L speed),One USB 2.0 host port (H/F/L speeds),One Camera Sensor Interface,One 10/100BASE-T Ethernet port<br />
| <br />
|<br />
| Windows CE 5.0 and 6.0 Linux<br />
| http://www.eurotech-inc.com/single-board-computer-imx31-com-turbog5.asp<br />
|-<br />
|}<br />
<br />
== Motion Control ==<br />
<br />
<br />
<span style="color:#009000"> <br />
[[Image:Motion_control.JPG]]<br />
<br />
Angle between V1 and X-axis is 30°<br />
Angle between V2 and X-axis is 150°<br />
Angle between V3 and X-axis is 270°<br />
<br />
V1 = F3-F1<br />
V2= F1-F2<br />
V3= F2-F3<br />
<br />
Vt= c1*V1 + c3*V3 (region 3)<br />
Vt= c1*V1 + c2*V2 (region 2)<br />
Vt= c2*V2 + c3*V3 (region 1)<br />
<br />
If Vt is between V1 and V3 then region 3<br />
V1 and V2 region 1<br />
V2 and V3 region 2<br />
<br />
The matlab code for the motion control simulation is as follows:<br />
<br />
<br />
[[Media:M control.zip]]<br />
<br />
This model previously developed according to the [http://www.google.com/url?sa=t&source=web&ct=res&cd=1&ved=0CAsQFjAA&url=http%3A%2F%2Fciteseerx.ist.psu.edu%2Fviewdoc%2Fdownload%3Fdoi%3D10.1.1.69.7392%26rep%3Drep1%26type%3Dpdf&ei=WaPdS_anCMSbOOvEhLsH&usg=AFQjCNFIkckyyaM5UQfFw1DJtw2t66C0-Q&sig2=6nwS1622_e0zmLt5bqCf7w paper], but the assumption given in the paper that is " We are assuming here that the wheels cannot slip, that is, all the torque from the motors is transmitted to the robot via the floor. This is an unrealistic assumption which we discuss later." was neglected in my model, so it was previously was not correct. <br />
<br />
</span><br />
<br />
The correct model is the TriskarOdometer that is used in MRT for robocup. Will be updated soon.<br />
<br />
==Motor Suggestion ==<br />
<br />
http://www.pololu.com/catalog/product/1092<br />
<br />
no load speed: 500 rpm<br />
stall torque: 29 kg-cm ~= 0.282 Nm<br />
<br />
maximum power output = Pmax = 26.190 rad/s * 0.141 Nm = 3.692 W<br />
occuring at W= 250 rpm and t=0.141 Nm<br />
<br />
<br />
http://www.pololu.com/catalog/product/1085/<br />
<br />
no load speed: 470 rpm<br />
stall torque : 7 oz ( 0.5 kg-cm ) ~= 0.049 Nm<br />
<br />
maximum power output = Pmax = 24.619 rad/s * 0.0245 Nm = 0.603 W<br />
occuring at W=235 rpm and t = 0.0245 Nm<br />
<br />
calculations made according to the reference paper at the link<br />
http://lancet.mit.edu/motors/motors3.html<br />
http://lancet.mit.edu/motors/motors4.html<br />
<br />
== Wheel Specification ==<br />
<br />
=== 2052-3/8X CAT-TRAK ===<br />
Description <br />
[[Image:FXA314-2T.jpg|right]] <br />
*Standard 2" O.D. - 3/8" Bore Double Row<br />
*Metric 49.2mm O.D. - 9.5mm Plain Bore.<br />
*Recommended max load.<br />
**Steel Bottom = 25 lbs. 11.3kg.<br />
**Plywood Surface = 15 lbs. 6.8kg.<br />
*200# Test Corrugated Bottom = 10 lbs. 4.5kg.<br />
*Weight = 1.75 oz.<br />
*Synthetic rubber coated polypropylene rollers.<br />
*Price:$7.48.<br />
*Source: http://store.kornylak.com/ProductDetails.asp?ProductCode=FXA314<br />
<br />
<br />
=== 2052BX CAT-TRAK ===<br />
<br />
Description<br />
<br />
[[Image:FXA317-2T.jpg|right]]<br />
*Standard 2" O.D. - 1/4" I.D. Bushing Double Row<br />
*Metric 49.2mm O.D. - 6.35mm Bushing<br />
*Recommended max load <br />
**Steel Bottom = 25 lbs. 11.3kg<br />
**Plywood Surface = 15 lbs. 6.8kg<br />
*200# Test Corrugated Bottom = 10 lbs. 4.5kg<br />
*Weight = 1.75 oz<br />
*Synthetic rubber coated polypropylene rollers.<br />
*Price :$7.48<br />
*Source: http://store.kornylak.com/ProductDetails.asp?ProductCode=FXA317<br />
<br />
<br />
=== 2052KX CAT-TRAK ===<br />
Description <br />
[[Image:FXA315-2T.jpg|right]]<br />
*Standard 2" O.D. - 1/2" Bore Double Row w/ Keyway<br />
*Metric 49.2mm O.D. - 12.7mm Bore w/ Keyway<br />
*Recommended max load <br />
**Steel Bottom = 25 lbs. 11.3kg<br />
**Plywood Surface = 15 lbs. 6.8kg<br />
*200# Test Corrugated Bottom = 10 lbs. 4.5kg<br />
*Weight = 1.75 oz<br />
*Synthetic rubber coated polypropylene rollers. <br />
*Price :$7.48<br />
*Source: http://store.kornylak.com/ProductDetails.asp?ProductCode=FXA315</div>AnilKoyuncuhttps://airwiki.elet.polimi.it/index.php?title=Talk:RunBot:_a_Robogame_Robot&diff=11592Talk:RunBot: a Robogame Robot2010-05-02T15:48:10Z<p>AnilKoyuncu: /* Wheel Specification */</p>
<hr />
<div>Requirements<br />
<br />
The robot should have:<br />
* a dimension of about 25cm of radius, 20 cm height<br />
* a speed of about 1 m/sec<br />
* omnidirectional movement (Kamro wheels)<br />
* sensors to avoid obstacles (sonars)<br />
* a camera that can be moved up and down (and eventually left and right)<br />
* wireless connection to a computer (Wi-fi)<br />
* Bluetooth connection<br />
* have power enough to move and transmit for at least 2 hours without recharging<br />
* Have the possibility to recharge autonomously<br />
<br />
The robot should cost as less as possible<br />
<br />
TO DO<br />
<br />
* Select HW <br />
** ST ARM HW (ask Martino Migliavacca <martino.migliavacca@gmail.com>, GUMSTIX (http://www.gumstix.org/), ARDUINO (http://www.freeduino.org/), other...)<br />
** Engines (WWW.robot-Italy.com, http://www.jonathan.it/)<br />
** batteries (above, or standard A, AA or AAA type)<br />
** Camera (ST smart cameras, with Ethernet wired link)<br />
** Sonar (already available (see ROBOWII2.0))<br />
** Blue tooth and WI-FI<br />
<br />
* Design body (structure and appearance), sensor placement, eventual movements of the camera<br />
* Implement the robot<br />
* test the robot with a simple game (e.g. [[RoboWII2.0]])<br />
<br />
== Processor Comparison ==<br />
<br />
This is the processor comparison table, the cells without entry is left blank<br />
<br />
{| class="wikitable" border="1"<br />
|-<br />
! <br />
! Name<br />
! Clock Speed<br />
! Ram<br />
! Storage<br />
! Onboard Devices<br />
! Power Consumption<br />
! Price<br />
! OS<br />
! Source Page<br />
|-<br />
| 1<br />
| ESOM270<br />
| PXA270@520MHz<br />
| 128 MB SDRAM <br />
| 32 MB FLASH PMIC<br />
| USB device,Camera interface(QCI),USB host<br />
| 0.8 W @ Full running Mode,100mW @ Deep Sleep mode<br />
| 76 €<br />
| Comes with preinstalled uboot & Linux 2.6.25 or eboot Windows CE 6.0 R2<br />
| http://www.e-consystems.com/esom270.asp<br />
|-<br />
| 2<br />
| IGEPv2 BOARD<br />
| OMAP3530@720 Mhz<br />
| 512MB RAM <br />
| 512MB ONENAND-FLASH<br />
| Ethernet 10/100 Mb BaseT.,Wifi IEEE 802.11b/g + Bluetooth 2.0 (Integrated antenna).,1 x USB OTG,1x USB Host<br />
|<br />
| 145 €<br />
| IGEPv2 running Ubuntu 9.04<br />
| http://www.igep-platform.com/index.php?option=com_content&view=article&id=46&Itemid=55<br />
|-<br />
| 3<br />
| Em-x270<br />
| Intel's XScale PXA270 CPU, up to 520 MHz<br />
| 128 Mbyte SDRAM <br />
| 512 Mbyte Flash Disk<br />
| WLAN / WiFi 802.11b/g Interface,Bluetooth interface,Slave and host USB ports, including keyboard and mouse support,100 Mbps Ethernet port<br />
| 0.2 - 2 W<br />
| 76 $<br />
| ce OR linux<br />
| http://www.compulab.co.il/x270cm/html/x270-cm-datasheet.htm<br />
|-<br />
| 4<br />
| S3C2440 Core Board II <br />
| Samsung S3C2440A based on ARM920T, 400MHz<br />
| 64MB SDRAM<br />
| 64MB NAND Flash<br />
| 2-ch USB Host controller / 1-ch USB Device controller (ver 1.1),Camera interface ,(Max. 4096 x 4096 pixels input support. 2048 x 2048 pixel input support for scaling)<br />
| <br />
| 110$<br />
| Windows CE4.2/5.0, 6.0 and Linux2.6<br />
| http://www.embedinfo.com/en/list.asp?id=64<br />
|-<br />
| 5<br />
| Overo™ Air COM [GUM3503A]<br />
| OMAP 3503 Application Processor with ARM Cortex-A8 CPU 600 MHz<br />
| 256MB RAM<br />
| 256MB Flash<br />
| 802.11(g) and Bluetooth®,USB OTG signals, USB HS Host<br />
| <br />
| 199$<br />
| Linux 2.6.31 or higher OpenEmbedded<br />
| http://www.gumstix.com/store/catalog/product_info.php?products_id=226<br />
|-<br />
| 6<br />
| MX31 TurboG5 Module<br />
| Freescale i.MX31 @ 532MHz<br />
| 128 MB of Mobile DDR<br />
| 32 MB of Flash<br />
| Support for 802.11b/g embedded wireless module,One SD/MMC card slot,One USB 2.0 On-The-Go (OTG) port (H/F/L speed),One USB 2.0 host port (H/F/L speeds),One Camera Sensor Interface,One 10/100BASE-T Ethernet port<br />
| <br />
|<br />
| Windows CE 5.0 and 6.0 Linux<br />
| http://www.eurotech-inc.com/single-board-computer-imx31-com-turbog5.asp<br />
|-<br />
|}<br />
<br />
== Motion Control ==<br />
<br />
<br />
[[Image:Motion_control.JPG]]<br />
<br />
Angle between V1 and X-axis is 30°<br />
Angle between V2 and X-axis is 150°<br />
Angle between V3 and X-axis is 270°<br />
<br />
V1 = F3-F1<br />
V2= F1-F2<br />
V3= F2-F3<br />
<br />
Vt= c1*V1 + c3*V3 (region 3)<br />
Vt= c1*V1 + c2*V2 (region 2)<br />
Vt= c2*V2 + c3*V3 (region 1)<br />
<br />
If Vt is between V1 and V3 then region 3<br />
V1 and V2 region 1<br />
V2 and V3 region 2<br />
<br />
The matlab code for the motion control simulation is as follows:<br />
<br />
<br />
[[Media:M control.zip]]<br />
<br />
==Motor Suggestion ==<br />
<br />
http://www.pololu.com/catalog/product/1092<br />
<br />
no load speed: 500 rpm<br />
stall torque: 29 kg-cm ~= 0.282 Nm<br />
<br />
maximum power output = Pmax = 26.190 rad/s * 0.141 Nm = 3.692 W<br />
occuring at W= 250 rpm and t=0.141 Nm<br />
<br />
<br />
http://www.pololu.com/catalog/product/1085/<br />
<br />
no load speed: 470 rpm<br />
stall torque : 7 oz ( 0.5 kg-cm ) ~= 0.049 Nm<br />
<br />
maximum power output = Pmax = 24.619 rad/s * 0.0245 Nm = 0.603 W<br />
occuring at W=235 rpm and t = 0.0245 Nm<br />
<br />
calculations made according to the reference paper at the link<br />
http://lancet.mit.edu/motors/motors3.html<br />
http://lancet.mit.edu/motors/motors4.html<br />
<br />
== Wheel Specification ==<br />
<br />
=== 2052-3/8X CAT-TRAK ===<br />
Description <br />
[[Image:FXA314-2T.jpg|right]] <br />
*Standard 2" O.D. - 3/8" Bore Double Row<br />
*Metric 49.2mm O.D. - 9.5mm Plain Bore.<br />
*Recommended max load.<br />
**Steel Bottom = 25 lbs. 11.3kg.<br />
**Plywood Surface = 15 lbs. 6.8kg.<br />
*200# Test Corrugated Bottom = 10 lbs. 4.5kg.<br />
*Weight = 1.75 oz.<br />
*Synthetic rubber coated polypropylene rollers.<br />
*Price:$7.48.<br />
*Source: http://store.kornylak.com/ProductDetails.asp?ProductCode=FXA314<br />
<br />
<br />
=== 2052BX CAT-TRAK ===<br />
<br />
Description<br />
<br />
[[Image:FXA317-2T.jpg|right]]<br />
*Standard 2" O.D. - 1/4" I.D. Bushing Double Row<br />
*Metric 49.2mm O.D. - 6.35mm Bushing<br />
*Recommended max load <br />
**Steel Bottom = 25 lbs. 11.3kg<br />
**Plywood Surface = 15 lbs. 6.8kg<br />
*200# Test Corrugated Bottom = 10 lbs. 4.5kg<br />
*Weight = 1.75 oz<br />
*Synthetic rubber coated polypropylene rollers.<br />
*Price :$7.48<br />
*Source: http://store.kornylak.com/ProductDetails.asp?ProductCode=FXA317<br />
<br />
<br />
=== 2052KX CAT-TRAK ===<br />
Description <br />
[[Image:FXA315-2T.jpg|right]]<br />
*Standard 2" O.D. - 1/2" Bore Double Row w/ Keyway<br />
*Metric 49.2mm O.D. - 12.7mm Bore w/ Keyway<br />
*Recommended max load <br />
**Steel Bottom = 25 lbs. 11.3kg<br />
**Plywood Surface = 15 lbs. 6.8kg<br />
*200# Test Corrugated Bottom = 10 lbs. 4.5kg<br />
*Weight = 1.75 oz<br />
*Synthetic rubber coated polypropylene rollers. <br />
*Price :$7.48<br />
*Source: http://store.kornylak.com/ProductDetails.asp?ProductCode=FXA315</div>AnilKoyuncuhttps://airwiki.elet.polimi.it/index.php?title=Talk:RunBot:_a_Robogame_Robot&diff=11591Talk:RunBot: a Robogame Robot2010-05-02T15:40:57Z<p>AnilKoyuncu: /* Motor Suggestion */</p>
<hr />
<div>Requirements<br />
<br />
The robot should have:<br />
* a dimension of about 25cm of radius, 20 cm height<br />
* a speed of about 1 m/sec<br />
* omnidirectional movement (Kamro wheels)<br />
* sensors to avoid obstacles (sonars)<br />
* a camera that can be moved up and down (and eventually left and right)<br />
* wireless connection to a computer (Wi-fi)<br />
* Bluetooth connection<br />
* have power enough to move and transmit for at least 2 hours without recharging<br />
* Have the possibility to recharge autonomously<br />
<br />
The robot should cost as less as possible<br />
<br />
TO DO<br />
<br />
* Select HW <br />
** ST ARM HW (ask Martino Migliavacca <martino.migliavacca@gmail.com>, GUMSTIX (http://www.gumstix.org/), ARDUINO (http://www.freeduino.org/), other...)<br />
** Engines (WWW.robot-Italy.com, http://www.jonathan.it/)<br />
** batteries (above, or standard A, AA or AAA type)<br />
** Camera (ST smart cameras, with Ethernet wired link)<br />
** Sonar (already available (see ROBOWII2.0))<br />
** Blue tooth and WI-FI<br />
<br />
* Design body (structure and appearance), sensor placement, eventual movements of the camera<br />
* Implement the robot<br />
* test the robot with a simple game (e.g. [[RoboWII2.0]])<br />
<br />
== Processor Comparison ==<br />
<br />
This is the processor comparison table, the cells without entry is left blank<br />
<br />
{| class="wikitable" border="1"<br />
|-<br />
! <br />
! Name<br />
! Clock Speed<br />
! Ram<br />
! Storage<br />
! Onboard Devices<br />
! Power Consumption<br />
! Price<br />
! OS<br />
! Source Page<br />
|-<br />
| 1<br />
| ESOM270<br />
| PXA270@520MHz<br />
| 128 MB SDRAM <br />
| 32 MB FLASH PMIC<br />
| USB device,Camera interface(QCI),USB host<br />
| 0.8 W @ Full running Mode,100mW @ Deep Sleep mode<br />
| 76 €<br />
| Comes with preinstalled uboot & Linux 2.6.25 or eboot Windows CE 6.0 R2<br />
| http://www.e-consystems.com/esom270.asp<br />
|-<br />
| 2<br />
| IGEPv2 BOARD<br />
| OMAP3530@720 Mhz<br />
| 512MB RAM <br />
| 512MB ONENAND-FLASH<br />
| Ethernet 10/100 Mb BaseT.,Wifi IEEE 802.11b/g + Bluetooth 2.0 (Integrated antenna).,1 x USB OTG,1x USB Host<br />
|<br />
| 145 €<br />
| IGEPv2 running Ubuntu 9.04<br />
| http://www.igep-platform.com/index.php?option=com_content&view=article&id=46&Itemid=55<br />
|-<br />
| 3<br />
| Em-x270<br />
| Intel's XScale PXA270 CPU, up to 520 MHz<br />
| 128 Mbyte SDRAM <br />
| 512 Mbyte Flash Disk<br />
| WLAN / WiFi 802.11b/g Interface,Bluetooth interface,Slave and host USB ports, including keyboard and mouse support,100 Mbps Ethernet port<br />
| 0.2 - 2 W<br />
| 76 $<br />
| ce OR linux<br />
| http://www.compulab.co.il/x270cm/html/x270-cm-datasheet.htm<br />
|-<br />
| 4<br />
| S3C2440 Core Board II <br />
| Samsung S3C2440A based on ARM920T, 400MHz<br />
| 64MB SDRAM<br />
| 64MB NAND Flash<br />
| 2-ch USB Host controller / 1-ch USB Device controller (ver 1.1),Camera interface ,(Max. 4096 x 4096 pixels input support. 2048 x 2048 pixel input support for scaling)<br />
| <br />
| 110$<br />
| Windows CE4.2/5.0, 6.0 and Linux2.6<br />
| http://www.embedinfo.com/en/list.asp?id=64<br />
|-<br />
| 5<br />
| Overo™ Air COM [GUM3503A]<br />
| OMAP 3503 Application Processor with ARM Cortex-A8 CPU 600 MHz<br />
| 256MB RAM<br />
| 256MB Flash<br />
| 802.11(g) and Bluetooth®,USB OTG signals, USB HS Host<br />
| <br />
| 199$<br />
| Linux 2.6.31 or higher OpenEmbedded<br />
| http://www.gumstix.com/store/catalog/product_info.php?products_id=226<br />
|-<br />
| 6<br />
| MX31 TurboG5 Module<br />
| Freescale i.MX31 @ 532MHz<br />
| 128 MB of Mobile DDR<br />
| 32 MB of Flash<br />
| Support for 802.11b/g embedded wireless module,One SD/MMC card slot,One USB 2.0 On-The-Go (OTG) port (H/F/L speed),One USB 2.0 host port (H/F/L speeds),One Camera Sensor Interface,One 10/100BASE-T Ethernet port<br />
| <br />
|<br />
| Windows CE 5.0 and 6.0 Linux<br />
| http://www.eurotech-inc.com/single-board-computer-imx31-com-turbog5.asp<br />
|-<br />
|}<br />
<br />
== Motion Control ==<br />
<br />
<br />
[[Image:Motion_control.JPG]]<br />
<br />
Angle between V1 and X-axis is 30°<br />
Angle between V2 and X-axis is 150°<br />
Angle between V3 and X-axis is 270°<br />
<br />
V1 = F3-F1<br />
V2= F1-F2<br />
V3= F2-F3<br />
<br />
Vt= c1*V1 + c3*V3 (region 3)<br />
Vt= c1*V1 + c2*V2 (region 2)<br />
Vt= c2*V2 + c3*V3 (region 1)<br />
<br />
If Vt is between V1 and V3 then region 3<br />
V1 and V2 region 1<br />
V2 and V3 region 2<br />
<br />
The matlab code for the motion control simulation is as follows:<br />
<br />
<br />
[[Media:M control.zip]]<br />
<br />
==Motor Suggestion ==<br />
<br />
http://www.pololu.com/catalog/product/1092<br />
<br />
no load speed: 500 rpm<br />
stall torque: 29 kg-cm ~= 0.282 Nm<br />
<br />
maximum power output = Pmax = 26.190 rad/s * 0.141 Nm = 3.692 W<br />
occuring at W= 250 rpm and t=0.141 Nm<br />
<br />
<br />
http://www.pololu.com/catalog/product/1085/<br />
<br />
no load speed: 470 rpm<br />
stall torque : 7 oz ( 0.5 kg-cm ) ~= 0.049 Nm<br />
<br />
maximum power output = Pmax = 24.619 rad/s * 0.0245 Nm = 0.603 W<br />
occuring at W=235 rpm and t = 0.0245 Nm<br />
<br />
calculations made according to the reference paper at the link<br />
http://lancet.mit.edu/motors/motors3.html<br />
http://lancet.mit.edu/motors/motors4.html<br />
<br />
== Wheel Specification ==<br />
<br />
=== 2052-3/8X CAT-TRAK ===<br />
<br />
<br />
<br />
<br />
Description <br />
*Standard 2" O.D. - 3/8" Bore Double Row<br />
*Metric 49.2mm O.D. - 9.5mm Plain Bore.<br />
*Recommended max load.<br />
**Steel Bottom = 25 lbs. 11.3kg.<br />
**Plywood Surface = 15 lbs. 6.8kg.<br />
*200# Test Corrugated Bottom = 10 lbs. 4.5kg.<br />
*Weight = 1.75 oz.<br />
*Synthetic rubber coated polypropylene rollers.<br />
*Price:$7.48.<br />
*Source: http://store.kornylak.com/ProductDetails.asp?ProductCode=FXA314<br />
[[Image:FXA314-2T.jpg]]<br />
<br />
=== 2052BX CAT-TRAK ===<br />
<br />
Description<br />
*Standard 2" O.D. - 1/4" I.D. Bushing Double Row<br />
*Metric 49.2mm O.D. - 6.35mm Bushing<br />
*Recommended max load <br />
**Steel Bottom = 25 lbs. 11.3kg<br />
**Plywood Surface = 15 lbs. 6.8kg<br />
*200# Test Corrugated Bottom = 10 lbs. 4.5kg<br />
*Weight = 1.75<br />
*Synthetic rubber coated polypropylene rollers.<br />
*Price :$7.48<br />
*Source: http://store.kornylak.com/ProductDetails.asp?ProductCode=FXA317<br />
[[Image:FXA317-2T.jpg]]<br />
<br />
=== 2052KX CAT-TRAK ===<br />
Description <br />
*Standard 2" O.D. - 1/2" Bore Double Row w/ Keyway<br />
*Metric 49.2mm O.D. - 12.7mm Bore w/ Keyway<br />
*Recommended max load <br />
**Steel Bottom = 25 lbs. 11.3kg<br />
**Plywood Surface = 15 lbs. 6.8kg<br />
*200# Test Corrugated Bottom = 10 lbs. 4.5kg<br />
*Weight = 1.75 oz<br />
*Synthetic rubber coated polypropylene rollers. <br />
*Price :$7.48<br />
*Source: http://store.kornylak.com/ProductDetails.asp?ProductCode=FXA315<br />
[[Image:FXA315-2T.jpg]]</div>AnilKoyuncuhttps://airwiki.elet.polimi.it/index.php?title=File:FXA315-2T.jpg&diff=11590File:FXA315-2T.jpg2010-05-02T15:40:21Z<p>AnilKoyuncu: </p>
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<div></div>AnilKoyuncu