RobAIR-ICSOC12

DEMO FOR ICSOC 2012 http://www.icsoc.org

VIDEO : COMING SOON

WifiBot with geiger counters and toxic gas sensors

WifiBot's Lidar

WifiBot's Lidar Pilot Widget

WifiBot's Camera Pilot Widget

WifiBot's Edge Detection Pilot Widget

WifiBot's Sensors Pilot Widget

Hardware

RobAIR is based on the Wifibot robot. The Wifibot had a chassis with 4 wheels geared by 4 DC motors with hall encoders. The Wifibot is controlled by an Atom D510 main board running Linux (Ubuntu) or Windows CE.

Wifibot' nuiltin sensors are

• PTZ webcamLogitech QuickCam® Orbit AF ou Logitech Quickcam Sphere AF
• Hokuyo Lidar (URG-04LX-UG01)
• Infrared sensors (left and right)
• Battery level sensors
• Odometer

For the demonstration, we have plugged several sensors on the available USB ports (remark: USB hubs are not correctly managed by the current OS distribution)

• Geiger counter Sensor
• Gas sensors (Arduino board)
• 133696 HC-SR04 Ultrasonic Sensor Distance Measuring Module (Arduino board)

Extra sensors are

• XBox Kinect for depth image and webcam
• 139741 Arduino Infrared Obstacle Avoidance Detection Photoelectric Sensor for stair/hall detection
• 135038 Arduino Flame Detection Sensor Module

Extra actuator

• 135038 Arduino Flame Detection Sensor Module (Arduino board)
• scream out loud - 110dBA fixed tone Siren (controlled by a relay on the Arduino board)

Software

The robot's embedded software and the pilot's console are developed using SCA components in Python and in Java/OSGi. The SCA components containers are : NaSCAR for Java/OSGi and iPOPO/Pelix for Python