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CYBERMOTION SENTRY ROBOTS
The Cybermotion sentry robot [www.Cybermotion.com] is a
commercial platform employed in industrial settings for
monitoring operations, endowed with a rich sensor suite
(including gas sensor, chemical sensor, and smoke sensor). Two
sentry robots were donated to ARRI-UTA by JC Penney which was
using them to patrol a warehouse in Dallas. The sentry robots
have been equipped with a PXI microcontroller (programmable in
LabView) connected to a 433MHz MICA2 mote for wireless
communication.
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HEXAPOD ROBOT
The Lynxmotion Hexapod robot [www.lynxmotion.com] is a 18 DOF
legged robot, particularly useful for studies about gait
control. It is equipped with a microcontroller to which we
attach a 433MHz MICA2 mote for wireless communication. It will
be soon employed as a mobile node of our sensor network
test-bed. |
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GARCIA ROBOTS
The Acroname Garcia robot [www.acroname.com] is a commercial
platform which offers a high degree of flexibility (e.g. adding
new sensors is straightforward) for a reasonable cost ($1800).
The Garcia robots are equipped with a Brainstem microcontroller
to which we attach a 433MHz MICA2 mote for wireless
communication.
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ARRIBOTS
The ARRI-bots are inexpensive robots ($400 each) built in our
lab. They are equipped with encoders for localization and a
wireless transceiver. The rovers are controlled by a Javelin
Stamp CPU and are equipped with a color sensor (TAOS TCS 230)
that can measure 256 RGB values on the lab floor. An RF
communication card from Parallax (433 MHz) serves as the link
between the various robotic sensors and the base station. |
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MOTES
Our test-bed encompasses MICA2 motes and Cricket motes [www.xbow.com].
We have 20 433MHz MICA2 motes. Each mote has a light sensor, an
audio sensor, a temperature sensor, an x-y accelerometer and a
magnetometer. Each mote carries an ATMEL processor running the
Berkeley’s RTS operating system, Tiny OS. Motes are attached to
our mobile platforms, one mote is used as base station, and the
other ten are deployed in known locations in our lab. We also
have 24 433MHz Cricket motes. These motes have the same
functionalities of MICA2 motes plus an ultrasound module which
calculates the relative distance in a range of up to 8 meters
(line of sight) with cm-level accuracy. |
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BLIMP
Our test-bed
encompasses a RC blimp by
www.blimpguys.com. This blimp has capabilities of carrying
mica2, mica2dot and cricket motes. |
