Arashk Mahjoubi Amine

Robot Research
DR.Ivan Marsic

Robot:
Introduction:
PIONEER 2-AT packs the power needed by a 4-wheel drive all-terrain robot, yet maintains good balance and control. Tele-operate for remote viewing. Operate the P2-AT autonomously with onboard computer and multiple PC104 accessory cards. GPS, PTZ robotic camera and a growing suite of other options make P2-AT a robot far more capable than others in its class.

Brief review of robot:

P2-AT:
PIONEER 2-AT is a highly versatile intelligent mobile robotic platform, built on the same core client-server model as all ActivMedia robots. Like all our larger platforms, the P2-AT offers an embedded computer option, opening the way for onboard vision processing, Ethernet-based communications, laser and other autonomous functions.

The P2-AT stores up to 252 watt-hours of hot-swappable batteries. Optional 8 forward and 8 rear sonar sense obstacles from 15 cm to 7 m. 2-AT's powerful motors and four monster wheels can reach speeds of .8 meters per second and carry a payload of up to 30 kg. The P2-AT uses 100 tick encoders with inertial correction recommended for dead reckoning to compensate for skid steering. Its sensing extends far beyond the ordinary with laser-based navigation options, GPS, bumpers, gripper, vision, stereo rangefinders, compass and a rapidly growing suite of other options. The bare P2-AT base with included ARIA and Saphira8+ software has the ability to: WANDER randomly DRIVE controlled by keys or joystick PLAN PATHS with gradient navigation DISPLAY a map of its sonar and/or laser readings LOCALIZE using sonar (with optional laser upgrade) COMMUNICATE SENSOR & CONTROL information relating sonar, motor encoder, motor controls, user I/O, and battery charge data RUN C/C++ PROGRAMS created with or without Saphira or our other software development environments TEST ACTIVITIES QUICKLY with Saphira's Colbert real-time programming language SIMULATE BEHAVIORS OFFLINE with the simulator that accompanies each development environment

The Pioneer 2-AT is an all-purpose outdoor base, used for research and prototyping applications involving: mapping

navigation monitoring reconnaissance vision manipulation cooperation and other behaviors

P2-AT's are made for use outdoors; they run on many earth, stone, sand or paved surfaces. Unencumbered, they can climb steep 45% grades. To operate on carpet, select Indoor wheels, which may be swapped as needed. P2-AT's are not water-proof.

P2-AT COMPONENTS
Pioneer 2-AT's provide a ready-to-use all-terrain base with: body with hinged battery access door 1 battery 4 wheels 4 motors with encoders microcontroller sonar board motor power board P2OS microcontroller server software user I/O bus integrated into hardware and ARIA software ARIA Robotics API for developers Saphira 8+ localization & gradient navigation Colbert real-time programming language operations manual

In addition, the robot requires: communication with a PC client, via one of the following: o wireless radio modem o robot-to-laptop connector o robot-to-desktop tether o or connection to an embedded computer a recharger o standard for overnight charging o high-capacity to cut charge time 80% or to use as a computer power supply (requires 3 batteries)

Optional component that we add:

wireless Ethernet laser rangefinders pan-tilt-zoom color cameras GPS compasses & tilt-position sensors

TECHNICAL SPECIFICATIONS
The rugged P2-AT 50cm x 49cm x 26cm aluminum body with 21.5cm dia drive wheels loves to run outdoors. The four motors use 66:1 gear ratios and contain 100-tick encoders. This skid-steer

platform is holonomic and can rotate in place moving both wheels, or it can move wheels on one side only to form a circle of 40cm radius. P2-AT can climb a 45% grade and sills of 9cm. On flat floor, the P2-AT can move at speeds of .7 mps. At slower speeds on flatter terrains, it can carry payloads up to 30 kg. Payloads include additional batteries and all accessories and must be balanced appropriately for effective operation of the robot. P2-AT's hinged battery door makes hot-swapping batteries simple, though a bare P2-AT base can run 4-8 hours on three fully charged batteries. With a high-capacity charger, re-charging time is only 2.4 hours. The P2-AT's easily removable nose allows quick access to any optional embedded computer for addition of up to 2 PC104+ cards. All P2-AT's include a Siemens C166-based microcontroller. On the microcontroller, we have 8 digin and 8 digout plus 1 dedicated A/D port; 4 digin can be reconfigured as A/D in; 4 digout can be reconfigured to PWM outputs. This user I/O is integrated into the packet structure, accessible through ARIA and Saphira.

View of inside the Robot

List of component with details:

Laser pointer:
Use of laser pointer: We are trying to use laser pointer as a devises to determine our target Safety for different type of laser pointer: The majority of the laser pointers used in the U.S. use Class 3a diode lasers in the 630680 nm wavelength (red), with a maximum power output of between 1 and 5 mW. The length of exposure to visible lasers is usually limited by the eye's blink reflex, which normally occurs within a quarter of a second. Theoretically, Class 3a lasers could cause injury to the eye if viewed directly for less than .25 seconds.

Class 1 lasers are considered safe under reasonably foreseeable conditions of operation. Class 2 lasers emit visible light at higher levels than Class 1, but eye protection is provided by aversion responses such as the human blink reflex.

Class 3A lasers have higher power levels than Class 2 and the beam has a larger cross section such that the power of the beam entering the eye does not exceed the power of Class 2. This class of laser can be a hazard if optical devices such as binoculars focus the beam onto the retina (see diagram). Class 3B (Restricted) lasers are similar to Class 3A except that the irradiance (power density) limit is increased by a factor of two. Class 3B lasers are sufficiently powerful to cause eye damage in a time shorter than the human blink reflex (0.25 seconds). Laser products with power output near the upper range of Class 3B may also cause skin burns. Class 4 lasers are high power devices capable of causing both eye and skin burns, and diffuse reflections may also be hazardous.

Most laser pointers manufactured before 1993 were Class 2 lasers, with a power output of less than 1 mW. These lasers are safe to view directly for short periods of time. In 1993, the Radiation Health Committee of Australia's National Health and Medical Research Council determined that laser pointers (and other consumer laser products) should not exceed Class 2. For visible laser emissions, a Class 2 laser is limited to a maximum power level of 1 milliwatt (mW) continuous wave emission. Unfortunately, there are laser pointers on the market with output powers well above 1 mW (that is, Class 3B). To make matters worse, some of these products are incorrectly labelled and hence their hazard potential is not known to the user. In particular, owing to different classification criteria in the U.S.A. and Australia, some lasers imported into Australia may be labelled as Class 3A when they are actually Class 3B. A recent report by James Rockwell, et al, in the Journal of Laser Applications noted that more powerful laser pointers are now being imported from Russia and China. Some of these lasers lack the appropriate warning labels. These lasers emit green beams from frequency doubled Nd:YAG lasers operating at 532 nm and have emissions significantly exceeding the maximum permissible exposure (as per the ANSI laser standard, Z136). One of the lasers has a filter in the cap, which, if removed, allows the laser to emit both 532 nm and 1064 nm beams, in excess of 15 mW, making it an even more hazardous Class 3b laser. The same article noted a recent advertisement for a "super power diode pointer that is 20 times brighter than other conventional lasers." In 1997 the FDA issued a warning on misuse of laser pointers. In some states such as California, it is a criminal misdemeanor to shine a laser pointer at individuals who perceive they are at risk, and it is a felony to aim one at an aircraft. Some local governments have passed regulations requiring anyone purchasing a laser pointer to be 18 years of age or older. It is expected that the pending revision of ANSI Z136.1 will have a special section commenting on laser pointers. In summary, laser pointers are helpful tools but they must be used responsibly. Common sense dictates that users should never direct a laser pointer beam at another person. And lasers with power over 5 mW should not be used as pointers.

Potential Hazards: The hazards of laser pointers are limited to the eye. Although with most visible lasers, the largest concern is potential damage to the retina, most laser pointers are not likely to cause retinal damage. The possible exception might be the green light lasers described above. The most likely effects from exposure to viewing the beam from a laser pointer are afterimage, flashblindness and glare. Flashblindness is temporary vision impairment after viewing a bright light. This is similar to looking directly at a flashbulb when having a picture taken. The impairment may last several minutes.

Afterimage is the perception of spots in the field of vision. This can be distracting and annoying, and may last several minutes, although there have been reports of afterimages lasting several days. Glare is a reduction or complete loss of visibility in the central field of vision while being exposed to the direct or scattered beam. This is similar to viewing oncoming headlights on a dark night. Once the beam is out of the field of vision, the glare ceases. While this does not pose a hazard to the eye, it can cause serious distraction and outrage. Glare can be exacerbated when the beam is reflected from a mirror-like surface. \ Safety Considerations: Laser pointers are effective tools when used properly. The following considerations should be observed when using laser pointers:

Never look directly into the laser beam. Never point a laser beam at a person. Do not aim the laser at reflective surfaces. Never view a laser pointer using an optical instrument, such as binocular or a microscope. Do not allow children to use laser pointers unless under the supervision of an adult. Use only laser pointers meeting the following criteria Labeled with FDA certification stating "DANGER: Laser Radiation" for Class 3a lasers or "CAUTION: Laser Radiation" for Class 2 pointers. Classified as Class 2 or 3a according to the label. Do not use Class 3b or 4 products. Operates at a wavelength between 630 nm and 680 nm. Has a maximum output less than 5 mW, the lower the better.

Available Class II & III laser pointer: (http://www.appliedlaser.com/ & http://www.1above.com/) LASER MODULE: To integrate optic laser diode1 and driver circuit into a patented solid brasa structure for the best shock resistance and heat sink consideration COLLIMATING LENS: Double side aspherical plastic lens which provides better laser collimating and long distance visibility. LASER DIODE: 670nm wavelength for standard brightness 650nm wavelength for 5 times brighter , 635nm wavelength for 10 times brighter , DRIVER CIRCUIT: Single chip ARC (autopower-control), controller on board to perfectly stabilize the laser. This will maximize the laser lifetime and battery hours while minimizing the size.

Example of class II&III:

Aimshot,www.1above.com

Beamshot,www.1above.com

Paintball, www.appliedlaser.com

WSTech, www.worldstartech.com

Innovam,www.innovam.com

Detecting laser pointer:

The following diagram shows the basic laser pointer circuit. It is identical to the infrared circuit except that the infrared LED's have been replaced by the laser pointer unit. Due to the long range of these devices this detector method can easily span distances greater than 20 feet or more and therefore could be used to detect trains in a long section of straight track such as in a lader yard or across the tracks of a wide yard. Also shown is an "Along the Track" detection scheme that might be useful for ladder yards with straight tracks. This method could protect the entire length of each track and would also indicate when a switch was fouled by a train. In theory this detector scheme could span distances on the order of several hundred feet.

Useful sites for detecting the laser pointer:

http://www.plantraco.com/main.html & http://www.appliedlaser.com/beamhit.htm

Mine detector:
The mine detector SCOUT is developed for mine clearance including the mines with very small metal content. It can be used also for the detection of wide scale of other metallic objects. The automatic background setting provides smooth operation and allows to adjust the detector for sweep searching over surfaces with different background conditions. The built-in test circuit for checking battery condition and compact design makes the handling comfortable and trustful. The mine detector consists of electronic unit, search head with telescopic pole and cable, earphone and carry bag.
Detection range:

o o o o

objects with very small metal content (3g)

10 cm

objects with metal content of 50 g and size of 10 cm

20 cm

metal objects of size 25 cm2

50 cm

metal objects of size 0.25 m2

100 cm 3 4.5 V (three LR20) 24 h -25C to +40C

Number of sensitivity ranges Battery voltage Typical operating endurance with alkaline type batteries Operating temperature Protection level for:

o o
Weight:

electronic unit

IP65

search head

IP67

o o o

search head with telescopic pole

1.1 kg

electronic unit with batteries

1.2 kg

unit with bag and batteries

3.6 kg

http://www.englo.ee/english/products/detecting.html

MIMID Miniature Mine Detector:

The MIMID reduces the need for probing (for mines) in an emergency or rescue situation by providing individuals a reliable means to quickly select a safe path through the mined area. The MIMID is a valuable asset to demining and humanitarian operations for both specialists and occasional operators. It can also be part of the standard equipment issued with vehicles similar to a first aid kit. The MIMID has been designed so that it can be easily operated by all personnel working in countries where mines are a constant threat to personal safety. It will have specific applications in United Nations operations where mines are a serious safety issue with all personnel. The MIMID is not intended to replace the proven AN-19/2 Mine Detecting Set, except for military special forces, but to supplement the in-theater mine detection capability by providing all military and civilian personnel a practical and easy to use means of enhancing safety in mined areas. http://www.schiebel.com/industries/mimid.htm#top

Submersed Operation Auxiliary Supply

up to 30 m (100 ft) 5 to 16V DC

AN/PSS-11 MINE DETECTOR :

The mine detector set functions electronically as an audio frequency, mutual inductance bridge. The coils in the detector head, comprising the mutual inductance bridge, are electrically in balance. The transmitter coil sends out electromagnetic waves, setting up a magnetic field with a radius of from 3 to 4 feet around the detector. When a metallic object is encountered, the magnetic field set up by the detector head becomes distorted. This distortion results in an unbalance in the mutual inductance bridge resulting in a signal increase in the headset. A phase discriminating circuit built into the mine deteor set cancels out false signal caused by salt water or magnetic soil. Only signals caused by metallic objects are transmitted to the head set.

http://www.lonemtn.com/mine_detector_metal_locator.htm

Other metal detectors:

1212-X w/8.Solid loop" ............$199.95 http://www.jjdetectors.com/FisherHobby.html

Headhunter Wader,price:599$ http://www.detectorpro.com/Headhunter%20

Lifetime Warranty......$189.00 http://www.jjdetectors.com/Tesoro.html

Lifetime Warranty.........$529.00 http://www.jjdetectors.com/Tesoro.html

Suggested List $179.95 http://www.jjdetectors.com/Garrett.html

FAST TRACKER

Price $124.95

http://www.jjdetectors.com/FASTTRACKER.html

Tracker IV Retail......$159.95 http://www.jjdetectors.com/TRACKERIV.html

http://www.buyametaldetector.com/minelab/soverei gn-metal-detector.html

On board PC:
Moderboard:(Pentium III / Celeron EBX SBC with 10/100 Ethernet, AGP video, sound and industrial I/O)
Features
EBX compliant. 5.75 x 8.00 footprint Socket 370 Processor 100/66 MHz Front Side Bus (processor dependant) Intel 440BX chipset

168-pin DIMM SDRAM to 256 MB 256/128 KB level 2 cache (processor dependant) 32-pin DiskOnChip socket 10/100 Ethernet interface AGP video / flat panel support C&T (Asiliant Technologies) 69030 chip PCI-based sound PC/104-Plus expansion site Dual PCI based IDE controllers Dual USB interfaces 4 COM + 1 LPT port AT peripherals and I/O including keyboard and PS/2 mouse port Industrial I/O Analog input option 16 I/O channels, Opto 22 compatible Three spare 16-bit counter/timers Two RS-232/422/485 selectable COM ports Watchdog timer Vcc sensing reset circuit Processor power management feature Flash BIOS with OEM enhancements Standard latching 0.1 and 2 mm I/O connectors CPU temperature sensor Customizing available UL and CE compliant Low power fanless version Motherboard(VSBC8DR),price:1,224$ www.versalogic.com

Description
This feature-rich single board computer is designed specifically for OEM control projects requiring fast processing, industrial I/O, flexible memory options, designed-in reliability and long product lifespan / availability. Full EBX compliance allows easy migration to future boards or alternate sources. Enclosure or mounting changes are not required when migrating between EBX-compatible products. The VSBC-8 is fully compatible with a wide selection of popular operating systems including most Windows and Real Time Operating Systems. Please call for more information. Up to 256 MB of PC100 compatible SDRAM is supported in a high-reliability latching DIMM socket. Application programs and files can be stored in a bootable DiskOnChip Flash device. A battery-backed SRAM can be used in lieu of the DiskOnChip. The VSBC-8 features high reliability design and construction including latching I/O connectors, watchdog timer, long-life battery, and voltage sensing reset circuit. It also features spread spectrum clock generation technology for lower EMI and self-resetting fuse on the 5V supply to the keyboard,

mouse, USB and Opto 22 I/O ports. An onboard programmable CPU temperature sensor is included for use in difficult thermal situations. The sensor output can be used to turn on additional fans, create local or remote warnings, or take other action through software triggers. This exceptional SBC was designed from the ground up for OEM applications with longevity and reliability as the focus. Each board is subjected to burn-in and complete functional testing and backed by a limited two-year warranty. It is fully supported by the VersaLogic design team. Both hardware and software (BIOS) customization is available in quantities as quantities as low as 100 pieces.
Motherboard www.versalogic.com VSBC8DR $1,224

Mother board that we have on the robot

Memory:

Micro Technology 256MB SDRAM PC133 7ns http://www.coolerstar.com/pc2532sdram.html Sale price: $52.00

256Mb 168pin Sdram PC-133 , Price: $64.95 www.microcache.com/main.html

One of the best sites for computer products: http://www.pricewatch.com/

Wireless Lan:
PCMCIA:

PCMCIA socket (with ejector) accepts: Type I: FLASH/DRAM/ROM memory Type II: Fax/modem/network Type III: ATA mass storage Complies with PCMCIA v.2 10 and JEIDA v.4.2 16-bit data bus Features two PCMCIA drives Programmable 8KB SMD-type boot FLASH BIOS Supports bootable function from linear Flash Card, ATA hard disk drives, ATA Flash cards, and SRAM cards Busy status LED Power requirement: +5V @ 70 mA

PCMCIA 3115B, price:147$ www.aaeon.com

Wireless card:
Compliant Standards: IEEE 802.11-LAN Connectivity Technology: Wireless Data Link Protocol: Ethernet Data Transfer Rate: 11 Mbps Device Type: Network adapter Dimensions (WxDxH): 2.1 in x 4.6 in x 0.4 in Form Factor: Plug-in module Interface Type: PC Card Package Type: Retail Selectable Channels Qty / Antenna: Integrated System Requirements: Microsoft Windows NT 3.51 or later, Microsoft Windows 95/98, Microsoft Windows CE, Apple MacOS 8.0 or later, Novell NetWare 3.x, Novell NetWare 4.x, Linux, Microsoft Windows 2000

PC Card (Gold) 128-bit encryption

Price: $75.00 http://www.lanstreet.com/productpage.cfm?prodi d=487

The ORINOCO PC Card offers 4 speed options (11 Mbit/s, 5.5 Mbit/s, 2 Mbit/s and 1 Mbit/s), providing you the ideal combination of throughput and range. With any wireless product, security is a major consideration. That's why the ORINOCO PC Card offers a choice of security levels. The standard level, called the 'Silver' PC Card, uses Wired Equivalent Privacy (WEP), using a 64 bit key. The 'Gold' version provides enhanced security with a 128 bit key, using RC4 encryption. Designed for today's powerful laptops, hand-held computers and other mobile devices, the ORINOCO PC Card delivers the same instant, high performance connectivity as wired systems plus the freedom to move around your building or campus, making it perfect for office and business applications. The ORINOCO PC Cards provides 11 Mb/s IEEE 802.11b High Rate compliant wireless connectivity to Homes, Small Office, Enterprises and Public systems and is used in all our solutions: Enterprise Solution, Public Access Solution, Home/SOHO Solution, Outdoor Solution.

Wirelesscard On the robot

(P2-AT)

Wireless range extender antenna:

The cost-effective way to extend coverage With its 2.5-dBi indoor omni directional antenna, the Range Extender Antenna extends the coverage of an ORiNOCO wireless LAN by connecting it to the ORiNOCO PC Cards on both client and infrastructure products. In large applications, the Range Extender Antenna cuts down the number of required access points, translating into significant cost savings. Extended range comes out of the closet Access Points are often placed in closed wiring closets or mounted in difficult locations, with the PC Card obstructed by objects such as books, file cabinets or other office equipment. The Range Extender Antenna can overcome such obstacles by being placed at a location more receptive to radio signals. Flexible mounting and installation for maximum performance The Range Extender Antenna can be placed on a table surface or mounted on the ceiling or wall. Equipped with a standard 1.5-meter cable, mounting and installation options are extremely flexible. Key Benefits Lower Cost of Ownership The Range Extender is compatible with the AP-1000 Access Point. The Range Extender's extra coverage means fewer AP-1000 per building. Provide a better range for "hidden" computers Because desktop computers are often hidden underneath desks or in computer rooms, on board adapter cards are usually shielded from radio signals. The Range Extender Antenna Provides Extra Coverage The range extension of ORiNOCO products varies based upon physical environment. Range increase is calculated proportionally below based upon 'typical' office environments.

ORINOCO WIRELESS RANGE EXTENDER ANTENNA

Price: $56.00

http://www.lanstreet.com/productpage.cfm?prodid=576

Frame Grabber:
Bus PCI bus master design for real-time image capture Input video format NTSC, PAL, SECAM, S-video Input video 1 V peak to peak, 75W Output formats Color: YcrCb 4:2:2 and 4:1:1; RGB 32, 24, 16, 15; Monochrome: Y8 Resolution NTSC: 640 x 480; PAL/SECAM: 768 x 576 Power + 5 VDC, 500 mA Camera Power + 12 VDC output Supported Operating systems - DOS, Win 95 / 98 / ME, Win NT / 2000 / XP Supported Languages C / C++, Visual Basic

PCX200-4-0, Price: 595$ www.imagenation.com

Sampling jitter Maximum of 4 ns relative to horizontal synchronization (for a stable source) External trigger Input pulled by 10k ohm to 5 V, trigger requires a TTL pulse of 100 ns (minimum); software programmable edge or level sensitivity; software programmable polarity Video noise < 1 LSB (least significant bit) Video Multiplexer Standard product: four video inputs (only one can S-video); Standard product plus Optional Control Package: four video inputs, any or all of which can be S-video Real time scaling With interpolation, plus horizontal and vertical cropping DAC reference generator eliminates inconsistency of AGC FCC verification and CE marked

Front of The frame grabber that we have on robot

Back of The frame grabber that we have on robot

Video camera:
EVI-D100 Image Sensor: 1/4 type Super HAD CCD Effective Pixels: 768 (H) x 494 (V) Video Signal: NTSC Horizontal Resolution: 470 TV Lines (wide end) Lens: 10x Optical Zoom, X40 with Digital Zoom f=3.1 to 31, F 1.8 to 2.9 H. Angle of View: 6.6 to 65 degrees Minimum Object Distance: 100 mm (wide end), 600 mm (tele end) Minimum Illumination: 3.5 lx (F1.8) Sony EVI-D100, Price: $999.95

Auto Exposure: Auto/Manual/Priority AE, Exposure compensation, Back light compensation Shutter Speed: 1/4 to 1/10,000 s White Balance: Auto, ATW, Manual, One Push, 3200K, 5800K Effects: Mirror Image, Still Image on Field Memory, Pastel Image, Negative/Positive Reversal, Sepia Image, Monochrome Image, Enhanced Contrast, Mosaic Image, Vertical Stretch, Horizontal Stretch, Motion Image on Still Image, Continuous Still Image, Motion Images on Binaried Still Image, After-image Lag of Moving Object S/N Ratio: More than 50 dB Pan/Tilt: Horizontal +/- 100 degrees (Max speed 300 degrees/s), Vertical +/- 25 degrees (Max speed 125 degrees/s) (in 0.07 degrees increments)

http://goelectronic.com/
Video Output: VBS, Y/C Power Requirements: DC 10.8 to 13.0 V Power Consumption: Max. 13.2 W (at 12 Vdc) Operating Temperature: 0 to 40 C (32 to 40 F) Storage Temperature: -20 to 60 C (-4 to 140F)

EVID100 Dimensions: 113 (W0 x 120 (H) x 132 (D)mm (4-1/2 x 4-3/4 x 5-1/4 inches) Mass: 860 g (1 lb14 oz)

GPS:
The Garmin GPS 17 N, designed primarily for use in marine applications, delivers exceptional accuracy while standing up to the harshest environment. This pole-mount GPS sensor has an integrated antenna housed in a rugged, waterproof design. The 12-channel receiver allows for continuous tracking of all visible satellites. And it's WAAS capable, which means it can provide position accuracy of less than 3 meters on average. This incredible accuracy is possible without the use of an external DGPS beacon receiver. The GPS 17N also offers excellent EMI/RFI performance for easy integration into systems that will be operated near mobile computing devices and wireless communications equipment. The 30 ft. cable is terminated in loose wires.

Gramin GPS 17N,price:175$ http://www.planetgps.net/grm1070.html

Laser Range Finder:

Technical specification:

Angle: 0.25/0.5/1 adjustable Max. Angle: 180 Protection category: IP 65 Resolution (mm): 10 Transfer rate: 9.6/19.2/38.4/500 kBaud Weight: ca. 4.5 kg Remarks: The LMS 200 is a non-contact laser measurement system that scans its surroundings twodimensionally like laser radar. It operates within a temperature range of from 0C to 50C and, as an active scanning system, requires no further passive components such as reflectors or position markers.

LMS 200 INDOOR http://www.sick.de/de/en/products/categories/a uto/lasermeasurementsystemsindoor.html

Camposs:
KEY FEATURES Fully integrated with P2OS and Saphira software plug-in for easy operation Mount on any Pioneer 45cm (18in) from robot Your choice of high resolution 20-degree tilt/skew (P2-DX) or lower resolution 50-degree tilt/skew (P2-AT). Accommodates additional Pioneer accessories Plugs into Pioneer SPI serial port Weight: .2kg Plugs into SPI serial port FERROUS-COMPENSATING COMPASS, TILT/SKEW SENSOR, MAGNETIC-FIELD SENSOR, THERMOMETER

Compass ACT0076,Price:1395$ http://www.activrobots.com/ACCESSOR IES/orientation.html

New Robot:
Helicopter:

(http://www.rctoys.com/draganflyerxpro.php)

The Draganflyer X-Pro is a four rotor electric, radio controlled, electronically stabilized flying platform.
> High quality 9 channel FM (PCM) Transmitter with NiCad
battery

> One CPU control system with PCM dual conversion receiver > One lightweight carbon fiber body (assembled) > Four high impact carbon fiber blades > Four high speed electric motors with pulley installed > One 17.5 volt 3000mAh NiMH rechargeable battery > Printed manual with photos and instructional video for
building and flying

$4997.95 DRAGANFLYER III:

This Machine can carry about 1 pound of equipment on top of the 5.5 pounds the X-Pro Weighs. Professional Quality Pan and Tilt CCD Color Videocamera with 900Mhz Transmitter and Reciever How Long Does It Fly For? It will fly about 5-6 minutes depending on flight conditions. The on board battery is a 14 cell, 3000mAh Nickel Metal Hydrate battery.

> High quality 4 channel FM transmitter with NiCad battery. > One CPU control system with built-in dual conversion FM
receiver.

> One lightweight carbon fiber body with mounting hardware extremely durable!

> Four high impact rotor blades with color decals. > Four high speed electric motors with installed pinion. > Four motor drive gears with 8 precision ball bearings. > One 10.8 volt 600 mAh NiCad battery for five minute flights. > Digital AC/DC peak detection fast charger for transmitter &
receiver

> Printed manual with photos and instructional video for building

price:

and flying.

$749.00

How much can it lift?

This depends on many factors. However, at least 1 ounce enough to lift an Eyecam micro video camera Howlong it can fly? 5-10 minute

THE DRAGANFLYER:(http://www.otherlandtoys.co.uk/draganflyer.htm)
The Draganflyer is an unbelieavable electric indoor and outdoor flying saucer with four rotors.

The Draganflyer is an unbelieavable electric indoor and outdoor flying saucer with four rotors.
The absolute ultimate in Remote Controlled vehicles - probably the highest-tech flying machine in the world!

Flight time Rang of the radio Flight condition Carrying weight

Approx. 5 minutes per battery charge. Radio range is approx. 1/2 mile.

Indoor/outdoor, We do not recommend

flying inwinds above 5 mph. Enough load capacity to carry a micro video camera -approx. 2 ounces.

525.95

Is there any way to dramatically increase the flight times? A 12-foot tether cord is available to attch the Draganflyer to a 12-voltbattery source such as an automobile or motorcycle battery. This will giveflight times well over 1 hour and is perfect for developing your hoveringabilities. You can also shape the trailing edge of the blades so that they are more efficient.

MIT/Draper Autonomous Helicopter Project:

The computer is a PC-104 format 486 running at 50MHz. The sensor suite of the DSAAV includes:
Novatel RT-20 differential GPS

Six-DOF inertial measurement unit Downward-looking video camera Compass (2-axis magnetometer) Ultrasonic altimeter sonar

LOGO20:
(http://www.rchelikopter.no/productsByCategory.asp?intCatalogID=1&strCatalog_NAME=Elektrohelikoptere)

LOGO 20 stands for innovative e-powered helicopter flying with 20 to 24 cells and a mainrotor diameter of 1340 mm. This electric helicopter was developed to fill the gap between the small 810 cell helis and the larger 30-cell class. Despite its smaller dimensions, the performance of LOGO 20 is comparable to that of a 60-size gas helicopter. electric helicopter with 20 - 24 cells main rotor diameter approx. 1340 mm tail rotor diameter approx. 240 mm length 1060 mm gear reduction ratios for main rotor: 8 : 1 - 12 : 1 tail rotor gear ratio: 4.8 : 1 RTF weight 3000g Flight times with extra weight depend very much on motorization and set-up details. For example with Plettenberg Motor we expect flight times starting to degrade once more than one pound of weight is carried by the helicopter. But you should still get around 5 Min. Motor Table for
item no. 2606 2601 2602 Motor Plettenberg 300/25/A3 heli Kontronik Tango 45-08 Graupner Ultra 1300-12H Speed Controller Schulze future-35Ho Kontronik 3SLH 30-14-32 Kontronik 40-10-30 Cells Pinion 20 20 20-24 9 9 9,10 Flight Time (max.)1 10-11 min. 10-11 min. 8-9 min. Flight Time (acrobatic) 6-7 min. 6-7 min. 6-7 min. Set Price 1050 DM 850 DM 600 DM

Price:kr 6,500

The listed values refer to Sanyo 2400RC Ni-Cd cells. If you are using Sanyo 3000mAh Ni-MH batteries flight times can be extended for about 1 - 1.5 minutes.

Note that NiMH cells are not suitable for extremely fast-charging (1C rate max!.) and also they cannot deliver very high currents.

LOGO10: (http://www.rc-helikopter.no/mer-logo10.asp)
LOGO 10 is Mikado's response to the great demand for a smaller electro-helicopter. LOGO 10 is powered with one single battery pack. In possessing rigidity and power unparalleled in its size class, LOGO 10 redefines the common perception about small model helicopter.LOGO 10 Technical Data: electric helicopter for 10 - 14 cells main rotor diameter approx. 1150mm tail rotor diameter approx. 240mm RTF weight 1900g Flight times vary with the selected rotor head rpm and with the pilot's style of flying, as well as with the capacity of the batteries used. The following durations are therefore general values: hovering with 1100-1200 rpm 8 - 10 minutes

cruising/light aerobatics with 8 - 12 minutes 1300 to 1500 rpm

Price: kr 3 390,00

heavy aerobatics and inverted:

5 - 7 minutes

Batteries: For hovering, cruising and light aerobatics Mikado recommends Sanyo 2400 mah cells or Sanyo 3000 NiMh cells.

Hornet

Micro Electric RC Helicopter :

Easy to repair (CA is mostly sufficient.*Easy to control standard 4 channel radio is sufficient.*Flying time, 6 to 10 minutes.*Transmission driven tail rotor. *Carbon Fibre tail boom w/carbon fibre tail drive shaft. *Indoor and outdoor flying capabilities. *Will do loops and 180 degree stall turns easily with practice.

*All that you need to fly the MS Full Hornet Kit is a 4

channel FM Micro Receiver and a 4 channel transmitter on the same channel.

Gas helicopter:

Price:1250$ http://www.hobbyclub.com/framespage.htm

Price: $579.95

http://mc2intl.com/mc2store/

http://www.x-cellrchelicopters.com/kits.htm

Price: 799.00 http://www.revolutionmodels.co.uk/index.htm

http://www.centuryheli.com

http://www.centuryheli.com

Flight time: 10-20 min (we can increase the flight time by changing the fuel tank) How much they can carry? 3-10 pound (we can increase it by changing the motor!!)

Adding camera : Eyecam:(http://www.rctoys.com/microcam.php)

The "Eyecam" all-in-one color video camera is one of the world's smallest color video cameras with built in transmitter available. Utilizing 2.4 GHz technology, The Draganfly Eyecam weighs only 1/3oz and comes complete with color camera, transmitter, and receiver. The Eyecam is a perfect addition to the Draganflyer III, Mach III X-Pro, and Summit X-Pro
Camera and transmitter weight: only 9 grams! Camera and transmitter size: 15mm x 22mm x 32mm (5/8" x 7/8" x 1 1/4") Camera Lux: <3 @ f1.2 Camera Auto Electronic Exposure of 1/60 to 1/15000 sec. w/ Auto Gain & White Balance Camera Signal to Noise Ratio: >48dB 365K (PAL) or 250K (NTSC) camera pixel resolution Wireless Transmission Range: 300M (1000'), LineOf-Sight Transmitter RF Output Power: EC R&TTE Compliant receiver Video Input/Output: 1Vp-p/75 ohm

$299.95
Micro 100 Systems: (http://www.hotkey.net.au/~hicam/trans.htm )
Its range is fantastic - over 1000 feet with the standard included antennas. And the true CCD sensor gives it great color definition and contrast. This next-generation system comes with color camera/transmitter module, receiver, antennas, battery case, video lead, and AC adaptor for the receiver. It is available in NTSC and PAL television formats.
4.8 VOLT OPERATION (4 normal AA cell) Weight approx 1ounce

Price: $395

Auto pilot: MP2000: (http://www.micropilot.com/ )

The MP2000 miniature, low cost autopilot is the perfect choice to stabilize and guide a high functionality autonomous UAV or RPV. Small enough to fit into an RC trainer, capabilities include airspeed hold, altitude hold, turn coordination, GPS navigation, autonomous takeoff and landing. Extensive data logging and manual overrides are also supported as is a highly functional command buffer. All feedback loop gains and flight parameters are user programmable. PC based mission simulation is also available. features: Complete autonomous operation Auto takeoff and land Compact and lightweight - fits into a 40 size trainer Gain scheduling for optimum performance User defined PID loops provide additional flexibility User defined table lookup functions Powerful 68332 processor Includes all sensors required for complete airframe stabilization Surface Mount components used for reduced size and increased reliability Multiple waypoint GPS navigation Authoritative 20 degree per second turn rate Manually piloted, Manually directed and autonomous flight modes Supports flaps, separate flaperons, combined flaperons, elevons, V-Tail and split rudders User programmable feedback gains and flight parameters Extensive data log capability Telemetry capability Waypoints may be changed in-flight Low battery warning: both on the ground and in flight Automatic switch to autonomous flight mode on loss of RC signal Ground Control Station development kit allows you to easily develop a custom user interface to suit your application

MP2000 - Autopilot with GPS receiver, GPS antenna, connector kit and one servo expansion board $ 5000

Will the MP2000 fly a helicopter?

The MP2000 has provisions in the code to allow it to hold a helicopter in a hovering position. These changes were made at the request of a customer and the customer is currently in the process of testing them.

3200VG

Digital Flight Control and Telemetry System : (http://www.u-nav.com/3200VG.html )

The 3200VG provides all of the major elements needed to automate a UAV system. Using a commercial Vertical gyro, the 3200VG is suitable for controlling stable airframes that operate from 100kts to 250kts and expect to operate at attitudes up to 90 degrees in roll and 60 degrees in pitch. The system includes an airborne digital autopilot and a groundstation software package designed to run on a laptop computer. The autopilot updates the attitude control loop 18 times per second while managing the vehicle flight path, GPS waypoint navigation and data downlink. The 3200VG uses a classic attitude control loop with a vertical gyro attitude reference. The 3200VG can be custom scaled to match the input characteristics of most commercial attitude gyros. The CrossBow VG400CC-200 vertical gyro is recommended for use with the 3200VG. The GARMIN GPS35 and the PDC400 & 450 airdata sensors are recommended for use with the 3200VG. The 3200 autopilot provides the capability for a full-duplex (up & down) data link with the groundstation. The groundstation can uplink waypoint and autopilot parameters to the autopilot and the autopilot can downlink data to the Windows ground station. The groundstation main screen displays Lon, Lat, Spd, Crs, Alt, Time, Date, GPS status and Waypoint status. The software package also has a range and bearing display and graphical editors for waypoint planning and autopilot configuration as well as several test utilities. Other groundstation features include a non-volatile configuration storage, data logging and waypoint disk archive. The track plot ASCII file generated by the 3200 groundstation software is also compatible with GARMIN's MapSource products. The autopilot's six layer circuit board features 100K+ hours MTBF SMT parts and an operating temperature range of 0 to +70C. The 3200 autopilot uses the same* software as our 3100 which was flight qualified on Northrop Grumman's SUTACS UAV program. The 3200VG system is shipped with the groundstation software package, one GARMIN GPS35 12 channel receiver, one PDC400 altimeter sensor and a PDC450 airspeed sensor. The system integrator will also need to supply the gauge sensors, radio data links, R/C system for manual control and a laptop computer for the groundstation. The 3200VG requires a (customer supplied) VG400CC-200 solid-state vertical gyro .

Interesting site for camera and laser fight: http://www.plantraco.com/main.html

Other useful site for Helicopter:

http://microhelis.homestead.com/GeneralInfo.html http://www.ecsvr.com/mta/shopdisplayproducts.asp?id=1&subcat=4&cat=Hirobo http://www.ecsvr.com/mta/shopdisplayproducts.asp?id=1&subcat=5&cat=JR http://www.ecsvr.com/mta/shopdisplayproducts.asp?id=1&subcat=8&cat=Kyosho http://www.ecsvr.com/mta/shopdisplayproducts.asp?id=1&subcat=16&cat=Miniature+Ai rcraft+%2F+X%2DCell http://www.ecsvr.com/mta/shopdisplayproducts.asp?id=1&subcat=41&cat=Raptor+%28 Thunder+Tiger%29 http://www.ecsvr.com/mta/shopdisplayproducts.asp?id=1&subcat=17&cat=Scale+Hirobo +Helicopter+Kits

sites for autonomous control:

http://www.spyplanes.com/ http://www.auav.net/ http://www.spawar.navy.mil/robots/air/amgsss/virtual.html