%PDF-1.6
%
3 0 obj
<>/OCGs[79 0 R]>>/Type/Catalog>>
endobj
155 0 obj
<>stream
2003-08-06T02:14:40Z
SPIE 2003 - Beobot paper - Microsoft Word
2007-01-14T22:44:25-08:00
2007-01-14T22:44:25-08:00
Acrobat PDFWriter 4.05 for Windows NT
application/pdf
T. Nathan Mundhenk
Christopher Ackerman
Daesu Chung
Nitin Dhavale
Brian Hudson
Reid Hirata
Eric Pichon
Zhan Shi
April Tsui
Laurent Itti
Low cost, high performance robot design utilizing off-the-shelf parts and the Beowulf concept, The Beobot project.
Utilizing off the shelf low cost parts, we have constructed a robot that is small, light, powerful and relatively
inexpensive (< $3900). The system is constructed around the Beowulf concept of linking multiple discrete
computing units into a single cooperative system. The goal of this project is to demonstrate a new robotics platform
with sufficient computing resources to run biologically-inspired vision algorithms in real-time. This is accomplished
by connecting two dual-CPU embedded PC motherboards using fast gigabit Ethernet. The motherboards contain
integrated Firewire, USB and serial connections to handle camera, servomotor, GPS and other miscellaneous
inputs/outputs. Computing systems are mounted on a servomechanism-controlled off-the-shelf “Off Road” RC car.
Using the high performance characteristics of the car, the robot can attain relatively high speeds outdoors. The robot
is used as a test platform for biologically-inspired as well as traditional robotic algorithms, in outdoor navigation and
exploration activities. Leader following using multi blob tracking and segmentation, and navigation using statistical
information and decision inference from image spectral information are discussed. The design of the robot is opensource
and is constructed in a manner that enhances ease of replication. This is done to facilitate construction and
development of mobile robots at research institutions where large financial resources may not be readily available as
well as to put robots into the hands of hobbyists and help lead to the next stage in the evolution of robotics, a home
hobby robot with potential real world applications.
uuid:666f58a1-1415-4aa1-8df1-f86f41505d44
uuid:4dc60111-e800-4cbd-bb3a-989664642a27
endstream
endobj
82 0 obj
<>/Encoding<>>>>>
endobj
73 0 obj
<>
endobj
79 0 obj
<>>>/Name(Headers/Footers)/Type/OCG>>
endobj
5 0 obj
<>
endobj
48 0 obj
<>
endobj
47 0 obj
<>/Font<>/ProcSet[/PDF/Text/ImageC]/ExtGState<>>>/Type/Page>>
endobj
55 0 obj
<>/Font<>/ProcSet[/PDF/Text/ImageC]/ExtGState<>>>/Type/Page>>
endobj
62 0 obj
<>/Font<>/ProcSet[/PDF/Text]/ExtGState<>>>/Type/Page>>
endobj
65 0 obj
<>/Font<>/ProcSet[/PDF/Text]/ExtGState<>>>/Type/Page>>
endobj
68 0 obj
<>/Font<>/ProcSet[/PDF/Text]/ExtGState<>>>/Type/Page>>
endobj
151 0 obj
<>stream
HW]o}na&;085o&\R;3KQQ\&33gΜX,|u}g9+v3VlY, dE٪/(gߋ bʼn^t+*I
ux]4_0lC%fv|+I^
خ?Fֲ?cjNՌo{6
?r; Ǭ}%G6@F 3 ]d x4Eu~~4axymԎUr_Y~*ŝ} d'j5-^%
DS xno-}':V,0HodCE%9VCmY FC2%6ȣNHia=BW 1$,b/b/jןx'gq:4XP aaty!xN(0_KbM)ڂr@ 8]):7De%?j2FĔi`Zv550g