Here follows a very quick 's an overview of the robots hardware:
. For details, see 2019 - Master - The Cyborg v3.0 (Areg Babayan).pdf
Overview
Components
Pioneer LX
The MobileRobots Pioneer LX is a navigation robot developed by Omron Adept MobileRobots. The Pioneer LX serves as the Cyborgs transportation base and navigation platform, and includes laser and sonar senors.
Votlage regulator
The function of the power box is to transform the unregulated voltage from the battery, which varies depending on charge, into stable supplies with handy formats (USB, mini-fit, etc). It is equipped with appropriate fuses for protection and to distribute the power to the different outputs. See EiT report in Box for further information.
Startup box
The Arduino powered startup box allows the user to select an operating mode upon starting the Pioneer LX. The modes are:
- ROS controller (the main state-machine)
- Aria demo (which enables manual operation of the robot via a joystick)
Startup scripts provide the necessary interface between the Arduino and the Pioneer's onboard machine.
LED dome
The LED dome is mounted on top of the body and provides animations and also visualizes live MEA/neural data. In addition to this, it can also be used to show text and other animations. The LED dome consist of a molded plastic dome, with a WS2812B LED strip attached to the Figure 2.5: The Cyborg LED dome. surface. The LED strip consists of several smaller pieces, mounted together to get one consecutive strip of the desired length, incorporating a total of 791 LEDs. The leds are activated by a 5 V-PWM signal from the LED controller, and require a 5 V voltage supply.
LED dome controller
The LED controller parses serial data from a Cyborg ROS module, and activates the LEDs on the LED dome accordingly. The controller uses the NodeMCU ESP-32S development board,
Body and frame
A body as been 3D printed and is mounted on a metal frame on the robot. The frame acts as a hardware rack and body skeleton.
Vision: ZED camera and Nvidia Jetson TX1
The ZED stereo camera is used for robot vision. The Nvidia Jetson TX1 board is used for processing the images from the ZED camera.
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