Here follows a very quick primer regarding the robots hardware. For complete overview see the reports availible on Box.
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.
Power box
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.
Pioneer LX onboard battery
See the Pioneer LX manual
- Unregulated outputs (total 18A):
- 2 22-30VDC outputs that each deliver 4A
- 2 22-30VDC outputs that combined deliver 10A
- Regulated outputs (3A):
- 5, 12 and 20 VDC that combined deliver 3A
Requirements
The LED box requires 5V and minimum 5A. See the dedicated EiT report on Box for LED head requirements.
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. See the CAD of body and frame repo
Startup box
The Arduino powered startup box allows the user to select an operating mode when switching on the Pioneer LX. The modes are:
- ROS controller (the main state-machine)
- Aria demo (which enables manual operation of the robot via a joystick)
More information in Jørgen Waløens report on Box. Source code also on Box.
LED head
The LED head is to be mounted on top of the Pioneer LX rack. The head will visualize live MEA/neural data. See the LED box repo for more software information.
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.