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Here follows a very quick overview of the robots hardware. For details, see 2017 - Master - NTNU Cyborg (Jørgen Waløen).pdf

Overview

New diagram(s) in development...

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.

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.

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.

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.

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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