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[[Image:RAPOSA LOGO wiki.jpg|300px|thumb|RAPOSA logo, by Filipe Jesus]]
[[Image:RaposaNG description.png|600px]]


== Introduction ==
== Description ==


IdMind designed a new version of [[RAPOSA]] for commercial purposes, named RAPOSA NG (Next Generation). ISR has acquired a unit of this new version without most sensors for project and investigation purposes, aiming for depth notion, user-friendly visual control, 3D mapping, localization and augmented reality.
Following the success of RAPOSA, the IdMind company developed a commercial version of RAPOSA, improving it in various ways. Notably, the rigid chassis of RAPOSA, which eventually ends up being plastically deformed by frequent shocks, was replaced by semi-flexible structure, capable of absorbing non-elastical shocks, while significantly lighter than the original RAPOSA.


== Specifications ==
ISR acquired a barebones version of this robot, called RAPOSA-NG, and equipped it with a different set of sensors, following lessons learnt from previous research with RAPOSA. In particular, it is equipped with:
* a stereo camera unit (PointGrey Bumblebee2) on a pan-and-tilt motorized mounting;
* a Laser-Range Finder (LRF) sensor on a tilt-and-roll motorized mounting;
* an pan-tilt-and-zoom (PTZ) IP camera;
* an Inertial Measurement Unit (IMU).


=== Dimensions ===
This equipment was chosen not only to fit better our research interests, but also to aim at the RoboCup Robot Rescue competition.
The stereo camera is primarily used jointly with an Head-Mounted Display (HMD) wear by the operator: the stereo images are displayed on the HMD, thus providing depth perception to the operator, while the stereo camera attitude is controlled by the head tracker built-in the HMD.
The LRF is being used in one of the following two modes: 2D and 3D mapping. In 2D mapping we assume that the environment is made of vertical walls. However, since we cannot assume horizontal ground, we use a tilt-and-roll motorized mounting to automatically compensate for the robot attitude, such that the LRF scanning plane remains horizontal. An internal IMU measures the attitude of the robot body and controls the mounting servos such that the LRF scanning plane remains horizontal.
The IP camera is used for detail inspection: its GUI allows the operator to orient the camera towards a target area and zoom in into a small area of the environment. This is particularly relevant for remote inspection tasks in USAR. The IMU is used both to provide the remote operator with reading of the attitude of the robot, and for automatic localization and mapping of the robot.


* Length: 84 cm;
Further info can be found in the book chapter [http://link.springer.com/chapter/10.1007/978-3-319-05431-5_12 Two Faces of Human–Robot Interaction: Field and Service Robots (Rodrigo Ventura)], from New Trends in Medical and Service Robots
* Width: 47cm;
Mechanisms and Machine Science Volume 20, pp 177-192, SprinGer, 2014.
* Height: 18cm;


* Wheel radius: 9.5cm;
And check out our [https://www.facebook.com/socrob.rescue Facebook page]!
* Weight: 17kg (without extra hardware equipped).


== Components ==
== Team ==


=== Internal Devices ===
* Rodrigo Ventura (coordinator)
* Filipe Jesus
* João Mendes
* João O'Neill


From origin:
== Videos ==


* 2 Maxon 150W DC motors (for differential drive);
<html><iframe width="560" height="315" src="//www.youtube.com/embed/edXl8UNH-UE" frameborder="0" allowfullscreen></iframe></html>
* Firgelli Automation DC motor (to tilt the front body);
* 2 electronic boards:
** Motors board (for encoding);
** Relay board (to manage and redirect power supplies);


Installed:
<html><iframe width="560" height="315" src="//www.youtube.com/embed/XXXmA3iVKL0" frameborder="0" allowfullscreen></iframe></html>
 
* Commell LV-679: A Mini-ITX Motherboard with:
** Intel Core 2 Duo 1.6Ghz 4Mo 800Mhz Processor;
** 2x Kingston 1GB 667Mhz DDR2 RAM;
** Intel PRO/Wireless LAN 2100 3B Mini PCI adapter;
** Kingston SSDNow V Series 64GB.
 
=== External Devices ===
 
Sensors:
 
* Point Grey Bumblebee2 (Firewire stereo camera system);
* MicroStrain 3DM-GX2 (IMU with triaxial accelerometer, triaxial gyro, triaxial magnetometer, temperature sensors, and an on-board processor).
 
=== Batteries ===
 
* 8x 4S2P Li-Po batteries 4800mAh 14.8V.
 
=== Accessories (for usage) ===
 
* 2x Groupner ULTRAMAT (for Li-Po battery charging).
 
=== To be installed ===
 
* Microsoft© Kinect for XBOX 360 (Vision + Depth camera);
* A Pan & Tilt motor.
 
 
== Power ==
 
[[Image:RAPOSA_Battery.JPG|thumb|Battery used by RAPOSA-NG]]
 
RAPOSA-NG uses two 4S2P Li-Po batteries with 4800mAh and 14.8V. One powers all the electronic devices, while the other powers all motors.
 
It is also possible to use an external source of 12~20V to feed the electronic devices, outputting at least aprox. 4A.
 
 
=== Batteries ===
 
RAPOSA-NG uses Lithium-ion Polymer batteries (Li-Po) with 4800mAh and 14.8V.
 
The primary difference between this batteries and other Lithium-ion is that the lithium-salt electrolyte is not held in an organic solvent but in a solid polymer composite such as polyethylene oxide or polyacrylonitrile.
 
Each battery is composed of 4 cells with 2400mAh and 3.7V each, in a 4S2P fashion (two 4 series packs in parallel).
 
[[Image:Raposa_4s2p.jpg|499x174px|4S2P Fashion]]
 
==== Battery Charger ====
 
[[Image:RAPOSA_BATTERIES.jpg|678x345px|thumb|How to charge RAPOSA-NG batteries using ULTRAMAT 10]]
 
Currently two all-purpose fast chargers from Groupner (ULTRAMAT 10) are used to charge RAPOSA-NG batteries at the Mobile Robots Laboratory (8th floor, North Tower, IST Campus-Alameda).
 
 
To recharge RAPOSA-NG batteries using ULTRAMAT 10:
 
* Connect the ULTRAMAT 10 power plug to an available power socket;
 
* Connect the battery plug to the ULTRAMAT 10 battery socket;
 
* Press ENTER (the first button from the right) two times.
 
 
If the ULTRAMAT screen presents the following screen (the current and voltage displayed in this image are irrelevant)
 
[[Image:ULTRAMAT_CRG.jpg]]
 
it means that it is charging‎. When finished, the ULTRAMAT 10 will beep for a few seconds and the following screen (again, the current and voltage displayed in this image are irrelevant)
 
[[Image:Raposa_END.jpg‎]]
 
will be presented.
 
 
For any other information regarding the ULTRAMAT 10 usage, please check this manual (in Dutch, English and French):
 
[http://clubcugnaux.free.fr/Page_notices_techniques/ChargeurGraupnerUltramat10.pdf Battery Charger ULTRAMAT 10 manual]
 
==== Risks ====
 
This batteries are highly dangerous when used without proprer measures. They can only be charged with appropritate Lithium-ion Polymer chargers and with the correct specifications. Crashes, high temperatures and short circuits can cause explosions. Please be extra carefull when dealing with this batteries.
 
==== Precautions and Measures ===
 
* NO NOT use other chargers to charge the batteries, unless it is a Li-Po charger and it is correctly configured.
* Avoid recharging batteries already charged. This can reduce their live expectancy;
* Recharge a battery as soon as possible to prevent live damages;
* Never leave them recharging without any supervision, as any accident with the battery can cause a fire;
* If a battery starts to swell (or is already swollen), STOP USING IT and give them to someone that can thew them away in the proper places;
* NEVER trow a battery into the normal garbage.

Latest revision as of 15:48, 18 November 2014

Description

Following the success of RAPOSA, the IdMind company developed a commercial version of RAPOSA, improving it in various ways. Notably, the rigid chassis of RAPOSA, which eventually ends up being plastically deformed by frequent shocks, was replaced by semi-flexible structure, capable of absorbing non-elastical shocks, while significantly lighter than the original RAPOSA.

ISR acquired a barebones version of this robot, called RAPOSA-NG, and equipped it with a different set of sensors, following lessons learnt from previous research with RAPOSA. In particular, it is equipped with:

  • a stereo camera unit (PointGrey Bumblebee2) on a pan-and-tilt motorized mounting;
  • a Laser-Range Finder (LRF) sensor on a tilt-and-roll motorized mounting;
  • an pan-tilt-and-zoom (PTZ) IP camera;
  • an Inertial Measurement Unit (IMU).

This equipment was chosen not only to fit better our research interests, but also to aim at the RoboCup Robot Rescue competition. The stereo camera is primarily used jointly with an Head-Mounted Display (HMD) wear by the operator: the stereo images are displayed on the HMD, thus providing depth perception to the operator, while the stereo camera attitude is controlled by the head tracker built-in the HMD. The LRF is being used in one of the following two modes: 2D and 3D mapping. In 2D mapping we assume that the environment is made of vertical walls. However, since we cannot assume horizontal ground, we use a tilt-and-roll motorized mounting to automatically compensate for the robot attitude, such that the LRF scanning plane remains horizontal. An internal IMU measures the attitude of the robot body and controls the mounting servos such that the LRF scanning plane remains horizontal. The IP camera is used for detail inspection: its GUI allows the operator to orient the camera towards a target area and zoom in into a small area of the environment. This is particularly relevant for remote inspection tasks in USAR. The IMU is used both to provide the remote operator with reading of the attitude of the robot, and for automatic localization and mapping of the robot.

Further info can be found in the book chapter Two Faces of Human–Robot Interaction: Field and Service Robots (Rodrigo Ventura), from New Trends in Medical and Service Robots Mechanisms and Machine Science Volume 20, pp 177-192, SprinGer, 2014.

And check out our Facebook page!

Team

  • Rodrigo Ventura (coordinator)
  • Filipe Jesus
  • João Mendes
  • João O'Neill

Videos

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