====== Projeto Roomba ======

Components:
  * [[http://store.irobot.com/shop/index.jsp?categoryId=3311368|iRobot Create]]
  * [[http://www.hokuyo-aut.jp/02sensor/07scanner/urg_04lx_ug01.html|Hokuyo URG Ranger]]
  * Webcam
  * [[http://www.crustcrawler.com/products/smartarm/index.php?prod=12|AX-12 SmartArm]]
  * Battery

===== Mechanical Design =====
{{:projetos:roomba:romba1.jpg|Project's objective example}}

===== Arm =====
//Main article: [[Arm]]//

A robotic manipulator will be on top of each roomba, attached to an acrylic resin platform.
The manipulator will be a CrustCrawler AX-12 Smart Arm, sold by [[http://www.crustcrawler.com|CrustCrawler]], with three degrees of freedom plus two in the gripper, controlled by seven Robotis AX-12+ servo motors.

{{http://www.crustcrawler.com/products/smartarm/images/popup/smartarm300.jpg|AX12+ SmartArm, CrustCrawler}}

The manipulator's specifications can be found at the [[http://www.crustcrawler.com/products/smartarm/docs/AX12SmartArmSpecSheet.pdf|CrustCrawler website]].

===== Powering and Electrical Design =====
//Main article: [[Power]]//

The project’s components are not going to have the same powering system. 
  * The arms are going to be powered by Ni-MH batteries
  * The hokuyo is going to be powered by the netbook’s battery
  * The roomba is self-powered by a 3000 mAh 14.4 v NiMH battery.

==== A study on batteries ====
//Main article: [[Batteries]]//

This section shows some important information concerning batteries.
Such as: behaviour at high temperatures,voltage effects,depth of discharge and etc.



===== Software =====
//Main article: [[Software]]//

==== StarGaze ====
//Main article: [[StarGaze]]//

The Silvver software will be used in a branch of the project called [[StarGaze]]. Inspired by the [[http://www.evolution.com/products/northstar/|NorthStar®]] localization system by Evolution Robotics, it is a library that enables the robot, with a webcam attached to its body facing up, to locate itself reading the position from several markers in the ceiling.