Claes PhD

• Armadillo Scout
• Hako - AMS
• MobotWare
• FroboMind
• Autonomous Mapping
• Implements
• Sensor Development

Closed loop con in ecu command from Navigation pc

High resolution LIDAR for tree scanning

Design a soil-tester for the Armadillo Scout. Drawings are currently being made at TU Berlin.

Integrate result in the SenGIS database for further analysis.

Implement existing robotsoftware on the TU Berlin robot.

SenGIS would like to test the camera as they do with a lot of other sensors. In order to compare the sensors.

• Using solar power to charge armadillo scout.
• …

Build an RTK-GNSS Receiver using a Beagle Board, custom designed GNSS Receiver and rtklib. In robotics and agriculture centimeter precision in an outdoor environment can be crucial for a wide variety of different tasks. But with a starting price around 20000€ for the cheap systems RTK-GNSS is not an option for many projects.

Using the hardware already mentioned, an RTK-GNSS Receiver can be built for around 800$.

http://www.rtklib.com/

At the moment we need 2 lightweight and cheap RTK-GNSS Receivers in Hohenheim, one for a model plane and one for a new robot called Armadillo 2. Port SAFAR to Linux and to use Player/Stage instead of MRDS

Thomas Parkhøi wrote the BSc Thesis Robot mission manager GUI with sugguestions for updating the UI for the hako client.

These updates should be finished and tested.

Create a firmware for Legomindstorms so it is possible to program them using SMRCL and/or a highlevel controller program connect to the mindstorm via Bluetooth.

• Firmware for running SMRCL
• Drives for the sensors
  • Both native Lego sensors and third party sensors.

The mindstoms could then also be used as a simulation tool for the Hako or other robots.

There is a ROS-NXT pack that uses a lot of interesting functions. It could be cool to control the mindstoms with a combination of ROS and SMRCL.

Change/update the MRC so it is plugin-based like the rest of MobotWare. Fx. Motioncontroller so it is easier to implement different kinematic modules.

The idea is to write a script and execute with rhd/mrc/stage. It should have the debug functions:

1. step in to
2. step over
3. breakpoint
4. run to breakpoint
5. run
6. pause
7. stop
8. feedback on variables

use scintilla as editor, functions for editor:

1. SMRCL syntax highlighter
2. autocomplete
3. code snippets

load scripts from files would also be a good idea.

maybe just syntax highlite for Notepad++/gedit plus below

maybe as a ide for eclipse - http://www.ibm.com/developerworks/opensource/tutorials/os-ecl-commplgin1/

Include debugger where you can test differnt commands

A GUI program where you can select the commands, create a script and chose when to execute each command.

Include default configs for simulating with MobotWare

ROS can run on Slackware, so it could be interesting to see if FroboMind can control the Hako. Soeren from SDU is interested in making the project.

Make it possible to control all Frobomind robots with SMR-CL.