Robots – About SyRoTek

S1R Robots – main components and parameters

• Power control and charger board (power board) provide battery maintenance and generation of on-board voltages in two levels 5 and 3.3 volts.


• Motor control and sensor data acquisition board (control board) based on the Hitachi H8S/2639 micro controller with embedded hardware counters for the quadratic encoders.


• On-board computer interface board with on-board computer (OBC) mounted on. The Gumstix Overo Fire with OMAP 3530 at 600 MHz computer module has been selected for this purpose. Beside UART, SPI, I$^2$C, and USB communication interfaces, this computer provides on-board 802.11g wireless network module.





• The radio module is dedicated to transmit real-time control commands and low-data-rate sensor data between the robot and an external control computer providing user access to the robot through the Internet. It is based on the Nordic nRF24L01 chip, allowing full-duplex communication at speed over 100 kbps.

Robot parameters	Value
Length × Width × Height	174 × 163 × 180 mm
Weigth	about 2 kg
Maximal velocity	0.34 m/s
Odometry resolution	200 samples/mm
Battery type	Li-Pol (6 cells)
Battery voltage (nominal)	22.2 V
Battery capacity	2400 mAh (53 Wh)
Total power consumption	about 5 Watts
Robot operation time	about 8 hours
Robot charging current	2 A
Computation power	ARM CPU @ 600 MHz

Available onboard sensors

Sensor	Type
Chassis sensors:
IR range sensors	5× Sharp GP2D120
Sonars	3× Devantech SRF10
Compass	Devantech CMPS03
Accelerometer	Freescale MMA7260Q
Camera	CmuCam3
Other sensors:
Floor sensor	2× 6-detector lines
Front sensor:
IR range sensors	3× Sharp GP2Y0A21Y
Sonars	3× Devantech SRF10
Laser rangefinder	Hokuyo URG-04LX

Details on the utilized sensors, but also S1R robots design, and further parameters can be found in section 4 of the overview paper [1].

[1] Jan Chudoba, Jan Faigl, Miroslav Kulich, Tomáš Krajník, Karel Košnar, Libor Přeučil, A TECHNICAL SOLUTION OF A ROBOTIC E-LEARNING SYSTEM IN THE SYROTEK PROJECT. In Proc. of 3rd international conference on computer supported education. 2011.