Specifications
Robot Features
The current works-like prototype has the following features:
- Battery-operated
- Particle count sensor
- LCD
- 802.11n WiFi for wireless communication
- Web interface
- USB interface for setup and debugging
Robot Specifications
| Minimum | Nominal | Maximum | Notes | |
|---|---|---|---|---|
| Battery life (hours) | 1.4 | 2.8 | 6.0 | 6 |
| Detectable particle size (um) | 1.0 | 3 | ||
| Detectable ISO classes | 3 | 9 | 3 | |
| Detectable particle count (particles/m^3) | 0 | 98M | 3 | |
| Sensor measurement period (seconds) | 30 | 3 | ||
| Particle count % noise | 25 | 3 | ||
| Environment size | 120 x 120 cm | 1 | ||
| Speed | 0 | TBD | TBD | 2 |
| Distance from two nearest landmarks (cm) | 15 | 600 | 5 | |
| LIDAR range (cm) | 15 | 600 | 5 | |
| Operating temperature (degC) | 0 | 45 | 4 |
Notes:
- The environment size limitation was arbitrarily chosen to be the size of the current test environment, and is not due to any software or hardware limitations.
- The localization algorithm requires that the robot is within sight of two landmarks. These limits are determined by the range of the LIDAR.
- Particle count specifications are determined by the air quality sensor used, and is not a limitation of any other hardware or software. Determining the ISO class of a cleanroom is not possible with a single sensor; this specification is the range of classes that allow for particles of 1 um or larger which is the range detectable by the current sensor. Noise was determined experimentally.
- The operating temperature is determined by the limitations of all internal components. The most restrictive of these is the air quality sensor.
- LIDAR range is determined by the LIDAR used.
- Battery life calculates are given in the Mechanics & Electronics section.
Web Interface Requirements
The web interface has the following requirements for proper functionality:
- Windows, Linux, or Mac OS X
- Google Chrome 35+
- Node.js 0.12
- WiFi (802.11n with WPA2 security recommended)
- PlayStation 3 controller recommended for manual control
- 1280x720 or greater resolution
The USB debugging interface requires Ubuntu 14.04 or newer. It is not compatible with Mac OS X and has limited functionality in Windows.