The current works-like prototype has the following features:
- Particle count sensor
- 802.11n WiFi for wireless communication
- Web interface
- USB interface for setup and debugging
|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|
|Distance from two nearest landmarks (cm)||15||600||5|
|LIDAR range (cm)||15||600||5|
|Operating temperature (degC)||0||45||4|
- 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.