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by Julien Forest - (no comment)

Introduction

Robbie is an experimental based Keridwen and Java/OSGi approach for the software layer and an Raspeberry Pi and ARM based hardware configurations. Robbie is a simple proof of concept of the relevance of the Java / OSGi based approach for very light and low cost hardware infractructures, like embedded systems, robots, low-cot scientific measurement and monitoring system.

Robbie includes his own exploration algrithms to perform his missions in a autonomous manner as much as possible and a Web based remote control interface. A Text-to-Speech (TTS) and voice controles services complete the user interface. A Image analysis system based to OpenCV and JavaCV allows Robbie to perceive his environment.

Thanks to the Pi4j project, all devices are controled from the Raspberry Pi through from the Java layer.

Robbie is de facto a modular platform to:

  • Explore modular software design in robotics for a better extensibility and adaptability to taylored applications;
  • Through a realistic application:
    • Valid the capability of Keridwen for modular, services orientied applications;
    • Evaluate the constraint related to a remote control and data transfert on low band-width and high latency system;
    • Explore scientific and operationnal data capature and remote processing;
  • Explore robot-environment interaction algorithms, to facilitate its autonomy and survival;
  • Explore the human-robot interactions;
  • Through 3D simulation done with the SPIS and the GEANT-4 based software, evaluate the capabilities of low hardware components in space environments, especially in lander-plasma interactions and radiations effects analysis.
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