Team Description: | The TNO EyeRobot team is the TNO Defence, Safety and Security entry into the ELROB2006. The team is largely composed of TNO employees, under the leadership of Eric den Breejen (Projectleader EyeRobot). The TNO EyeRobot team developed the EyeRobot platform in a NTP Project financed by the Royal Netherlands Army. In the NTP project EyeRobot Siemens Netherlands was the partner. Our vehicle is called the "EyeRobot". The EyeRobot is based on the RobuROC4 platform of Robosoft France. The four wheel platform is a skid steer robot. The three modes of operation and the payload are developed by the EyeRobot team. The EyeRobot can be operated by remote control, in TelePresence mode and Autonomous. The all electric vehicle has a Li-ion battery pack of Saft and brushless motors. The sensors are mounted on a Sagebrush model20 servo controlled Pan/tilt unit. The sensor suite consists of Stereo camera's, Tele zoom camera, Laser ranger finder, 3D audio and optional multi-spectral and Thermal infrared camera. For obstacle avoidance a second pair of stereo camera's is mounted on the front of the vehicle for the DROID obstacle detection system. The platform is controlled from the navigation PC, and the payload from the Payload PC, the 3D audio and the DROID obstacle detection system have separate computers. Together with the Robosoft platform PC the total number of PC's is five. For positioning the platform is equipped with wheel encoders, an Omnistar dGPS, and a Xsens IMU. The EyeRobot system has two wireless links, a 5.4GHz Smartbridge COFDM link with high bandwidth for video and audio, and a Satel 400Mhz RS232 link with 10 km range capacity for control of the system. The development of the EyeRobot system started 1st January 2004. The experience of the partners was based on the RoboJeep and the "Generaal" platforms and the Cateyes project. During the project the RobuROC4 platform was specified and the payload integrated on the platform. The Navigation PC controls the platform through TCP/IP connection.
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