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24 October 2005 Embedded object concept with a telepresence robot system
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This paper presents the Embedded Object Concept (EOC) and a telepresence robot system which is a test case for the EOC. The EOC utilizes common object-oriented methods used in software by applying them to combined Lego-like software-hardware entities. These entities represent objects in object-oriented design methods, and they are the building blocks of embedded systems. The goal of the EOC is to make the designing of embedded systems faster and easier. This concept enables people without comprehensive knowledge in electronics design to create new embedded systems, and for experts it shortens the design time of new embedded systems. We present the current status of the EOC, including two generations of embedded objects named Atomi objects. The first generation of the Atomi objects has been tested with different applications, and found to be functional, but not optimal. The second generation aims to correct the issues found with the first generation, and it is being tested in a relatively complex test case. The test case is a telepresence robot consisting of a two wheeled human height robot and its computer counter part. The robot has been constructed using incremental device development, which is made possible by the architecture of the EOC. The robot contains video and audio exchange capability, and a controlling and balancing system for driving with two wheels. The robot is built in two versions, the first consisting of a PDA device and Atomi objects, and the second consisting of only Atomi objects. The robot is currently incomplete, but for the most part it has been successfully tested.
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Tero Vallius and Juha Röning "Embedded object concept with a telepresence robot system", Proc. SPIE 6006, Intelligent Robots and Computer Vision XXIII: Algorithms, Techniques, and Active Vision, 600605 (24 October 2005);

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