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TitlePersonal Tele-Embodiment
TagsUniversity Of California
File Size11.1 MB
Total Pages282
Table of Contents
                            Table of Contents
Chapter 1: Introduction
Chapter 2: Motivation
Chapter 3: Tele-Embodiment
Chapter 4: Foundational Work
Chapter 5: Related Work
Chapter 6: Space Browsers
Chapter 7: PRoPs
Chapter 8: Control, Navigation, Interface
Chapter 9: Experiments and Evaluations
Chapter 10: Social Implications
Chapter 11: Future Work
Chapter 12: Conclusion
Document Text Contents
Page 141


7.7.1 Hardware

Discouraged with the kinematic problems of the track-like bases found in all of the

previous PRoPs, we designed PRoP 2 around a Nomadics Scout II base (see Figure 7.10).

This base consisted of two wheels and a caster. Turning on axis was smooth and simple

and the range of terrains was excellent. Floor, carpets, sidewalks, and asphalt were all

accessible. The new base was also packed with 720 watts-hours of battery power and a

greatly increased payload. The result was well over two hours of operational time under

full use and much more if movement was not continuous. Also for the first time the range

sonar hardware was accessed and used.

The wireless networking gained a tremendous boost by upgrading to an IEEE

802.11b standard 11 Mb/s ethernet radio card operating at 2.4 GHz. The entire computer

science building at Berkeley was outfitted with this network, permitting for the first time,

full uninterrupted roaming and PRoP access throughout the entire building. Due to the

wireless coverage it was also possible to roam outdoors. Once nearby buildings are setup

for 802.11, the PRoP will be able to roam from building to building uninterrupted.

A new camera was added, the Canon VC-C4 pan/tilt camera with 460 vertical by

350 horizontal pixels. This camera had more range of motion (±90 ◦ pan and −30 ◦ to 90 ◦

tilt) and higher zoom (16×) than its predecessor, the VC-C3. It was also aesthetically more

iconicly “eye-like”, especially with the camera in the center of the unit. The PRoP’s Canon

VC-C3 camera was offset to the side of the operational unit.

Even the embedded single board computer was upgraded to a newer 600 MHz

CPU with a faster system bus, more memory, and superior display hardware. We had

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