Processus Mobile by Rene Trapp

Name:          Processus Mobile 
Nationality:   german 
Date of birth: summer 1999 (the mechanics completely redesigned to a compact robot) 
               Start of project in 1989 with first developments and designs 
Diameter:      18cm 
Height:        7cm 
Weight:        ? (less than 1kg) 
Power:         six NiCd-cells 'Mignon' we call it in Germany (I think AA is the US-size) 
Purpose:       testbed for sensor systems and algorithms / labyrinth navigation 
Drivetrain:    2 wheels attached two a geared stepper each / 1 supporting wheel 
Computer:      Processus (Z80-based, homebrew); 32k ROM; 32k RAM ; 4 timers; 40 IO-lines 
Data link:     IR, 2400baud, halfduplex (InfraLink) 
Sensors:       IR-reflexive-coupler for gap detection (prevent from falling down) 
               Bumpring for detecting collisions 
Software:      programmable via RPL (selfmade Robot Programming Language) 
               remotely operatable via terminal and (InfraLink) 
Costs:         about 50DM for mechanics (inl. steppers) 
               about 150DM electronics (chips, and parts) 
               several month from scratch (spread over the years) 

My experimenting with with robot designs begun in 1989. I wanted to create a robot that 
can vac the floor satisfying. I have not reached the goal since I had not enough know how in those early days. So I
started research on the sensor systems, the algorithms and all the other things necessary to do this task. As I have
not many time left over and since I do all the development and research on my own the project continues slowly. But the
benefit is that I develop my skills and I have 100% control over all details of the project. I have made the robot from
cheap materials and parts available everywhere. The actual design 

Processus Mobile 

is intended as a testbed for algorithms and sensor systems I want to experiment with. So the todays 2 sensor systems
seem to be primitive and not state of the art but they serve as the lowest level (the last) security and have to be
100% reliable. I have plans for more sophisticated ultrasonic rangers or laser scanners (build from cheap parts,
available everywhere) and some day they are ready for use. 


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