Stephane Guerreau – Marc Fournier

M.A.R.V.I.N.

M.A.R.V.I.N.

“Mobile Autonomous Robotic Virtual Intelligence Node”Or

“Make A Robot Virtually Intelligent Now”

Main Features Smart Navigation Various visual and audio interactions Connectivity Remote Control

Raspberry Pi “brain” Barebone ATmega as central nervous system Servo driver for motor functions Sensors, camera and external devices for

perception

Intend to reproduce life behaviour• Environnement analysis and interaction

• Inlude some Chaotics reactions to create new behaviours

Anatomy

Hardware – M.A.R.V.I.N.

Refurbished Vacuum Cleaner Base

How it is built ?

Screen breakout board • 3,3v and 5v I²C

• 3,3v UART

• Logic Converter, RTC

• Shutdown button

How it is built ?

Raspberry Pi Barebone Atmega328 Servo Driver

2.8” Touchscreen • Connected to Raspi

• Python Control interface

• Real-time Video

How it is built ?

How it is built ?

Software – Raspi

Libs (python, simpleCV, espeak..) LCD Drivers Python Scripts

• Graphic Interface• UDP to UART 'proxy' • Sensors / Navigation• Camera • Bot control• Domotic

Smart indoor navigation • Infrared Sensors

• Ultrasonic Ping ))

• Pan / Tilt Ultrasonic Ping

• Embed Camera

• Access to existing Home Devices (network cameras, domotic nodes, etc..)

• Generates its own telemetry charts

Environnement Mapping / learning• In Dev

Smart Navigation

Vision

Real-time camera Network streaming / recording Detection (Motion, blobs, objects...) Access to external cameras

Connectivity

Mobile Wifi Client and AP

Secure gateway• DHCP server

• OpenVPN

• OwnCloud server

Send / Receive video and data through network Share infos with Home Automation and others

connected Bots.

Remote Control

Joystick control• Direction

• Pan / tilt servo

• Modes switching

• Camera controls

Remote Control• Full Control

• Video display

• Python interface or Http access

Speech

Static Text to speech• Read pre-formated text

Dynamic Text to speech (in dev)• Can choose from various text

Voice recognition (with Julius – in dev)

Remote Controller – Pip boy

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Pip boy also include• User Desktop (Lxde)

• Game emulation (MAME)

Remote Controller – Pip boy

For fun : MARVIN mini-pet

Refurbished Parallax Boe-Bot• Basic Stamp2 Board

• 2 x continous servos

• 1 x 180° pan servo

• 2 x Infrared Led + Receiver

• 1 x UltraSonic Ping ))

• Used for quick tests

• Easy to code performant navigation

• Funny “alive personality” by adding some chaotic code events

Links

www.hardware-libre.fr http://www.youtube.com/user/HardwareLibre google+