Vision-Based Autonomous Robot Self-Docking and Recharging

Posted by kartoun on March 22, 2006, 9:35 am

Hi,

That's a paper I wrote that was accepted to the "WAC 2006"
(http://wacong.org/wac2006/ ) conference.

It's here:
http://www.compactech.com/kartoun/publications.html

Or directly from here:
http://www.compactech.com/kartoun/articles/Kartoun_WAC_2006_Final.pdf

Thanks,

Uri.

Posted by on March 23, 2006, 12:06 am

Thanks for sharing your work with us.

Joe Dunfee

Posted by on March 23, 2006, 12:18 am

I noticed in your paper that you attributed an electrical docking
failure to "unseen dirt and dust".

While I don't have any realworld experience with this issue, I suspect
the problem may have been with the use of aluminum plates. I've read
that aluminum very quickly gets "rusted" (a coating of aluminum oxide.)
Unfortunately for your use, aluminum oxide is a very good insulator.
So, while aluminum itself is a good conductor, it is a poor metal for
making electrical connections.

Can anyone else recommend a better choice that is easily to obtain?

Joe Dunfee

Posted by kartoun on March 23, 2006, 7:24 am

You are right, that's what I wrote. I think that one of the reasons for
that is that people touched the aluminum surfaces many times and it
leaves signs of fingertips (fat). I might had to clean it with a liquid
such as Terpentin.

Next time I would use copper instead of aluminum.

Please note that there is a video of this work as well:

To download:

http://www.compactech.com/kartoun/videos/Uri_Kartoun_ER1_Robot_Self_Docking_September_2004_Final.wmv

http://www.compactech.com/kartoun/videos/Uri_Kartoun_ER1_Self_Docking_November_2004.wmv

or to watch as streaming:

http://video.google.com/videoplay?docid=6005138367366246195&q=kartoun

Thanks,

Uri.

Posted by pogo on March 24, 2006, 10:57 pm

THAT is pretty cool! Good job!

> You are right, that's what I wrote. I think that one of the reasons for
> that is that people touched the aluminum surfaces many times and it
> leaves signs of fingertips (fat). I might had to clean it with a liquid
> such as Terpentin.
> Next time I would use copper instead of aluminum.
> Please note that there is a video of this work as well:
> To download:

http://www.compactech.com/kartoun/videos/Uri_Kartoun_ER1_Robot_Self_Docking_
September_2004_Final.wmv
http://www.compactech.com/kartoun/videos/Uri_Kartoun_ER1_Self_Docking_Novemb
er_2004.wmv

> or to watch as streaming:
> http://video.google.com/videoplay?docid=6005138367366246195&q=kartoun
> Thanks,
> Uri.

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