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-%% RoboCupRescue_TDP.tex
-%% V0.1
-%% 2016/01/06
-%% by Soeren Schwertfeger
-%% robotics.shanghaitech.edu.cn
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-%\fi
-% endfloat.sty was written by James Darrell McCauley, Jeff Goldberg and 
-% Axel Sommerfeldt. This package may be useful when used in conjunction with 
-% IEEEtran.cls'  captionsoff option. Some IEEE journals/societies require that
-% submissions have lists of figures/tables at the end of the paper and that
-% figures/tables without any captions are placed on a page by themselves at
-% the end of the document. If needed, the draftcls IEEEtran class option or
-% \CLASSINPUTbaselinestretch interface can be used to increase the line
-% spacing as well. Be sure and use the nomarkers option of endfloat to
-% prevent endfloat from "marking" where the figures would have been placed
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-% the \subfloat command are used. Furthermore, there needs to be a
-% description of each subfigure *somewhere* and endfloat does not add
-% subfigure captions to its list of figures. Thus, the best approach is to
-% avoid the use of subfigure captions (many IEEE journals avoid them anyway)
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-% http://www.ctan.org/pkg/endfloat
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-% later in the document, say, to conditionally put the References on a 
-% page by themselves.
-
-
-% *** PDF, URL AND HYPERLINK PACKAGES ***
-%
-\usepackage{url}
-% url.sty was written by Donald Arseneau. It provides better support for
-% handling and breaking URLs. url.sty is already installed on most LaTeX
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-
-
-
-
-% *** Do not adjust lengths that control margins, column widths, etc. ***
-% *** Do not use packages that alter fonts (such as pslatex).         ***
-% There should be no need to do such things with IEEEtran.cls V1.6 and later.
-% (Unless specifically asked to do so by the journal or conference you plan
-% to submit to, of course. )
-
-
-% correct bad hyphenation here
-\hyphenation{op-tical net-works semi-conduc-tor}
-
-
-%
-% Specify the venure for this TDP, e.g.:
-%
-% for the world cup just the year:
-% \newcommand{\TDPyear}{2016~}
-%
-% for regional competitions the regional name, too
-% \newcommand{\TDPyear}{German Open 2016~}
-
-\newcommand{\TDPvenue}{2017~}
-
-\begin{document}
-%
-% paper title
-% Titles are generally capitalized except for words such as a, an, and, as,
-% at, but, by, for, in, nor, of, on, or, the, to and up, which are usually
-% not capitalized unless they are the first or last word of the title.
-% Linebreaks \\ can be used within to get better formatting as desired.
-% Do not put math or special symbols in the title.
-\title{RoboCup Rescue \TDPvenue Team Description Paper \\
- Team Name}
-
-%
-% author names - no IEEE memberships
-% only the authors for this TDP - not necessarily all team members!
-%
-
-\author{Robo~Hero,
-        John~Doe,
-        and~Jane~Doe% <-this % stops a space
-\thanks{Robo Hero is with the Department
-of Robotics Gurus, Moon University, Moon, e-mail: .}% <-this % stops a space
-\thanks{J. Doe and J. Doe are with Anonymous University.}% <-this % stops a space
-%\thanks{Manuscript received April 19, 2005; revised August 26, 2015.} no need for received dates!?
-}
-
-
-% note the % following the last \IEEEmembership and also \thanks - 
-% these prevent an unwanted space from occurring between the last author name
-% and the end of the author line. i.e., if you had this:
-% 
-% \author{....lastname \thanks{...} \thanks{...} }
-%                     ^------------^------------^----Do not want these spaces!
-%
-% a space would be appended to the last name and could cause every name on that
-% line to be shifted left slightly. This is one of those "LaTeX things". For
-% instance, "\textbf{A} \textbf{B}" will typeset as "A B" not "AB". To get
-% "AB" then you have to do: "\textbf{A}\textbf{B}"
-% \thanks is no different in this regard, so shield the last } of each \thanks
-% that ends a line with a % and do not let a space in before the next \thanks.
-% Spaces after \IEEEmembership other than the last one are OK (and needed) as
-% you are supposed to have spaces between the names. For what it is worth,
-% this is a minor point as most people would not even notice if the said evil
-% space somehow managed to creep in.
-
-
-
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-% \markboth{Journal of \LaTeX\ Class Files,~Vol.~14, No.~8, August~2015}%
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-\markboth{RoboCup Rescue \TDPvenue TDP Collection}%
-{Hero \MakeLowercase{\textit{et al.}}: Team Name}
-% The only time the second header will appear is for the odd numbered pages
-% after the title page when using the twoside option.
-% 
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-% you desire.
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-% this:
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-% column for its text to clear the IEEEpubid mark.
-
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-%\IEEEspecialpapernotice{(Invited Paper)}
-
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-\begin{flushleft}
-\textbf{Info}\\
-\hspace{10pt} Team Name: \hfill The Nameless Team\\
-\hspace{10pt} Team Institution: \hfill Moon University\\
-\hspace{10pt} Team Leader: \hfill Robo Hero\\
-\hspace{10pt} Team URL: \hfill % \url{https://moon.edu}
-\\
-\vspace{5pt}
-\hspace{10pt} RoboCup Rescue \TDPvenue TDP collection: \\
-\hfill \url{http://wiki.robocup.org/Robot_League}
-\end{flushleft}
-
-\begin{abstract}
-The abstract goes here. Do not describe RoboCup Rescue in detail - concentrate on your robots, their main capabilities and what sets them apart from the competitors.
-\end{abstract}
-
-% RoboCup Rescue and Team Description Paper have to be the frist two keywords. You can select up to three more keywords.
-\begin{IEEEkeywords}
-RoboCup Rescue, Team Description Paper, up to 3 others.
-\end{IEEEkeywords}
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-
-
-
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-% page as needed:
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-
-
-\section{Introduction}
-% The very first letter is a 2 line initial drop letter followed
-% by the rest of the first word in caps.
-% 
-% form to use if the first word consists of a single letter:
-% \IEEEPARstart{A}{demo} file is ....
-% 
-% form to use if you need the single drop letter followed by
-% normal text (unknown if ever used by the IEEE):
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-% IEEEtran.cls version 1.8b and later.
-% You must have at least 2 lines in the paragraph with the drop letter
-% (should never be an issue)
-
-\IEEEPARstart{P}{lease} use this Team Description Paper (TDP) template to answer the following questions about your team's approach to designing, fabricating, controlling, and operating your urban search and rescue robot team. We will likely have many more teams interested in participating than we can accommodate, so we will use this paper to initially qualify your team for final registration. We are looking for teams showing solid progress toward a functioning system, particularly innovative approaches, and well formulated (and well described) team strategies.  Timely submittal of this and other documents is also appreciated.
-
-The 2016 TDPs were published here: \url{http://www.robocup2016.org/en/symposium/team-description-papers/rescue-robot/} .
-
-It is very important that you follow this particular template regarding formatting. From 2017 on we plan make the TDPs of all qualified teams publicly available via the webpage \textbf{to update} and also on arXiv.org . We understand that at this early date your system is likely not fully realized, so we expect this document to be incomplete in parts.  However, we expect you to articulate at least some ideas in each area outlined below.  The more comprehensive your approach appears, the more favorably it will be reviewed. If you have hardware implemented, please add lots of pictures as you describe your system, and give details regarding the parts themselves (sensors, motors, joysticks, etc).  If you have drawings of your system, please include them. If you have particular team strategies, please describe them. Otherwise, please attempt to describe at least the direction you are going in any given section and what we can expect to see at the competition.  Please also describe how your operator(s) plan to interact with your system.
-
-The TDP is not the place to describe your awesome new approach in all details with experiment that proof the performance, etc. This should go into an extra paper. Anyways be sure to cite all your relevant publications and also the according publications of other researchers, for example \cite{Sheh2016RoboCupRescue, sheh2011robocuprescue, Kohlbrecher_community_ssrr_2012, PellenzMappingAndMapScoring2008, sheh2012advancing, jacoff2012robocup, SSRR11-FiducialMapMetric, SSRR07-JacobsAutonomy}... The TDP is an overview paper to show how the system performs as a whole. The introduction should give an overview of your systems and your approach to RoboCup Rescue.
-
-\begin{figure}[!t]
-\centering
-\includegraphics[width=\linewidth]{figs/booth}
-\caption{Photo of your robot. Should ideally be located in a corner with lines 10cm apart (at least on the ground). Take the photo from an angle such that front, side and top are visible. This photo should appear on the first page of your document exactly where it is placed in the template! If you have other robots or an unusual operator station add those in extra figures.}
-\label{fig:robotPhoto}
-\end{figure}
-
-
-\subsection{Submission}
-If you are a) accepted for the RoboCup Rescue competition, b) payed the registration fees AND c) participated in the event we plan to publish your TDP on the webpage and arXiv.org . We plan to do the upload to arXiv for you. In order to do so you need to: 
-
-\begin{itemize}
-  \item submit your TDP as PDF \textbf{AND} the Latex source files including images, biliography, etc. (for publication in arXiv.org) \url{http://arxiv.org/help/submit_tex} (if you use the LaTeX template)
-  \item We do accept TDPs created in Word if they closely follow the example layout. Be sure to submit the PDF!  \url{http://arxiv.org/help/submit_pdf}
-  \item The RoboCup Rescue OC needs you to give us the rights to publish your TDP. Additionally you need to grant us the following rights \url{http://arxiv.org/licenses/nonexclusive-distrib/1.0/license.html}. Do so by filling out and signing the following form: \url{https://to-be-announced.org}.
-  \item If you have any supplemental material that should be uploaded to arXiv you have to submit to us in LaTeX. \url{http://arxiv.org/help/datasets}
-\end{itemize} 
-
-After the competition we will give you four weeks to improve and extend your paper based on our comments and based on your lessons learned from the competition.
-
-Obviously, do not include any of the TDP template preparation instructions in your TDP ;)
-
-\subsection{Improvements over Previous Contributions}
-If you have previously participated at RoboCup Rescue, describe how your system differs and improves from your previous entry. 
-
-\section{System Description}
-Use this section to describe your overall system. Depending on the emphasis of your team the different subsections can be of different lengths. Nevertheless please be as detailed as possible. The advantages are:
-
-\begin{itemize}
- \item Get qualified for RoboCup Rescue by having a detailed system description.
- \item Document your teams approach.
- \item Allow a comparison of your team with other teams.
- \item Allow a comparison between different years of RoboCup and thus (hopefully) a documentation of the improvements through the years.
- \item Allow other and especially new teams to kick-start their research by copying your system.
-\end{itemize}
-
-
-
-\subsection{Hardware}
-Document the hardware of your system. This can be very brief if you bought the robot (in this case mention the major modifications). The first image of this document (should also appear on the first page) should be a photo of your real robot - see Figure \ref{fig:robotPhoto}.
-
-Refer to the Tables \ref{tab:SystemRobot1} and following as well as Table \ref{tab:HardwareList} in the Appendix - there is no need to document part here in detail if it is sufficient to know that it is used from the tables. Please also share your CAD drawings or electronics plans with the community! Do so by adding a big picture to the appending AND by providing the files in a commonly used format as ancillary files \url{http://arxiv.org/help/ancillary_files}.
-
-Explain your approach regarding those topics - create relevant subsubsections as needed:
-\begin{itemize}
-  \item Locomotion
-  \item Power (Batteries)
-  \item Electronics, including micro-controllers, etc.
-  \item Manipulation/ directed perception
-  \item Sensors
-  \item Computation (high performance for autonomy, etc.)
-  \item Communication is covered in its own subsection - mention the regarding hardware and software there.
-  \item Others...
-\end{itemize}
-
-
-\subsection{Software}
-Refer to Table \ref{tab:SoftwareList} in the Appendix.
-
-Explain how your software works. Create relevant subsubsections as needed. You might want to explain:
-\begin{itemize}
-  \item low level control
-  \item communication protocol (video, commands, data)
-  \item localization
-  \item mapping
-  \item autonomy
-  \item victim detection
-  \item path planning
-  \item navigation
-  \item arm control
-  \item arm planning
-  \item ...
-\end{itemize} 
-
-\subsection{Communication}
-Please use this section to describe your plan for communicating with your robots (passive tether, active tether, radio, etc.)  Double check the rules regarding restrictions and rules!
-
-\subsection{Human-Robot Interface}
-Explain how your robot is controlled. What does the operator see? In which ways can he interact with the robot? Also describe how a potential user should be trained and how you trained the operator for your team.
-
-
-\section{Application}
-
-This section covers the practical aspects of your system...
-
-\subsection{Set-up and Break-Down}
-Please use this section to describe your plan for set-up and break-down of your the robots and the operator station.
-
-\subsection{Mission Strategy}
-If not already covered in the Introduction, explain your overall strategy to the RoboCup Rescue Challenge. Also mention what you cannot or don't want to do.
-
-\subsection{Experiments}
-Explain how you verify your system. Did you build any standard test methods for testing your robot? What kind of experiments and validations did you do with your hardware/ software/ overall systems? What did you learn?
-
-
-\subsection{Application in the Field}
-Discuss how your system is applicable to the field of search and rescue. Where are its strength and weaknesses? What do you think would be possible to improve in the near and medium future towards using it in real scenarios?
-
-
-% An example of a floating figure using the graphicx package.
-% Note that \label must occur AFTER (or within) \caption.
-% For figures, \caption should occur after the \includegraphics.
-% Note that IEEEtran v1.7 and later has special internal code that
-% is designed to preserve the operation of \label within \caption
-% even when the captionsoff option is in effect. However, because
-% of issues like this, it may be the safest practice to put all your
-% \label just after \caption rather than within \caption{}.
-%
-% Reminder: the "draftcls" or "draftclsnofoot", not "draft", class
-% option should be used if it is desired that the figures are to be
-% displayed while in draft mode.
-%
-%\begin{figure}[!t]
-%\centering
-%\includegraphics[width=2.5in]{myfigure}
-% where an .eps filename suffix will be assumed under latex, 
-% and a .pdf suffix will be assumed for pdflatex; or what has been declared
-% via \DeclareGraphicsExtensions.
-%\caption{Simulation results for the network.}
-%\label{fig_sim}
-%\end{figure}
-
-% Note that the IEEE typically puts floats only at the top, even when this
-% results in a large percentage of a column being occupied by floats.
-
-
-% An example of a double column floating figure using two subfigures.
-% (The subfig.sty package must be loaded for this to work.)
-% The subfigure \label commands are set within each subfloat command,
-% and the \label for the overall figure must come after \caption.
-% \hfil is used as a separator to get equal spacing.
-% Watch out that the combined width of all the subfigures on a 
-% line do not exceed the text width or a line break will occur.
-%
-%\begin{figure*}[!t]
-%\centering
-%\subfloat[Case I]{\includegraphics[width=2.5in]{box}%
-%\label{fig_first_case}}
-%\hfil
-%\subfloat[Case II]{\includegraphics[width=2.5in]{box}%
-%\label{fig_second_case}}
-%\caption{Simulation results for the network.}
-%\label{fig_sim}
-%\end{figure*}
-%
-% Note that often IEEE papers with subfigures do not employ subfigure
-% captions (using the optional argument to \subfloat[]), but instead will
-% reference/describe all of them (a), (b), etc., within the main caption.
-% Be aware that for subfig.sty to generate the (a), (b), etc., subfigure
-% labels, the optional argument to \subfloat must be present. If a
-% subcaption is not desired, just leave its contents blank,
-% e.g., \subfloat[].
-
-
-% An example of a floating table. Note that, for IEEE style tables, the
-% \caption command should come BEFORE the table and, given that table
-% captions serve much like titles, are usually capitalized except for words
-% such as a, an, and, as, at, but, by, for, in, nor, of, on, or, the, to
-% and up, which are usually not capitalized unless they are the first or
-% last word of the caption. Table text will default to \footnotesize as
-% the IEEE normally uses this smaller font for tables.
-% The \label must come after \caption as always.
-%
-%\begin{table}[!t]
-%% increase table row spacing, adjust to taste
-%\renewcommand{\arraystretch}{1.3}
-% if using array.sty, it might be a good idea to tweak the value of
-% \extrarowheight as needed to properly center the text within the cells
-%\caption{An Example of a Table}
-%\label{table_example}
-%\centering
-%% Some packages, such as MDW tools, offer better commands for making tables
-%% than the plain LaTeX2e tabular which is used here.
-%\begin{tabular}{|c||c|}
-%\hline
-%One & Two\\
-%\hline
-%Three & Four\\
-%\hline
-%\end{tabular}
-%\end{table}
-
-
-% Note that the IEEE does not put floats in the very first column
-% - or typically anywhere on the first page for that matter. Also,
-% in-text middle ("here") positioning is typically not used, but it
-% is allowed and encouraged for Computer Society conferences (but
-% not Computer Society journals). Most IEEE journals/conferences use
-% top floats exclusively. 
-% Note that, LaTeX2e, unlike IEEE journals/conferences, places
-% footnotes above bottom floats. This can be corrected via the
-% \fnbelowfloat command of the stfloats package.
-
-
-
-
-\section{Conclusion}
-The conclusion goes here. Brief summary, outlook to the competition, lessens learned from previous competitions, etc.
-
-
-
-
-
-% if have a single appendix:
-%\appendix[Proof of the Zonklar Equations]
-% or
-%\appendix  % for no appendix heading
-% do not use \section anymore after \appendix, only \section*
-% is possibly needed
-
-% use appendices with more than one appendix
-% then use \section to start each appendix
-% you must declare a \section before using any
-% \subsection or using \label (\appendices by itself
-% starts a section numbered zero.)
-%
-
-
-\appendices
-
-\section{Team members and Their Contributions}
-Please use this section to recognize all team members and their technical contributions.  Also note your advisors and sponsors, if you choose. You may want to include links to homepages.
-
-\begin{itemize}
- \item  \href{http://www.nist.gov/el/isd/ms/jacoff.cfm}{Adam Jacoff} \hfill Controller development
- \item \href{http://www.rm.is.tohoku.ac.jp/englishtop/}{Satoshi Tadokoro} \hfill Mechanical design
- \item Robo Hero \hfill SLAM algorithm
-\end{itemize}
-
-
-
-\section{CAD Drawings}
-Put one or two nice views of your CAD drawings (for hardware teams - software teams can delete this section). Keep in mind that you can use \textit{\textbackslash begin\{figure*\}} to display an image in full width.
-
-\section{Lists}
-\subsection{Systems List}
-For every system (each robot individually robot incl. support, Operator Station) answer the following items. One table per system. Remove entries that do not make sense. If a number is unknown try to estimate it or put a question mark (do not delete the entry if it might be interesting but you don't know the answer).
-
-\begin{table}
-\renewcommand{\arraystretch}{1}
- \tabcolsep=0.1cm
-\caption{Manipulation System}
-\label{tab:SystemRobot1}
-\centering
-\begin{tabular}{|l|r|}
-\hline
-Attribute & Value \\ \hline
-Name & MoonRobbi \\
-Locomotion & tracked \\
-System Weight & 23kg \\
-Weight including transportation case & 28kg \\
-Transportation size & 0.6 x 0.6 x 0.5 m \\
-Typical operation size & 0.5 x 0.8  x 0.4 m \\
-Unpack and assembly time & 180 min \\
-Startup time (off to full operation) & 10 min \\
-Power consumption (idle/ typical/ max) & 60 / 200 / 800 W \\
-Battery endurance (idle/ normal/ heavy load) & 240 / 120 / 60 min\\
-Maximum speed (flat/ outdoor/ rubble pile) & 4 / 1 / - m/s\\
-Payload (typical, maximum) & 3/ 10 kg\\
-Arm: maximum operation height & 160 cm \\
-Arm: payload at full extend & 2kg\\
-Support: set of bat. chargers total weight & 2.5kg\\
-Support: set of bat. chargers power & 1,200W (100-240V AC)\\
-Support: Charge time batteries (80\%/ 100\%) & 90 / 120 min\\
-Support: Additional set of batteries weight & 2kg\\
-Any other interesting attribute & ?\\
-Cost & 5000 USD \\
-\hline
-\end{tabular}
-\end{table}
-
-\begin{table}
-\renewcommand{\arraystretch}{1}
- \tabcolsep=0.1cm
-\caption{Aerial Vehicle}
-\label{tab:SystemRobot2}
-\centering
-\begin{tabular}{|l|r|}
-\hline
-Attribute & Value \\ \hline
-Name & MoonFly \\
-Locomotion & quadcopter \\
-System Weight & 3kg \\
-Weight including transportation case & 6kg \\
-Transportation size & 0.6 x 0.6 x 0.5 m \\
-Typical operation size & 0.6 x 0.6  x 0.2 m \\
-Unpack and assembly time & 10 min \\
-Startup time (off to full operation) & 2 min \\
-Power consumption (idle/ typical/ max) & 100 / 150 / 300 W \\
-Battery endurance (idle/ normal/ heavy load) & 30 / 20 / 15 min\\
-Maximum speed & 12 m/s\\
-Payload  & 0.15 kg\\
-Any other interesting attribute & ?\\
-Cost & 2000 USD \\
-\hline
-\end{tabular}
-\end{table}
-
-
-\begin{table}
-\renewcommand{\arraystretch}{1}
- \tabcolsep=0.1cm
-\caption{Operator Station}
-\label{tab:SystemOp1}
-\centering
-\begin{tabular}{|l|r|}
-\hline
-Attribute & Value \\ \hline
-Name & MoonOp \\
-System Weight & 3.2kg \\
-Weight including transportation case & 4.5kg \\
-Transportation size & 0.4 x 0.4 x 0.2 m \\
-Typical operation size & 0.4 x 0.4  x 0.4 m \\
-Unpack and assembly time & 1 min \\
-Startup time (off to full operation) & 1 min \\
-Power consumption (idle/ typical/ max) & 60 / 80 / 90 W \\
-Battery endurance (idle/ normal/ heavy load) & 10 / 5 / 4 h\\
-Any other interesting attribute & ?\\
-Cost & 2000 USD \\
-\hline
-\end{tabular}
-\end{table}
-
-
-
-\subsection{Hardware Components List}
-List all interesting components of your Robots and Operator stations.
-Include a hyperref link to the product page if possible - see the examples.
-
-\begin{table}
-% increase table row spacing, adjust to taste
-\renewcommand{\arraystretch}{1}
- \tabcolsep=0.1cm
-\caption{Hardware Components List}
-\label{tab:HardwareList}
-\centering
-\begin{tabular}{|c|c|c|c|}
-\hline
-Part & Brand \& Model & Unit Price & Num.\\
-\hline
-Drive motors &  \href{http://www.maxonmotor.com/maxon/view/content/products}{Maxon RE 50 200 W}& CHF 870 & 2 \\
-Drive gears &  \href{http://www.maxonmotor.com/maxon/view/content/products}{Planetary Gearhead GP 52}&  & 2 \\
-Drive encoder &  \href{http://www.maxonmotor.com/maxon/view/content/products}{ Encoder HEDS 5540}&  & 2 \\ 
-Motor drivers &  \href{http://example.com}{ }& ? & 2 \\\hline
-DC/DC &  \href{http://example.com}{ }& ? & 1 \\
-Battery Management &  \href{http://example.com}{ }& ? & 1 \\
-Batteries &  \href{http://example.com}{ }& ? & 1 \\\hline
-Micro controller &  \href{http://example.com}{ }& ? & 1 \\
-Computing Unit &  \href{http://example.com}{ }& ? & 1 \\\hline
-WiFi Adapter &  \href{http://example.com}{ }& ? & 1 \\\hline
-IMU &  \href{http://example.com}{ }& ? & 4 \\
-Cameras &  \href{http://example.com}{ }& ? & 4 \\
-PTZ Camera &  \href{http://example.com}{ }& ? & 1 \\
-Infrared Camera &  \href{http://example.com}{ }& ? & 1 \\
-LRF &  \href{http://example.com}{ }& ? & 2 \\
-CO$_2$ Sensor &  \href{http://example.com}{ }& ? & 1 \\\hline
-Battery Chargers &  \href{http://example.com}{ }& ? & 4 \\ \hline
-6-axis Robot Arm &  \href{http://example.com}{ }& ? & 1 \\ \hline
-Aerial Vehicle &  \href{http://example.com}{ }& ? & 1 \\ \hline
-Rugged Operator Laptop &  \href{http://example.com}{ }& ? & 1 \\ 
-
-\hline 
-\end{tabular}
-\end{table}
-
-\subsection{Software List}
-List all relevant software packages you (actually) use!
-Include a hyperref link to the software page if possible - see the examples. Include version numbers.
-
-If you are using some advanced algorithms be sure to cite the according papers.
-
-When it is not very obvious explain briefly what the software is used for in usage.
-
-\begin{table}
-% increase table row spacing, adjust to taste
-\renewcommand{\arraystretch}{1}
- \tabcolsep=0.1cm
-
-\caption{Software List}
-\label{tab:SoftwareList}
-\centering
-\begin{tabular}{|c|c|c|c|}
-\hline
-Name & Version & License & Usage \\
-\hline
- \href{http://www.ubuntu.com}{Ubuntu} & 14.04 & open & \\
- \href{http://www.ros.org}{ROS} & jade & BSD & \\
- \href{http://www.pointclouds.org/}{PCL} \cite{Rusu_ICRA2011_PCL}& 1.7 & BSD & ICP \\
- \href{http://opencv.org/}{OpenCV} \cite{990517, 1038171} & 2.4.8 & BSD & Haar: Victim detection \\
- \href{http://opencv.org/}{OpenCV} \cite{Lee2007LBP} & 2.4.8 & BSD & LBP: Hazmat detection \\
- \href{http://wiki.ros.org/hector_slam}{Hector SLAM} \cite{KohlbrecherMeyerStrykKlingaufFlexibleSlamSystem2011} & 0.3.4 & BSD & 2D SLAM \\
- \href{http://robotics.moon.edu}{Moon 3D Mapping} & 0.8 & GPL & 3D Mapping \\
- \href{}{Proprietary GUI from Moon U.} & 0.7 & closed source & Operator Station \\
- 
-\hline
-\end{tabular}
-\end{table}
-
-
-
-
-% use section* for acknowledgment
-\section*{Acknowledgment}
-
-
-The authors would like to thank...
-
-
-% Can use something like this to put references on a page
-% by themselves when using endfloat and the captionsoff option.
-\ifCLASSOPTIONcaptionsoff
-  \newpage
-\fi
-
-
-
-% trigger a \newpage just before the given reference
-% number - used to balance the columns on the last page
-% adjust value as needed - may need to be readjusted if
-% the document is modified later
-%\IEEEtriggeratref{8}
-% The "triggered" command can be changed if desired:
-%\IEEEtriggercmd{\enlargethispage{-5in}}
-
-% references section
-
-% can use a bibliography generated by BibTeX as a .bbl file
-% BibTeX documentation can be easily obtained at:
-% http://mirror.ctan.org/biblio/bibtex/contrib/doc/
-% The IEEEtran BibTeX style support page is at:
-% http://www.michaelshell.org/tex/ieeetran/bibtex/
-\bibliographystyle{IEEEtran}
-% argument is your BibTeX string definitions and bibliography database(s)
-\bibliography{references}
-%
-% <OR> manually copy in the resultant .bbl file
-% set second argument of \begin to the number of references
-% (used to reserve space for the reference number labels box)
-% \begin{thebibliography}{1}
-% 
-% 
-% \end{thebibliography}
-
-% biography section - No Biography section for RoboCup Resharrcue TDPs!
-% 
-
-
-% that's all folks
-\end{document}
-
-

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-
-@article {Sheh2016RoboCupRescue,
-	title = {16 Years of RoboCup Rescue},
-	journal = {KI-K{\"u}nstliche Intelligenz},
-	volume = {30},
-	year = {2016},
-	pages = {267{\textendash}277},
-	author = {Sheh, Raymond and Schwertfeger, S{\"o}ren and Visser, Arnoud}
-}
-
-
-@INPROCEEDINGS{KohlbrecherMeyerStrykKlingaufFlexibleSlamSystem2011,
-  author = {S. Kohlbrecher and J. Meyer and O. von Stryk and U. Klingauf},
-  title = {A Flexible and Scalable SLAM System with Full 3D Motion Estimation},
-  year = {2011},
-  month = {November},
-  booktitle = {Proc. IEEE International Symposium on Safety, Security and Rescue Robotics (SSRR)},
-  organization = {IEEE},
-}
-
-
-@INPROCEEDINGS{990517,
-author={Viola, P. and Jones, M.},
-booktitle={Computer Vision and Pattern Recognition, 2001. CVPR 2001. Proceedings of the 2001 IEEE Computer Society Conference on},
-title={Rapid object detection using a boosted cascade of simple features},
-year={2001},
-volume={1},
-pages={I-511-I-518 vol.1},
-keywords={feature extraction;image classification;image representation;learning (artificial intelligence);object detection;AdaBoost;background regions;boosted simple feature cascade;classifiers;face detection;image processing;image representation;integral image;machine learning;object specific focus-of-attention mechanism;rapid object detection;real-time applications;statistical guarantees;visual object detection;Detectors;Face detection;Filters;Focusing;Image representation;Machine learning;Object detection;Pixel;Robustness;Skin},
-doi={10.1109/CVPR.2001.990517},
-ISSN={1063-6919},
-month={},}
-
-@INPROCEEDINGS{1038171,
-author={Lienhart, R. and Maydt, J.},
-booktitle={Image Processing. 2002. Proceedings. 2002 International Conference on},
-title={An extended set of Haar-like features for rapid object detection},
-year={2002},
-volume={1},
-pages={I-900-I-903 vol.1},
-keywords={Haar transforms;face recognition;feature extraction;image classification;object detection;Haar-like features;boosted cascade;false alarm rate;feature classifiers;hit rate;multi-stage classification;post optimization procedure;rapid object detection;sample face detector;Chromium;Detectors;Face detection;Humans;Object detection;Prototypes;Table lookup;Testing},
-doi={10.1109/ICIP.2002.1038171},
-ISSN={1522-4880},
-month={},}
-
-@incollection{Lee2007LBP,
-year={2007},
-isbn={978-3-540-74548-8},
-booktitle={Advances in Biometrics},
-volume={4642},
-series={Lecture Notes in Computer Science},
-editor={Lee, Seong-Whan and Li, StanZ.},
-doi={10.1007/978-3-540-74549-5_87},
-title={Learning Multi-scale Block Local Binary Patterns for Face Recognition},
-url={http://dx.doi.org/10.1007/978-3-540-74549-5_87},
-publisher={Springer Berlin Heidelberg},
-keywords={LBP; MB-LBP; Face Recognition; AdaBoost},
-author={Liao, Shengcai and Zhu, Xiangxin and Lei, Zhen and Zhang, Lun and Li, StanZ.},
-pages={828-837},
-language={English}
-}
-
-@InProceedings{Rusu_ICRA2011_PCL,
-  author    = {Radu Bogdan Rusu and Steve Cousins},
-  title     = {{3D is here: Point Cloud Library (PCL)}},
-  booktitle = {{IEEE International Conference on Robotics and Automation (ICRA)}},
-  month     = {May 9-13},
-  year      = {2011},
-  address   = {Shanghai, China}
-}
-
-
-
-
-@inproceedings{SSRR07-JacobsAutonomy,
-   author = {Pathak, Kaustubh and Birk, Andreas and Schwertfeger, S{\"o}ren and Delchev, Ivan and Markov, Stefan},
-   title = {Fully Autonomous Operations of a Jacobs Rugbot in the RoboCup Rescue Robot League 2006},
-   booktitle = {International Workshop on Safety, Security, and Rescue Robotics (SSRR)},
-   publisher = {IEEE Press},
-   year = {2007}
-}
-
-
-@inproceedings{SSRR11-FiducialMapMetric,
-   author = {Schwertfeger, S{\"o}ren and Jacoff, Adam and Pellenz, Johannes and Birk, Andreas},
-   title = {Using a Fiducial Map Metric for Assessing Map Quality in the context of RoboCup Rescue},
-   booktitle = {IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)},
-   publisher = {IEEE Press},
-   pages = {1-6},
-   year = {2011}
-}
-
-@INPROCEEDINGS{jacoff2012robocup,
-  author = {Jacoff, Adam and Sheh, Raymond and Virts, Ann-Marie and Kimura, Tetsuya
-        and Pellenz, Johannes and Schwertfeger, S{\"o}ren and Suthakorn,
-        Jackrit},
-  title = {Using competitions to advance the development of standard test methods
-        for response robots},
-  booktitle = {Proceedings of the Workshop on Performance Metrics for Intelligent
-        Systems},
-  year = {2012},
-  pages = {182--189},
-  organization = {ACM}
-}
-
-@ARTICLE{sheh2012advancing,
-  author = {Sheh, Raymond and Jacoff, Adam and Virts, Ann-Marie and Kimura, Tetsuya
-        and Pellenz, Johannes and Schwertfeger, S{\"o}ren and Suthakorn,
-        Jackrit},
-  title = {Advancing the State of Urban Search and Rescue Robotics through the
-        RoboCupRescue Robot League Competition},
-  journal = {8th International Conference on Field and Service Robotics},
-  year = {2012}
-}
-
-@INPROCEEDINGS{sheh2011robocuprescue,
-  author = {Sheh, Raymond and Kimura, Tetsuya and Mihankhah, Ehsan and Pellenz,
-        Johannes and Schwertfeger, Soren and Suthakorn, Jackrit},
-  title = {The RoboCupRescue robot league: Guiding robots towards fieldable
-        capabilities},
-  booktitle = {Advanced Robotics and its Social Impacts (ARSO), 2011 IEEE Workshop
-        on},
-  year = {2011},
-  pages = {31--34},
-  organization = {IEEE}
-}
-
-@INPROCEEDINGS{Kohlbrecher_community_ssrr_2012,
-  author = {Stefan Kohlbrecher and Karen Petersen and Gerald Steinbauer and Johannes
-        Maurer and Peter Lepej and Suzana Uran and Rodrigo Ventura and Christian
-        Dornhege and Andreas Hertle and Raymond Sheh and Johannes Pellenz},
-  title = {Community-Driven Development of Standard Software Modules for Search
-        and Rescue Robots},
-  booktitle = {Proceedings of the 10th IEEE International Symposium on Safety Security
-        and Rescue Robotics (SSRR 2012)},
-  year = {2012}
-}
-
-@MISC{PellenzMappingAndMapScoring2008,
-  author = {Pellenz, Johannes and Paulus, Dietrich},
-  title = {{Mapping and Map Scoring at the RoboCupRescue Competition}},
-  howpublished = {Quantitative Performance Evaluation of Navigation Solutions for Mobile
-        Robots (RSS 2008, Workshop CD)},
-  year = {2008}
-}
-
-
-

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File TDM/TDM.tex Deleted

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-%! TEX program = pdflatex
-
-\documentclass[journal]{IEEEtran}
-\usepackage[pdftex]{graphicx}
-\usepackage[colorlinks=true,urlcolor=blue,citecolor=blue, linkcolor=blue]{hyperref}
-\usepackage{url}
-\usepackage{siunitx}
-\usepackage{multirow}
-\usepackage[table,xcdraw]{xcolor}
-\hyphenation{op-tical net-works semi-conduc-tor}
-\newcommand{\TDPvenue}{2017~}
-\DeclareRobustCommand{\TMCIT}{Tokyo Metropolitan College of Industrial Technology}
-
-\begin{document}
-
-\title{RoboCup Rescue \TDPvenue Team Description Paper \\
- TUPAC}
- \author{Yuichi~Kikuchi,
-        Takumi~Komori% <-this % stops a space
-\thanks{Yuichi Kikuchi is with the Department
-of Information Processing, \TMCIT, TMCIT, e-mail: m14054@g.metro-cit.ac.jp}% <-this % stops a space
-\thanks{Takumi Komori is with the same college}%
-}
-\markboth{RoboCup Rescue \TDPvenue TDP Collection}%
-{Kikuchi \MakeLowercase{\textit{et al.}}: TUPAC}
-\maketitle
-
-\begin{flushleft}
-\textbf{Info}\\
-\hspace{10pt} Team Name: \hfill TUPAC\\
-\hspace{10pt} Team Institution: \hfill Tokyo Metropolitan College of\\
-\hfill Industrial Technology\\
-\hspace{10pt} Team Leader: \hfill Yuichi Kikuchi\\
-\hspace{10pt} Team URL: \hfill % \url{https://moon.edu}
-\\
-\vspace{5pt}
-\hspace{10pt} RoboCup Rescue \TDPvenue TDP collection: \\
-\hfill \url{http://wiki.robocup.org/Robot_League}
-\end{flushleft}
-
-\begin{abstract}
-Recently, we have a lot of serious natural disasters.
-It is clear that rescue robots are needed to save people's lives.
-However, they are difficult to be built, because they have huge actuators which cost a lot.
-Very high technologies are also needed to make large hardware and flexible software which have great reliability.
-Thus, we developed a quite simple remote-controlled rescue robot for very low costs.
-``TUPAC'' is a tiny but efficient robot which can be built in only a few hundred dollars.
-The hardware has no special materials and anyone can manufacture or buy easily.
-The software uses ARM mbed libraries so the program is quite simple.
-This paper describes about hardware and software of ``TUPAC''.
-\end{abstract}
-
-\begin{IEEEkeywords}
-RoboCup Rescue, Team Description Paper. % TODO: add up to 3 keywords
-\end{IEEEkeywords}
-
-\IEEEpeerreviewmaketitle
-
-\section{Introduction}
-\IEEEPARstart{O}{ur} team has two students of \TMCIT.
-This is the first time we take part in the RoboCup Rescue Rapid Manufactured League.
-However, we have competed in RoboCup Junior for two years.
-Kikuchi - the leader of our team - ranked 5th in Rescue A Challenge of RoboCup Junior 2015 Japan Open.
-Komori - another member of the team - ranked 5th in Soccer Challenge Light Weight League of RoboCup Junior 2015 Hefei World Competitions.
-We were not in the same team in 2015, and we started up a new team in 2016 together.
-We merged our knowledges learned from both Rescue and Soccer Challenge.
-Because of the lack of experiences, we could not win any titles in 2016, but we found what the problem was and how to solve them.
-
-Since we are students, we do not have much budget for developing.
-Therefore, we always have been searching for the way to reduce the costs or to be supported.
-Here is the examples down below.
-\begin{enumerate}
-    \item Thanks to the support from our school, we could spend a few thousand dollars.
-    \item The club activity we take part in have CNC milling machines, so we can build robots quickly with accuracy.
-    \item We contributed to some low-level implementation of ARM mbed library for Renesas RZ-A1H.
-    And Renesas gave us a micro-controller board GR-Peach which we use for the robot.
-    \item We used free softwares to design the robot.
-    We used AutoCAD student edition for hardware, KiCAD for electronic circuit, Xcode for software.
-\end{enumerate}
-
-The operator controls the robot with a game pad.
-It takes times to consider key configuration and practice controlling.
-We designed key configuration like a video game we like.
-This reduced the time to create, memorize configurations and settle in it.
-
-The robot has a GoPro camera and the operator can view the situation through a tablet or a PC.
-
-\section{System Description}
-\begin{figure}[!t]
-    \centering
-    \includegraphics[width=0.45\textwidth]{IMG_0523.JPG}
-    \caption{Prototyped robot} \label{fig:prototype}
-\end{figure}
-In this section, we describe more details of the ``TUPAC'' on separate views.
-Figure \ref{fig:prototype} shows the prototyped robot.
-
-\subsection{Mechanic}
-It was difficult to create a robot which is controlled by a human unlike RoboCup Junior, but the size is as small as Junior ones.
-Especially sub-crawler should be within \(\SI{30}{\cm} \times \SI{30}{\cm}\).
-The field also makes it difficult.
-It is flat in Junior, but there are many stairs in it.
-
-\subsubsection{Locomotion}
-The robot moves with main-crawler and sub-crawler.
-Sub-crawler is used for debris and stairs.
-On flat places, sub-crawler is lifted up.
-It makes robot be able to move in narrow places and turn around without moving.
-Motors produce driving force to main-crawler, and it is conveyed to sub-crawler.
-
-\subsubsection{Shape}
-The robot is designed based on the robot we created for RoboCup Junior.
-Two main-crawler is placed in left and right side.
-Four sub-crawler is placed in forward and backward side.
-When sub-crawler is lifted up, the robot takes square shape.
-It protects components from debris while moving.
-
-A camera is placed in forward side.
-It is not supposed to turn around.
-We should control the robot turn around to view the back side.
-
-There is no tires or crawlers to prevent the robot from falling down except for sub-crawler.
-When it occurs, sub-crawler raise the robot up if possible.
-
-\subsubsection{Speed}
-Motors are Tamiya 380 which is commonly used in RoboCup Junior.
-Planetary gears are used to convey torques and prevent it from aging.
-The robot moves slow basically, and accelerates for stairs.
-Gears make it decelerate and improve torques.
-
-\subsubsection{Size}
-There is no specification for the size of robots.
-We designed the robot for the field which size is \(\SI{30}{\cm} \times \SI{30}{\cm}\).
-Its size is within \(\SI{25}{\cm} \times \SI{25}{\cm}\) when the sub-crawler is lifted up to make turning around without moving possible.
-
-The body is made of \SI{4}{\mm} polycarbonate.
-It has resistance against damage from impact and fire and is easy to manufacture.
-
-\begin{figure}[!t]
-    \centering
-    \includegraphics[width=0.45\textwidth]{gear.jpg}
-    \caption{Gear} \label{fig:gear}
-\end{figure}
-Figure \ref{fig:gear} shows the gears used to convey driving force.
-They are made of POM.
-It has slidability and resistance against damage from abrasion.
-It can be used for long time continuously.
-
-\begin{figure}[!t]
-    \centering
-    \includegraphics[width=0.45\textwidth]{crawler.jpg}
-    \caption{Crawler} \label{fig:crawler}
-\end{figure}
-Figure \ref{fig:crawler} shows the crawler used for both of main and sub ones.
-It is made of rubber which makes friction on field.
-The friction makes it easy to move.
-Projections on crawler helps it to climb stairs.
-
-\subsubsection{Manufacturability}
-The hardware can be built within low costs.
-The materials, crawler, gears can be purchased.
-Polycarbonate was manufactured with CNC milling machine.
-Shafts and other components are manufactured by hand.
-
-\subsection{Electronic circuit}
-``TUPAC'' has two electronic circuit boards, interface and main boards.
-
-\subsubsection{Interface board}
-Figure \ref{fig:interface} shows the interface board.
-\begin{figure}[!t]
-    \centering
-    \includegraphics[width=0.45\textwidth]{IMG_0524.JPG}
-    \caption{Interface board} \label{fig:interface}
-\end{figure}
-It is the only part which an operator can contact with.
-It has the following components down below.
-\begin{itemize}
-    \item Two rocker switches \\
-    These switches turns on or off the power for logic and actuators respectively.
-    \item Fuse \\
-    This fuse protects the circuit from huge current.
-    \item Three tact switches \\
-    One of these switches is used to reset the micro-controller.
-    Others are reserved to future use, and connected to the micro-controller through CR integration circuit.
-    \item USB A connector \\
-    The operator can connect any USB devices using this connector.
-    The typical usage is to connect the USB memory stick, and save the field data.
-    \item Voltage meter \\
-    This shows the current voltage of battery, and if the operator is near enough the robot, he can monitor the battery health continuously.
-    This feature is useful when the robot is in experiment.
-    \item XT60 and Molex 5264 connectors \\
-    These connect the battery, this board, and the main board.
-    XT60 for power, Molex 5264 for signals.
-\end{itemize}
-
-The interface board contains the necessary enough features.
-It is designed quite simple and can be created with small 1-layer cut PCB.
-In addition, components are inexpensive and anyone can purchase easily.
-Therefore, this board can be built within 5 dollars.
-
-\subsubsection{Main board}
-The main board consists from mostly 3 components.
-\begin{itemize}
-    \item GR-Peach \\
-    This is a micro-controller board from Renesas Electronics.
-    It has RZ-A1H for its main controller.
-    GR-Peach has Ethernet connector, so portable Wi-Fi router can be connected.
-    Also, it operates in high clock frequency (\SI{400}{\MHz}), and has large capacity of RAM (\SI{10}{MB}).
-    There is no other micro-controllers which is ARM mbed enabled and has such high performance enough to deal with modern PCs.
-    \item VNH5019 \\
-    This brushed DC motor driver appears twice in the main board, one for the left, another for the right motor.
-    It can drive \(\pm\)\SI{30}{\A} continuously, and has various protection features such as short circuit, current, and temperature.
-    It has enough function to drive Tamiya 380 smoothly and safety.
-    \item NJM7805S \\
-    This surface mounted voltage regulator generates stable \SI{5}{\V} power.
-    It is mainly used for the portable Wi-Fi router through USB 2.0 connector.
-    USB 2.0 is designed to have capability for supplying up to \SI{0.5}{\A}.
-    This regulator can supply up to \SI{1.5}{\A}.
-    In addition, it has current and thermal protection.
-    Thus, it is suitable to power the Wi-Fi router.
-\end{itemize}
-
-The main board can also control 4 analog servo motors by PWM from GR-Peach.
-Plus, it has BU9880F audio DAC and TDA7052AT audio amplifier to generate the sound.
-Some pins on GR-Peach is reserved for connect a CMOS camera and LCD.
-
-\subsection{Software}
-In this section, we describe the software of ``TUPAC''.
-\subsubsection{Communication Protocol}
-The robot and PC communicate each other through the special protocol we designed.
-It is named RDTP (Robot Data Transfer Protocol), and it is on the application layer of the Internet protocol suite.
-\begin{table}[!t]
-\centering
-\caption{Structure of RDTP Packet} \label{tbl:rdtp}
-\begin{tabular}{c|cccccccc}
-\rowcolor[HTML]{C0C0C0} 
-bits                                        & 0      & 1      & 2       & 3       & \multicolumn{4}{c}{\cellcolor[HTML]{C0C0C0}4$\sim$7} \\ \hline
-\rowcolor[HTML]{FFCCC9} 
-\cellcolor[HTML]{C0C0C0}                    & \multicolumn{8}{c}{\cellcolor[HTML]{FFCCC9}Stick Directions}                               \\
-\rowcolor[HTML]{FFCCC9} 
-\multirow{-2}{*}{\cellcolor[HTML]{C0C0C0}0} & Left X & Left Y & Right X & Right Y & \multicolumn{4}{c}{\cellcolor[HTML]{FFCCC9}Reserved} \\
-\cellcolor[HTML]{C0C0C0}8                   & \multicolumn{8}{c}{Left X Value}                                                           \\
-\rowcolor[HTML]{FFCCC9} 
-\cellcolor[HTML]{C0C0C0}16                  & \multicolumn{8}{c}{\cellcolor[HTML]{FFCCC9}Left Y Value}                                   \\
-\cellcolor[HTML]{C0C0C0}24                  & \multicolumn{8}{c}{Right X Value}                                                          \\
-\rowcolor[HTML]{FFCCC9} 
-\cellcolor[HTML]{C0C0C0}32                  & \multicolumn{8}{c}{\cellcolor[HTML]{FFCCC9}Right Y Value}       
-\end{tabular}
-\end{table}
-
-Table \ref{tbl:rdtp} shows the structure of an RDTP packet.
-First 8 bits indicate stick directions i.e. signs of stick values.
-Last 4 bits are reserved for future use.
-We plan to put button informations here.
-Following 8 bit blocks store the unique axis absolute value of the joystick.
-
-RDTP packet is delivered in UDP packet.
-In robot controlling, seamlessness is more important than correctness.
-Therefore, UDP packet is more suitable than TCP packet.
-Packets are send in \SI{10}{\ms} period.
-This is 5 times faster than general radio controller, and it realizes the smooth controlling.
-
-\subsubsection{Robot}
-The program is written in C++14.
-The overview of the software on the robot is quite simple as showed in Figure \ref{fig:flowchart_robot}.
-First, it sends a UDP broadcast packet, so the host PC can know the IP address of the robot.
-After that, packets are sent one way from host PC to the robot.
-We plan to send packets in the separate way to notice battery health, field information, and so on.
-\begin{figure}[!t]
-    \centering
-    \includegraphics[scale=0.6]{flowchart_robot.pdf}
-    \caption{Flowchart of software on robot} \label{fig:flowchart_robot}
-\end{figure}
-
-The implementation is actually a little more complex than it looks.
-Figure \ref{fig:class_robot} shows the class diagram.
-\begin{figure}[!t]
-    \centering
-    \includegraphics[width=0.45\textwidth]{software_structure_robot.pdf}
-    \caption{Class diagram of robot} \label{fig:class_robot}
-\end{figure}
-The system is well abstracted.
-Transport layer, application layer and main processing layer are completely separated and connected as only delegates.
-It is quite easy to test, change, or debug one part.
-In fact, we changed the interface from XBee WiFi to a portable Wi-Fi router connected through Ethernet.
-The protocol is also changed from RDTP ver.1 which sends packets in every moment which any change occurs to RDTP ver.2 which sends packets which contains all the informations in fixed period.
-The instance of the class GCMotor controls a motor finally.
-This class is reused, and originally created to control a soccer robot.
-
-To control an Ethernet adapter is not easy.
-Therefore we use ARM mbed library EthernetInterface.
-EthernetTransport can communicate through this library.
-To control an XBee WiFi is also not so easy.
-We created series of class to abstract XBee, but it is no longer used.
-
-\subsubsection{Controller}
-The program is written in Objective-C 2.0 .
-The overview of the software on the controller is also quite simple as showed in Figure \ref{fig:flowchart_controller}.
-\begin{figure}[!t]
-    \centering
-    \includegraphics[scale=0.6]{flowchart_controller.pdf}
-    \caption{Flowchart of software on controller} \label{fig:flowchart_controller}
-\end{figure}
-
-First, it waits for the UDP broadcast packet from the robot.
-As described previously, the host PC can know the IP address of the robot through this packet.
-After that, it observes the game pad and stores current status, and send them to the robot in every \SI{10}{\ms}.
-
-Figure \ref{fig:class_controller} shows the class diagram.
-It is simpler than the robot thanks to the open-source libraries, macOS runtimes, and especially the flexibility of Objective-C.
-\begin{figure}[!t]
-    \centering
-    \includegraphics[width=0.45\textwidth]{software_structure_controller.pdf}
-    \caption{Class diagram of controller} \label{fig:class_controller}
-\end{figure}
-It uses three open-source libraries.
-CocoaAsyncSocket is used for sending and receiving UDP packets.
-DDHIDLib is used for observing a game pad.
-Aspects is used for aspect-oriented programming (AOP).
-
-The classes are connected not only with delegates unlike the program on the robot.
-When the robot is located, a notification is delivered by RDTP and any class can notice it.
-RDTPv2 uses this to start \SI{10}{\ms} timer, and AppDelegate uses this to notify the successful connection to an operator.
-AppDelegate also uses AOP techniques to show current game pad status to an operator.
-These informations is normally handled by RDTPv2's instance method updateValue:forStickAxis:.
-AppDelegate hooks this selector and get these informations without any modification of RDTPv2.
-
-\subsection{Communication}
-The robot carries WRH-583RD2-S portable Wi-Fi router.
-It supports IEEE 802.11 ac/n/a/b/g.
-We can choose a bandwidth by crowdedness or the amount of physical barriers.
-% TODO: GoPro wireless specifications
-
-\subsection{Human-Robot Interface}
-\begin{figure}[!t]
-    \centering
-    \includegraphics[width=0.45\textwidth]{controller_app.png}
-    \caption{Host application} \label{fig:controller_app}
-\end{figure}
-Figure \ref{fig:controller_app} shows the interface of the host application.
-This is currently very simple, and it just shows the values of each axis of joysticks.
-We plan to put more information on this interface.
-E.g. battery health, motor output levels, and so on.
-
-\begin{figure}[!t]
-    \centering
-    \includegraphics[width=0.45\textwidth]{camera.png}
-    \caption{Camera application} \label{fig:camera}
-\end{figure}
-Figure \ref{fig:camera} shows the camera application.
-This captures GoPro video streaming and handle it with OpenCV.
-It can detect QR codes with ZBar library.
-We plan to detect motions and Landolt C using OpenCV.
-
-\section{Application}
-\subsection{Set-up and Break-Down}
-\begin{itemize}
-    \item Set-up
-    \begin{enumerate}
-        \item Power the robot up.
-        \item Join the Wi-Fi router on the host PC.
-        \item Plug a game pad to the host PC.
-        \item Launch the host application.
-    \end{enumerate}
-    \item Break-Down
-    \begin{enumerate}
-        \item Shut the host PC down.
-        \item Power the robot off.
-    \end{enumerate}
-\end{itemize}
-
-\subsection{Mission Strategy}
-We have two very powerful motors.
-Their speed and torque make it easier to go beyond objects.
-We are going to control the robot carefully because our camera is mounted statically.
-
-\subsection{Experiments}
-We confirmed that the connections between the host PC and the robot is successfully established, and communicated smoothly.
-Actuators are also worked.
-We put the prototype main board to a rescue robot we used last year, and remote controlled it (See Figure \ref{fig:prototype}).
-
-\subsection{Application in the Field}
-Since we have not built the robot yet, we cannot commit field tests.
-We plan to test this system in our school, in the hall and on stairs.
-However, prototype robot is well tested in our school.
-It can communicate beyond about \SI{20}{\metre} distance.
-And the best point was that even little children can control the robot with no practice.
-They looked so fun and operated it long time.
-
-\section{Conclusion}
-\subsection{What we larned so far}
-\subsubsection{Mechanic}
-We learned how to drive gears and convey driving force.
-We had to build a small robot, and it limited the way conveying driving force to sub-crawler.
-But we could design it referring the robots in RoboCup Senior.
-
-\subsubsection{Electronic circuit}
-Electrical circuit is also limited about size like machanic.
-To put all the components in limited space, we used many surface-mount devices.
-It was very difficult to put motor drivers and a micro-controller on the same board.
-Because motor drivers emit noises, and the micro-controller is very sensitive to them.
-Large power lines for motor drivers also reduced the space.
-
-\subsubsection{Software}
-We learned network communications and image processing.
-UDP broadcast and WoL packets were special for us since we only use HTTP requests daily.
-It is also the first time for us to design an original protocol.
-
-\subsection{What we are going to do}
-First of all, we are going to finish building a robot.
-Next, we are going to practice controlling or enhance features.
-
-\appendices
-
-\section{Team members and Their Contributions}
-\begin{itemize}
-    \item Yuichi Kikuchi \hfill Mechanical design
-    \item Takumi Komori \hfill Electrical circuit and software design
-\end{itemize}
-
-\section{CAD Drawings}
-Figure \ref{fig:hardware} shows the drawing of the hardware.
-Figure \ref{fig:interface_3d} shows the 3D model of the interface board.
-Figure \ref{fig:main_3d} shows the 3D model of the main board.
-\begin{figure*}[!p]
-    \centering
-    \includegraphics[width=1.0\textwidth]{hardware.jpg}
-    \caption{Hardware CAD drawing} \label{fig:hardware}
-\end{figure*}
-\begin{figure*}[!p]
-    \centering
-    \includegraphics[width=1.0\textwidth]{interface.png}
-    \caption{Interface board 3D model} \label{fig:interface_3d}
-\end{figure*}
-\begin{figure*}[!p]
-    \centering
-    \includegraphics[width=1.0\textwidth]{main.png}
-    \caption{Main board 3D model} \label{fig:main_3d}
-\end{figure*}
-
-\section{Lists}
-\subsection{Systems List}
-There is not a system yet.
-
-\subsection{Hardware Components List}
-See Table \ref{tbl:hardware_list} for the hardware components list.
-\begin{table}
-% increase table row spacing, adjust to taste
-\renewcommand{\arraystretch}{1}
- \tabcolsep=0.1cm
-\caption{Hardware Components List} \label{tbl:hardware_list}
-\centering
-\begin{tabular}{|c|c|c|c|}
-\hline
-Part & Brand \& Model & Unit Price & Num. \\ \hline
-Drive motors + gears & \href{http://store.shopping.yahoo.co.jp/suzakulab/rs-380phgm019.html}{RS-380PH + IG32 1/19} & JPY 4273 & 2 \\ 
-Motor drivers & \href{https://www.pololu.com/product/1449}{Pololu VNH 5019A} & USD 10.95 & 2 \\\hline
-Regulator & \href{http://www.njr.com/semicon/products/NJM7800S.html}{NJM7805S} & JPY 30 & 1 \\
-%Battery Management &  \href{http://example.com}{ }& ? & 1 \\
-Batteries & \href{http://www.kypom.com/pro_detail.asp?id=763}{KT2200/35-2S} & JPY 1764 & 1 \\\hline
-Micro controller & \href{https://developer.mbed.org/platforms/Renesas-GR-PEACH/}{GR-Peach} & JPY 8940 & 1 \\
-% Computing Unit &  \href{http://example.com}{ }& ? & 1 \\\hline
-WiFi Router & \href{http://www2.elecom.co.jp/products/WRH-583RD2-S.html}{WRH-583RD2-S} & JPY 3472 & 1 \\\hline
-% IMU &  \href{http://example.com}{ }& ? & 4 \\
-Cameras &  \href{https://gopro.com}{GoPro} & JPY 29800 & 4 \\
-% PTZ Camera &  \href{http://example.com}{ }& ? & 1 \\
-% Infrared Camera &  \href{http://example.com}{ }& ? & 1 \\
-% LRF &  \href{http://example.com}{ }& ? & 2 \\
-% CO$_2$ Sensor &  \href{http://example.com}{ }& ? & 1 \\\hline
-% Battery Chargers &  \href{http://example.com}{ }& ? & 4 \\ \hline
-% 6-axis Robot Arm &  \href{http://example.com}{ }& ? & 1 \\ \hline
-% Aerial Vehicle &  \href{http://example.com}{ }& ? & 1 \\ \hline
-Rugged Operator Laptop & \href{http://www.apple.com}{MacBook} & - & 1 \\
-\hline 
-\end{tabular}
-\end{table}
-
-\subsection{Software List}
-See Table \ref{tbl:software_list} for the software list.
-\begin{table}
-% increase table row spacing, adjust to taste
-\renewcommand{\arraystretch}{1}
- \tabcolsep=0.1cm
-
-\caption{Software List}
-\label{tbl:software_list}
-\centering
-\begin{tabular}{|c|c|c|c|}
-\hline
-Name & Version & License & Usage \\
-\hline
- \href{https://www.mbed.com/en/}{mbed OS 5} & 133 & Apache 2.0 & Robot software \\
- \href{https://github.com/steipete/Aspects}{Aspects} & 1.4.2 & MIT & Aspect oriented programming \\
- \href{https://github.com/robbiehanson/CocoaAsyncSocket}{CocoaAsyncSocket} & 7.6.0 & open & UDP communication \\
- \href{https://github.com/Daij-Djan/DDHidLib}{DDHidLib} & 1.1.1 & MIT & Game pad control \\
- \href{http://zbar.sourceforge.net}{ZBar} & 0.10 & LGPL 2.1 & QR code detection \\
- \href{http://opencv.org}{OpenCV} & 3.2.0 & BSD & Image processing \\
-\hline
-\end{tabular}
-\end{table}
-
-\section*{Acknowledgment}
-The authors would like to thank our mother and father, Kazutoshi Tominaga for advising us, Yusuke Tada for milling our hardware, Naomi Chikuma and Masayuki Okugawa for helping our participation, and Renesas Electronics for helping us with GR-Peach. %, and Tupac Shakur for sparking our brains.
-
-\end{document}

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--目標
-全てのコースを遠隔操作するロボットでの突破を目標にしています
-それに対応できるハードウェア、回路の作成が主な目標です
-
--課題
-ジュニアとは違い自立ではなく遠隔操作になり対応できるようなロボット作成と
-サイズがジュニアサイズなのでサブクローラーなどを30*30に抑えるのが苦労した
-またコースがフラットなものから段差が激しいものになったのでそれもロボットを作る上での大きな課題でした
-
--主なロボットの動き
-・移動生は?
-主な移動はメインクローラーとサブクローラーを使って移動します。階段やがれきなどの段差用にサブクローラーを使用し登ります.
-平らな場所ではサブクローラーを上にあげた状態で走行するので狭い場所でも走行可能でありかつその場での方向転換も容易である.
-駆動源のモーターは左右に二つついていてその動力をメインクローラーに伝えさらにサブクローラーにまで伝える機構を取っている.
-段差を登る時はサブクローラー展開して段差に引っ掛け登ることが可能.
-段差を登る時は通常走行よりもモーターの出力を上げて走行することで走破率を上げる
-落下するようなコースの衝撃には耐えれない.(要検証
-
-・形状は?
-従来のrobocup rescueでデザインされているロボットを元にロボットの設計を行った(fig1).
-メインクローラーを左右に二つ, サブクローラーを前後の四つを搭載している形である.
-サブクローラー収納時にロボットが四角形になるようにすることで移動時に障害物にパーツが当たらないように
-工夫をしている.ロボットの前方にカメラを搭載することでカメラ越しでの遠隔操作も可能になっている.
-しかしカメラは動くことができないのでロボットの後方部を見るときには後ろに回転する必要がある.
-サブクローラー以外に横転対策用のタイヤやクローラーがついていないので横転時サブクローラーで対応可能な場合には復帰が可能
-
-・速度は?
-ロボカップジュニアのサッカーで使われているtamiya380モーターを使用している
-また遊星ギアのモーターを使うことでトルク伝達や劣化を遅めたりする利点もある.
-基本的には低速で走り段差等に差し掛かる時にはある程度のスピードを生かし登ります
-ギアで伝達するので減速しトルクを若干上げている.
-
--指示されているサイズ
-指示されているサイズは特にないが、フィールドの30*30のサイズに合うよに設計を進めた.
-その場での回転も可能なようにサブクローラーを収納時に25*25に収まるようになっている
-ボディはポリカーボネートの4mmを使っているので衝撃に強く耐熱等にも優れている.加工難度も
-比較的優しいので作りやすい.動力の伝達元のギア(fig2)はポリオキシメチレン樹脂(POM)を使用し,
-耐摩耗性、摺動性がよく連続使用時にも耐えることが可能
-メインクローラーとサブクローラーはゴム製のもの(fig3)を使用し地面との摩擦を増やすことで走りやすく
-段差の時もクローラーの突起が突破の手助けを行う.
-
--作りやすさ
-製作コストは安価である。ベーズ材料、コントローラー等は市販のものを購入
-クローラー,クローラー固定用のギアは購入.
-ベース材料であるポリカーボネートはCNCフライスを使用して切削を行いました.
-シャフト等は手加工で切断.
-
--ロボットと人間のインターフェース
-ロボットの遠隔操作は市販に販売されているxboxoneのコントローラーを使用して操作を行う
-操作方法はそんなに難しくなく直感的に操作可能なキー配置になっている.
-遠隔時の映像はGoProHERO+を使用してストリーミングを行う.動画以外の視覚情報は特になく
-カメラの映像をそのまま見るだけのものとなっている.
-またスピーカー搭載により被災者発見時にも役立つ.
-
-

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-現状で学んだこと
-ロボットの設計はできるだけ早くやろう
-適した材料やどの部品を製作し購入するかを早く決めること
-ちゃんとサイト(ロボカップの)を見て情報を手にいれよう
-(テスト勉強には打ち込もう留年しないように頑張ろう)
-
-
-今後の予定
-3月中に完璧な設計の完了、3月末に切削
-4月の初め頃にロボットの完成
-5月頭大会
-そこから大会まで調整
-
-戦略
-スピードである程度押すこと
-カメラが動かないのでうまくコントローラーで操作する?