1. Juhana Leiwo - Marco Torti

2. The following type of movement system is a good hypotesis because:  It can reach every corner of the room without a very long trunk  Is not very invasive and bad-looking  Simple to “hide”

3. Engines Ceilbot Chains Rails

4. Problems:  Non-rectangular rooms  Impossibility to avoid objects on the ceiling  A very long trunk is needed Solution:  No tension on chains

5. Engines Ceilbot Chains Rails Lamp

6. Two degrees of freedom:  Movement along the rail  Involvement of chains

7.  People hurting with chains  Ceilbot swinging

8.  Long-range object-detection sensor on the ceilbot  Particular chains to prevent swinging (similar to bikes and motorcicles chains)

9.  Optimal sensors selection to have a good robot at a reasonable price  Distinguish humans and objects to prevent to hit humans witch are moving