1. Design and Implementation of Platform of Educational Mobile Robots Based on ROS
Xinguo Yu, Lvzhou Gao, Bin He, Xiaowei Shao
May 20, 2017
National Engineering Research Center for E-Learning
Central China Normal University
字 间距 调整整齐

2. Outline Research subject Problem Related works
Experiments and evaluation
Conclusions

3. Research subject
Now we have a research subject to build a education robot who can provide services for teaching activities in classroom, and the major functions of robot include four parts:
1,Speeking.The robot could talk with students through voice.
2, Autonomous Movement. It can go anywhere in classroom without help from human.
3, Object following. Using computer vision recognition one’s body, robot follows him/her at a certain distance.
4,Indoor localization. Project Multimedia sources on the wall accurately based on the accurate localization.

4. Problem
We need a robot to test our algorithm and to adapt to our classroom.
In recent years, several mobile robotic platforms have emerged, for instance NAO, Turtlebot. However, there are still problems, such as high price, weak capability of redevelopment, and poor extensibility, which have seriously hindered the application and promotion of educational robot.
Lower price is a significant factor for wildly accepting by school and students. At present, robot platform is expensive generally, in addition,this platform can’t meet many special need of education.
We want to have our own robot system including hardware and software, which contribute the formation and promotion of education robot.

5. Related works Selecting robot operating system Projects Windows
Android
Ubuntu
ROS
Openness
No open source
Open source
Software independence
Poor
Common
High
Difficulty of development
Low
Real-time
Fast
Slow
Fast(ROS2.0)
Stability
Application areas
Medical field
commerce
research, education
research, education, commerce

6. Related works
Hardware Framework Design of Educational Robot

7. Related works
Design of Robot Software Framework

8. Experimental results Control of Motion error
Error statistics of linear velocity of robot 0.3m/s
Displacement/ cm
Measurement times
Average speed/
(m/s)
Feedback speed/
Error/
100 20
0.301
0.302
0.001
300
0.303
0.002
500
0.300
0.003
700
900
Error statistics of robot 6 rad/s angle
Sequence
Target rotation angle
/(°)
Actual rotation angle
Feedback angle
Error/
(°) 1 90
90.8
90.2
0.6 2
180
180.7
0.7 3
270
270.9
270.2 4
360
361.3
360.4
0.9

9. Experimental results SlAM and Navigation
Autonomous navigation of robots based on map is an important solution for robot to move autonomously in teaching scene. The prototype machine integrated three commonly used function packages for robotic autonomous navigation: move_base,
gmapping, amcl,which are provided by ROS.

10. Conclusions and future work
Taking the application of robots in education and the needs of educational robot research into consideration, we designed a three-layer architecture of educational robot, as well as a hardware framework and a software framework. Then, we implemented an embedded educational robot prototype by transplanting ROS into a Raspberry Pi with good performance and lower price. In the end, experiments of motion control, speech and vision of robot were carried out on the prototype.
we will optimize the existing educational robot prototype. On the other hand, we will focus on the development of the subject-oriented robot solution, so that the robot will become a mobile "teacher".

11. Talent recruitment
Recruit talents in ICT to do RnT . High requirement and high payment for Joint Institute btw CCNU & UOW.
Maser, doctor, enginner, teacher who are skilled in communication, mechanical automation, and robot system integration, etc.
CCNU web:
NERCEL web:
Professor Yu——
Professor yu

12. Thank you