1. Ceilbot midterm review Ville Rahikka Juuso Kinnunen

2. Content: 1.Tasks 2.Features 3.Requirements 4.Attaching to the ceiling 5.Rail structure in the ceiling 6.Doorway solutions 7.Sensors

3. Home cleaning ceilbot: Tasks: oOrganizing missplaced objects scan room for objects that aren’t in right place and move them to beforehand defined place oVacuuming every day mainly when nobody is home oCleaning windows once a week when nobody is home oGiving water for plants when sensors inserted in the plants indicates that the plants are too dry oFinding and bringing objects to the operator

4. Features Trunk maipulator Modular oVacuuming module oWater module Window cleaning Watering plants Fire extinguishing oTool module Lamp changing Object indicating by hand or laser Telescopic extensions Wireless system oMicrophones in each room for speechcontrol Robot interacts when perfoming tasks oConnection to computer with control software Joystic or remote for manipulator control Remote access from either phone or web- based application

8. Requirements / Issues Agile trunk/manipulator Trunk navigating in 3D / Avoiding obstacles Trunk has to be stiff enough to resist torque Room mapping oDifferent levels of for objects Ceiling structure

9. Small rails and drawing wheels Easy to build Rails outside sealing fits to most ceiling types Rails inside sealing More esthetic Harder to install on houses Attaching Drawing wheels on rails Size must be minimized Herd to build Still very unesthetic

10. Attaching to the ceiling

11. Rail structure in the ceiling Turntables with two parts opath can be formed beforehand

12. Rising archway Most structure changes to house Most esthetic Turning archway Can be operated using robots manipulator Lifts Expensive and slow on doorways Neccessary on level changes Oval doorway Easiest to build Doorway solutions

13. Sensors Camera oIdentification for preprogrammed objects oIdentification stickers oColor identification oPointing directions with hand or laser oPlacement on trunk Extra weight Size vs. quality Closer look oPlacement on body Synchronization with trunk

14. Sensors Laser oPosition oObject recognition oHelping gripper actions oPlacement on trunk Better collaboration with gripper Weight of sick’s versions at least 1 kg More difficult positioning of robot RFID oTags for finding objects Practical usefulness oPrice vs. benefit