This document describes M.A.R.V.I.N., a mobile autonomous robotic virtual intelligence node built using a refurbished vacuum cleaner base, Raspberry Pi, sensors and cameras. M.A.R.V.I.N. has capabilities for smart navigation using infrared sensors and ultrasonic ping, visual and audio interactions through its screen and speakers, connectivity via WiFi, and can be remotely controlled. It is intended to reproduce life-like behaviors through environment analysis and interactions.

1. Stephane Guerreau – Marc Fournier

2. M.A.R.V.I.N.

3. M.A.R.V.I.N.
“Mobile Autonomous Robotic Virtual Intelligence Node”
Or
 “Make A Robot Virtually Intelligent Now”
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Main Features
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Smart Navigation
Various visual and audio interactions
Connectivity
Remote Control

4. Anatomy
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Raspberry Pi “brain”
Barebone ATmega as central nervous system
Servo driver for motor functions
Sensors, camera and external devices for
perception
Intend to reproduce life behaviour
• Environnement analysis and interaction
• Inlude some Chaotics reactions to create new
behaviours

5. Hardware – M.A.R.V.I.N.

6. How it is built ?
Refurbished Vacuum Cleaner Base

7. How it is built ?
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Raspberry Pi
Barebone Atmega328
Servo Driver
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Screen breakout board
• 3,3v and 5v I²C
• 3,3v UART
• Logic Converter, RTC
• Shutdown button

8. How it is built ?
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2.8” Touchscreen
• Connected to Raspi
• Python Control interface
• Real-time Video

9. How it is built ?

10. Software – Raspi
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Libs (python, simpleCV, espeak..)
LCD Drivers
Python Scripts
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Graphic Interface
UDP to UART 'proxy'
Sensors / Navigation
Camera
Bot control
Domotic

11. Smart Navigation
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Smart indoor navigation
• Infrared Sensors
• Ultrasonic Ping ))
• Pan / Tilt Ultrasonic Ping
• Embed Camera
• Access to existing Home Devices (network cameras,
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domotic nodes, etc..)
Generates its own telemetry charts
Environnement Mapping / learning
• In Dev

12. Vision
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Real-time camera
Network streaming / recording
Detection (Motion, blobs, objects...)
Access to external cameras

13. Connectivity
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Mobile Wifi Client and AP
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Secure gateway
• DHCP server
• OpenVPN
• OwnCloud server
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Send / Receive video and data through network
Share infos with Home Automation and others
connected Bots.

14. Remote Control
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Joystick control
• Direction
• Pan / tilt servo
• Modes switching
• Camera controls
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Remote Control
• Full Control
• Video display
• Python interface or Http access

15. Speech
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Static Text to speech
• Read pre-formated text
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Dynamic Text to speech (in dev)
• Can choose from various text
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Voice recognition (with Julius – in dev)

16. Remote Controller – Pip boy
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17. Remote Controller – Pip boy
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Pip boy also include
• User Desktop (Lxde)
• Game emulation (MAME)

18. 
For fun : MARVIN mini-pet
Refurbished Parallax Boe-Bot
• Basic Stamp2 Board
• 2 x continous servos
• 1 x 180° pan servo
• 2 x Infrared Led + Receiver
• 1 x UltraSonic Ping ))
• Used for quick tests
• Easy to code performant
•
navigation
Funny “alive personality”
by adding some chaotic
code events

19. Links
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www.hardware-libre.fr
http://www.youtube.com/user/HardwareLibre
google+