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With the implementation of sensors and actuators into buildings, spaces therefore have sensing ability, flexibility, and interactivity. Moreover, there is also the ability of auto-transformation in space depending on weathers and habitants' needs and behaviors, which overthrows the traditional motionless building space concept. A space is considered as a huge robot, and every space cube is constituted by hundreds of small modulized robots. To be more specific, in order to fulfill the experiment of robotic buildings, this paper focuses on space walls motion unit experiments, and develops a sensing system that can achieve extremely accurate positioning. Accuracy of general indoor localization technique is about a few meters to a few centimeters. In this paper, we developed the high expandability and extremely accurate localization technique by utilizing IR LED array combined with CMOS image sensor built in Wiimote controller, and accomplishing the algorithm by LabVIEW program. We design various types of dynamic experiment on linear motor to verify the positioning performance and expandability of Wiimote system. In this paper, we will interpret and discuss thoroughly about the principle of geometry, algorithm of positioning, and the relation of CMOS image sensor resolution between IR LEDs and Wiimote camera in the actual positioning. Then will use the Wiimote controller built-in components and I/O ports for varied environmental sensing and motion control demostration, and integrated into the applications of robotic building and interactive E-Life. Not only does the IR localization system based on Wiimote can apply to position control and service of household robots, but also it can achieve the modulized vehicles of smart building surface with the idea of aggregate space robots. The modulized space robots can vary its patterns, and adjust the light, wind. It also illuminates indoor by LED modules charged from solar cells.
SICE Annual Conference 2010, Proceedings of
Date of Conference: 18-21 Aug. 2010