1. Juhana Leiwo – Marco Torti

2.  House  Hospital  Industry  Warehouse  Sports Hall  Airport  Restaurant  Condominium SMS sending for important tasks execution and emergencies.

5.  Multilevel map is the priority 1. An operating environment (a room in an apartment)‏ 2. A high-level map of the fixed elements in the environment (the walls and doorways)‏ 3. A mid-level map of the somewhat fixed elements in the environment (furniture etc.)‏ 4. The most often changing elements are stored in yet another mapping level. (Suitcase on the floor, glasses, books, etc.)

6.  Position and movement  Direction of acceleration (gravity) ‏  Proximity and collision sensing  3-dimensional spatial mapping  Camera vision  Heat detection (to recognize humans, for example) ‏  Sound sensing (for voice commands and human activity sensing) ‏

7.  The price of the robot is critical because the mapping feature is important in houses too  For a multifunctional robot it could be useful to determine a number of basic senses and optional special senses (and so features)  Multiflow data fusion with Kalman filter (or similar)

8.  The robot starts making its own maps automatically when it gets installed in a new environment. It doesn't need preprogrammed maps  The map gets continuously updated when the robot makes new measurements while operating

9.  The mapping data is stored in different "layers" based on whether the measured area has changed. There are four different layers: 1.the high-level map, which contains the unchanging features of the environment 2.the medium-level map, which contains things that have changed but still exist 3.the change map, which describes how often different areas have changed 4.the updating layer, which contains the results of the newest scan.

10.  The whole highest layer is used as a landmark when calculating location. Since the robot operates in the same environment, the map becomes more reliable over time as it is updated. A full scan is not always necessary for locating. Smaller point scans can be used instead  The data in the medium-level map and the change map can be used for route planning and optimizing tasks like seeking an object from a room

12. Gripping claws Camera on rotating mount Manipulator arm Telescopic walking arms 2 DOF joints Part details IR proximity sensors under the infrared transparent covering

13. Very complex but able to join all the strengths of the several designs

14.  ACTIVE CURB FEELER (WISKERS)  SYNCRO  FORCE SENSORS  LASER RANGE CAMERA (PSM) or STRUCTURED LIGHT

15.  TIME OF FLIGHT WITH LASER  ACCELERATION SENSOR  INFRARED CAMERA  THERMOGRAPHIC CAMERA

16.  Stability – At least 2 legs attacked  Wiskers – Hurt prevention  Vocal keyword & Emergency button – To stop the robot  Max weight  Living & objects

17. Scan Move and track with blind senses Scan again Match scans Update location Average old and new maps Update high-level map Find points that would have been visible in both maps but only exist in one of them Update medium-level map Update change frequency map imultaneous ocation nd ayered ptimized apping

18.  The main alimentation of the robot will be inside the gripping hooks  The robot will also need a little battery inside (few minutes autonomy) to move where the alimentation is not available

19.  The project is very interesting and may have a use in a lot of environments  The selection of the sensors is the critical part to obtain a good quality/price ratio  The development of the mapping algorithm could be long and hard but probably will be one of the reasons that could determine the success of this product