1. Technology Overview

1.     SMALLab

2.     iRobot Create

3.     Reactivision -computer vision system

4.     UniBrain Firewire camera

5.     Built in i-sight camera in Macbook

6.     Custom fabricated fiducial tiles

7.     Servo motors moving camera and balloon(s)

8.     Max-MSP-Jitter

9.     Eclipse IDE

10.  Java

11.  Arduino microcontroller

2. Technology Details
1. We've created custom graphical elements and visual environments for the SMALLab video environment. These include abstract representations of real world environments as well as fiducial markers that can be recognized by the computer vision system implemented in the robot's program.
2. We've developed, or are currently developing, audio software to provide feedback based on:
1. The operational state of the robot as determined by:
1. Internal conditions of the robot
1. Battery state
2. External conditions of the robot
1. Cliff sensor readings
2. Bump sensor readings
3. Wheel drop sensor readings
4. Camera sensor data
3. Scenario states
1. User presence / identification
2. Motion tracking data of robots and users
3. Scenario events
1. Found key
2. Found lock
3. Collision
4. Win
5. Lose
6. Closer to / further from goal
7. etc.
3. We have customized the iRobot Create
1. Physical customizations
1. Platform for laptop computer added
2. Motorized camera added
3. Mechanism for lifting and lowering helium balloon added
1. Servo motor modified for continuous rotation added
2.  Arduino microcontroller system implemented to wirelessly control servo motor
4. Cliff sensors disabled (for use in sunny environments where the sensors routinely malfunctioned)
5. Wireless Bluetooth (BAM) module added
2. Software customizations