ActivMedia RoboticsIntroductionFigure 1. The Pioneer 2-DXand -AT Mobile Robots firstappeared commercially in1995.Chapter 1Congratulations on your purchase and welcome tothe rapidly growing community of researchers,developers, and enthusiasts of ActivMedia Robotics’intelligent mobile robots.This Pioneer 2 Operations Manual provides both thegeneral and technical details you need to operateyour Pioneer 2-DX, -CE, -DXe, -AT, or PeopleBot MobileRobot and to begin developing your own Roboticshardware and software. Please consult the Pioneer 2H8 or the Performance PeopleBot manuals if you owna newer, Hitachi H8S-based robot.Robot PackageOur experienced manufacturing staff put your mobile robot and accessories through a“burn in” period and carefully tested them before shipping the products to you. Inaddition to the companion resources listed above, we warranty your ActivMedia robotand our manufactured accessories against mechanical, electronic, and labor defectsfor one year. Third-party accessories are warranted by their manufacturers, typically for90 days.Even though we’ve made every effort to make your ActivMedia Robotics packagecomplete, please check the components carefully after you unpack them from theshipping crate.Basic Components (all shipments)! One fully assembled mobile robot with battery! CD-ROM containing licensed copies of ActivMedia software and documentation! Hex wrenches and assorted replacement screws! Replacement fuse! Set of manuals! Registration and Account SheetOptional Components and Attachments (partial list)! Battery charger (some contain power receptacle and 220VAC adapters)! Onboard PC computer with PC104+ bus, hard-drive and other accessories! Radio Ethernet and/or serial modems; one mounted inside the robot! Companion radio for LAN or basestation connection! Supplementary and replacement batteries! 3-Battery Charge Station (110/220 VAC)! Added sonar arrays! Gripper! 5-DOF Arm with gripper! ActivMedia Color Tracking System (ACTS)! Stereo Vision Systems! Pan-Tilt-Zoom Surveillance Cameras! Custom Vision System! Range-finding laser! Global Positioning System! Compass! Bumper rings1