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A search-and-rescue robot known as RABOTA uses The project has been successful in implementing
an adaptation of the technology currently seen in op- a working emulation of the PS/2 protocol on a µC,
tical mice to measure the distance travelled, thereby thereby being able to communicate with an opti-
locating derailed trains inside tunnels. cal mouse and receiving its movement data for later
transmission to the remote controlling terminal for
RABOTA’s system would function by receiving the processing and display.
‘instantaneous’ distance travelled from the Optical
Mouse-based Odometer (OMO). This information is A prototype was designed and finalised as a PCB with
then transmitted to the remote control terminal for ac- on-board ICSP, RS-232/UART, I2C, HD44780 compat-
cumulation after the resultant vector of motion is cal- ible LCD interface and a PCB mount PS/2 header to
culated, to result in the total distance travelled from directly connect an optical mouse.
the starting location.
The OMO was designed and implemented success-
2. Designing the Optical Mouse-based Odometer fully, however there is room for improving the system
in terms of efficiency, accuracy and performance, but
The development of the OMO involved a study of the at the cost of increasing the complexity of the system.
operation of optical mice and the communication pro-
tocols used in communicating with a host computer.