zwischenstand, +makeindex"

[bachelor-thesis/written-stuff.git] / Ausarbeitung / preliminaries.tex

diff --git a/Ausarbeitung/preliminaries.tex b/Ausarbeitung/preliminaries.tex
index 06701fd..d47a81b 100644 (file)
--- a/Ausarbeitung/preliminaries.tex
+++ b/Ausarbeitung/preliminaries.tex
@@ -18,18 +18,21 @@ time, or are even impreciser than relative approaches\cite{umbmark}, so dead
 reckoning can still be useful for the time being.
 
 \section{iRobot Roomba 500}
-Originally, the \definition{Roomba 500} is an autonomous vacuum cleaning robot,
+Originally, the \definition{Roomba~500} is an autonomous vacuum cleaning
+robot,
 manufactured by the US-based company \definition{iRobot}. It has the size of a
 disc of about 34~cm in diameter and 9~cm in height; and normally follows its
 own, non-customizable logic to detect dirt and clean rooms. However, it is also
 easily controllable over a serial port, which provides a two-way
 communication at 5~V TTL levels over a Mini-DIN connector, with a speed of
 either 19,200 or 115,200 Baud. Over this serial port, the Roomba speaks a
-specified protocol, called the iRobot Roomba Open Interface \cite{irobot-oi},
-which allows the user to interact with the robot's internal logic, reading its
-sensor values, and control its movements and cleaning behaviour.
+specified protocol, called the \definition{iRobot Roomba Open
+Interface}~\cite{irobot-oi}, which allows the user to interact with the robot's
+internal logic, reading its sensor values, and control its movements and
+cleaning behaviour.
 
-In our setup, the iRobot Roomba 500 is used as an instance of an autonomous,
+In our setup, the iRobot \index{Roomba~500} is used as an instance of an
+autonomous,
 mobile robot to conduct the experiments described afterwards. For that, the
 Open Interface is used to control the Roomba's movements from a netbook which is
 running Wiselib code.
@@ -45,8 +48,9 @@ platforms are diverse sensor node platforms, like iSense, Contiki and TinyOS,
 but there are as well implementations for the diverse x86-compatible Personal
 Computer platforms, and the Shawn sensor network simulator.
 
-Moreover, the Wiselib includes code to control the iRobot Roomba over a
+Moreover, the Wiselib includes code to control the iRobot \index{Roomba|see
+{Roomba~500}} over a
 serial interface, and getting access to its internal sensor data, using the
-iRobot Roomba Open Interface mentioned earlier. \todo{cite Wisebed book
-chapter on Roomba code}
+iRobot Roomba Open Interface mentioned earlier.
 
+\todo{cite Wisebed book chapter on Roomba code}