C ra n iu m skeleton can be described as an arm illar assem bling of

C r a n iu m
s k e le to n
a r m illa r a s s e m b lin g
s a g ita l,
c o ro n a l
can
o f th re e
and
be
d e s c r ib e d
as
an
fla t h o o p s p la c e d
tra n s v e rs a l
p la n e s .
in
T w o
h o o p s a r e c o m p le te : o n e s a g ita l a n d o n e c o r o n a l.
T he
tr a n s v e r s a l o n e , is
end
( s e e F ig u r e 1 a ) .
T he
c o ro n a l
hoop
is
in c o m p le te
p iv o tin g
a t its
on
a
fro n ta l
s u p p o r tin g
h o o p t h r o u g h t w o jo in t s : “ a t la s jo in t s ” . T h e s a g it a l
hoop
is o r th o g o n a lly fa s te n e d
to
th e
c o ro n a l a n d
tth is to th e tr a n s v e r s e o n e . T h is is a tta c h e d to th e
c o ro n a l
hoop
a tta c h e d
to
ju s t
th e
b e lo w
s a g ita l
th e
a tla s
hoop
jo in ts
at
th e
and
sam e
h o r iz o n ta l le v e l.
E q u iv a le n t to
th e
o c c ip ita l b o n e
is
th e
r e g io n
of
th e lo w e r h a lf o f th e c o r o n a l h o o p , th e lo w e r h a lf
of
th e
s a g ita l
hoop
tra n s v e rs e h o o p .
and
th e
re a r
p a rt
of
th e
T h e r e is a S u p p o r tin g h o o p , a tr u e a r c ,
fix e d to
a
m o b ile p la te in a p e d e s ta l. T h e a rc h s ta n d s in th e
m o b ile
p la te
th ro u g h
a tla s p illa r s . A t th e
h o le
tw o
s tr a ig h t r e g io n s
‘c a p it a l’ o f e a c h
c a lle d
a tla s p illa r a
h a s b e e n p r a c tic e d to in tr o d u c e th e a x is o f a
s e r v o m o t o r f a s t e n e d in t h e p illa r it s e lf . T h e m o b ile
p la te
p e rfo rm s
r o ta tio n a l
c o r r e s p o n d in g ly
th e
w h o le
m o v e m e n ts
head
and
s c a n n in g
m o v e m e n t s . T h e t ilt in g m o v e m e t s o f t h e h e a d a r e
d u e to th e m e n tio n e d c o r o n a l p iv o tin g .
T he
m o b ile
p la c e d
p la te
in s id e
s e rv o m o to r
a
a t th e
is
ro ta te d
p e d e s ta l
to p
of an
by
and
a
s e rv o m o to r
by
A u x ilia r y
a n o th e r
S
shaped
s u p p o r t . T h is S u p p o r t is fa s te n e d to th e p e d e s ta l
a n d is a ls o f a s t e n e d t o t h e S u p p o r t in g H o o f in it s
u p p e r m o s t r e g io n .
F ig u r e
1 a . D is p o s itio n
s u p p o rts
D e ta ils
h o ld e r s ;
in
w ith :
of hoops
C r a n iu m .
“L ”
F ig u r e
shaped
m ic r o c o n tr o lle r
and
1b.
e y e b a ll-
c a rd
and
a c c e le r o m e te r . F ig u r e 1 c . T h e P C
p la c e .
in
C r a n iu m
bow l
is
le v e lin g
p e d e s ta l is a n in v e r te d p la s tic b o w l. T h e
m o u n te d
s c re w s .
in
an
T he
a c r y lic
m o v ile
sheet
p la te
w ith
is
fo u r
a c tu a lly
a
c ir c u la r p la te in s id e th e c u p o f a 1 0 c m
d ia m e te r
b a ll
th is
b e a r in g
a tta c h e d
to
th ro u g
th e
its
lo w e r
p e d e s ta l (th e
cup,
b a ll b e a r in g
cup
is n o t
s h o w n in F ig u r e 1 a ) .
T he
s a g ita l h o o p , in
its
fr o n ta l re g io n
has
been
s h a p e d a s a fa c e p r o file ( s e e fig u r e 1 b ) . F a s te n e d
to th e in te r n a l s id e o f th e n a s a l p a r t o f th e p r o file
tw o
b a c k -to -b a c k
fa s te n e d .
E ach
s e rv o
s e r v o ’s
m o to rs
a x is
have
c a r r ie s
b e in g
an
“L ”
s h a p e d h o ld e r . E a c h “ L ” h o ld e r s u p p o r ts a
s e rv o
th a t
t ilt in g
scans
a
g lo b u la r
W ebcam .
T he
r o ta tio n o f e a c h o f th e c a m e r a s is a c h iv e d b y th e
r o ta tio n o f th e ir “ L ” h o ld e r
D im e n s io n s a n d w e ig h t
( s e e fig u r e 1 b ) .
C r a n iu m
has
a
le n g th
of 22
c m ., a
b re a th
c m ., a n in te r a tla s - p ila r s jo in t d is ta n c e
and
a
have
w e ig h t o f 3 .0
a
d ia m e te r
s e p a ra te d fro m
kg
of
[4 ]. T h e
5
cm .
of 20
of 12 cm .
e y e b a ll c a m e r a s
and
o
a re
10
cm
s k e le to n
and
o n e a n o th e r.
M o t o r a n d s e n s o r ’s t o p o lo g y
F ig u r e
th e
1A
lo c a tio n
o f th e
th e ir m o to r s
p la c e
in
show s
th e
C ra n e u m
s e rv o m o to rs . T h e
fo r th e
tw o
e y e b a ll w e b c a m s
th e ir “ L ” s h a p e d
fo r d e ta ils ) . E a c h
s h a fts
h o ld e r s
c a m e ra
(s e e
and
a re
fig u r e
in
1B
c a r r ie s , in s id e , b e s id e
t h e lig h t s e n s o r a n in c o r p o r a t e d m ic r o p h o n e .
O ne
been
a c c e le r o m e te r
a tta c h e d
‘te m p o r a l’
r e g io n
c o r o n a l- a tla s
1b.
T he
to
of
p illa r s
(L S M 3 0 3 D L H C
th e
th e
in te r n a l
c o ro n a l
a x is
m ic r o c o n tr o lle r
(2
cm .
c a rd
P o lo lu )
s id e
hoop,
of
near
has
th e
th e
a b o v e ).
F ig u r e
A r d u in o
M ega
12890
can
show s,
be
in
p e d e s ta l
a
seen
in
s e p a ra te d
th e re
is
p ro c e s s o r A to m
P C
F ig u r e
v ie w
th a t
(A c e r
1 .6 G H z ; O S
1 b ).
F ig u r e
b e lo w
A s p ir e
1c
th e
I;
In te l
U b u n tu 1 2 .0 4 ) th a t
is a n o th e r p a r t o f th e h a r d w a r e o f th e h e a d .
T he
tw o
p r e v io u s ly
v ir tu a l a x e s
a re
m e n tio n e d
a p p r o x im a te ly
c e n te r o f th e W e b c a m
C r a n iu m
T w o
one
D O F
D O F
has 8
fo r th e
c a m e ra
c o n c u rre n t to
th e
s e n s o r s u rfa c e .
s e rv o m o to rs
fo r e a c h
e y e - b a ll
o f th e
( H ite c ) , a n d
tw o
6
D O F .
g lo b u la r w e b c a m s
C o ro n a l h o o p , a n d
one
fo r th e
S u p p o r in g h o o p .
C o m p u tin g d e v ic e s ’ to p o lo g y
A
m ic r o c o n tr o lle r
c a rd
is
fa s te n e d
to
th e
in n e r f a c e o f t h e S a g it a l h o o p ( F ig u r e 1 b ) a n d a n
A c e r n o te b o o k
( F ig u r e 1 c ) .
P C
is
p la c e d
b e lo w
th e
p e d e s ta l