To enable large-scale and controllable performance studies of our algorithm, we have developed homegrown robot and camera simulators to simulate the ER1 robots  and the AXIS 2130 cameras  in the lab on which the warn or photo action is executed.
CMAssist, from Carnegie Mellon University, shown in figure 12, demonstrated two robots based on the Evolution ER1 platform that participated and placed second overall in the new RoboCup@Home home robotic assistant competition this year.
The ER1 package consists of wheels and an aluminum frame for mounting a laptop onto a rolling platform, a Web camera for gathering visual information, a control module and software to make the whole thing work.
The ER1 contains voice recognition and speech synthesis capabilities, and can be trained through point-and-click programming to perform remote monitoring, move about using vision and landmarks, perform tasks at specific times, and play music or send email from voice or vision commands.
By relying on mobile computational devices such as game consoles and handheld computers, the Palm Pilot robot kit (PPRK), XPort Robot Controller, and XBC have begun this process, as have trial laptop-based systems like the Evolution ER1.
significant at 10% in a 2-tailed test ** significant at 5% in a 2-tailed test *** significant at 1% in a 2-tailed test Table 7: Cross-Sectional Regressions of Total Excess Returns on Fund Characteristics and Investment Concentration Strategies Dependent Variable Independent Variable ER1 Coefficient t-stat BETA 2.