diff --git a/.gitignore b/.gitignore
index 088515f6e2ae7432306dc733d644e30e05c598ca..abafd12e384991a72cf6d8a11b85f7c0410a147b 100644
--- a/.gitignore
+++ b/.gitignore
@@ -2,6 +2,7 @@
*.aux
*.log
*.lof
+*.lot
*.out
*.toc
*.pdf
diff --git a/procedures/startup_operation_shutdown/startup_operation_shutdown.tex b/procedures/startup_operation_shutdown/startup_operation_shutdown.tex
index 1e39be1e39d26ce77253b36151066feaf0d372c9..400b6a4b033f5ddbebc22b0ab4a3a6f9fb1697d0 100644
--- a/procedures/startup_operation_shutdown/startup_operation_shutdown.tex
+++ b/procedures/startup_operation_shutdown/startup_operation_shutdown.tex
@@ -47,7 +47,7 @@
\tableofcontents
\listoffigures
-%\listoftables
+\listoftables
\newpage
\section{Description}
@@ -67,26 +67,25 @@ Safety considerations to be taken into account when following these procedures a
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
\subsection{Robot description}
-Tibi and Dabo are custom urban social robots which are used as research project. They are based in a Segway differential platform, which allows smooth navigation on many urban scenarios, and are equipped with lidar and camera sensors to perceive their environment. Social interaction is made with movable arms and head, text-to-speech and facial LED expressions. See Fig.\ref{fig:robot-elements} showing their main elements.
-
-\begin{enumerate}
- \item Segway RMP 200 wheeled platform.
- \item Caster wheels.
- \item Lidars: horizontal 2D Hokuyo UTM-30LX lidar sensors.
- \item Front and rear power switch panels, allowing to enable/disable components.
- \item Service batteries.
- \item Onboard emergency stop button.
- \item On/off main switch.
- \item Onboard processing computers.
- \item Router
- \item Network switch
- \item Touch-screen
- \item Speaker
- \item Arms: 2 degrees of freedom with PTU-D46 pan and tilt motor unit.
- \item Neck: 3 degrees of freedom with dynamixel servo motors.
- \item Face: LED illuminated expressions.
- \item Camera: PointGrey Bumblebee stereo camera.
-\end{enumerate}
+Tibi and Dabo are custom urban social prototype robots which are used in research projects. They are based in a Segway differential platform, which allows smooth navigation on many urban scenarios, and are equipped with lidar and camera sensors to perceive their environment. Social interaction is made with movable arms and head, text-to-speech and facial LED expressions. See Table \ref{tab:robot-elements} and Fig.\ref{fig:robot-elements} showing their main elements.
+
+\begin{table}[ht]
+ \centering
+ \begin{tabular}{|p{.05\linewidth}|p{.35\linewidth}|p{.05\linewidth}|p{.35\linewidth}|}
+ \hline
+ \textbf{\#} & \textbf{Name} & \textbf{\#} & \textbf{Name} \\ \hline
+ 1 & \begin{tabular}[c]{@{}l@{}}Segway RMP 200 \\ wheeled platform\end{tabular} & 9 & Router \\ \hline
+ 2 & Caster wheels & 10 & Network switch \\ \hline
+ 3 & \begin{tabular}[c]{@{}l@{}}Lidars: horizontal 2d \\ Hokuyo UTM-30LX\end{tabular} & 11 & Touch-screen \\ \hline
+ 4 & \begin{tabular}[c]{@{}l@{}}Front and rear component \\ power switch panels\end{tabular} & 12 & Speaker \\ \hline
+ 5 & Payload battery & 13 & \begin{tabular}[c]{@{}l@{}}Arms using pan \& tilt \\ PTU-D46 (2dof) unit\end{tabular} \\ \hline
+ 6 & \begin{tabular}[c]{@{}l@{}}Onboard emergency\\ stop button\end{tabular} & 14 & \begin{tabular}[c]{@{}l@{}}Neck (3dof) using \\ Dynamixel servors\end{tabular} \\ \hline
+ 7 & Main power switch & 15 & Face LED expressions \\ \hline
+ 8 & Onboard computers & 16 & \begin{tabular}[c]{@{}l@{}}Camera PointGrey\\ Bumblebee2 stereo\end{tabular} \\ \hline
+ \end{tabular}
+ \caption{Robot elements}
+ \label{tab:robot-elements}
+\end{table}
\begin{figure}[ht!]
\centering
@@ -95,43 +94,34 @@ Tibi and Dabo are custom urban social robots which are used as research project.
\label{fig:robot-elements}
\end{figure}
-To choose which components are powered on or off, front and rear power switch panels are used, which give access to a power switch and its respective fuse, for the following components, as seen in Fig.\ref{fig:component-panel-front} and Fig.\ref{fig:component-panel-rear}.
-These power switches are enabled when their lower part is pressed, and its upper part is unpressed, and disabled otherwise. Note that they contain a red light, but its is not very reliable (some won't light on when they are actually on), so light status should no be trusted.
+To choose which components are powered on or off, front and rear power switch panels are used, which give access to a power switch and its respective fuse, for the robot components shown in Table \ref{tab:front-panel} and Table \ref{tab:rear-panel}, as seen in Fig.\ref{fig:component-panel-front} and Fig.\ref{fig:component-panel-rear}.
+These power switches are enabled when their lower part is pressed, and its upper part is unpressed, and disabled otherwise. Note that they contain a red light, but its is not very reliable (some won't light on when they are actually on), so light status should not be trusted.
-\begin{itemize}
- \item Front panel
- \begin{enumerate}
- \item Head
- \item Left arm
- \item Right arm
- \item Audio
- \item \textit{free}
- \item \textit{free}
- \end{enumerate}
-\end{itemize}
+\begin{table}[ht]
+ \centering
+ \begin{tabular}{|l|l|l|l|l|l|}
+ \hline
+ 1. Head & 2. Left arm & 3. Right arm & 4. Audio & \textit{5. free} & \textit{6. free} \\ \hline
+ \end{tabular}
+ \caption{Front panel elements}
+ \label{tab:front-panel}
+\end{table}
-\begin{multicols}{2}
-\begin{itemize}
- \item Rear panel left (12/48V?)
- \begin{enumerate}
- \item Computer 'vis'
- \item Display
- \item \textit{free}
- \item \textit{free}
- \item Security remote system
- \item Power relays
- \end{enumerate}
- \item Rear panel right (12/48V?)
- \begin{enumerate}
- \item Computer 'nav'
- \item Rear lidar
- \item Router
- \item \textit{free}
- \item Front lidar
- \item \textit{free}
- \end{enumerate}
-\end{itemize}
-\end{multicols}
+\begin{table}[ht]
+ \centering
+ \begin{tabular}{|p{4cm}|p{4cm}|}
+ \hline
+ \textbf{Left} & \textbf{Right} \\ \hline
+ 1. computer vis & 1. computer nav \\ \hline
+ 2. Display & 2. Rear lidar \\ \hline
+ \textit{3. free} & 3. Router \\ \hline
+ \textit{4. free} & \textit{4. free} \\ \hline
+ 5. Security remote system & 5. Front lidar \\ \hline
+ 6. Power relays & \textit{6. free} \\ \hline
+ \end{tabular}
+ \caption{Rear panel elements}
+ \label{tab:rear-panel}
+\end{table}
\begin{figure}[ht]
\centering
@@ -269,7 +259,7 @@ The Segway RMP 200 platform has a rear panel shown in Fig.\ref{fig:segway-panel}
\item Repeat the procedure with both bottom-back and bottom-front body parts.
\end{enumerate}
- \begin{figure}[h]
+ \begin{figure}[ht]
\centering
\includegraphics[width=.8\linewidth]{robot-covers.png}
\caption{Robot covers}