Roomba/iRobot Create

We have owned 4 or 5 Roombas, each a different model. My original intent was to follow Tribelhorn and Dodd (Evaluating the Roomba..., 2007 IEEE Conference on Robotics and Automation) and Kurt (Hacking Roomba,Wiley, 2007) and use Roombas as a robotics platform for A.s.a. H. But with the development of my pain subsystem this became suboptimal (as it is also with Vex EDR, Meccano, 3Pis, and the like). So now our Roombas simply clean the floor (see the last picture in my blog of 16 January 2012 ).