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Control and simulation of swarm mobile robots

Şen, Hayrettin

Yüksek Lisans | 2016 | İzmir Katip Çelebi Üniversitesi Fen Bilimleri Enstitüsü

This thesis presents both control of mobile robots that can move by using collective motion algorithm and simulation of the robots during the motion. The orientation of the robots was controlled remotely by one user during the collective motion. The transmission of orientation data from the remote controller to the robots was done by using XBee modules. The control algorithm of collective motion was developed by using individual-based model. Two modes are considered during the control. These modes are search and swarm mode. The collective motion was performed by robots that are moving with respect to some pair-wise interactions. Th . . .e pair-wise interactions between the robots were proposed based on three rules namely attraction, parallel orientation and repulsion fields rules. While the mobile robots try to move toward their neighbors in attraction field, they try to remain close to their neighbors in parallel orientation field. The repulsion field rule avoids the collision with each other during the collective motion. Since the commercial mobile robots which can be used in swarm robotics are very expensive, the robots used in this study were manufactured in the Prototyping Laboratory, in Izmir Katip Çelebi University. The mechanical parts of mobile robots were designed using SolidWorks and manufactured by using 3D printer technology. Arduino Mega 2560 programmable board was used as control unit of the robots. One electronic circuit, named Arduino Shield Circuit was designed using Proteus 8 Professional. It was produced in order to connect the used electronic components to related pins on Arduino Mega 2560 easily and in a secure way avoiding short circuits. The simulation code works as a real-time simulation. The code uses the data received from the robots to simulate the motion of the robots. The simulation also saves the all the received data from the robots to one Excel file. Two parameters, polarization and expanse were calculated in order to observe and characterize the motion of the swarm robots by using the saved data. Lastly the collective motion was tested for a group of two, three, four and five robots. The expanse and polarization values were presented for each test Daha fazlası Daha az

Simulation and design of a glider swarm robotics platform

Gül, Kasım

Yüksek Lisans | 2017 | İzmir Katip Çelebi Üniversitesi Fen Bilimleri Enstitüsü

The main purpose of my thesis is to develop a Swarm Robotics Platform which will use Cellular Automata Glider model and generate itself with “Game of Life” rules. The method was experimentally tested with autonomous mobile robots and real-time PC based simulation software, in all cases very good paths were obtained with negligible processing effort, and low cost production. Presented results indicate that the Cellular Automata approach is a very promising method for real time path planning and Glider like robotic swarms can be used for self-replicating and moving swarm robots. We designed five identical mobile robots that in . . .teract with each other and the simulation software at PC through RF connection. PC runs a Glider simulation simultaneously while robots play “Game of Life” on the grid. Presented model is a self-organized and a self-driven mechanism. The base platform used is a lattice of squared cells, but the shape of cells can be hexagonal and other shapes as well. Each cell can exist in 2 or more different states (not simultaneoulsy). Most basically ON/OFF states of bright LEDs at the top of each robot is controlled as an indicator to show dead/alive modes of the robots. We expect our robots to move on the lattice base as in Glider form and keep their formation patterns after each step. Mobile robots are based on Arduino Nano boards. NRF24L01 RF modules used for communication. ULN2803 IC is used to drive two stepper motors (28BJY-48). Each robot is powered with a pack of 4 AA batteries. Each member robot will keep its track and location information and inform the main PC simulation software. After each robot completes its action, the simulation software moves to the next pattern of Glider and the LEDs of robots will be turned ON (Live Mode). Atmel328P based board with a NRF24L01 RF module establishes the real time communication between Glider robots and the PC. Main module transfers required pattern data to each individual Glider robot and receives a confirmation of correct data transmission from each robot. After each robot gets its required data, then the main module updates the information of simulation software that runs on the PC. It is possible to observe the pattern evolution of Glider robots on the simulation software. Processing programming language is used to create the simulation software. xvi With all these simple and commonly found parts, each robot was produced with quite a cheap and simple way. Thus, the total number of robots can be increased to more than 5 and different CA models can be realized with this platform. Some improvements should be done on our system such as including another NRF24L01 module for each 6 mobile robots due to available channel number restriction of RF module used. Atmel2560 based board can provide much more communication capability for crowder Swarms with additional RF modules. Another future development of the system should be to include a path finding algorithm into simulation and create “maze solving” or “target searching” Swarm group with much better performance. This method will allow to conclude results in much shorter times and with much less effort Daha fazlası Daha az

Design of wireless controlled robotic hand

Kızıltaş, Faruk Sanberk

Yüksek Lisans | 2017 | İzmir Katip Çelebi Üniversitesi Fen Bilimleri Enstitüsü

Thanks to the rapid technological development, robot usage in human life increases day by day. Various kinds of robots that are designed for different tasks aim to increase the quality of human life by replacing or reducing required human power in related areas. Being able to interact robots from a distance by using wireless communication not only provide mobility and ease of use to the user but also promote the usage of robots into various areas. Considering these, this study aims to design a lower degrees of freedom robotic hand with respect to the natural anatomy of the hand and control it by the help of wireless communication . . .protocols. Throughout the study, nine degrees of freedom robotic hand was designed, finger motions were modelled and simulation studies were carried out. Also, giving brief information about IEEE 802.15.4 standard, known wireless communication types were compared and the most suitable one for the task was selected as XBee S2 wireless communication platform. Control of robotic hand was provided with five flexible sensors, which were sewn on the glove on each finger. In this thesis, for the first time, characterization studies about flexible sensor was carried out and before starting to control the robotic hand, calibration was made according to the working principle of the flexible sensors. Except thumb, two independent motion for each robotic finger were provided by taking two measurements from each flexible sensor. In addition, the robotic hand fingers were kept in the same position with the fingers of the human hand by using of servo motors. Control of the robotic hand was decided to be carried out by using Arduino platform and XBee modules. Future works related with this study was also discussed and listed in conclusion part Daha fazlası Daha az

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