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Swarm s-bots

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Engy Yousry

on 19 May 2014

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Transcript of Swarm s-bots

Swarm S-bots
Image Processing
The Big Idea
Time Plan
Electronic Construction
Communication System part 1
Master Robot
Image Processing
Communication Part 2
Message to Owner
Call 122
Motor type
Arduino / AVR
Xbee / Bluetooth
GSM Module
Image processing
Give orders
Face detection
Face Recognition
Implement Communication between master and slave robots
Vacuum Tubes to stick robot in the ceiling
Magnets or clippers to stick slave robots to each other
Electromagnetic Gun which takes order from master robot to attack
What is Image Processing?
Swarm Intelligence
An attempt to design distributed problem-solving devices inspired by the collective behaviour of social insect colonies and other animal societies

We seek to design a robot with these features.
Simple design.
wireless sensor network
Cooperative Robots
Task difficult (or impossible) for one robot
Can be performed better by many
Motion detection
Motion detectors
1. Pir sensors
2. Microwave sensors
3. Tomographic sensors
4. Ultrasonic sensors
Ping ultrasonic Distance Sensor (#28015)
Raspberry Pi vs. BeagleBone Black
Why Beaglebone Black?
Projects that need to interface with many external sensors of pins.
Anything requiring small form factor but high speed processing.
Projects that you may wish to commercialize
As an embedded system learning platform
For when you want it to “just work”

1- Range: 2 cm to 3 m (0.8 in to 3.3 yd).
2- Burst indicator LED shows sensor activity.
3- Bidirectional TTL pulse interface on a single I/O pin can communicate with 5 V TTL or 3.3 V CMOS microcontrollers.
4- Input trigger: positive TTL pulse, 2 µs min, 5 µs typ.
5- Echo pulse: positive TTL pulse, 115 µs minimum to 18.5 ms maximum.
6- RoHS Compliant.

Types of Motors
1-Dc Motors:

1- Supply voltage: +5 VDC
2- Supply current: 30 mA typ; 35 mA max
3- Communication: Positive TTL pulse y Package: 3-pin SIP, 0.1” spacing (ground, power, signal)
4- Operating temperature: 0 – 70° C.
5- Size: 22 mm H x 46 mm W x 16 mm D (0.84 in x 1.8 in x 0.6 in) y Weight: 9 g (0.32 oz)

Two Wired (Power and Ground).
Continuous Rotation Motor.
Doesn't stop spinning until the power is removed.
PWM speed control.
The percentage of time of on/off determines its speed.
2-Servo Motor:
Face recognition
Standard/Fixed Wheels
Orientable Wheel
Ball Wheel
Mecanum Wheel
Control Theory
Differential Drive
Skid Steering
Tricycle Drive
Ackermann Steering
Synchronous Drive
Omni-Wheel Drive
3-Wheel Design
4-Wheel Design
Why zigbee ?

250 kbps

720 kbps



Data rate

Technology Space

Zigbee layers
Zigbee Statistics
How ZigBee Works:
ZigBee routing in a mesh network
Mesh Networking Path 1
Zigbee application
How Zigbee Operates
Complete Design
Motor we used
Parallax Continuous Rotation Servo (#900-00008)
• Bidirectional continuous rotation.
• 0 to 50 RPM, with a linear response to PWM for easy ramping.
• Accepts four mounting screws.
• Easy to interface with any Parallax microcontroller or PWM-capable device.
• Very easy to control with the PULSOUT command in PBASIC or SX/B.
• Weighs only 1.50 oz (42.5 g)
• 38 oz-in torque @ 6 V
Communication Protocol
Made by:
Ingy Yousry Ahmed
Noran Attia
Mostafa Hasan Qotb
Mohamed Ghareeb
Mohamed Shaaban

Supervised By:
Prof. Mostafa AbdelGelil
Prof. Mohamed Khedr

Assembly of four parts.
Three Wired (Power, Ground and Control).
Power constantly applied.
Designed for specific tasks.
4 types of Servo : 180, 320, 360, Continuous.
PMW is used.
Neutral pulse value = 1.5 ms, Bigger than 1.5 ms turns clockwise else it turns counter clock wise.
The pulse repeated each 20 ms.
General Rule:
Wheel 1:
Wheel 2:
Wheel 3:
Actuated and non-actuated Vectors:
Actuated and non-actuated Jacobians:
Final Form after calculations
Digital Image Processing
Full transcript