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Transcript of Swarm s-bots
The Big Idea
Communication System part 1
Communication Part 2
Message to Owner
Arduino / AVR
Xbee / Bluetooth
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?
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.
wireless sensor network
Task difficult (or impossible) for one robot
Can be performed better by many
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- 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.
Why zigbee ?
How ZigBee Works:
ZigBee routing in a mesh network
Mesh Networking Path 1
How Zigbee Operates
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
Ingy Yousry Ahmed
Mostafa Hasan Qotb
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.
Actuated and non-actuated Vectors:
Actuated and non-actuated Jacobians:
Final Form after calculations
Digital Image Processing