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Exploration

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Exploration

  1. 1.  Introduction  EZ Robot  System Overview  Communication Method  Exploration Procedure  Phone Application  Demo  Conclusion and Future Work
  2. 2.  Use of Robotic Exploration: mining accidents, hostage situations, moon exploration etc.  Rescue people have to risk their lives to explore unknown areas.  Benefits of using robots to explore: reduced personnel requirements, reduce fatigue and access to unreachable areas etc.
  3. 3.  Mapping and Localization for Extraterrestrial Robotic Explorations  Robotic Exploration as Graph Construction  Cooperative Search and Rescue with a Team of Mobile Robots
  4. 4.  Only one work involves multi robots  Users can’t interactive with robots.  None of them provide wireless phone control
  5. 5. Motivation: To overcome these limitations in these works and increase the accuracy to detect objects. Objectives:  Develop a wireless communication method between robots.  Develop algorithms for robots to explore areas.  Robots can detect objects.  Users can use voice to control the robots to explore.  Develop phone application to control robots.
  6. 6. Roli Six
  7. 7. Roli Six
  8. 8. EZ Builder Interface
  9. 9. Communication: Connect all devices using router so that they can communicate with each other. EZ Builder: The interface of the EZ Builder that can analyze data received from robots. Functions: Object Avoidance, Voice Control, Object Detection, Exploration, Phone Application.
  10. 10.  Router connects all devices using Wi-Fi.  Robot Wi-Fi mode: Access Point and Client  Each device has its own IP address including robots.
  11. 11. Flowchart of File Sharing Method
  12. 12.  Given two rooms, Six and Roli will work together to retrieve the target to the destination.
  13. 13.  Roli will ask the permission to start searching  Users can use voice to control roli to start. (Yes: start searching, No: wait for 15 seconds.)
  14. 14. By reading QR Code at the same height with robots, Roli enters into the room and start searching. The result of QR Code will be stored in a global variable called “CameraQRCode”.
  15. 15. Robots can’t turn perfect 90 degrees or move straight forward, speed of two wheels are differnt. Navigation Algorithm: follow the perimeter of the wall.
  16. 16. Navigation Algorithm: 1. Set variable count to 0 2. Roli updates distances 3. Compares three distances with their threshold values. 4. If count > 20, search the target; otherwise, go to step 2.
  17. 17. Roli Search: 1. Change the direction of the camera for 20 degrees each time. 2. If not found, Roli keeps searching.
  18. 18. Roli detects any suspicious objects. 1. Roli ask the permission to grab the target. 2. Users say no to ignore the object or say yes to let the robot grab the target.
  19. 19. • Train Objects in advance. • EZ Builder provides the result of image processing and stores the result into a global variable called “CameraObjectColor”.
  20. 20. • Roli approaches the target by centering the target in the Middle Middle section. • Front distance sensor detects the distance, if the distance is smaller than 3, Roli will grab the target.
  21. 21. If Six finds the target first, Roli will be informed the location of the room, and ask the permission to grab the target. (Yes: Roli go to other room to grab, No: Ignore and delete that file. )
  22. 22. If Roli is allowed to grab the target in a different room, Roli goes to the specified room by reading QR Code.
  23. 23. After Roli has grab the target, it will ask the permission to return the target to the destination. (Yes: return, No: wait)
  24. 24. Six reads in the QR Code of the room and starts searching.
  25. 25. In this algorithm, Six has three states in this algorithm determining if it will go forward, turn left or turn right.
  26. 26. State 1: Forward State 2: Turn Right 90 degrees. State 3: Turn left 90 degrees and then move forward. Parallel Movement: Six adjusts itself to be paralleled with the wall
  27. 27. If Six finds the target, it writes a file with the room number to the system and curl up into a ball and shut down.
  28. 28.  IDE: EZ Builder  Language: ez scripts
  29. 29.  Phone Application Demo  Exploration Demo: Video
  30. 30.  Conclusion › Wireless Communication method › Two Navigation Algorithms › Object Detection › Voice Control › Phone Application
  31. 31.  Future Work › Replace Six  Six moves very slow. › Involve more robots  More robots will be involved to explore larger areas. › Extend the range of network  Control robots in longer distance.
  32. 32. Thank you for your attention! Questions?

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