IAD: Collab Rsch: Research/Education Infrastructure Based on Modular Miniature Robot Systems
Project Proposed: This collaborative project, developing a modular hardware and software infrastructure (miniature robots with the pertinent software), aims to identify minimum capabilities required for accomplishing tasks which are crucial for most robotics-sensor applications. The work involves investigating the relationship between the capabilities of individual units and the collective capabilities of the entire robotic team. The major innovation lies in the creation of a flexible design spectrum for both research and education based on the capabilities of the individual units. On the lower end of the spectrum, the basic design ""Explorer,"" a robot based on a Gumstix unit and earlier robot designs from one of the institutions, provides an inexpensive and yet significantly powerful solution. On the higher end, the platform ""MicroVision,"" a robot based on the Intel Pentium M processor and RoboAudioStix board, provides real-time video streaming and processing using standard off-the-shelf hardware and open-source video algorithms. The modularity of both designs allows the addition of special hardware capabilities. The infrastructure aims at low-cost, easy-to-use platforms that support research and can be adopted into courses. Specifically, this development enables design of robotics sensor-network systems that can . Communicate reliably and efficiently via multi-hop in the presence of frequent network topology changes; . Identify relative positions among members of a robotic team promptly and accurately for effective coordination; . Enable energy-efficient marsupial maneuvering; . Provide collaborative sensing with spatial, temporal, and spatiotemporal coverage guarantees; and . Interact with environments through grasping and manipulation.
Broader Impacts: This infrastructure will be used for senior theses and K-12 students will be engaged via school visits and science field days. An annual Robot Camp will be held. The activities will be helped by the National Center for Engineering and Technology Education (NCETE). Coordination with Berea and Smith College, as well as UVA ascertains exchange among undergraduate- and minority-serving institutions.
This project completed the design and manufacturing of the Explorer and Microvision robots. The Explorer is a miniature robot that could operate as part of a robot team. It can be deployed and recharged by a larger robotic system (Saddlepack). One of the major tasks was to use the vision system of the Explorer to approach the lift mechanism of the Saddlepack. The Explorer was also used to study intelligent power management of robot teams. In fact, most mobile robots use some kind of commercial battery chemistry as a source of power. In order to effectively coordinate the team, each member should be mindful of both its relative and absolute state of charge (RSOC and ASOC, respectively). The difference between the two is that the latter represents the state of charge (SOC) with respect to the battery's fully-charged state when brand new. Accurate estimation of available energy is paramount to successful completion of any mission with an extended duration. This project developed the power monitoring strategies implemented on the Explorer, used to strengthen the coordination of larger robotic teams. By having accurate estimates of the available energy, the team members are capable of maximizing the time spent on mission critical tasks and minimizing the time spent seeking power. The Microvision robot was another major activity (the final prototype has been built) and the first experimental results have been obtained. The objective with this system is to have a powerful vision system on wheels. The Microvision has more powerful processing and sensing capabilities than other robots in the lab and was utilized to compute areas in the surrounding environment by using a convex hull approach. The project tried to estimate the projected area of an object onto the ground. This is done by the computation of convex hulls that are based on the data received from the Microvision's laser range -finder. Although localization of the robot is an important feature in being able to compute these convex hulls, localization and mapping techniques are only used as a tool and are not an end in this work. The main idea of this work is to demonstrate the ability of the laser carrying Microvision robot to move around an object in order to get a scan from each side. From these scans, the convex hull of the shape is deduced and its projected area onto the ground is estimated. The robots were also used in the Robot Summer Camps for middle-schoolers from under-represented groups in August 2010, 2011, and 2012 with great success. More than 200 students participated in these events.
