Ανάπτυξη ρομποτικής πλατφόρμας και RTOS.
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Ημερομηνία
2014-11-09T14:53:08Z
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Εκδότης
Τ.Ε.Ι. Κρήτης, Τεχνολογικών Εφαρμογών (Σ.Τ.Εφ), Τμήμα Μηχανικών Πληροφορικής Τ.Ε.
T.E.I. of Crete, School of Engineering (STEF), Department of Informatics Engineering
T.E.I. of Crete, School of Engineering (STEF), Department of Informatics Engineering
Επιβλέπων
Περίληψη
Η παρούσα πτυχιακή αναφέρεται στη μελέτη και στην υλοποίηση ενός ευέλικτου ρομποτικού συστήματος καθώς και στην εφαρμογή ενός υβριδικού λειτουργικού συστήματος στηριζόμενο στις αρχές των Real-Time Embedded Operating Systems. Βασικός στόχος είναι η σύνθεση των παραπάνω και η σωστή λειτουργία τους. Θα ήταν σκόπιμο να γίνει μια αναφορά στο προηγούμενο μοντέλο [i025], το οποίο κατασκευάστηκε με σκοπό να καθορίσει το κατάλληλο λειτουργικό σύστημα, καθώς και τον αλγόριθμο καταμερισμού διαδικασιών ανάλογα με την προτεραιότητα και το χρόνο ολοκλήρωσής τους. Στο σύνολο της μελέτης θα παρουσιαστούν διαδοχικά τα βήματα επιλογής υλικού καθώς και κατασκευής της ρομποτικής πλατφόρμας όπως επίσης και οι αλγόριθμοι που χρησιμοποιήθηκαν για το λειτουργικό σύστημα ,την συλλογή δεδομένων και τη κίνηση. Σκοπός της εργασίας είναι η ανάδειξη τέτοιων εφαρμογών με στόχο την χρήση τους σε περιοχές δυσπρόσιτες για τον άνθρωπο όπως σε ατυχήματα πυρηνικών εργοστασίων όπου υπάρχει διαρροή ραδιενέργειας ή περιοχές που επλήγησαν από σεισμούς. Σε τέτοιες περιπτώσεις πάντα είναι χρήσιμη η μετάβαση αυτόνομων κινητών συστημάτων για την εύρεση και την επίλυση προβλημάτων ή ακόμα και για την διαπίστωση κάποιων ήδη υπαρχουσών καταστάσεων.
Robotics is the branch of technology that deals with the design, construction, operation and application of robots and computer systems for their control, sensory feedback, and information processing. These technologies deal with automated machines that can take the place of humans, in hazardous or manufacturing processes, or simply just resemble humans. Many of today's robots are inspired by nature contributing to the field of bio-inspired robotics. The concept in creation of machines that could operate autonomously dates back to classical times, but research into the functionality and potential uses of robots did not grow substantially until the 20th century. Throughout history, robotics has been often seen to mimic human behavior, and often manage tasks in a similar fashion. Today, robotics is a rapidly growing field, as we continue to research, design, and build new robots that serve various practical purposes, whether domestically, commercially, or militarily. Many robots do jobs that are hazardous to people such as defusing bombs, exploring shipwrecks, and mines. Though a significant percentage of robots in commission today are either human controlled, or operate in a static environment, there is an increasing interest in robots that can operate autonomously in a dynamic environment. These robots require some combination of navigation hardware and software in order to traverse their environment. This document refers to the study and implementation of a flexible robotic system according to the needs in remote areas [areas where it is impossible to move a man without the use of protective equipment]. It would be appropriate to make a reference to the previous model [ i025 ] which was constructed in order to determine the most suitable operating system as well the procedure sharing algorithm analogous to the priority and the time for completion. Inaccessible areas, such as nuclear power plants to specific sites and areas affected by earthquakes, often necessary autonomous intelligent systems in order to solve specific or abstract tasks. This problem occurs when the risk is high enough for a human in order to solve it. Although this is a prototype robot [proof of concept] it may not be able to handle such situations. Our first goal is to create a stable real time Operating System in both microcontrollers in order to start the development of independent applications that could handle each sensor, process the results of them and create a reaction of the robot. According to our needs we should collect as much information as possible about the external environment in order to have the most suitable reaction and of course to eliminate the possibility of damage that could happened in case of wrong decision.
Robotics is the branch of technology that deals with the design, construction, operation and application of robots and computer systems for their control, sensory feedback, and information processing. These technologies deal with automated machines that can take the place of humans, in hazardous or manufacturing processes, or simply just resemble humans. Many of today's robots are inspired by nature contributing to the field of bio-inspired robotics. The concept in creation of machines that could operate autonomously dates back to classical times, but research into the functionality and potential uses of robots did not grow substantially until the 20th century. Throughout history, robotics has been often seen to mimic human behavior, and often manage tasks in a similar fashion. Today, robotics is a rapidly growing field, as we continue to research, design, and build new robots that serve various practical purposes, whether domestically, commercially, or militarily. Many robots do jobs that are hazardous to people such as defusing bombs, exploring shipwrecks, and mines. Though a significant percentage of robots in commission today are either human controlled, or operate in a static environment, there is an increasing interest in robots that can operate autonomously in a dynamic environment. These robots require some combination of navigation hardware and software in order to traverse their environment. This document refers to the study and implementation of a flexible robotic system according to the needs in remote areas [areas where it is impossible to move a man without the use of protective equipment]. It would be appropriate to make a reference to the previous model [ i025 ] which was constructed in order to determine the most suitable operating system as well the procedure sharing algorithm analogous to the priority and the time for completion. Inaccessible areas, such as nuclear power plants to specific sites and areas affected by earthquakes, often necessary autonomous intelligent systems in order to solve specific or abstract tasks. This problem occurs when the risk is high enough for a human in order to solve it. Although this is a prototype robot [proof of concept] it may not be able to handle such situations. Our first goal is to create a stable real time Operating System in both microcontrollers in order to start the development of independent applications that could handle each sensor, process the results of them and create a reaction of the robot. According to our needs we should collect as much information as possible about the external environment in order to have the most suitable reaction and of course to eliminate the possibility of damage that could happened in case of wrong decision.