Abstract

 These pages contain the IUTMicrobot team description and its Robocup Rescue Robotic project. The team was formed 3 years ago. We started with four members and carried out a few Robotics projects. At present the team has three members and is sponsored by Electrical and Computer Engineering Research Center (ECERC), Isfahan University of Technology (IUT). All three members are under-graduated students at Electrical and Computer Engineering Department, IUT. One of our future programs in our team, is participating in Robocup Rescue.

Introduction

 As is known, Robotics research includes different fields, including linking mechanics, electronics, software and so on, for building a robot. Our system is made up of the following parts:

-         Mechanics  (Static parts / Dynamic parts)

-         Electronics (Power circuits / Interface circuits)

-         Communications (Robot to server and vice versa)

-         Gathering information systems (Camera / Sensors)

-         Localization (Absolute / Relative)

-         Software (Control class / Process (Audio and Images))

A brief description of different fields and tasks is as follow:

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I-       Mechanical structure

Left and right motors are controlled separately. Our movement system is composed of parallel wheels. In this method we can easily control both V (linear velocity) and ω (rotational velocity). Final plan dimensions are 720*210*300 mm³.

 

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II-      Electronics

a.     The source of energy is provided using 3 parallel (12 V/2 Ah) acid batteries. Stabilizers, filters and regulators prepare the proper voltage for each part.

b.     Sensors outputs are converted to digital using converters and interfaces.

c.     A set of 89C51 controllers manages interfaces and PCBs.

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III-     Communication

To have less robot’s weight and volume, the processor is outside and is called Server. So we need a full-duplex communication channel. Environment’s data (video / audio / sensors outputs) are sent to server (digital and analog). Then according to that data server sends some digital commands to robot.

 

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IV-     Gathering information system

a.     Visual data is provided by CCD cameras (analog).

b.     Audible data is provided by a simple microphone and additional amplifier (analog).

c.     The sonar sensors are used to distinct different objects including victims, rubbles, walls, etc (Digital).

d.     A light sensor on robot disables or enables the Robot’s lamp depending on surrounding light condition.

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V-       Localization

There are two localization methods.

a.     Positioning the robot in pitch surrounding by Ultrasonic Transceivers and relative coordination of objects.

b.     Absolute coordination of robot.

By means of some calculations to change systems (r, θ) to (x, y, z) and merging gathered information, we can localize both robot and victims situations. Then a map including walls, rubble, path and victims situations will be created by means of some simple matrix calculations.

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VI-     Software

The software part is made by Delphi using the required components.

a.     The main parts of software are image processing and audio processing units for detecting victims.

b.     Another part of the program calculates the coordination using acquired data from CCD and ultrasonic sensors.

c.     Controller unit chooses the action of robot considering the environmental condition.

d.     Reporting unit that prints out a 3D map (x, y, z) including victims’ situation, walls, rubbles, etc.

Final case                               Demo model