Presents
SWARM ROBOTICS
This Workshop deals with the detailed analysis on the Autonomous Robots
which will be able to work as a swarm. The main focus of this workshop is
to introduce various methods of communication that can be used to transfer
data between multiple machines.
Session 1: Introduction to Autonomous Robots and “Swarm”
- What is Autonomous Robots?
Autonomous robots are robots which can perform desired tasks in unstructured environments
without continuous human guidance. Many kinds of robots have some degree
of autonomy. Different robots can be autonomous in different ways. A
high degree of autonomy is particularly desirable in fields such as
space exploration, cleaning floors, moving lawns, and waste water treatment.
- Difference between an autonomous and a manual robot.
- Difference between a simple autonomous and an advanced
Autonomous robot.
Swarm robotics is a new approach to the coordination of multi-robot
systems which consist of large numbers of mostly simple physical robots.
It is supposed that a desired collective behavior emerges from
the interactions between the robots and interactions of robots with the
environment. This approach emerged on the field of artificial swarm intelligence,
as well as the biological studies of insects, ants and other fields in nature,
where swarm behavior occurs.
- A few Real Life applications of swarm
- Some algorithms for Swarm Robotics
Session 2: Microcontroller
This session will help the students to know what exactly a microcontroller
is. Study will start from the very basic. Students will be taught how
to read the datasheet and extract information out of it. Stress will
be given on helping students to understand the complete electronic circuitry
of the motherboards provided.
v Overview of available microcontrollers
v How to select the required microcontroller
v PIC architecture
v Microchip PIC18F4550 microcontroller
Session 3: Programming
.
- PICDEM FS USB programming.
- Techniques of Boot loading
An introduction to the embedded C programming concepts will be given. Hands on sessions
will include study and execution of different programs. Step by step process
of coding in MPLAB V8., for our particular microcontroller, shall be explained.
A due attention shall be given to good programming practices. Following
features of the microcontroller will be covered in detail.
- ADC
- Using PICs inbuilt ADC
- ADC interrupts.
- LCD Display
- Running a LCD with the microcontroller.
- Monitoring Sensor output on the LCD.
- Status monitoring of the motors.
- Interrupts
- Overview of running motors using interrupts.
- Change in robot precision by differing attributes.
- Communication
- Introduction to Serial Communication protocols.
- UART
- Short and long range wireless communication
- Avoiding signal jamming
Session 4: Algorithm Thinking
Interactive session with the students to promote the ability
of thinking advanced algorithms. Several new approaches will be
discussed. Use of different hardware as well as algorithms will be
discussed including
- Making a simple and advanced Line follower.
- Making a grid solving robot.
- Interfacing of wireless communication mechanisms.
- Implementation of swarm intelligence.
- Communicating in between the swarm robots.
- Scheduling in between the swarm robots.
Session 5:Actuators
Various types of actuators will be discussed in detail, with stress on
their internal electromechanical arrangements. Their speed and torque
control will be discussed in detail. Introduction of problems faced
in circuitry involving controller and actuators is discussed. Usage
of feedback and selection of motors is discussed in detail.
- Geared DC Motors
- Stepper motors
- RC Servo motors
- Reduction in speed of motors
- Increase in the torque of motors
- Selection of motors as per the application
Session 6:Motor drivers
- Relays-Transistor Motor Driver
- Motor Driving using Darlington Transistors (ULN Devices)
- H-Bridge Motor Driver
- IC motor Drivers
- Detailed working of L293D
- Introduction to Pulse Width Modulation
Necessity of Motor Drivers and their types (operation based), will be discussed.
Electromechanical as well as solid state motor drivers will be explained
in detail. The concept of H-Bridge will be stressed upon. Concepts of
fly-back (protection) diodes, snubbers and other different strategies
to reduce interference will also be studied.
Session 7: Sensors
In this session, Different types of sensors and their applications will be studied in
this`1 session. Limitations of different types of sensors and their
advantages/ disadvantages will be discussed in detail. Hands-on sessions
will deal with interfacing and calibration of Infrared based line detection
and obstacle detection sensor modules. Students will be taught the processes
of selection of sensors according to the application.
- Study of different types of sensors
- Touch sensors
- Light sensor using LDR, photo transistor and photo diode.
- Infrared sensor using IR diode, and IR detectors
- Obstacle detectors
- Fire sensor
Session 6: Batteries
Different kind of batteries, their pros and cons will be studied in detail.
Charging mechanisms employed with respective circuit diagrams will also
be explained.
- Lead-acid batteries
- Ni-Cd
- Ni-Mh
- Li-ion
Benefits:
- Learn the art of communication among advanced autonomous robots by national
robotics champions
- Learn grid solver, sumo wrestling ,adv. line follower using
2 robots at a time on PIC microcontroller embedded
on specially designed robotics kits by experts.
- Certificates from Mitbots promoted by RFI, A BODY
OF IIT Delhi(evangelists).
Duration:
We conduct a workshop on 2 consecutive days, each day 8 hours
session so in total 16 hours properly divided into theory and hands
on sessions. At the end of each day we organize small competitions
among the participants of the workshop so that the students get the
real feel of competitive environment.
Contents of the Kit:
- The controller board (Brain)
- Built around the PIC18F4550 microcontroller, with inbuilt ADC,
PWM,
Serial communication and USB support.
- Onboard LCD for enhanced interaction.
- 13 channel ADC support for sensor interfacing.
- Direct USB support to enable programming using laptops.
- General purpose leds and switches.
- 1 USB – type A to A, programming cable.
- 2 DC geared motors.
- 1 RF module(Transmitter-Receiver Pair)
- 2 ABS polished wheels with metal couplings.
- Laser cut powder coated General Purpose robotic vehicle chassis
(can be used for even a micromouse).
- General Purpose Motor Driver Circuit Board (L293D board).
- 2 General Purpose Sensor Boards.
- High power durable batteries.
- Tools & switches.
- 1 Compact Disc with the study material.
CHARGES
· Rs 1000 per individual (without Kit)
A Certificate for all the participants.
If a student wants to buy a kit at the end of the workshop, we can also
provide that too in a minimum rate.
OUR REQUIREMENTS FOR THE WORKSHOP
· 1 Seminar Hall or Drawing Hall with sitting capacity for
150-200 students with laptop.
· Sound System
· 1 LCD Projector
· 3 volunteers
