A Mobile Self-reconfigurable Microrobot with Power and Communication Relays
نویسندگان
چکیده
A modular mobile self‐reconfigurable microrobot is developed to enlarge the whole surveillance range of mobile microrobot. The microrobot is designed as differential driven vehicle equipped with a passive universal connector with autonomic engagement/disengagement function, and actuated by MEMS‐based electromagnetic micromotors. To realize that the microrobot is autonomous, its electrical system is designed in modularity and integrated. A simple autonomous docking approach based on infrared sensors is presented. Experimental results verify high efficiency and reliability of the proposed docking method, and demonstrate the improved ability of performing large‐range vision‐based surveillance by power and communication relays.
منابع مشابه
Improving Quality of Service Routing in Mobile Ad Hoc Networks Using OLSR
Mobile ad hoc networks (MANET) are constructed by mobile nodes without access point. Since MANET has certain constraints, including power shortages, an unstable wireless environment and node mobility, more power-efficient and reliable routing protocols are needed. The OLSR protocol is an optimization of the classical link state algorithm. OLSR introduces an interesting concept, the multipoint r...
متن کاملDigitally Excited Reconfigurable Linear Antenna Array Using Swarm Optimization Algorithms
This paper describes the synthesis of digitally excited pencil/flat top dual beams simultaneously in a linear antenna array constructed of isotropic elements. The objective is to generate a pencil/flat top beam pair using the excitations generated by the evolutionary algorithms. Both the beams share common variable discrete amplitude excitations and differ in variable discrete phase excitations...
متن کاملAll-Optical Reconfigurable-Tunable 1×N Power Splitter Using Soliton Breakup
In this paper, we numerically simulated a glass-based all-optical 1×N power splitter with eleven different configurations using soliton breakup in a nonlinear medium. It is shown that in addition to reconfigurability of the proposed splitter, its power splitting ratio is tunable up to some extent values too. Nonlinear semivectorial iterative finite difference beam propagation method (IFD-...
متن کاملDesign and Implementation of Heterogeneous Robot Swarm
In this paper we described the hardware architecture of an inexpensive, heterogeneous, mobile robot swarm, designed and developed at RISC lab, University of Bridgeport. Each UB robot swarm is equipped with sensors, actuators, control and communication units, power supply, and interconnection mechanism. Robot swarms have become a new research paradigm in the last ten years offering novel approac...
متن کاملWheels Optimization and Vision Control of Omni-directional Mobile Microrobot
This paper presents a millimeters scale omni-directional mobile microrobot with special dual-wheel structure. The microrobot was actuated by three electromagnetic micromotors of 2mm diameter. Dynamic analysis of translational and steering movements presented the relationship between the sizes of the dual-wheel structure and the output torque of the micromotor. Genetic algorithm (GA) was employe...
متن کامل