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CENTRALIZED INTRUSION DETECTION via SWARM ROBOTS

1. int PhysicalRobot 1lstPlaceRobots Items 1lstPlaceRobots SelectedIndex get StartHeading pnlEnv Refresh rj else k4 foreach PhysicalRobot test in lstPlaceRobots Items 79 if pixelsPerUnit amp amp Math Abs test getStartY LL jy Sateh MessageBox Show Please select a robot robots in the list consult the Robots tab private void pnlEnv Paint object sender Math Abs test getStartX yCoord xCoord lt 20 lt 20 pixelsPerUnit If there are no PaintEventArgs e Graphics g e Graphics GraphicsPath myG new GraphicsPath Matrix mat new Matrix if tempX gt 0 amp amp tempY gt 0 mat RotateAt tempHeading new PointF tempX tempY myG AddRectangle new Rectangle tempX 2 pixelsPerUnit tempY 4 pixelsPerUnit 4 pixelsPerUnit 6 pixelsPerUnit myG AddRectangle new Rectangle tempX 3 pixelsPerUnit tempY 5 pixelsPerUnit 1 pixelsPerUnit 9 pixelsPerUnit myG AddRectangle new Rectangle tempX 2 pixelsPerUnit tempY 5 pixelsPerUnit 1 pixelsPerUnit 9 pixelsPerUnit myG Transform mat if canRobotBePlaced tempX tempY g DrawPath new Pen Color Blue myG else g DrawPath new Pen Color Red myG foreach PhysicalRobot currRobot in lstPlaceRobots Items int x int currRobot getStartX pixelsPe
2. if x gt 0 amp amp y gt 0 myG new GraphicsPath mat new Matrix mat RotateAt int currRobot getHeading new PointF x y myG AddRectangle new Rectangle x 2 pixelsPerUnit y 4 pixelsPerUnit 4 pixelsPerUnit 6 pixelsPerUnit myG AddRectangle new Rectangle x 3 pixelsPerUnit y 5 pixelsPerUnit 1 pixelsPerUnit 9 pixelsPerUnit myG AddRectangle new Rectangle x 2 pixelsPerUnit y 5 pixelsPerUnit 1 pixelsPerUnit 9 pixelsPerUnit myG Transform mat g DrawPath new Pen Color Black myG 88 Appendix H Purchased Materials 89
3. ToString try serialComm Write address 00100 string response serialComm ReadLine Split 84 if response Length 10 myRobot setAnalogs ref response catch tmrUpdate Stop MessageBox Show Lost Communications private void updatePWMS ref PhysicalRobot myRobot string address myRobot RobotCommAddress2 ToString GE serialComm Write address 00200 string response serialComm ReadLine Split if response Length 6 myRobot setPWMS ref response eaten tmrUpdate Stop MessageBox Show Lost Communications private void updatePosition ref PhysicalRobot myRobot string address myRobot RobotCommAddress2 ToString try serialComm Write address 00300 string response serialComm ReadLine Split if response Length 5 myRobot setPosition ref response catch tmrUpdate Stop MessageBox Show Lost Communications private void updateData object o EventArgs eargs PhysicalRobot currRobot PhysicalRobot loadedRobots 0 if currRobot getCommStatus StartsWith Connected updateAnalogs ref currRobot updatePWMS ref currRobot updatePosition ref currRobot 85 Events private void newSimulationToolStripMenultem Click object sender EventArgs e frmNewScenario newDialog ref serialComm newDia
4. INTRUDER 1 Dec INTRUDER 2 Cr Returns Intruder Position info End Sub Sub commCatRole functionID As Integer This is the ROLE delegation function it executes the function requested by the function ID Select Case functionID Case 0 roleSleep Case 1 roleWait Case 2 58 roleActive End Select End Sub Sub roleSleep This sub puts the robot in SLEEP mode End Sub Sub role Wait This sub puts the robot in WAIT mode End Sub Sub role Active This sub puts the robot in ACTIVE mode End Sub Sub commCatObstacle functionID As Integer This is the OBSTACLE delegation function it executes the function requested by the function ID Select Case functionID Case 0 j Case 1 Case 2 Case 3 i Case 4 End Select End Sub Sub commCatAutonomous functionID As Integer This is the AUTONOMOUS delegation function it executes the function requested by the function ID Select Case functionID Case 0 autonomousMatrix Case 1 TurnToHeading Case 2 Backup i Case 3 i Case 4 End Select End Sub Sub autonomousMatrix Dim i As Integer Dim j As Integer 59 i 0 j 0 Do While 1 lt 54 PositionMatrix j 0 dataInput 1 100 dataInput i 1 10 dataInput i 2 PositionMatrix j dataInput i 3 100 dataInput i 4 10 dataInput i 5 jj 1 1 6 Loop delegatePosMatrix End Sub Sub TurnToHeading Dim Heading As Single Heading dataInput 0 dataInput 1 10 dataInput 2 100 dataInput 3
5. simulation is also available from this menu If chosen one is able to load previous settings of 29 test conducted in the past The screenshot below provides visual aid on how to reach these two options Figure 24 RoboSim s New Simulation Drop Down Menu The next step was clicking on the Simulation tab A drop down menu brought up three options Communication Robot Health and Simulations Specs When Communication was clicked it brought the user to a scenario set up page which will be discussed in a moment The Robot Health and Simulation Specs buttons were not clicked as there was no scenario currently programmed into the software Below a screenshot provides another visual aid of the step explained above RoboSim v 1 0 Figure 25 RoboSim s Simulation Drop Down Menu 30 After clicking the Communications link we were brought to the Robots tab A number of important variables were displayed on this screen First we checked off the number of robots used for this particular test The number of checked robots could vary depending on the scale of the test Highlighting an individual robot the program displayed the Robot Status box whether the robot was active paused or sleeping Active meant the robot was moving in an attempt to find the intruder paused meant the robot was stopped somewhere on the test platform and sleeping meant the robot was charging in
6. function will be Do While Blen 1 0 lt dataLength Take ASCII character and convert to Determine the function ID to Determine how long the input string to the Wait until the all input is read Puts input values into an array Clear datalnput k datalnput k 48 Take ASCII character and convert to numerical Loop Geta 1 dataInput dataLength Belr 1 2 buffer For k 0 To dataLength 1 value Next commDelegate header 2 funcID End Sub Sub ackMsg High 47 Do While In 48 1 Loop Low 47 End Sub Sub commDelegate categoryID As Integer functionID As Integer This sub pushes the function number to the delegator of the requested category Select Case categoryID Case 0 commCatStatus functionID Case 1 commCatRole functionID Case 2 commCatObstacle functionID Case 3 56 commCatAutonomous functionID End Select End Sub Sub commCatStatus functionID As Integer This is the STATUS delegation function it selects a function to execute based on the function ID Select Case functionID Case 0 status Handshake Case 1 statusSendRaw Case 2 statusSendP WM Case 3 statusSendNav Case 4 statusSendObstacle Case 5 statusSendIntruder End Select End Sub Sub statusHandshake This sub responds to the server with a HELO message and the battery voltage to confirm adequate life Putstr 1 5000011 HELO If RAW 0 lt 999 Then Putstr 1 0 If RAW 0 lt 99 Then Putstr 1 0 If RAW 0 lt 9 Then Putstr 1 0 Puts
7. 1000 dataInput 4 10000 dataInp ut 5 100000 If POSITION 2 gt 6 283 18530 Then POSITION 2 POSITION 2 MOD 6 28318530 If POSITION 2 gt Heading Then Pwm 4 3450 65535 Pwm 5 3550 65535 Do While Count 0 Count 1 lt 4 304 Fabs POSITION 2 Heading 0 022776 Loop Pwm 4 3500 65535 Pwm 5 3500 65535 Delay 100 POSITION 2 Heading 0 022776 4 304 Count 0 Count 1 POSITION 2 Else Pwm 4 3550 65535 Pwm 5 3450 65535 Do While Count 0 Count 1 lt 4 304 Fabs POSITION 2 Heading 0 022776 Loop Pwm 4 3500 65535 Pwm 5 3500 65535 Delay 100 POSITION 2 Heading 0 022776 4 304 Count 0 Count 1 POSITION 2 Endif Countreset 0 Countreset 1 End Sub 60 Sub Backup Dim Inches As Integer Inches datalnput 0 100 datalnput 1 10 datalnput 2 Pwm 4 3450 65535 Pwm 5 3450 65535 Do While Count 0 Count 1 2 lt Inches 0 022776 Loop Pwm 4 3500 65535 Pwm 5 3500 65535 Delay 100 POSITION 0 POSITION 0 Count 0 Count 1 2 0 022776 Cos POSITION 2 POSITION 1 POSITION 1 Count 0 Count 1 2 0 022776 Sin POSITION 2 Countreset 0 Countreset 1 End Sub 61 Appendix F Radio Cubloc Code Const Device cb220 Dim SSN As Integer SSN Eeread 0 1 DATA RECEIVE SPECIFIC Dim HEADR 7 As Byte Dim DAT 104 As Byte Dim ROBOID As Integer Dim HEADR_CODE As Integer Dim DAT LEN As Integer Dim REC INDEX As Integer Input 13 Output 12 Low 12 Opencom 1 115200 3 105 105 Opencom 0 115200 3 10
8. The software used has limited processing capability but enough for the processing required for this project If more sensory equipment was added to the robots or the number of robots was increased it may be necessary to improve the quality of radio communication 38 5 ANALYSIS The development of the intrusion detection network using mobile sensor arrays involved the integration of multiple subsystems into a system capable of dynamically determining the position of an intruding or contaminating object with known quantifiable characteristics Once requirements were defined the initial base hardware was acquired and development of the required systems was completed The subsystems and components that were integrated into the system were done so after several iterations and changes A key component of the system was the method of determining the global positions of each individual drone robot The odometry method that was finally chosen included the use of optical rotary encoders embedded in the servo drive motors of the drones Compared to the other methods investigated this system provided precision measurements of the distance traveled by each drive wheel allowing sufficient determination of the robot s heading and position in the given environment A benefit of knowing the accurate position of each robot includes the ability for the base station to direct other drones efficiently so as not to cover the same terrain multiple unnecessary times
9. string fileName index ini FileStream indexFile new FileStream directory fileName StreamReader fileReader new StreamReader indexFile ArrayList robotFiles new ArrayList ArrayList myloadedRobots new ArrayList string linelnput ery while lineInput fileReader ReadLine null robotFiles Add lineInput 83 finally fileReader Close indexFile Close for int k 0 k lt robotFiles Count k EEY fileName string robotFiles k indexFile new FileStream directory fileName FileMode Open fileReader new StreamReader indexFile byte robotID byte Parse fileReader ReadLine PhysicalRobot toBeAdded new PhysicalRobot robotID toBeAdded setName fileReader ReadLine toBeAdded setCommAddress short Parse fileReader ReadLine myloadedRobots Add toBeAdded catch FileNotFoundException e string temp e StackTrace frmRobotFileNotExist error new frmRobotFileNotExist error ShowDialog finally fileReader Close indexFile Close return myloadedRobots private void initRadio try serialComm Open serialComm ReadTimeout 100 serialComm WriteTimeout 100 catch MessageBox Show The Server Radio is not properly eonfig red private void updateAnalogs ref PhysicalRobot myRobot string address myRobot RobotCommAddress2
10. the light intensity Initial tests showed that the sensors were reading values that were close to the maximum limit when used unmodified in a room with ambient fluorescent lighting This was due to the fact that the sensors in their original form allowed light to enter from 180 degrees around the front surface Through the attachment of a collimating tube to the front surface of the sensor the amount of ambient light that entered the sensor was limited It only permitted light rays that were traveling in a straight line parallel with the tube to enter the sensor This allowed the drone to determine the location of the intruder based upon the angle with the maximum blue light levels The TSL257 light sensor and collimator tube can be seen in Figure 12 Collimator Taos INC TSL257 Figure 12 TSL257 Sensor with and without Collimator 3 1 2 Angular Positioning of Light Sensors The angular placement of the light to voltage converters in the panning sensor head was determined through the use of initial experimental data A set of calibrations was completed on a single light to voltage converter with collimator to determine its field of view 14 Figure 13 Light and Sensor Calibration Setup The algorithm developed to locate and track the contaminating light source requires known calibration values for the field of view of each individual sensor as well as the sensor head as a whole An initial experiment was performed to determine t
11. Blue light emitted from an LEDs attached to the intruder robot was used as the contamination source and was detected by the sensor arrays of the drone robots The LEDs emitted light with a wavelength of 470 nm A key requirement for the intruder was that the robot was able to distribute LEDs light 360 degrees around the robot This allowed the drone 19 robots to identify and accurately determine the location of the intruder Several methods of distributing the LEDs light around the robot were proposed including mounting several LEDs around the robot and using one high power LEDs with a reflective distributor The idea of mounting several LEDs around the perimeter of the intruder induces a greater error in determination of the target s location due to the fact that there are multiple light sources on the same intruder that were detected by the drone robots The development of a light distribution device allowed the light from a single high power LED source 3500 4000 mW to be distributed 360 degrees around the intruder robot The light was emitted upwards from the LED and was reflected off the inverted cone and redirected outwards away from the center of the robot Figure 19 Intruder with LEDs 3 4 Positioning System Methods In order for successful operation of the drone robots a precise positioning system was required This system was required in order to accurately command each robot to any point in a 2 D space Each robot should
12. Currently there are many modules that have been developed and tested with a graphical interface counterpart The user can currently create a new simulation selecting any of the installed robots The user can assign each robot a state when starting the simulation These states included active moving sensing and looking for the intruder paused stopped but sensing and looking for the intruder or sleeping not moving not sensing waiting for a request from the master to become active The new simulation dialog also provided a graphical view of each robots communications test Within this dialog a user can define a custom environment size and provide specific pre simulation commands These commands included stationing robots at various key points within the environment and placing them at specific headings The user can also view a list of installed robots add robots and remove robots graphically In addition each robot can be viewed using the robot health viewer a module designed to show vital statistics about each robot including voltages sensor outputs and communication status The simulation viewer was on hold due to the positioning system The load and save simulation module was complete however it needed a graphical interface to represent it The general preferences module also needed a graphical interface to represent it Once these modules have been added and the positioning system has been finalized the graphical interface will
13. Dim RAW 8 As Integer Array of important voltages Batt Aux R Blue C Blue L Blue R Dist C Dist L Dist Dim PWMS 4 As Integer Array of PWM values Left Right Pan Batt Dim POSITIONG As Single Array of all Position Information of Robot X Y Heading Dim header 7 As Byte The header input data received for all radio communications Dim datalnput 104 As Byte Data that will be received for radio communications Dim PositionMatrix 10 2 As Integer Matrix with Position Data Dim LastX As Integer Dim LastY As Integer Dim INTRUDER 3 As Integer Array of all Position Information for Intruder X Y Confidence Interval 0 100 Dim SPWM As Integer PWM For Panning Head Servo Set Debug Off This is the MAIN function block only the function calls in HERE will be executed initNavHardware initRadio enableSensors POSITION 0 0 POSITION 1 0 POSITION 2 1 57096 LastX 0 LastY 0 Do updateRawVoltages If In 48 1 Then ackMsg receiveRadioComm Endif Loop End MAIN function block End Sub initNavHardware 49 This sub initializes all navigation hardware Set Count On TNITIALIZE SECOND HARDWARE COUNTER Input 14 SET PORT 14 RIGHT COUNTER TO INPUT Input 15 SET PORT 15 LEFT COUNTER TO INPUT Countreset 0 RESET RIGHT COUNTER Countreset 1 RESET LEFT COUNTER Low 19 Turn off Panning Motor Low 20 Turn off Left Drive Motor Low 21 Turn off Right Drive Motor Pwm 4 3500 65535 SET PWM Left Drive TO MOTOR NEUTRAL
14. EventHandler updateData startTimer Destructor public void Dispose tmrUpdate Dispose public void startTimer tmrUpdate Start Functions Methods private void updateData object o EventArgs eargs PhysicalRobot activeRobots lstRunningRobo PhysicalRobot selRobot ts SelectedIndex lblRobotID Text selRobot getRobotID ToString lblRobotName Text selRobot ToString switch selRobot getStatus case 0 lblScenarioRole Text Active break case 1 lblScenarioRole Text Paused break case 2 lblScenarioRole Text Sleeping break 70 lblCommAddress Text selRobot RobotCommAddress2 ToString lblCommStatus Text selRobot getCommStatus lblBattVoltage Text selRobot getBattVoltage ToString n 2 lblLeftLightVoltage Text selRobot getLeftLightVoltage ToString n 2 lblCenterLightVoltage Text selRobot getCenterLightVoltage ToString n 2 lblRightLightVoltage Text selRobot getRightLightVoltage ToString n 2 lblRightDistanceVoltage Text selRobot getRightDistanceVoltage ToString n 2 lblCenterDistanceVoltage Text selRobot getCenterDistanceVoltage ToString n 2 lblLeftDistanceVoltage Text selRobot getLeftDistanceVoltage ToString n 2 lblAuxVoltage Text selRobot getAuxVoltage ToString n 2 lblLeftDriveMotor Text selRobot getLeftDriveMotorPWM T
15. Pwm 5 3500 65535 SET PWM Right Drive TO MOTOR NEUTRAL High 17 TURN ON MOTOR CURRENT Input 48 SET PORT 48 Radio Proc Flag to INPUT Output 47 SET PORT 47 Radio Response Flag to OUTPUT Low 47 TURN OFF TURN OFF PIN End Sub Sub delegatePosMatrix Dim i As Integer Dim myDistance As Single For i 0 To 9 myDistance Sqr PositionMatrix 1 0 LastX 2 PositionMatrix i 1 LastY 2 Debug Dec 1 Cr navGoToCoord PositionMatrix 1 0 PositionMatrix i 1 myDistance Tf In 48 1 Then ackMsg f If header 2 1 Or header 2 3 Then 19 Else receiveRadioComm Endif Endif Next Pwm 4 3500 65535 Pwm 5 3500 65535 receiveRadioComm 50 End Sub Sub navGetPosition Dim leftDistTrav As Single DISTANCE TRAVELED OF LEFT TIRE Dim rghtDistTrav As Single DISTANCE TRAVELED OF RIGHT TIRE Dim radius As Single RESULTING RADIUS Dim oldHeading As Single Dim BOEWIDTH As Single Dim IPC As Single IPC 0 022776 BOEWIDTH 4 304 DISTANCE MEASURED BETWEEN TIRES INCHES leftDistTrav Count 1 IPC ACTUAL TRAVELED DISTANCE OF LEFT TIRE rehtDistTrav Count 0 IPC ACTUAL TRAVELED DISTANCE OF RIGHT TIRE If leftDistTrav rghtDistTrav Then If both travel the same distance it went straight POSITION 1 POSITION 1 leftDistTrav Sin POSITION 2 POSITION 0 POSITION 0 leftDistTrav Cos POSITION 2 Else oldHeading POSITION 2 POSITION 2 rghtDistTrav leftDistTrav BOEWIDTH POSITION 2 ACTUAL ANG
16. and to prevent situations where drones might interfere with each others movement The final arrangement of the detection sensors resulted in the system being capable of effectively discriminating an intruder with a known contaminant signature from other drone robots and immobile objects such as walls and other obstacles Based on the measurements obtained by a single robot the general location of an intruder is distributed to a given number of active drones which are sent to further define the exact location of the intruder This allowed the system to use a minimum amount of movement and system resources necessary contain the intruder The five degree angle that was chosen for the blue light sensors was compatible with the code developed allowing the robot to center its sensor head on the intruder and make intelligent movements based upon both the angular orientation of the intruder and the algorithms present in the robots control programs The development of a short range object detection method began with the inclusion of both physical contact whiskers and short range infrared distance sensors The decision to eliminate the whiskers proved to be acceptable due to the angular orientation of the two IR distance sensors being capable of preventing unwanted contact 39 The finalized intruding contaminating source that was used to test the system is operated by human interface and is completely controllable There are several advantages and disadv
17. be able to both accurately and precisely navigate to any given set of coordinates within a specified tolerance tolerance and error are discussed in the analysis section Due to the cooperative operation of the robots they should also work with the same coordinate system so that a particular set of coordinates means the same thing for each robot The coordinate system can also be used to set boundaries meaning that physical walls may not be necessary Lastly with respect to the intruder if located by one of the drones its position can be accurately conveyed to the remainder of the drones 20 Several methods for determining the position of the robots while operating in a defined area were investigated Each method had benefits and disadvantages Time based movement Global reference positioning inertial navigation electromagnetic guidance and several methods of odometry were all researched in the development of the drone robots The system that was eventually chosen was a method of odometry that used an optical rotary encoder 3 4 1 Time Based Positioning The highest error rated method was that of time based positioning The basic concept of this system was movement over defined periods of time at approximate velocities This method achieves partially accurate positioning However basing movement on time introduces much possibility for error Propulsion errors were large and were difficult to minimize as drive velocities varied with the t
18. be close to completed 28 4 RESULTS Multiple tests needed to be conducted in order to test each sensor individually as well as to test multiple sensors at once In addition to the sensors being tested tests were run with the introduction of obstacles to test if the robots could handle stationary objects blocking their path Light intensity from the intruder was varied to determine how effective the robots would react to a limited light source 4 1 Program RoboSim V2 0 The GUI was completed allowing a user with no previous knowledge of the software the ability to sit down with little instruction and run the program Many hours were spent creating the background coding to run the program This background coding can be looked at in Appendix E as there are numerous pages of programming that were developed to create this user friendly interface Finalized the following program was labeled RoboSim V 2 0 Opening the program the user will start off on a blank screen as seen below This is the main screen that opened up when the program was run The screenshot below provides a visual to help the user understand what they are looking at REE File Edit View Simulation Start Simulation Figure 23 RoboSim s Main Screen Once this screen is opened we created a new simulation This function allowed us to start a new project giving the robots new positions and area to test in The ability to load
19. confidence to higher then 30 or it does a broad scan If INTRUDER 2 gt 50 Then requires confidence to be higher then 50 to report intruder position INTRUDER 0 POSITION 0 dist Cos headangle POSITION 2 calcs x cordinate of intruder INTRUDER 1 POSITION 1 dist Sin headangle POSITION 2 calcs y cordinate of intruder Goto endtrack pointer to get out of FOR loop Else INTRUDER 0 0 sets to zero if confidence is too low INTRUDER 1 0 sets to zero if confidence is too low INTRUDER 2 0 sets to zero if confidence is too low Endif Next endtrack End Sub Sub SCAN High 34 center distance sensor enable High 36 blue light sensor enable High 18 PAN motor enable Low 19 PWM channel config Dim 1 As Integer counter value Dim level As Integer threshold to continue scanning level 40 minimum level needed to try tracking For i SPWM To 1900 Step 10 moves the head all the way to the left level is met level is met level is met If Tadin 3 gt level Then Goto break breaks from the loop if the Pwm 3 1 65535 moves motor Next For 1 1900 To 5200 Step 10 scans from left to right If Tadin 3 gt level Then Goto break breaks from the loop if the Pwm 3 1 65535 Next For 1 5200 To SPWM Step 10 scans from Right To Left If Tadin 3 gt level Then Goto break breaks from the loop if the Pwm 3 1 65535 moves motor Next break break pointer 54 SPWM i sets global SPWM to last position scanned
20. devised to maximize the run time of the fleet of robots Each drone is assigned a different power usage layout based on what its task in the fleet is For instance if the drone is in sleep mode only the main processor and radio is powered while in active mode all sensors and motors can be energized 3 6 Programming Programming was a crucial part of this project as it provided the guidance given to the robots This part of the project required the user to understand the computer science field Programming was the second most important step in the project the first being the design and manufacturing of the robots This project would be unaffective if there was no direction given to the robots to tell them how to interact Looking into other literary sources concerning robotic positioning and models this project created an advanced track and trap method the robots followed All Algorithms and code were broken into two parts the code which is sent to each drone and the code running of the base station 26 3 6 1 Interactive Graphical User Interface GUI The graphical user interface GUI was essential to this project as it allows future teams to run the same code without an understanding of how it works The GUI must be intuitive for users who will not receive a great deal of training Some training will be available from past students who worked on the project however in the future it may be more difficult to find The GUI has many requir
21. light sensors With no foreign impediments on either of the sensors light or distance the ability to accurately track the results of any test was achieved To minimize the number of impediments the platform was constructed with a plain white base The base consisted of a 3 16 inch rigid particle board material with a semi glossy white surface finish as seen in Figure 3 below Figure 3 Environmental Test Platform with Robots and Intruder The platform was required to be mobile giving the robots the ability to be presented or demonstrated in various locations This was taken into consideration as the platform was designed in three identical sections Each section had the dimensions of 3 feet by 6 feet by 3 inches length x width x height The sections were bolted together to provide stability and eliminate cracks between the sections of the whiteboard 2 2 Drone Robots There were ten drone robots that were assembled for this project Nine of the robots were designed for tracking and sensing an intruder and one of the robots was set as the intruder The setup of the main circuit boards of the robots was designed during the summer previous to the official project by Nathan Rosenblad who was participating in a summer internship Of the ten robots the intruder is the only one not equipped with the long short distance sensors and light sensors As seen in Figure 4 the remaining nine robots have the following components a Radio communi
22. main server code to the drone robots The operation of the radio communication programming proved to have minor flaws that resulted in disrupted communications between the central hub and the drone robots Countless hours were spent developing and troubleshooting the radio communications problems but time did not permit for all the bugs to be fixed It is recommended that future MQP groups include students majoring in computer science and electrical engineering The overall functionality of the entire mobile sensor network is successful except for the issues discussed regarding the radio communications programming 40 6 CONCLUSION The primary goal of this project was to develop a system that could effectively use sensor measurements wireless communication and a series of fully developed algorithms to expeditiously detect track and detain an intruder Initially this project presented the challenge of learning programming as well as some electrical engineering skills A user friendly programming system was chosen Cubloc Technologies which was used to aid us in developing an advanced program that allowed us to give orders to multiple robots over one network Initial iterations showed that there were vast numbers of possible combinations of types of sensors styles of movement and programming techniques that could have been developed to effectively complete the desired tasks We maximized our budget to acquire sensors processors and pos
23. moving towards the intruder while the intruder was moving towards the top left corner of the picture We noticed that the robots fluidly corrected their positions to adjust to the intruders movement 35 Figure 33 Robots Initial Movement Towards the Intruder The intruder continued to try and move through a gap between the oncoming robots but the continual updated position of the intruder to the surrounding robots allowed for quick corrective movements preventing the intruder from escaping Figure 34 Robots Tighten the Gap around the Intruder In the tests final stages the intruder was unable to move as the other robots had successfully contained the intruder At this point the robots kept their assigned minimum distance of one foot from the intruder Figure 35 Contained Intruder 36 4 3 Sensors The 45 degree angle mounted short distance infrared sensors worked perfectly in detecting oncoming obstacles and redirecting the robots path with plenty of space between the obstacle and the robot This minimized the probability that the robot could get stuck or boxed into a corner and use valuable energy to maneuver its way out The short distance sensors accurately detected an object about 18 inches away The long distance infrared sensor placement proved useful as 1t was mounted higher than the short distance sensors and could see above a few of the obstacles that the short range sensor could not see above Combined with
24. the chute The box to the right labeled Team Status displayed a list of robots the user selected and their statuses When one robot was selected individual robot data was displayed in the Robot Comms box on the bottom right of the screen Here you saw the robots name ID Robot Comm ID and whether it was initialized Dependent upon the scenario the user had the ability to choose from 1 to 9 of the robots available To clarify where exactly everything is on this screen another screenshot is seen below to provide a better understanding of the directions above x Robots Scenario Strategy Pre Sim Setup Select which robots will participate in the simulation and define their attributes M Robot Status Team Status Active Paused Sleeping Robot 2 Robot 3 Robot 4 Robot 5 Robot 6 Robot 7 Robot 8 Robot 9 Robot Comms L IOOOL O Robot Name Robot 1 Robot ID 1 Robot Comm ID 7P5 TF1 64 Baud Rate 115200 Flow Control KonXoff DataBits 8 Parity None Stop Bits 1 Comm Status Cancel dd Figure 26 RoboSim s Scenario Menu After the Robots tab has been set up the user moved on to the Scenario tab At this tab the user was required to set the dimensions for the testing area In the case below a 9ft X 6ft area was chosen as it was the size of the ETP The user clicked on the leng
25. 0 Battery Charge 0 Figure 29 RoboSim s Robot Health Menu 4 2 Large Testing Environments The initial testing took place on the ETP and the program was debugged Satisfied with the results the robots were taken to WPI s squash courts which provided a larger testing area Within this area tests were taken to determine if the maximum range values of the sensors and were correct To verify our values a basic test was conducted with the intruder and seven of the robots The test started by inputting the parameters into the RoboSim program Seven robots were used and the chute was placed in the bottom left corner of the court which established the robots origin All the pre sim information was uploaded into RoboSim Figure 30 Robots in the Chute Origin The robots were mapped in the program to align around the perimeter of the squash court The perimeter of the squash court was 15ft X 30ft but we reduced the area to a 15ft X 20ft area 34 The intruder was placed in the center of the field Once the intruder was placed the Create New button was pushed in RoboSim and the robots began to move to their assigned positions Figure 31 Robots Moving to their Starting Positions Once in their assigned positions the intruder s light was then flipped on and the robots began searching for the intruder Figure 32 Robots in Position Awaiting the Start Command The robots then began
26. 5 105 Belr 1 2 Belr 0 2 On Recvl Gosub RECEIVE Set Until 1 7 Set Debug Off Debug RADIO ID Dec SSN Cr Low 12 Do If In 13 1 Then Low 12 Endif Loop RECEIVE If Blen 1 0 gt 7 Then Geta 1 HEADR 7 For REC INDEX 0 To 6 HEADR REC INDEX HEADR REC INDEX 48 Debug Dec HEADR REC INDEX Next 62 ROBOID HEADR 0 10 HEADR 1 HEADR CODE HEADR 3 10 HEADR 4 DAT _LEN HEADR 5 10 HEADR 6 Do While Blen 1 0 lt DAT_LEN Loop Geta 1 DAT DAT LEN Belr 1 2 For REC INDEX 0 To DAT LEN 1 DAT REC INDEX DAT REC INDEX 48 Next If ROBOID SSN Then High 12 Debug Cr CONTROL HEADER Cr For REC INDEX 0 To 6 Debug Dec HEADR REC INDEX Putstr 0 HEADR REC_INDEX 48 Next Debug Cr DATA Cr For REC_INDEX 0 To DAT_LEN 1 Debug Dec DAT REC_INDEX Putstr 0 DAT REC_INDEX 48 Next Debug Cr Else Return End If End If Belr 1 2 Return 63 Appendix G Base Station Code PhysicalRobot using System using System Collections Generic using System Text using System Windows Forms namespace RoboSim class PhysicalRobot Robot priva priva priva priva Le LE te te Information IDisposable byte robotID ID Number Unique to Each Robot byte robotStatus 0 Active l Paused 2 Sleeping string robotName Name Used to Describe Robot Not Unique bool inSimulation Communication priva priva LE te short commAddress string commStatus 2 Initializing 3 Su
27. 89 708deg 0 90deg O lo 6 292deg 47 Appendix D Initial Scanning and Panning Sensor Head Design Figure 36 Panning and Scanning Sensor Head The initial design of this panning sensor head has the ability to pan left to right as well as scan up and down The movement of the head is facilitated by a pair of mini servo motors as seen in the figure above This design called for the manufacture of two separate head components 1 and 2 which were to be screwed together This design was discarded for several reasons The horizontal orientation of the distance sensor resulted in interference with the short range sensors The cost of using 2 servos was prohibitive Large moments due to the weight of the head and sensors could result in instability of the structure when panning The largest factor in the decision to discard this design was the instability of the dual axis servo servo mounting and the programming error that would develop due to the vertical scanning In order to accurately determine the vertical angle at which the servo is oriented a separate feedback device would be needed due to the fact that the sensitivity in the vertical plane is very high A small error in the angular position of the servo shaft would result in a large error in the sensor to ground distance reading 48 Appendix E Main Cubloc Code Const Device cb280 Ramclear Dim SSN As Integer Unique identification number used in radio communications
28. End Sub Function Longrange C As Integer As Integer converts ADC value of a longrange distance sensor to inches Longrange 5197 9 C 1 0003 End Function Sub initRadio This sub reads the unique radio identification number from EEPROM opens communication with the radio attached to its serial port and clears the buffer SSN Eeread 0 1 Opencom 1 115200 3 105 105 Belr 1 2 End Sub Sub updateRawVoltages This sub updates a global array containing the raw voltages for all analog channels Dim i As Integer For i 0 To 7 RAW 1 Tadin 1 Next End Sub Sub enableSensors This sub enables distance sensors and blue light sensors High 33 High 34 High 35 High 36 End Sub Sub receiveRadioComm This sub takes a message received and verified by the radio and parses it into various parts The header contains the address a function category the function number within that category and a data length followed by the amount of data claimed in the header Once parsed into global and local variables the function passes the message onto a delegation function which performs the operation requested Dim funcID As Integer Dim dataLength As Integer Dim k As Integer 55 If Blen 1 0 gt 7 Then When the length of the input is at least 7 Geta 1 header 7 Read the header End If For k 0 To 6 header k header k 48 numerical value Next funcID header 3 10 header 4 be executed dataLength header 5 10 header 6
29. Inc Copyright 2001 43 Appendix A Robot Component Schematics DRONE ROBOT POWER REGULATOR CHARGING SYSTEM RN ER ET LM2575T CHARGER AND PS iii lil Copyrighted 2006 by Nathan Rosenblad E MAIN BOARD SENSOR ACTUATOR CONNECTIONS 44 CC LENT RENT Berl ee CHARGE CTRL 45 Appendix B Robot Movement Equations Algorithms If Reounr gt Ecounr Then A count Lcouwr R R R L 2 WIDTH INSIDE COUNT COUNT 1 Zu Acounr Rise AR 7 Buwan A0 Endlf If Reounr Lcounr Then A count m Reounr Rywipry R spe R L COUNT COUNT A Rinsing Ri A0 COUNT Endlf O MEADING _ CURRENT O MEADING _PREVIOUS T A 0 AY Rise gt Rywrn sin A0 DI AX Rinsing 7 Rym cos A NI HAY AX Y CURRENT X Y PREVIOUS CURRENT X previous Elself R d Lcounr COUNT 9 Acounr OGEADING CURRENT OEEADING _PREVIOUS AY Acounr sin Orzapinc_ CURRENT AY Acounr COS O EAD nG_CURRENT Y currenr Y previous AY X current X previous AX EndElself 46 Appendix C Full Calculations for Sensor Head Field of View Cc S d 4in 0 6deg O 7 r tan O d r 0 035ft a 90deg O bied r b 0335ft c n 0 033ft mn c 0 NW 12 as 2 b c cos a b t E a 4in SEC s 0 02in sin a
30. LE radius BOEWIDTH rghtDistTrav leftDistTrav 2 rghtDistTrav leftDistTrav ACTUAL RADIUS OF ARC POSITION 1 POSITION 1 radius Cos POSITION 2 Cos oldHeading ACTUAL Y CORDINATE POSITION 0 POSITION 0 radius Sin POSITION 2 Sin oldHeading ACTUAL X CORDINATE Endif Countreset 0 Countreset 1 End Sub Sub navGoToCoord nextX As Integer nextY As Integer pntDistance As Single This sub takes the X Y cords of the next point it is trying to go to as well as the distance from the previous point to the point it is trying to go to The sub makes changes to the robots position until it is close enough to the given position to get another command Dim distFromGoal As Single Dim xStraight As Single Dim yStraight As Single Dim errorStraight As Single Dim xTurnGuess As Single Dim yTurnGuess As Single 51 Dim errorGuess As Single Dim angErrorPerc As Single Dim disErrorPerc As Single distFromGoal Sqr nextX POSITION 0 2 nextY POSITION 1 2 Debug Going To Dec nextX Dec nextY Cr Do While distFromGoal gt 0 75 xStraight distFromGoal Cos POSITION 2 POSITION 0 X Coord if robot went straight for distance to goal inches yStraight distFromGoal Sin POSITION 2 POSITION 1 Y Coord if robot went straight for distance to goal inches errorStraight Sqr nextX xStraight 2 nextY yStraight 2 How far off is that hypothetical point angErrorPerc errorStraight distFromGoal Distance from targ
31. Project Number MAD 006A CENTRALIZED INTRUSION DETECTION via SWARM ROBOTS A Major Qualifying Project Report Submitted to the Faculty of the WORCESTER POLYTECHNIC INSTITUTE in partial fulfillment of the requirements for the Degree of Bachelor of Science by Nathan Fuller Nathan Rosenblad Christopher Thein Christopher Warms Derek Williams Date March 1 2007 Approved Professor Michael Demetriou Major Advisor Acknowledgments We would like to especially thank Professor Michael Demetriou for all his guidance throughout this project Special thanks are extended to Eric Twark whose extensive knowledge of programming aided us in the creation of a program for the robots We would like express our sincere gratitude to Nathan Rosenblad whose efforts in creating basic circuit board design procuring parts and base construction over the summer made this project possible Other special thanks are sent to the Aerospace Engineering Professors who shared their input and ideas at our weekly meetings Abstract The goal of this project is to design construct and implement a centralized system to control drone robots equipped with visible and infrared light sensors which systematically detect track and contain an intruder The drone robots and base station use custom written software which allows wireless intercommunication and control between them via radios Once the program commences the robots are cont
32. Status case 0 commStatus Not Initialized commStatColor 0 case 1 commStatus Failed commStatColor 1 break case 2 commStatus Initializing commStatColor 2 case 3 commStatus Connected commStatColor 3 break public void setStatus byte newStatus robotStatus newStatus public void setAnalogs ref string myValues battVoltage short Parse myValues 1 rightLightVoltage short Parse myValues 2 centerLightVoltage short Parse myValues 3 leftLightVoltage short Parse myValues 4 rightDistanceVoltage short Parse myValues 5 centerDistanceVoltage short Parse myValues 6 leftDistanceVoltage short Parse myValues 7 auxVoltage short Parse myValues 8 public void setPWMS ref string myValues leftDriveMotor int Parse myValues 1 rightDriveMotor int Parse myValues 2 sensorPanningMotor int Parse myValues 3 battCharge int Parse myValues 4 public void setPosition ref string myValues 68 posX int double Parse myValues 1 posY int double Parse myValues 2 heading double Parse myValues 3 public void setStartPos int newX int newY startX newX startY newY public void setStartHeading int newValue startHeading newValue public void setPositionMatrix ref int newMatrix PositionMatrix newMatrix public void setIntruderPo
33. ace GUI sess pa 111 3 0 2 Development of UI sauna ted veli veu pie pet tesi eo a Gd 21 3 6 3 GUT Obstacles us Eae evt did 2 3 04 Present Prost arin matt Ox ede deed dat 28 A RESULTS EE E 29 4 1 Program Robosa V20 ea eatem naeh 29 4 2 Large Testing ENYITONMENIS x RS en ose Kd OE Ee sas did aaa ea Ee NGA 34 A SE ea ah etal es alee neen 37 AA Radio Comm nieatien anne ea rn einen 38 EP dIE RE EE oa 39 6 CONCLUSION rc AA AA AA Eee 41 7 RECOMMENDATIONS pn sessie seges 42 Referentes uses 43 Appendix A Robot Component Schematics rsssoosssssnssssnnssnsnnnsnsnnssnsnnsnnsnnsnnnnnsnnnnnsnnnnnennnnnee 44 Appendix A Robot Component Schematics ursssossssssnssssnnssnsnnssnsnnssnsnnnsnsnnsnnnnnsnnnnnsnnnnnennnnnen 44 Appendix B Robot Movement Equations sees esse oe ese ee Se Ge EG Ge Ge Ee Ge Ee GE Ge ee EE Ge ee 46 Appendix C Full Calculations for Sensor Head Field of View eres 47 Appendix D Initial Scanning and Panning Sensor Head Design eee 48 Appendix E Main Cubloc Code do tein tera eoo Era tatis aae KAWA BANANA MAA 49 Appendix F Radio Cubloc Code eee esse sie klei nes 62 Appendix G Base Station Code iivcsiscesccosccdensdscsesssssecswaescadeseosncdousbscsunnedsncasbesdestevbsosckenseoncooseneds 64 Appendix H Purchased Materials eee eee eerte GINGER 89 iv LIST OF FIGURES Figure 1 Unmanned Aerial Vehicl
34. alue Dim rt As Integer center blue light ADC value Dim dist As Integer distance from robot center target Dim headangle As Single head angle wrt body in radians left pi 2 center 0 right pi 2 Dim confidence As Integer percentage confidence For trk 0 To 4 trys to resolve a fix on the intruder in 10 trys if not it boots out of the sub It Tadin 4 sets It as ADC value of left blue light sensor ct Tadin 3 sets ct as ADC value of center blue light sensor rt Tadin 2 sets rt as ADC value of right blue light sensor If 1 0 ct lt It rt Then changes PWM value if the left or right sensor has value higher than center If It gt rt Then SPWM SPWM O0 1 It ct If It gt rt head moves to left percentage of difference between lt and ct If rt gt lt Then SPWM SPWM 0 1 rt ct If lt gt rt head moves to left percentage of difference between lt and ct Endif If SPWM lt 1900 Then SPWM 1900 left motion max limit If SPWM gt 5200 Then SPWM 5200 right right max limit Pwm 3 SPWM 65535 sets motor to new position dist Longrange Tadin 6 coverts Longrange distance sensor ADC to inches headangle 3 379406 0 0009519 SPWM converts scan head PWM to radians left pi 2 center 0 right pi 2 INTRUDER 2 100 0 ct 400 0 calculates confidence of blue light tracking based on center intensity and distance If INTRUDER 2 gt 100 Then INTRUDER 2 100 limits confidence to 100 33 If INTRUDER 2 lt 20 Then SCAN requires a
35. amp amp yCoord gt 15 amp amp yCoord lt pnlEnv Height 15 amp amp xCoord lt pnlEnv Width 15 return canlDoThis else return false private bool canRobotBePlaced2 int xCoord int yCoord bool canIDoThis true EXP foreach PhysicalRobot test in lstPlaceRobots Items irf test Equals lstPlaceRobots Items lstPlaceRobots SelectedIndex if Math Abs test getStartX xCoord 20 pixelsPerUnit amp amp Math Abs test getStartY yCoord 20 pixelsPerUnit canIDoThis false return canIDoThis catch return false public int getEnvWidth return int Parse txtWidth Text public int getEnvLength return int Parse txtLength Text Events private void clistBoxRobots SelectedindexChanged object sender EventArgs e int index clistBoxRobots SelectedIndex PhysicalRobot currRobot PhysicalRobot loadedRobots index updateCommStatus clistBoxRobots SelectedIndex lblRobotID Text currRobot getRobotID ToString lblRobotName Text currRobot ToString lblRobotCommNum Text currRobot RobotCommAddress2 ToString if currRobot getCommStatus StartsWith Failed clistBoxRobots SetItemChecked clistBoxRobots SelectedIndex false if clistBoxRobots GetItemChecked clistBoxRobots SelectedIndex 76 lstRobotStatus Enabled true lstRobotStatus SelectedIndex currRobot getS
36. antages to this approach The use of an intruder controlled by hand is beneficial in that it allows for testing and manipulation of the device by a wireless radio controller Thus it is easier to test a variety of movement tactics and methods in an attempt to fool the sensor network However a downside of this method is that the exact movements and positions of the device are not known unless physically measured disallowing the direct evaluation of the detection system s accuracy One of the Cubloc based robots could have been outfitted with blue light emitters and used as an intruder This was not done due to the fact that further programming of each individual scenario would be required The main benefit of the human interfaced intruder is that 1t allows for random control to test every aspect of the system Development of programming and algorithms for control of the drone robots also required knowledge of the capabilities of the sensors and drive units Often times sensor components and other hardware were modified due to limitations in programming The final program that was developed successfully incorporates the sensor inputs with control algorithms to track and detain the intruder The PC based graphic user interface allows for on the fly notifications and scenario updates proving to be very useful in the operation of the system The central hub server programming has the ability to intelligently delegate tasks and functions assigned by the
37. cation board b Standard battery pack c Power saving feature d Infrared distance sensors Boe Bot chassis o f Wheel based movement Radio Daughter l Board Scanning Head Blue light sensors Long range infrared distance sensor Battery Connector A 7 Scanning servo Main circuit board Obstacle avoidance infrared distance sensors Power management mosfets Figure 4 Fully Assembled Robot Each component above was used during the testing of the robot Some of the capabilities were modified from its manufacturer s specifications to be more efficient for this project The nine drone robots are equipped with a set of long and short range infrared sensors that detect distance to objects and light The purpose of these devices was to detect other robots obstacles walls and sources of contamination These sensors are divided into two separate groups navigation sensors and intruder detection sensors The navigation sensors are proprioceptive in that they are responsible for the functions that are inherent to the robots such as the compass or positioning sensors The intruder detection sensors are exteroceptive in that they are influenced by outside sources such as the light from the intruder or distance readings induced by a physical obstacle 2 2 1 Radio Each robot was equipped with a 2 4 GHz radio with a range of 490 feet allowing communication from a base station to the robots The base station consists of a PC opera
38. ccessful priva Le be displayed in byte commStatColor Raw Analog Data priva priva Voltage priva Voltage priva Voltage priva Voltage priva Sensor Voltage priva Voltage priva Raw priva priva te Le Le te Le te ES Le Le Le shor shor battVoltage 0 leftLightVoltage 0 0 1024 Left Blue Light Sensor 0 No 1 yes 16 bit Hex Address Used for Radios 0 Not Initialized 1 Failed Represents the text color status will 0 1024 Battery Voltage short centerLightVoltage 0 0 1024 Center Blue Light Sensor short rightLightVoltage 0 0 1024 Right Blue Light Sensor short leftDistanceVoltage 0 0 1024 Left Distance Sensor short centerDistanceVoltage 0 0 1024 Center Distance short rightDistanceVoltage 0 0 1024 Right Distance Sensor short auxVoltage 0 PWM Data 0 1024 Auxilary Port Voltage int sensorPanningMotor 0 Sensor Panning Motor PWM int leftDriveMotor 0 Left Driving Motor PWM priva priva Navigation priva priva priva priva priva Le te CE LE te Le Le int rightDriveMotor 0 Right Driving Motor PWM int battCharge 0 Is Battery Charging int posX 0 X Position on Environment int posY 0 Y Position on Environment double heading 0 0 in in ct A What is the Robots Heading startX 1 Where should I start X startY 1 Where should I start Y 64 pri
39. cessful Figure below illustrates the variables used and the arrangement of the light sensors 16 Vil N Figure 16 Diagram of Sensor Head Angular Offset Nomenclature 17 3 1 3 Final Design There were many alterations to the original sensor head design to accommodate certain modifications to the robot It was determined that the two axes of sensor head panning ability were unnecessary and possibly detrimental to accuracy therefore the head was modified to pan along one axis The two axes of servos increased the uncertainty of observations because the long range sensor cannot take accurate measurements at a downward angle In addition project costs were reduced and it freed up more CPU and battery power There were other alterations that improved the overall performance of the sensor head The original design had three separate components required to mount the servo onto the sensor head It was modified to a single piece sensor head to accommodate the single axis operation and strengthen the part This allocated less moving parts provided more sturdiness and resulted in less induced error Taos INC Blue light sensors Collimator GP2Y0A02YK Infrared Distance Sensor Figure 17 Final Design Panning Sensor Head One of the major design changes to the sensor head involved the long range sensor orientation The sensor was repositioned from a horizontal to a vertical orientation as is seen in Figure 17 above This
40. dd myRobot break case 2 lstSleep Items Add myRobot break private void removeRobotFromTeam object robot PhysicalRobot myRobot PhysicalRobot robot lstActive Items Remove myRobot lstPaused Items Remove myRobot lstSleep Items Remove myRobot private bool handshake object newHex try string newDestHex newHex ToString serialComm Write newDestHex 00000 serialComm WriteTimeout 1000 serialComm ReadTimeout 1000 string response serialComm Readline string respParsed response Split response response Substring 8 response Length 8 if respParsed 1 StartsWith HELO return true else return false catch Exception ex string temp ex StackTrace return false private void fail PhysicalRobot loadedRobots clistBoxRobots SelectedIndex setCommStatus 1 removeRobotFromTeam loadedRobots clistBoxRobots SelectedIndex clistBoxRobots SetItemChecked clistBoxRobots SelectedIndex false string name PhysicalRobot loadedRobots clistBoxRobots SelectedIndex ToString MessageBox Show Communication tests for name have failed public double feetToInches double feet return feet 12 public double metersToCnm double meters return meters 100 da private bool canRobotBePlaced int xCoord int yCoord bool canIDoThis true if xCoord gt 15
41. ding Value int loadValues getStartHeading tempHeading tckbrHeading Value pnlEnv Refresh private void tckbrHeading Scroll object sender EventArgs e PhysicalRobot lstPlaceRobots Items lstPlaceRobots SelectedIndex setStartH eading tckbrHeading Value tempHeading tckbrHeading Value pnlEnv Refresh private void pnlEnv_MouseMov object sender MouseEventArgs e tempX e X tempY eu ly pnlEnv Refresh private void pnlEnv MouseLeav object sender EventArgs e Cursor Show tempX 1 tempY 1 pnlEnv Refresh private void pnlEnv_Mous Enter object sender EventArgs e Cursor Hide 81 private void tabSwitcher SelectedIndexChanged object sender EventArgs e if tabSwitcher SelectedIndex 3 doubl nvHeight double Parse txtLength Text double envWidth double Parse txtWidth Text if envWidth gt envHeight myHeight envHeight myWidth envWidth else myHeight envWidth myWidth envHeight if 0 0 myHeight feetTolnches myHeight myWidth feetTolnches myWidth else myHeight metersToCm myHeight myWidth metersToCm myWidth double ratio myWidth myHeight if ratio lt 2 pnlEnv Height 150 pixelsPerUnitD 150 myHeight pnlEnv Width int pixelsPerUnitD myWidth
42. e Predator ru ee 1 Figure 2 MARs Robots Navigating Obstacles unne sne ee RA RA GR Re ee ee RA enne 2 Figure 3 Environmental Test Platform with Robots and Intruder nennen eenen 5 Figure 4 Fully Assembled Rosana 7 Fig re s Radi a ed 8 Figure 6 Battery Pack with On Off Charge Switch esee 9 Figure 7 GP2Y0A02YK Infrared Distance Sensor esee eren 10 Figure 8 Boe Bote Classis a Anner ER 11 Figure 9 Wheel with Encoder Covet A eeN 11 Figure 10 Chute The origin and charging port of the robot 12 Figure 11 Panning Sensor Head with Sensors essere ene 13 Figure 12 TSL257 Sensor with and without Collimator eere 14 Figure 13 Light and Sensor Calibration SEP I5 Figure 14 Sensor Output Values iie eee rei queste en 15 Figure 15 Plot of Minimum Over Threshold Data nennen eneen enne AR enne GR Ge ee 16 Figure 16 Diagram of Sensor Head Angular Offset Nomenclature eese 17 Figure 17 Final Design Panning Sensor Head dni een nalen an 18 Figure 18 GP2D12 Infrared Short Range Distance Sensors essere 19 Figure 19 Intruder with LEDS uni tii 20 Figure 20 Boe Bot Chassis with Tank Treads a ANNA laan 22 Figure 21 Wheel servo with optical encoder fixed to the inside of the servo 24 Figure 22 Main Circuit Board si au sak nn Bali ee Pe Ego ee de Ge n 25 Figure 23 RoboSrm s Main dba Et ER ARTES 29 Fig
43. e positioning technologies such as GPS did not provide the accuracy and also had prohibitive costs The localization method used required the installation of an optical rotary encoder on the drones drive motors to track the number of wheel revolutions completed This method was been proven to be accurate using the Cubloc software and was implemented in the design of this project At the time that this project was conducted there were no other existing projects at WPI that utilize 9 robots that communicate together in an attempt to trap or contain an intruder This project breaks a lot of new ground in the field of autonomous inter communication position tracking and robot controls The scope of this project encompassed a large number of aspects that were challenging to complete in the 3 term period allotted for the project The developed program effectively executes the utilization of the robots sensors as well as allows the robots to communicate with one another resulting in an efficient expeditious containment of an intruder The design of the system allows the capture of an intruder in multiple scenarios in various differently sized areas The project presents a basic model of autonomous robot based communication and its effectiveness in completing the specifically tasked functions It also presents great opportunities for future students to expand and further develop the tracking and containing methods as well as programming of robot inte
44. eftDistanceVoltage 5 1023 double getCenterDistanceVoltage return double centerDistanceVoltage 5 1023 double getRightDistanceVoltage return double rightDistanceVoltage 5 1023 ida double getAuxVoltage 66 return publie int return public int return publico int return public int return public int return public int return double auxVoltage 5 1023 getSensorPanningMotorPWM sensorPanningMotor getLeftDriveMotorPWM leftDriveMotor getRightDriveMotorPWM rightDriveMotor getBattChargePWM battCharge getPosX posX getPosY posY public double getHeading return public eL return public int return public int return public int return public int return publie int return heading getPositionMatrix PositionMatrix getIntruderX intruderX getIntruderY intruderY getConfidencelnterval confidencelnterval getStartX startX getStartY startY 67 break break public double getStartHeading return startHeading Modifiers public void setName string newName robotName newName ae void setInSimulation bool newValue l inSimulation newValue EA void setCommAddress short newCommAdd i commAddress newCommAdd an void setCommStatus short newStatus switch new
45. else int tempHeight 150 pixelsPerUnitD 150 myHeight while pixelsPerUnitD myWidth gt 300 tempHeight pixelsPerUnitD tempHeight myHeight pnlEnv Width int pixelsPerUnitD myWidth pnlEnv Height int pixelsPerUnitD myHeight pixelsPerUnit int pixelsPerUnitD if pixelsPerUnit 0 pixelsPerUnit 1 frmMainControl 82 using System using System using System using System using System using System namespace Ro using System using Systen using Systen using Systen using Systen IO IO Ports Collections ComponentModel Data Drawing Text Windows Forms Threading Drawing Drawing2D boSim public partial class frmMainControl Form private ArrayList loadedRobots frmRobotHealth roboHealth private double envWidth envLength pixelsPerUnitD private int pixelsPerUnit Constructors publ serialComm ic frmMainControl InitializeComponent loadedRobots loadRobots initRadio roboHealth new frmRobotHealth ref loadedRobots ref roboHealth Visible false tmrUpdate Interval 700 tmrUpdate Tick new EventHandler updateData serialComm WriteTimeout 1000 serialComm ReadTimeout 1000 Functions Methods private ArrayList loadRobots v 1 0 Robots FileMode Open string directory C ERIC ISP RoboSim v 1 0 RoboSim NG
46. ements many of which are very time consuming to follow through with The GUI provides a simple user friendly way of creating saving and loading different simulation scenarios A scenario consists of a series of robots a user defined environment static but randomly placed obstacles and various robot states There also is a way for a user to change general preferences add or remove robots from the software and view robot vital statistics without looking at or modifying existing source code Finally the GUI must show a real time simulation view which has pseudo scale robot representations moving about the screen as they are actually doing it in the simulation For each task detailed in this report there must be a graphical counterpart to illustrate that task such that the user need not understand source code to utilize the software 3 6 2 Development of GUI Before a user interface can be developed the tasks that the GUI represented must first be developed In this case the GUI and the represented tasks were done in parallel For instance when functionality becomes available to install or remove a robot a GUI representation of that task was developed before another task was started The GUI part should always be done after the task has been completed This means that if a task has become delayed the GUI representation of that task has also become delayed 3 6 3 GUI Obstacles There comes a time when the GUI cannot be developed u
47. ertically as seen in Figure 11 to allow the scanning capability that is an integral part of locating the intruder The sensor scans in a 180 degree vertical plane Many design iterations were performed and the final design was chosen due to the fact that it successfully integrates its components for use in the dynamic testing environment If the future testing environments change it may be necessary to modify the sensor head to acquire the best results for the new environment Light Sensor with collimator Infrared long distance sensor Figure 11 Panning Sensor Head with Sensors 13 3 1 1 Light Contamination Detectors The drone robots are each equipped with a set of sensors that serve the function of detecting a remote contamination source For the applications that were investigated in the project s current research the contamination source was a blue light emitting diode LED attached to an independent robot The LED mounted to the intruder robot emitted a blue light approximately 470nm wavelength Therefore each drone robot was equipped with a set of sensors capable of detecting this wavelength The sensors used to detect the contaminating source were classified as high sensitivity light to voltage converters The TSL 257 had its highest response in the 350 to 500 nm wavelength range with its peak at 590 nm TAOS With an input voltage source of 2 7 5 5 volts the sensor outputted a voltage that was directly proportional to
48. et point as a percentage of distance to travel ideally disErrorPerc distFromGoal pntDistance Distance from target as a percentage of the distance from last registered point progress Debug Float xStraight Float yStraight Float errorStraight Cr If 3 0 angErrorPerc gt disErrorPerc Then The error in angle is worse than the error in distance x TurnGuess distFromGoal Cos POSITION 2 0 001 POSITION 0 y TurnGuess distFromGoal Sin POSITION 2 0 001 POSITION 1 errorGuess Sqr nextX xTurnGuess 2 nextY yTurnGuess 2 If errorGuess gt errorStraight Then Guessed Correction got worse Turn Right Pwm 5 3600 65535 Pwm 4 3500 65535 Do While Count 1 lt 5 Loop Else Guessed Correction got better Turn Left Pwm 4 3600 65535 Pwm 5 3500 65535 Do While Count 0 lt 5 Loop End If Else The error in the distance is worse than the error in the angle Go Straight Pwm 4 3600 65535 Pwm 5 3600 65535 Do While Count 0 Count 1 lt 10 Loop End If navGetPosition 52 distFromGoal Sqr nextX POSITION 0 2 next Y POSITION 1 92 Debug Float distFromGoal Float POSITION 0 Float POSITION 1 Float POSITION Cr Loop LastX nextX LastY nextY End Sub Sub TRACKING High 34 center distance sensor enable High 36 blue light sensor enable High 18 PAN motor enable Low 19 PWM channel config Dim trk As Byte tracking loop counter Dim lt As Integer left blue light ADC value Dim ct As Integer right blue light ADC v
49. gure 6 one can stop charging the batteries easily when it s wired directly to a power source On Off Charge Switch Figure 6 Battery Pack with On Off Charge Switch The switch has three positions up on middle off and down charge It takes the battery pack about 10 hours to charge while in charge mode The battery charger was attached to the chute which provided protection to the robots while they were being charged These batteries are suitable for this project because if they ware run at max capacity meaning all functions of the robot were running constantly the battery life during this operation would be about 4 hours There was no need to run all the functions of the robot at once so the battery life increases to about 8 10 hours 2 2 3 Power Saving Feature Similar to what was stated in the battery pack section above the robots have the capability to use only the functions necessary to complete the required operations The program developed to control the robots has commands built in that command the robot to perform specific functions when certain variables are encountered This feature allows the robot to sustain a longer battery life because 1t knows which functions are necessary at any given time 2 2 4 Infrared Distance Sensors Each drone robot is equipped with a pair of identical SHARP GP2D120 infrared object detectors These detectors hard mounted on the front of the robot have the ability to se
50. h the proper equipment to scan large areas With the allocated budget and time restraints for developing the model system the smaller operating area was necessary and well suited for the robots abilities The smaller area also provides for the recording of data that can be used to verify the accuracy and effectiveness of the algorithmic functions and the system s responses 2 1 1 Environmental Test Platform ETP Due to the fact that the speed eight inches per second and physical size of the robots did not mandate a large operating area to demonstrate initial results an original testing space of 6 by 9 feet was defined A platform was designed and built keeping in mind the necessity to access the robots during testing all sections of the platform were required to be within reaching distance By first operating the system in this well defined controlled are it allowed for the decision to be made as to whether or not the model was ready for testing in a larger area The flat smooth surface eliminated unknown variables such as reflection and slippage It also allowed the addition of temporary obstacles which were used to test the maneuverability functions of the robots Once moved to a larger testing area variables such as smooth flat surfaces and external interference lights wax floors reflections were no longer controlled For initial testing the surface presented no obstacles or obstructions that affected the robots distance and
51. he field of view of a single sensor with collimator attached As seen in Figure 13 above a high power blue LED was used as the light source The experiment was performed on a vibration isolation table that has bolt holes every inch on its top surface A dual output power supply at 4 0 Volts DC was used to supply the voltage for the LED and sensor A digital multi meter was used to measure the sensor output The LED was mounted to a steel support block and moved to different x and y coordinates of the table with the sensor output being recorded for each location This data was in turn used to calculate the angular field of view of an individual sensor A plot of one set of data recorded can be seen in Figure 14 below Figure 14 Sensor Output Values 15 Using the data obtained in the measurements described above the field of view for the sensor was calculated During the time of experimentation the sensor output with ambient lighting no LED was 0 479 volts In order to determine the angle at which the sensors received a noticeable light change a minimum threshold value for measured light had to be set This threshold was rounded up from the ambient level to 0 5 volts in order to eliminate any small offsets or outliers The lowest values above the 0 5 volt threshold were then used to plot a line and determine its angular offset from the centerline of the sensor A plot of the minimum over threshold values with overlaid linear trend lines
52. is shown in Figure 15 below 45 y position inches 10 5 0 5 10 x position inches Figure 15 Plot of Minimum Over Threshold Data It can be seen that there is a bias in the data values towards the positive x coordinates This is most likely due to an angular offset in the mounting of the sensor on the steel support block This offset is ignored due to the fact that the field of view is taken as the combination of the two angles The field of view angle for the sensor collimator unit was estimated using the slopes of the linear trend lines shown in the plots above my 7 77 mg 12 071 O an ES 12 07deg Mg Mpg 16 Using the field of view angle O the offset angles for the side sensors were determined By setting the intersection point for the side field of view with the center field of view to be four inches the angular offset angle 0 is calculated using the following equation 9 90 tan gt d EH where d is the distance to the intersection point from the front of the collimator The angle 0 that was calculated for the distance d of four inches is 6 93 degrees Due to manufacturing constraints the angle was rounded down to 5 degrees Using a Bridgeport Milling Machine in the shops of Higgins Labs angle blocks were used to drill holes in the sensor head at this angle and were only available in five degree increments This angular orientation was tested and proved to be suc
53. ition encoders which provided the robots with sensors capable of detecting an intruder up to five feet away Since the base circuit board can be modified there was no limit to the type of program or sensory components that we used We took full advantage of the circuit boards capability and produced the most effective robot possible for the scenarios we tested Many hours were invested in determining an accurate method of position tracking The focus on tracking position was crucial as it provided the data that was inputted into the program RoboSim If robot tracking produced error than the information transmitted from the robots to the base station would be inaccurate and the intruder would mostly likely not be contained Tracking an intruder in a 20ft X 20ft area was completely accurate and effective If this project were to be implemented on a larger scale systems already in place GPS could be used to track position The network that the robots run on made the best use of the sensors and processors available to our project In the future time can be spent on the improvement rather than the design of this network as the need for something new in the field of autonomous robots is in high demand Overall the design and integration of the various subsystems resulted in a state of the art intrusion detection system capable of tracking and surrounding an intruder 41 7 RECOMMENDATIONS A number of iterations for the light sensors distance
54. ivate void btnCancel Click object sender EventArgs e TE private void btnNewScenario Click object sender EventArgs e try int NumRobots int MatrixDistance int RobotDistance int tempMatrix new int 10 2 double Heading NumRobots lstPlaceRobots Items Count PhysicalRobot tempRobot string id for int i 0 i lt NumRobots 1 tempRobot PhysicalRobot lstPlaceRobots Items i id tempRobot getRobotID ToString serialComm Write id 00300 string response serialComm Readline string output response Split tempRobot setPosition ref output tempMatrix 0 0 tempRobot getPosX tempMatrix 0 1 tempRobot getPosY tempMatrix 1 0 tempRobot getPosX tempMatrix 1 1 tempRobot getPosY 010 for int j 2 J lt 10 J tempMatrix j 0 int tempRobot getStartX 4 jJ tempMatrix j 1 int tempRobot getStartY 4 J tempRobot setPositionMatrix ref tempMatrix string PosMatrix PosMatrix tempMatrix 0 0 ToString PosMatrix tempMatrix 0 1 ToString for int n 1 ng 10 n PosMatrix tempMatrix i 0 ToString PosMatrix tempMatrix i 1 ToString serialComm Write id 300 PosMatrix Length ToString PosMatrix string ack serialComm Readline MatrixDistance int Math Sqrt tempMatrix 3 0 tempMatrix 0 0 2 tempMa
55. log ShowDialog envWidth newDialog get nvLength panelResize btnStartSim newDialog ge 0 Enabled tr pnlEnvironment Visible newDialog Dispose new frmNewScenario ref loadedRobots EnvWidth tEnvLength ue Lrue private void installedRobotsToolStripMenuItem Click 1 object sender EventArgs e frmConfigureRobots newDialog new frmConfigureRobots newDialog setRoboList ref loadedRobots newDialog ShowDialog private void robotHealthToolStripMenultem Click object sender EventArgs e roboHealth Visibl roboHealth startTimer le true private void commTestToolStripMenultem Click object sender EventArgs CommTest test new CommTest ref serialComm test Show ul void bu i tmrUpdate S ee void bu i tmrUpdate S r tart top private void panelResize double temp double temp ttonl Click object sender EventArgs e tton2_Click object sender EventArgs e EnvHeight envLength if tempEnvWidth gt temp nvLeng EnvWidth envWidth EnvHeight th tempEnvHeight envWidth tempEnvWidth else nvLength temp EnvWidth envWidth tempEnvHeight 86 envLength 12 envWidth 12 double ratio envWidth envLength if ratio lt 670 400 pnlEnvironment Height 400 pixelsPerU
56. long with Cubloc software the sensory input from the robots is transmitted wirelessly to the main base station and in turn to any other robots connected wirelessly with the same software The program s ability to communicate wirelessly is the key to allowing multiple robots to be used in the tracking and capturing of said intruder Movement is a key part of the robots operational features Each robot is required to tabulate its own position in order to effectively communicate it to the others operating in the area Various transportation methods such as flying wheeled motion tread movement or roller balls each have their own benefits but also require different methods for calculating position The choice of movement was decided in conjunction with the means of determining position Wheel based mobility was chosen due to the fact that a proven system was already in place that was accurate and useful for the scope of the project Position calculation was another key component of the project as it was an integral part in tracking not only the location of the intruder but the positions of other robots as well Accurate movements needed to be recorded in order to effectively track a robot s position The tracking information was relayed to the other robots through the base station allowing for combined efforts between the robots to contain the intruder The environment in which the system was designed to operate was on a small scale therefor
57. ls the final decision was made to use wheels Initially treads were installed on the robots however the method of positioning that was attempted was not successful due to the low resolution of the tread counters that were mounted to the drive sprockets Wheels were finally chosen because there was already a position tracking algorithm in place that was modified to work better for our model With the wheels operation in rough terrain such as gravel or shag carpet is not feasible but the amount of error in the wheels is far less than what could be obtained with treads An example of the wheels that were used is shown in Figure 9 Figure 9 Wheel with Encoder Cover 11 2 3 Chute The chute was designed to give the robots a starting point for initialization of all detection scenarios Since the robots positioning system is absolute they need to have a known starting point or global origin allowing the base station to relay accurate position of where an individual robot is positioned in the operating environment or in relation to additional activated robots The chute provided this known starting point due to the fact that it is placed on the field in a known position and the position of each robot in each chute was known The position of each robot is based off the bottom left corner of the chute Since the dimension of the chute was known the area of the test platform was known and the placement of the robots were known the robots gl
58. modeled tests that involved random terrain and hazardous conditions smokey buildings inclement weather They used laptop processors to increase the robots operating capacity as well as sensor functionality The methods implemented by the MARs project provided useful information on some of the characteristics that needed to be investigated for the model being developed in the WPI project Figure 2 MARs Robots Navigating Obstacles The research completed by the MARs group showed that there was the need for an autonomous system of robots with the ability to track capture or contain an object that makes a safe zone unsafe This object can be a physical mass or a liquid that results in the harmful contamination of previously clean area There are a variety of sensors that can be used to track an intruder video light distance vibration chemical or biological etc The robot network was developed to detect an intruding contaminating source using only distace and light sensors The project was limited to this scale of sensors due to the availability of equipment and budget The sensors used in this project provided an excellent proof of concept in creating an autonomous network resulting in the potential to integrate additional sensors in the future The light sensors that were integrated into the detection robots provide for the tracking of the intruder which emits a contaminant signature of blue LED light Using the robots that were built a
59. nitD 400 envLength pnlEnvironment Width int pixelsPerUnitD envWidth else int tempHeight 400 pixelsPerUnitD 400 envLength while pixelsPerUnitD envWidth 670 tempHeight pixelsPerUnitD tempHeight envLength pnlEnvironment Width int pixelsPerUnitD envWidth pnlEnvironment Height int pixelsPerUnitD envLength pixelsPerUnit int pixelsPerUnitD if pixelsPerUnit 0 pixelsPerUnit 1 private void btnStartSim Click object sender EventArgs e while goal not met foreach PhysicalRobot currRobot in loadedRobots int tempMatrix new int 10 2 tempMatrix 0 0 currRobot getPosX tempMatrix 0 1 currRobot getPosY serialComm Write currRobot getRobotID ToString 00500 string response serialComm ReadLine string output response Split currRobot setIntruderPosition ref output if currRobot getConfidencelnterval gt 50 pnlEnvironment Refresh After goal is met MessageBox Show intruder captured private void pnlEnvironment Paint object sender PaintEventArgs e Graphics g e Graphics GraphicsPath myG new GraphicsPath Matrix mat new Matrix foreach PhysicalRobot currRobot in loadedRobots 87 if currRobot isInSimulation int x int currRobot getPosX pixelsPerUnitD int y int currRobot getPosY pixelsPerUnitD
60. nse objects in the range of 5 to 40 cm from their front faces The use of two detectors mounted side by side allowed the onboard processor to make movement decisions in a given direction based on the feedback from these detectors A long range infrared sensor was also part of the contamination detection system The GP2Y0A02YK by Sharp is capable of detecting objects in the range of 20 to 150 cm from the front of the sensor One of these long range sensors was mounted on each robot They served to aid in contamination detection by locating the distance to the source of the blue light contamination The long range distance sensor is shown in Figure 7 Emitter Detector Receiver Figure 7 GP2Y0A02YK Infrared Distance Sensor 2 2 5 Boe Bot Chassis The base platform chosen for the drone robots was the Boe Bot Chassis by the Parallax Company The chassis was a standard part that allowed for easy integration with the electronic subsystems Constructed of aluminum it had pre cut square openings for attaching servo motors for mobility in addition to a number of standard holes for mounting electronics wheels and sensors Three additional holes were made to this chassis to support the main circuit board The chassis is shown in Figure 8 10 Figure 8 Boe Bot Chassis 2 2 6 Wheels There was a choice of using wheels or treads as the method of movement for the robot Although treads provided a lower amount of slippage compared to whee
61. nsor L distance sensor Scanning Servo switch Blue light sensor Long range dist sensor Power Management mosfets Figure 22 Main Circuit Board 25 The power supply for each robot was located on the main board It was based on the LM2576T switching regulator This device regulates the high non stable voltage provided by the battery packs into a stable five volts which were used for all voltage sensitive components Due to the switching nature of the regulator there was very little energy lost converting from the higher battery voltage down to five volts However not all components operate solely on the five volt bus The drive motors used for propulsion used the raw voltage of the batteries This means that as the battery packs discharge the motors operated slower This method was chosen to isolate the sensitive electronics from the back EMF created by the operation of the motors The radios used on these robots also operate on a lower voltage then the five volt main bus The three volts necessary for the operational radios was provided by a low current regulator pulling power from the 5 volt bus The power supply system for these robots was very efficient meaning longer run times on the batteries before recharging To further decrease the power consumption of each drone robot all sub systems can be powered down either individually or collectively Mosfet switches are used to control which subsystems are active An adaptive power scheme was
62. nt of error due to the tread slippage issues discussed above These errors resulted in the abandonment of this positioning method Figure 20 Boe Bot Chassis with Tank Treads 22 Mouse surface Based Odometry In an effort to maintain the implementation of the tread drive system for the robots methods of using optical and ball computer mice to determine position were thoroughly investigated It was hypothesized that this would eliminate the slippage problem by removing the tire surface interaction from the equation This method required that onboard sensors directly evaluate the ground surface and identify vehicle movement by detecting the changes in the surface This method was widely used in the macro field with ground firing radar which measures Doppler shift to determine movement In the micro field of the drone robots the preference was the use of optical systems These systems detected the change in surface texture or movement of surface anomalies with respect to their field of view This method was relatively inexpensive and was thought to have a supposedly high level of precision and accuracy on surfaces The proposed operation of the mouse surface based odometry system was as follows the counts in the x and y axis were to be tabulated for each sensor The x values were ignored as they were only indicating slippage in a direction perpendicular to direction of travel These values were used to detect the lateral movement such a
63. ntil another part of the project was also developed For example until the position system was tested and working it was nearly impossible to test with any certainty the quality of the simulation viewer on the master software This module was tested by feeding it sample data however many variables such as refresh speed cannot be significantly tested until position is completed 27 The only difficulty was the issue with robot representation scaling on the simulation viewer module of the master software Initially the robots were to be on a 9ft by 6ft environmental test platform With the resolution of a standard computer monitor both the test platform and the robots could be drawn to scale on screen while still showing the heading of each robot When the scenario changed to placing robots on a 30ft by 30ft environment the drawing also changed on screen When drawing a large environment to scale the 8 inch robots become 1 pixel or less One pixel was not enough detail for the user to accurately see what is happening nor was it enough space for the user to click on to view details To fix this problem the robots have a minimum size When environments grow large enough the robot was scaled to that minimum size This means for large environments the robots will not be drawn to scale on the screen This may give users some confusion however it was the only alternative to presenting the user with unusable software 3 6 4 Present Programming
64. oString lblRightDriveMotor Text selRobot getRightDriveMotorPWM ToString lblSensorPanningMotor Text selRobot getSensorPanningMotorPWM ToString lblBattCharge Text selRobot getBattChargePWM ToString lblXPos Text selRobot getPosX ToString lblYPos Text selRobot getPosY ToString lblH Text selRobot getHeading ToString Events private void lstRunningRobots SelectedIndexChanged object sender EventArgs e updateData waste waste2 private void btnClose Click object sender EventArgs e this Visible false tmrUpdate Stop frmRobotFileNotExist using System using System Collections Generic using System ComponentModel using System Data using System Drawing using System Text using System Windows Forms namespace RoboSim public partial class frmRobotFileNotExist Form TI public frmRobotFileNotExist InitializeComponent frmConfigureRobots using System using System Collections using System ComponentModel using System Data using System Drawing using System Text using System Windows Forms namespace RoboSim i public partial class frmConfigureRobots Form i private ArrayList mine public frmConfigureRobots l InitializeComponent public void setRoboList ref ArrayList newList mine newList dgvRobotDi
65. obal origin is defined and its location anywhere on the platform is known with respect to the origin This initial set up was the only user interface required to get accurate position Once the original position was calculated and entered into the simulation program the robots were able to track themselves and the other robots for the duration of the test The secondary function of the chute was to operate as a battery charging station Holes were drilled into the rear wall of the chute to allow a charging connector wire access to each of the robots The robots once finished with their testing returned to the chute and were manually plugged in by the user The chute is shown in Figure 10 below Figure 10 Chute The origin and charging port of the robot 12 3 SUBSYSTEM DESIGN The Subsystem Design section explains how components previously described in the components section above were integrated resulting in a high performance intrusion detection network The designs below were specifically manufactured for this application These subsystems include the panning sensor head LED contaminant robot optical positioning system performance coding and the main circuit board design 3 1 Panning Sensor Head In order to locate and track the contaminating intruder a sensor head was designed on which both the long range infrared object detector and three light to voltage converters are mounted The infrared distance sensor was mounted v
66. os Oorramar 24 3 5 Main circuit boards and components The main board of each robot serves as back plane for all of the components All connections between parts are made on the surface of the board Numerous header connectors were attached for connecting various sensors and external circuitry The main board in actuality was a Cubloc CB280 prototyping board adapted for use on these robots The board was made from double sided copper clad fiberglass All components are thru hole mounted meaning fast and easy repair due to accessibility The board as designed for prototyping has ample space for component placement as well as easy access to all the IO lines of the processor Holes were drilled in the board to ease in the mounting of large components like the charging port Components were fastened to the board by means of soldering most components are located on the outer perimeter to free space in the middle for future component additions The main board when mounted to the metal chassis of the robot served as the backbone of each robot Cubloc CB280 ADC zeroing Wheel encoder Processor resistors connector Radio daughter card interface cueLoc CB280 Mini PROTO l Bilele je Main processor program port A on 7 po Whisker 22 switches not E implemented Batter 07092090 PAN charging port ging p Right motor 0000C connector Power supply Left motor Battery connector Connector Main processor reset R distance se
67. ouble myHeight double myWidth int pixelsPerUnit double pixelsPerUnitD int tempX 1 int tempY 1 int tempHeading 180 Constructors public frmNewScenario ref ArrayList myRobots ref SerialPort newSerialComm InitializeComponent loadedRobots myRobots serialComm newSerialComm txtLength Text 0 txtWidth Text 0 foreach PhysicalRobot robot in loadedRobots clistBoxRobots Items Add robot 1stPlaceRobots Items Add robot clistBoxRobots SetSelected 0 true lstPlaceRobots SetSelected 0 true Functions Methods private void updateCommStatus int index lblCommStat Text PhysicalRobot loadedRobots index getCommStatus byte color PhysicalRobot loadedRobots clistBoxRobots SelectedIndex getCommStatColor switch color case 0 lblCommStat ForeColor System Drawing Color Yellow break case 1 lblCommStat ForeColor System Drawing Color Red break case 2 lblCommStat ForeColor System Drawing Color Yellow break case 3 lblCommStat ForeColor System Drawing Color Green break private void updateTeamStatus object robot PhysicalRobot myRobot PhysicalRobot robot lstActive Items Remove myRobot lstPaused Items Remove myRobot 74 lstSleep Items Remove myRobot switch myRobot getStatus case 0 lstActive Items Add myRobot break Case 1 lstPaused Items A
68. rUnitD int y int currRobot getStartY pixelsPerUnitD if x gt 0 amp amp y gt 0 myG new GraphicsPath mat new Matrix mat RotateAt int currRobot getStartHeading new PoihntF x y myG AddRectangle new Rectangle x 2 pixelsPerUnit y 4 pixelsPerUnit 4 pixelsPerUnit 6 pixelsPerUnit myG AddRectangle new Rectangle x 3 pixelsPerUnit y 5 pixelsPerUnit 1 pixelsPerUnit 9 pixelsPerUnit myG AddRectangle new Rectangle x 2 pixelsPerUnit y 5 pixelsPerUnit 1 pixelsPerUnit 9 pixelsPerUnit myG Transform mat 80 LE lstPlaceRobots Items lstPlaceRobots SelectedIndex g DrawPath new Pen Color Blue else g DrawPath new Pen Color Black private void btn PhysicalRobot lstPlace os 1 1 PhysicalRobot lstPlace Equals currRobot myG myG Remove Click object sender EventArgs e Robots Items lstPlaceRobots SelectedIndex setStartP Robots Items lstPlaceRobots SelectedIndex setStartH eading 180 pni Env Refresh private void lstPlaceRobots SelectedIndexChanged object sender EventArgs e PhysicalRobot loadValues PhysicalRobot lstPlaceRobots Items lstPlaceRobots SelectedIndex if loadValues getStartY lt 0 loadValues getStartX 0 tckbrHeading Enabled false else tckbrHeading Enabled true tckbrHea
69. rcommunication 2 COMPONENTS The following sections describe the components of the robots that were purchased or manufactured and assembled Additionally this section details what initial components were necessary to be built prior to initial testing of the robots Certain parameters were assumed as they provided guidance on how the project was developed in certain areas For example the distance sensors maximum range is five feet so the testing environment was limited to no more than 50 square feet Therefore the robots would eventually contain the intruder but after an extensive amount of time Limits such as these provided more defined requirements for the development of the system 2 1 Testing Environment Defining acceptable testing spaces helped concentrate the project goals The fifty square foot dimensions of a rectangular area were assumed for a number of factors a Battery life of the robot b Capability of sensory equipment range c Timing of tracking intruder d Accessibility to malfunctioning robots e Number of robots used for scenario Two main reasons for the definition of a testing space included the fact that the sensory equipment used had limited capabilities and the amount of time required to track and surround an intruder needed to be within limits of detecting robot s battery life In a large scale application of this model a robot may be given hours to detect an intruder over a large distance and provided wit
70. robot that they would like to see the status of Status of the robot is checked every 700 milliseconds which is safe to say that the robots are continuously being checked Clicking robot 1 the user verified the robots ID in the Robot Identification box The robots communication status in the Robot Communication box displayed that the comm status was not initialized because the robot was not in use or the radio was not communicating to the base station properly The user was able to track the robots position at any time in the Robot Positioning box Values were presented in the Sensor Voltages and Actuator PWM that allowed the user to track the accuracy and power available to the robot To exit the Robot Health screen click on the Close button Below is the screenshot to aid in following the directions above 33 Robot Health Select a robot from the list below to view vital information m Robot Identification Sensor Voltages Robot ID 1 Battery VJ 0 00 Robot Name Robot 1 U Intruder V 0 00 Scenario Role Active C Intruder VJ 0 00 R Intruder Y 0 00 Robot Communication Comm Address 64 Comm Status Not Initialized L Obstacle V 0 00 C Obstacle V 0 00 R Obstacle vj 0 00 Auxilary VJ 0 00 Actuator Pw M AAA Robot Positioning Position x 0 L Drive Motor d A Drive Motor 0 E ft Heading H 0 Sensor Panning
71. rolled autonomously by the base station there is no 295 human input other than controlling the intruder s trajectory ii TABLE OF CONTENTS TABEEOECONTENTS aussen ER NA BG iii LIST OF FIGURES a GWA beni Keri BAKI aa v 1 INTRODUCTION rc s s s 1 2 COMPONENTS di A 4 2 1 Testing ENVASE AA 4 2 1 1 Environmental Test Platform ETP asian ee 5 22 Drope Robots ae Mae 7 22 RAIO A EN MM MA 8 2 2 2 Battery Pack RN 9 2 2 3 Power Saving Feature uu oot ae ped edv E eae tup ee eas e wp ede t QS eA cd 9 2 2 4 Infrared Distance Sensors deo ee 10 2 2 9 Boe Bot Chassis ua teen tatoeren Gaetano reen 10 2 26 Wheels AA 11 LCA neee AA PA 12 S SUBSYSTEM DESIGN nu 13 Sa Panning Sensor Head euere een 13 3 1 1 Light Contamination Detectors ea ale 14 3 1 2 Angular Positioning of Light Sensors nanne ee RA GR Re ee ee RA ee Re ee ee RA ee 14 341 3 Final Desien ie Me Se e n REPRE dab e de a ed Wat e adds 18 3 2 Short Distance Infrared Sensors au 19 3 3 LED Contaminant SOURCE siese rr Reiki 19 34 Positioning System Methods asus iin 20 3 4 1 Time Based Positioning sand 21 3 4 2 Global Based Posttionitig s o a eee ete deat ous Ge Ri eus 21 3 43 Inettral AVIATION een ee one aaan eeb alah 22 JAA Odometry va oot ced eed dean Neat Aen 22 3 5 Main circuit boards and components se ee ee RA Ge Re ee AA RA Ge Re ee ee RA Ge Re ee ee 25 3 6 Programming AAA ERR Mdd 26 3 6 1 Interactive Graphical User Interf
72. s an outside force acting on the drone The position of each drone was determined by analysis of the separate y axis counts for the left and right sides When the count was equal to the right count the drone was moving in a straight line If the left count was higher the drone is turning right if the right count was higher the drone was turning left The initial devices used for this method were optical PS 2 computer mice Preliminary testing showed that these devices would be successful at completing this task Communication between the mouse and the robot s Cubloc processor was established Using these mice required the addition of a PIC microcontroller chip However as programming was further developed several major sources of error were discovered The optical mice calculated position by integrating an observed velocity which lead to a large number of rounding errors In further pursuance of this method standard PS 2 ball mice were investigated Ball mice were promising at first as they measured displacement instead of velocity however they still had poor repeatability This was caused by the fact that the values drifted when the mouse was idle When data of positioning was compiled over time this produced errors greater than one foot in 23 magnitude When used in a small operating environment six by nine feet this large magnitude was highly unacceptable resulting in the abandonment of this positioning concept Wheel based Odometr
73. sensors position tracking style of movement and programming were evaluated and the current design best suited our MQP s environment Now that base of the robots and programming have been created future project groups can focus more time how to make the program better rather than how to make the program function Numerous hours were spent on creating an in depth program but as in any project the more one analyzes situations the more opportunities they find for improvement The programming for this project has a major significance in this project as it gives the robots direction and a mission Since the group members were not Computer Science majors it took a substantial amount of time to learn and write code that would meet the specifications of the MQP project In the future 1t would be extremely beneficial to have an electrical as well as computer science background in order to maximize the work output efficiency 42 References 1 P COMFILE Technology Version 2 0 Cubloc User s Manual COMFILE Technology O Foster City CA 2006 Holland John M Designing Autonomous Mobile Robots Newnes Publications 2004 Meystel A Autonomous Mobile Robots World Scientific Publishing 1991 Military Predator UAV http www fas org irp program collect predator htm January 30th 2007 Multiple Autonomous Robots http www cis upenn edu mars February 1 2007 TSL257 High Sensitivity Light to Voltage Converter Data Sheet TAOS
74. signated the next robot 1f available was chosen and the procedure was repeated for as many robots as were selected in the Robots tab At any point the user is able to remove a robot by clicking on the blue robot icon and then clicking the Remove button Once all the robots were placed the user hit the Create New button at which point the activated robots moved to their designated positions and began searching for the intruder Below is a screenshot to help understand where the controls are for the directions stated above 32 x Robots Scenario Strategy Pre Sim Setup Avail Robots Heading Select a robot from After a robot is placed use the slider to select its heading the list below and select ts position on y R the white rectangle 1 i 0 45 90 135 180 135 90 45 D Remove Create New Cancel dd Figure 28 RoboSim s Pre Sim Setup Menu Once all the steps above were completed the robots moved to their designated positions and began scanning for the intruder While the robots ran their scenario another section of the software allowed the user to monitor various components of the active robots Once the user clicked Create New the robots began to move and the computer screen flashed back to the main page At this point the user clicked on Communications Robot Health which opened the window seen below In this window the user chooses a
75. sition ref string myValues intruderX int double Parse myValues 1 intruderY int double Parse myValues 2 confidencelnterval int double Parse myValues 3 Program using System using System Collections Generic using System Windows Forms namespace RoboSim static class Program lt summary gt The main entry point for the application lt summary gt STAThread static void Main Application EnableVisualStyles Application SetCompatibleTextRenderingDefault false Application Run new frmMainControl frmRobotHealth using System 69 using Sys using Sys using Sys using Sys using Sys using Sys using Sys Lem Lem Lem Lem Lem Lem Lem Collections ComponentModel Data Drawing Text Windows Forms Threading namespace RoboSim public partial class frmRobotHealth Form ArrayList activeRobots Object waste null EventArgs waste2 null System IO Ports SerialPort serialComm Constructor public frmRobotHealth ref ArrayList myRobots System IO Ports SerialPort newSerialComm InitializeComponent serialComm newSerialComm activeRobots myRobots foreach object robot in activeRobots 1stRunningRobots Items Add robot lstRunningRobots SelectedIndex 0 lstRunningRobots Refresh tmrUpdate Interval 1000 ref tmrUpdate Tick new
76. splay DataSource newList dgvRobotDisplay Refresh frmAddNewRobot using System using System Collections Generic using System ComponentModel using System Data using System Drawing using System Text using System Windows Forms namespace RoboSim public partial class frmAddNewRobot Form public frmAddNewRobot InitializeComponent 72 CommTest using System using System Collections Generic using System ComponentModel using System Data using System Drawing using System Text using System Windows Forms using System IO Ports namespace RoboSim public partial class CommTest Form SerialPort serialComm public CommTest ref SerialPort newSerialComm InitializeComponent serialComm newSerialComm private void buttonl Click object sender EventArgs e try serialComm ReadTimeout 1000 serialComm WriteTimeout 1000 serialComm Write textBox1 Text string x serialComm ReadLine label2 Text x catch label2 Text Timeout frmNewScenario using System using System Collections using System ComponentModel using System Data using System Drawing using System Drawing Drawing2D using System Text using System Windows Forms using System Threading using System IO Ports 73 namespace RoboSim public partial class frmNewScenario Form ArrayList loadedRobots d
77. stems would be prohibitive 21 3 4 3 Inertial Navigation Inertial navigation determines an object s placement in a defined space by measuring accelerations in various axes and integrating these measurements with respect to time This system can be very precise but not accurate as it was subject to drift It required periodic updates of its location by a global measurement system These systems also have the same price short comings as the GPS style systems in that more accurate systems are expensive 3 4 4 Odometry This left the final method of positioning an object in a defined area odometry The method utilized a system of sensors which estimated the distance traveled by a wheeled or track driven robot The most popular odometry method was measurement of the angular displacement of the wheels or drive train This system was particularly accurate when the interaction between the drive train and ground was ideal This meant no slippage one rotation of a wheel with the diameter of one unit traveled exactly Pi units with respect to ground Vehicles driven with tracks or tank steer had a hard time maintaining accuracy after a series of movements due to friction and slippage that could not be modeled Tread Counter The initial odometry method proposed involved the use of optical encoders attached to the spur gears of the tread drive system After initial experimentation it was determined that this method introduced a highly significant amou
78. t to detect and capture an intruder alone and or with the aid of other robots This was one of the first autonomous robotic projects to be completed in WPT s Aerospace Engineering Department WPI was not the first to investigate the need for autonomous robots as there have been many university and military research projects investigating the plausibility of utilizing self guided systems One such system is the military s Predator which is an autonomous unmanned aerial vehicle requiring human input only on certain mission critical decisions It requires the input of a directive or target that it aims to achieve or destroy Figure 1 Unmanned Aerial Vehicle Predator The Predator has the capability to make its own decisions in flight as well as to communicate to other Predators The concept of a completely autonomous robot is complex but beginning with basic sense and react algorithms as was conducted in this MQP project one is better able to understand the next step in achieving a fully autonomous system Another project that involved autonomous robots was the Multiple Autonomous Robots MARs program conducted at GRASPP Laboratories PA The MARs project worked with multiple robots over various types of terrain using several types of sensors as seen in Figure 2 These sensors included infrared distance sensors omni directional cameras video transmitters and powerful onboard processors This project
79. tatus else lstRobotStatus Enabled false private void clistBoxRobots ItemCheck object sender ItemCheckEventArgs e if clistBoxRobots GetItemChecked clistBoxRobots SelectedIndex lstRobotStatus Enabled false removeRobotFromTeam loadedRobots clistBoxRobots SelectedIndex PhysicalRobot loadedRobots clistBoxRobots SelectedIndex setinSimulation ft alse else string newHex PhysicalRobot loadedRobots clistBoxRobots SelectedIndex RobotCommA ddress2 ToString PhysicalRobot loadedRobots clistBoxRobots SelectedIndex setCommStatus 2 updateCommStatus clistBoxRobots SelectedIndex lstRobotStatus Enabled true lstRobotStatus SelectedIndex PhysicalRobot loadedRobots clistBoxRobots SelectedIndex getStatus updateTeamStatus loadedRobots clistBoxRobots SelectedIndex if handshake newHex PhysicalRobot loadedRobots clistBoxRobots SelectedIndex setCommStatus 3 PhysicalRobot loadedRobots clistBoxRobots SelectedIndex setInSimulation t rue else fail updateCommStatus clistBoxRobots SelectedIndex private void l1stRobotStatus_SelectedIndexChanged object sender EventArgs e PhysicalRobot loadedRobots clistBoxRobots SelectedIndex setStatus byte Pa rse lstRobotStatus SelectedIndex ToString updateTeamStatus loadedRobots clistBoxRobots SelectedIndex pr
80. th and width al boxes to input the dimensions Various dimensions can be used depending on the specific scenario run The screenshot below shows a visual on where to input values x Robots Scenario Strategy Pre Sim Setup Environment Size 7 s rx m Length width Create New Cancel db Figure 27 RoboSim s Environment Size Menu The last stage of the program preparation required us to place the robots we chose in the area we specified As stated in section 2 3 the robots started in the chute as that was where their global origin is found The chute was always and will always be placed in the bottom left most portion of the designated area The program was written with these known variables and calculates the position of the robots off of this known origin Clicking on a robot in the Avail Robots tab the mouse was then moved over the white space depicting the testing area where a blue outline of the robot appeared Notice that the robot s size was to scale with the specified area Moving the mouse over the white space the robot was placed in the top right corner for demonstration purposes The robot was only able to be placed if the icon was blue If red in color the robot is not in the programs boundary area Once the robot icon was placed one had the option to rotate the face of the robot by sliding the pointer in the Heading box to a given angle Once the robot placement and angle was de
81. the light sensors once both sensors detect the intruder through the created algorithm the robot accurately hone in on the intruders position The light sensors played the most important role in detecting the intruder Since the intruder s only unique variable was that it gave off light it was important that the light sensors covered a wide area over a great distance The light sensors discerned the difference between outside variables and what was actually the intruder something the infrared sensors could not do alone With a range of about 62 inches using seven robots in a 30 foot square grid it does not take long for one robot to spot the intruder and relay this information to the other robots to eventually contain the intruder 37 4 4 Radio Communication The only method of communication between the robots and the base station was the radios The radios needed their own processor that was used to delegate a number of functions within the program With nine robots working together there was a lot of chatter The processor was able to filter this chatter to specific robots relaying information about the position of the intruder which can be transmitted to other robots to quicken the containment process The algorithm created for this project lets the processor know what information was critical and which robot needed to process the information The radio processor used the Cubloc base program which was written for this project
82. ting the Cubloc software and the program that was developed on it The antenna allows wireless communication between the robot and the station The program was designed to directly communicate from the station to the robots or vice versa Information from the computer program is sent to the robot to order it to engage certain functions The robots also operate based on the program embedded in their primary CPU and relay gathered data to the base station The robots have the potential to communicate robot to robot but due to limitations in the onboard processors this type of delegation is not viable The radio daughter board and its components can be seen in Figure 5 3 3 Volt regulator Radio Processor reset Radio aux power Y 0037 x 0 XBee 24 Wireless serial gt MaxStrearn E ABee modem Radio ID ONG Ea es Data Bus to main Radio processor Ga P circuit board programming port AME PET HI OE LG COSO CB220 Processor module Figure 5 Radio Circuit 2 2 2 Battery Pack The onboard power supply for the robots is a Nimh Nickel Metal Hydride pack containing 6 AA sized batteries Each robot is equipped with a rechargeable battery pack mounted to the underside of the robot chassis To recharge the batteries the battery packs can be wired to a battery recharging unit or can be directly connected to a power supply providing a charge of 9 volts With the addition of an on off charge switch as seen in Fi
83. tr 1 Dec RAW 0 Cr End Sub Sub statusSendRaw This sub responds to the server with the raw voltages for all analog channels Dim i As Integer Putstr 1 5000142 For i 0 To 7 If RAW i lt 999 Then Putstr 1 0 If RAW i lt 99 Then Putstr 1 0 If RAW i lt 9 Then Putstr 1 0 Putstr 1 Dec RAW 1 Next Putstr 1 Cr End Sub 57 channels Sub statusSendPWM This sub responds to the server with the current PWM values for all PWM Dim i As Integer Putstr 1 5000226 For i 0 To 3 If PWMS 1 lt 9999 Then Putstr 1 0 If PWMS 1 lt 999 Then Putstr 1 0 If PWMS 1 lt 99 Then Putstr 1 0 If PWMS 1 lt 9 Then Putstr 1 0 Putstr 1 Dec PWMS 1 Next Putstr 1 Cr End Sub Sub statusSendNav This sub responds to the server with the current position information of the robot Dim datLen As Byte datLen Len Dec POSITION 0 Len Dec POSITION 1 Len Dec POSITION 2 5 Calculates the length of all position data and markup Putstr 1 50003 Dec datLen Dec POSITION 0 Dec POSITION 1 Dec POSITION 2 Cr Returns Position info avoidance End Sub Sub statusSendObstacle This sub responds to the server with all information pertaining to obstacle End Sub Sub statusSendIntruder Dim datLen As Byte datLen Len Dec INTRUDER 0 Len Dec INTRUDER 1 Len Dec INTRUDER 2 5 Calculates the length of all position data and markup Putstr 1 50005 Dec datLen Dec INTRUDER 0 Dec
84. trix 3 1 tempMatrix 0 1 2 for int m 1 m lt NumRobots m RobotDistance int Math Sqrt tempRobot getPosX tempMatrix 0 0 2 tempRobot getPosY tempMatrix 0 1 2 while RobotDistance lt MatrixDistance RobotDistance int Math Sqrt tempRobot getPosX tempMatrix 0 0 2 tempRobot getPosY tempMatrix 0 1 2 for int k 0 k lt 100000 k 78 11 Heading ToString Substring 0 6 tempRobot PhysicalRobot lstPlaceRobots Items NumRobots while tempRobot getPosX 1 5 lt tempMatrix 9 0 amp amp tempRobot getPosY 1 5 lt tempMatrix 9 1 tempRobot getPosX tempRobot getPosY for int k 0 k lt 100000 k int k 0 k lt 100000 k int i 0 i lt NumRobots 1 tempRobot PhysicalRobot 1stPlaceRobots Items i Heading tempRobot getStartHeading Math PI 180 id tempRobot getRobotID ToString serialComm Write id 30106 string ack serialComm Readline private void pnlEnv MouseClick object sender MouseEventArgs e tempX tempY try if 1 1 canRobotBePlaced e X 2X 1f canRobotBePlaced2 e X e Y PhysicalRobot lstPlaceRobots Items lstPlaceRobots SelectedIndex setStartP os int e X pixelsPerUnitD int e Y pixelsPerUnitD tckbrHeading Enabled true tckbrHeading Value
85. ure 24 RoboSim s New Simulation Drop Down Menu eene 30 Figure 25 RoboSim s Simulation Drop Down MENU aaneen ennen ee ee AR RR GR Ge ee 30 Figure 26 RoboSim s Scenario Menu SE N op ds anders tesi pa ud ee sae OUS RR sn 31 Figure 27 RoboSim s Environment Size Menu esse sesse sese 32 Figure 28 Pre Sim Setup MENU ma tee GIAN AGA Maro nee eie se er 33 Figure 29 Robosim s Robot Health Men senen tete e 34 Figure 30 Robots in the Chute OF SIN unse en en a 34 Figure 31 Robots Moving to their Starting Positions sese 33 Figure 32 Robots in Position Awaiting the Start Command seen 35 Figure 33 Robots Initial Movement Towards the Intruder eee 36 Figure 34 Robots Tighten the Gap around the Intruder nennen AR enne GR Ge ee 36 Figure 35 Contamed Intruder anne se da 36 Figure 36 Panning and Scanning Sensor Head sss 48 1 INTRODUCTION The goal of this project was to develop a network of robots with the capability of detecting an intruder and having the ability to track follow and effectively surround it Prior to the development of this system other robotic programs used by the military and other universities were studied and reviewed Previous autonomous robot models were examined as this project aims to add more advanced capabilities to autonomous technologies already in place An autonomous robot network was developed to allow a robo
86. vate double startHeading 90 Where should 1 Start private int PositionMatrix Obstacle Detection private int intruderX 0 private int intruderY 0 private int confidencelnterval 0 Functions Methods Constructors public PhysicalRobot robotID 0 robotStatus 3 public PhysicalRobot byte newRobotID robotID newRobotID setCommStatus 0 battVoltage 0 Destructors public void Dispose Get Properties public byte RobotID Get return robotID public string RobotName get return robotName public short RobotCommAddress get return commAddress Accessors public short RobotCommAddress2 65 facing return commAddress tus string getCommStatus i return commStatus te byte getCommStatColor i return commStatColor byte getStatus i return robotStatus are byte getRobotID return robotID ee override string ToString return robotName uds bool isInSimulation return inSimulation public double getBattVoltage return double battVoltage 10 1023 public double getLeftLightVoltage return double leftLightVoltage 5 1023 public double getCenterLightVoltage return double centerLightVoltage 5 1023 public double getRightLightVoltage return double rightLightVoltage 5 1023 as double getLeftDistanceVoltage return double l
87. was selected because when mounted horizontally the IR signal interfered with the short range sensors The vertical orientation negated the interference and through 18 experimental observations this orientation provided measurements that were far superior to previous ones This phenomenon occurred because the vertical sensor was now directly aligned with the contaminant source This modification consequently allowed distance measurements to the source of the light to be accurate and properly aligned 3 2 Short Distance Infrared Sensors These sensors also needed to be mounted so their scanning area is a 180 degree vertical scan The two sensors mounted on the front of the robot needed to be mounted at a 45 degree angle outwards away from each other This was done in order to eliminate readings from the sensors concerning the same detected object which would skew the results transmitted to the hub and send the robot in the wrong direction Receiver Emitter Figure 18 GP2D12 Infrared Short Range Distance Sensors 3 3 LED Contaminant Source The role of the intruding contaminating source was fulfilled by a simple robot similar to the drone robots It uses the same chassis as the drones but was not equipped with a Cubloc processor The robot followed a designated path and was not designed to operate autonomously as the drones The intruder distributed a contaminant within the 2 dimensional operating environment
88. y Method Used The positioning system that was chosen for this project was a method of wheel based odometry Often used in robotic applications this method was overlooked at first due to the fact that 1t would not work with the tread drive system The decision was made to switch to wheels and use optical rotary encoders to measure the number of rotations that the wheels traveled In this method a sensor was used in collaboration with an encoder pattern that was glued to a gear The encoder pattern is made up of black and white wedges that are equally spaced around the gear A sensor adds to a running total every time a black wedge passes These two totals are used in the following algorithm to resolve the current heading and position of the drone Optical encoder pattern Rotary encoder glued inside the servo Figure 21 Wheel servo with optical encoder fixed to the inside of the servo Lprsrance Leounrrorar N INCHESPERCOUNT R DISTANCE Reounnrorar N NCHESPERCOUNT If L pisrance Ro srance RES X POSITION X ORIGINAL Lpistance cos Oorromar Ka Y POSITION Y ORIGINAL EG Rprsrance sin Oorramar Else 0 per Rcounr Loousr N NCHESPERCOUNT 0 NEW D ORIGINAL WIDTHOFVEHICLE A DyiprHorvEHICLe R DISTANCE Linsrance DISTANCE 2 R oisrance 7 DISTANCE X pos rion Koriamar A pisrANCE sin Oxgw sin Ooriomar Ypos rion gt YORIGINAL al A DISTANCE ki cos O yy 1 c
89. ype of movement the acceleration necessary to achieve the velocity power train status terrain and the kinematics coupling the system to the environment The produced results worked however the tolerance between each robot made the system both impractical and imprecise Lastly such a system has compounding positional errors which were a function of distance traveled 3 4 2 Global Based Positioning The system was based on measured distances to known positions and was accurate and precise however the equipment needed to operate this method was expensive and out of our budget The systems ability varied when taking the requested change of distance with respect to the space to measured Most of the measured distance systems rely on some sort of electromagnetic wave transmitter and receiver system The most popular are GPS and LORAN These systems rely on being able to calculate the difference in time it took the radio wave which traveled at a constant speed to arrive at a location from multiple transmitters Accuracy was largely a function of the frequency used as one wavelength was ideal With GPS for example a position could be obtained within a few centimeters with respect to the whole world In the case of the drone robots a few centimeters was a large area as the whole system wasn t very big A positioning system that used distance measuring would require short wavelengths these wavelengths were so short that the cost of implementing such sy

CENTRALIZED INTRUSION DETECTION via SWARM ROBOTS

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