1 / 20

Localizing the maximum in an environmental field using a mobile sensor

Signals , Instruments & Systems. Sara Oppenheimer & Bruno Spahni. Localizing the maximum in an environmental field using a mobile sensor. Plan. Goal Experiment Results Conclusion. Goal | Experiments | Results |Conclusion. Goal of the Project:.

lala
Télécharger la présentation

Localizing the maximum in an environmental field using a mobile sensor

An Image/Link below is provided (as is) to download presentation Download Policy: Content on the Website is provided to you AS IS for your information and personal use and may not be sold / licensed / shared on other websites without getting consent from its author. Content is provided to you AS IS for your information and personal use only. Download presentation by click this link. While downloading, if for some reason you are not able to download a presentation, the publisher may have deleted the file from their server. During download, if you can't get a presentation, the file might be deleted by the publisher.

E N D

Presentation Transcript

  1. Signals, Instruments & Systems Sara Oppenheimer & Bruno Spahni Localizing the maximum in an environmentalfield using a mobile sensor

  2. Plan • Goal • Experiment • Results • Conclusion

  3. Goal |Experiments |Results |Conclusion • Goal of the Project: Finding the location of maximal light in an environmental field. Light (20W) Two main steps: • Go to the Light • LED indicatelight’s direction - Stop near the light source - All LED turn on • Tools: E-Puck

  4. Goal |Experiments |Results |Conclusion Methodology of the robot: 1. Measures environmental informations 2. Analyses the data 3. Wheels and LED reaction 4. Stops if it’s near light

  5. Goal |Experiments |Results |Conclusion • An e-puck with: • 8 IR sensors (we only use the receptorfunction) { i=0; for(i = 0;i <= 7;i++) { sample_single_light_sensor(i); while(sample_status!=2); } sprintf(buffer, "%lu,%lu,%lu,%lu,%lu,%lu,%lu,%lu\n\r",sample_buffer[0],sample_buffer[1],sample_buffer[2],sample_buffer[3],sample_buffer[4],sample_buffer[5],sample_buffer[6],sample_buffer[7]); e_send_uart1_char(buffer, strlen(buffer)); while(e_uart1_sending());

  6. Goal |Experiments |Results |Conclusion Go to the Light (2 Methods): 1st: Create two variables with the sum of the right and left sensor’s values respectively. • The robot follows the direction of the lower addition value bufD = sample_buffer[0] +sample_buffer[1] +sample_buffer[2] +sample_buffer[3]; bufG = sample_buffer[4] +sample_buffer[5 ]+sample_buffer[6] +sample_buffer[7]; if(bufD > bufG){ e_set_speed_left(50); e_set_speed_right(100); } else{ e_set_speed_left(100); e_set_speed_right(50); }

  7. Goal |Experiments |Results |Conclusion Go to the Light (2 Methods): 2nd:Find the sensor with the minimal value • Give a particular direction to the wheel for eachsensor switch (captor) { case 0: e_set_speed_left(560); e_set_speed_right(500); e_set_led(0,1); break; case 1: //same set ups for 2&3 e_set_speed_left(300); e_set_speed_right(-300); e_set_led(1,1); break; min = 8000; for(i=0;i<=7;i++) { if(sample_buffer[i]<=min){ min = sample_buffer[i]; captor = i;

  8. Goal |Experiments |Results |Conclusion

  9. Goal |Experiments |Results |Conclusion How to stop the robot near the light? (3codes) 1st: Whenthe sum of all sensors’ values is smaller than a fixed value. 2nd: Whenthe sum of the back sensors’ values is smaller than 1.5 times the sum of the front ones. 3rd: Data storage in a vector  Comparison between stored and current data if (sum_captor<3000){ e_set_speed_left(0); e_set_speed_right(0); all_LED_on(); } if (back_sum<(1.5*front_sum){ e_set_speed_left(0); e_set_speed_right(0); all_LED_on(); } if (sum_buffer < (5*mean_buffer) && sum_buffer > ((1/5)*mean_buffer)){ e_set_speed_left(0); e_set_speed_right(0); all_LED_on();

  10. Goal |Experiments |Results |Conclusion Results of followingLight’s Direction Perfectdetection up to 4.5 [m] Regressingfrom 4.5 [m] to 7 [m] Up to 14 [m] in case of horizontal light • Problems: • Deviation to the right side • Minicomindicatessensor 0 more sensitive than the others

  11. Goal |Experiments |Results |Conclusion

  12. Goal |Experiments |Results |Conclusion Results of Stops near the Light • Wevariedtwo coefficients of the code

  13. Goal |Experiments |Results |Conclusion Stop on right location : 7 & 1/7

  14. Goal |Experiments |Results |Conclusion Results of Stops near the Light • Wevariedtwo coefficients of the code

  15. Goal |Experiments |Results |Conclusion Stop before the light: 16 & 1/16

  16. Goal |Experiments |Results |Conclusion Results of Stops near the Light • Wevariedtwo coefficients of the code

  17. Goal |Experiments |Results |Conclusion No stop: 5 & 1/5

  18. Goal |Experiments |Results |Conclusion Results of Stops near the Light • Wevariedtwo coefficients of the code

  19. Goal |Experiments |Results |Conclusion Conclusion • Quite satisfactory results • Pay attention to the bias • IT Project: importance of global view

  20. Goal |Experiments |Results |Conclusion Thanks for your attention Questions?

More Related