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Swarm Terrain Profiler Robotics System-Stprs PROJECT REPORT (January – June, 2016) SWARM TERRAIN PROFILER ROBOTICS SYSTEM-STPRS Submitted by Sumit Pandey – 120070106060 Under the Guidance of Dr. Sandeep Sharma Dr. Praveen Kant Pandey HOD ECE, DIT, Dehradun Associate Professor Department of ECE & AEI DIT University, Dehradun Uttarakhand-248009 June-2016 DECLARATION I hereby declare that the project work entitled “Swarm Terrain Profiler Robotics System” is an authentic record of our own work carried out at Embedded Systems and Robotics Center, Maharaja Agrasen College, University of Delhi, New Delhi as requirements of Industry Internship project for the award of degree of Bachelor in Technology in Applied Electronics and Instrumentation Engineering from Uttarakhand Technical University, Dehradun, under the guidance of Dr. Praveen Kant Pandey and Dr. Sandeep Sharma, during January to June, 2016. Sumit Pandey - 120070106060 B. Tech-AEI-IVth Year Date: July 8th, 2016 Certified that the above statement made by the student is correct to the best of our knowledge and belief. Dr. Sandeep Sharma Dr. Praveen Kant Pandey HOD ECE Associate Professor i ACKNOWLEDGEMENT “It is not possible to carry on our projects without the assistance and encouragement of other people. This one is certainly no exception.” On the very outset of this report, I would like to extend my sincere & heartfelt obligation towards all the personages who have helped us in this endeavor. Without their active guidance, help, cooperation & encouragement, I would not have made headway in the project. I am ineffably indebted to Dr. Praveen Kant Pandey for his conscientious guidance and encouragement to accomplish this assignment. Further, I am extremely thankful and pay my gratitude to our HOD ECE Dr. Sandeep Sharma for his valuable guidance and support on completion of this project. I extend my gratitude to Dehradun Institute of Technology as well as Maharaja Agrasen College for giving us this opportunity. At last but not least gratitude goes to all of our friends who directly or indirectly helped us to complete this dissertation. ii iii INDEX Declaration.………................................................................................................................i Acknowledgement………………………………………………………………………….ii Industrial Internship Certificate…………………………………………………………….iii List of figures and tables……………………………………………………………………v 1. MAC, UNIVERSITY OF DELHI………………………………………………………...2 2. PROFILE OF THE PROBLEM…………………………………………………………..3 3. LITERATURE SURVEY……………………...…………………………………………3 4. PRESENT SYSTEM-STPRS……………………..………………………………………5 4.1 SYSTEM DEFINITION……………………….……………………………………..6 4.2 DATA FLOW DIAGRAM…………………………………………………………..11 5. PROJECT PLAN AND FEASIBILITY ANALYSIS…………………………………...12 6. HARDWARE AND SOFTWARE REUIREMENT ANALYSIS…...………………….13 7. DESIGN………………………………………………………………………………….24 7.1 DESIGN OF Ai-STPRS…………………………………………...…………………24 7.2 DESIGN OF Aq-STPRS……………………………………………...……………...27 8. TESTING………………………………………………………………………………...28 8.1 ELECTRONIC TESTING…………………………………………….……………..28 8.2 MECHANICAL TESTING…………………………………………….……………28 8.3 SOFTWARE TESTING……………………………………………………………..29 9. IMPLEMENTATION……………………………………………………………………29 9.1 Ai-STPRS……………………………………………………………………………29 9.2 Aq-STPRS…………………………………………………………………………...31 10. SWARM INTELLIGENCE……………………………...……………………………..33 11. PROJECT LEGACY……………………………………………………………………41 11.1 PROJECT STATUS……………………………..………………………………41 11.2 TECHNICAL AND MANAGERIAL LESSONS LEARNT……..…………….41 12. USER MANUAL: A complete guide of the software developed……………………….41 12.1 Annexure I: ATMEGA328P Program: USS+Acc. Sensor+TcT sensor+USART...........................................................................................................41 12.2 Annexure II: FIREBIRD V “S” MOTION PROGRAM...………….…………..45 12.3 Annexure III: (a) MATLAB Ai-STPRS PROGRAM (b) MATLAB Aq-STPRS PROGRAM ……………………………...............................................................50-51 12.4 Annexure IV: FIREBIRD V TESTING: VELOCITY CONTROL USING PWM……………………………………………………………………….……….53 12.5 Annexure V: FIREBIRD V TESTING: MOTION CONTROL……….……….57 12.6 BIBLIOGRAPHY………………………………………………………..……..62 iv LIST OF FIGURES Fig 1. Visualization of terrain mapping for MH370 [14].............................................................................. 7 Fig 2. Temperature profile of lakes……………………………………………………………………… 8 Fig 3. A turbid pond. Accumulation of silt and sand at the corners increases turbidity and causes color change. .......................................................................................................................................................... 9 Fig. 4: Ai-STPRS Flowchart Fig. 5: Aq-STPRS Flowchart ......................................................... 10 Fig. 6 TCCR0B – Timer/Counter Control Register B ................................................................................ 13 Fig. 7 TCNT0 – Timer/Counter Register .................................................................................................... 13 Fig. 8 OCR0A Register ............................................................................................................................... 14 Fig. 9 TIMSK0 Register ............................................................................................................................. 14 Fig. 10 UCSRnA Register ........................................................................................................................... 14 Fig. 11 UCSRnB Register ........................................................................................................................... 15 Fig. 12 UCSRnC Register ........................................................................................................................... 15 Fig. 13 Timing diagram of HC-SR04 ......................................................................................................... 17 Fig. 14 Timing diagram of DYP-ME007 ultrasonic sensor ........................................................................ 19 Fig. 15 Debugging session in Atmel Studio 6.2 ......................................................................................... 20 Fig. 16 Different types of 3D MATLAB plots ........................................................................................... 21 Fig. 17 surf + colormap hot + shading interp ............................................................................................. 22 Fig. 18 (a) Front View (b) Side View (c) Bottom View of airy medium Test-bed ..................................... 23 Fig. 19 Top View of Aquatic medium Test-bed ......................................................................................... 23 Fig 20 Ai-STRPS ........................................................................................................................................ 25 Fig 21 Aq-STPRS ....................................................................................................................................... 26 Fig 22 Ai-STPRS in progress ..................................................................................................................... 28 Fig. 23 (a) Original Terrain. (b) 2D plot of resulted terrain (c) Inverted 3D plot of resulted terrain .......... 29 Fig. 24 Aq-STPRS in clean water as shown in (a-c). Aq-STPRS in turbid water as shown in (d) ............. 30 Fig 25 (a) Original Terrain. (b) 2D Terrain mapping. (c) Inverted 3D terrain mapping. (d) Inverted 3D temperature profile. (e) 2D Turbidity profile. ............................................................................................. 32 Fig 26 Start to end process of proposed algorithm ..................................................................................... 39 LIST OF TABLES Table 1 Clock Select Bit Description .......................................................................................................... 13 Table 2 HC-SR04 maximum and minimum range calibration ................................................................... 24 Table 3 HC-SR04 distance to SAS calibration ........................................................................................... 24 Table 4 HC-SR04 Object to Distance Calibration ...................................................................................... 25 Table 5 Comparison of swarm robotics & other systems ........................................................................... 35 v 1. MAC, UNIVERSITY OF DELHI University of Delhi informally Delhi University is a public central collegiate university, located in New Delhi, India. The university has sixty-five colleges which have liberal courses in humanities, social sciences and science. Twenty five of these colleges are affiliated with the South Campus while the others are to the North Campus. The President of India (currently, Shri. Pranab Mukherjee) is the Visitor, the Vice President of India (currently, Shri. Mohammad Hamid Ansari) is the Chancellor and the Chief Justice of India (currently, Shri. T. S. Thakur) is the Pro-Chancellor of the University. The Court, the Executive Council, the Academic Council and the Finance Committee are the administrative authorities of the University. [1][2][3] Out of the various prestige colleges of University of Delhi; Maharaja Agrasen College (MAC) emerges as a platform provider for students who depicts great academic achievements in their school life. It provides courses in Arts, Commerce and Science. The college believes to enable students to experience an unparalleled
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