Adam Renzi

Abstract

The world of robotics is rapidly changing. No more are the days of robotics classes being taught that focus merely on highly industrial, automation robots. Today's robotics is focusing more and more on microcontrollers and their implementation into everyday life. Miniature robotics and how it is implemented to make common tasks easier is becoming the focus of many robotics classes across the world. Microcontrollers allow users to control several inputs and outputs to complete somewhat difficult tasks. In today's society, one might find a microcontroller in anything from a computer to the average household toaster. As time has passed, microcontrollers have become more powerful with an increased ability to control more and more inputs and outputs. In many industries, pipe inspection is critical to success. Leaks and cracks in pipes and tubes can lead to multisystem failure. Sometimes the pipes can be impossible to inspect with the human eye due to their length and location. Rather than use an umbilical corded system that would require many feet or miles of cable, it is highly desirable to create a wireless system to complete the task of pipe inspection and repair. The purpose of this project is to utilize microcontrollers to control two robots to complete the following tasks: Locate a hole in a random length of piping. Communicate the hole position between the two robots. Simulate the sealing process of the hole. Through the completion of the above-mentioned goals, this project marked the beginning of the Laboratory of Autonomous Cooperative Microsystems (LACOMS) at Rochester Institute of Technology. The final version of this project will allow for wireless communication between two robots, making the task doable with no human interference, and hence, the two robots will be totally autonomous. Future versions of this project can then focus on miniaturization of the current work on a MEMS scale.

Library of Congress Subject Headings

Robots--Control systems; Mobile robots; Robotics

Publication Date

2002

Document Type

Thesis

Department, Program, or Center

Mechanical Engineering (KGCOE)

Advisor

Walter, Wayne

Advisor/Committee Member

Crassidis, Agamemnon

Advisor/Committee Member

Sahin, Ferat

Comments

Note: imported from RIT’s Digital Media Library running on DSpace to RIT Scholar Works. Physical copy available through RIT's The Wallace Library at: TJ211.415 R469 2002

Campus

RIT – Main Campus

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