Design and development of a modular robot for research use

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dc.contributor.advisorVishwanath, Sriramen
dc.contributor.committeeMemberValvano, Jonathan W.en
dc.creatorPaine, Nicholas Ardenen
dc.date.accessioned2010-11-30T22:13:37Zen
dc.date.accessioned2010-11-30T22:13:50Zen
dc.date.accessioned2017-05-11T22:20:47Z
dc.date.available2010-11-30T22:13:37Zen
dc.date.available2010-11-30T22:13:50Zen
dc.date.available2017-05-11T22:20:47Z
dc.date.issued2010-05en
dc.date.submittedMay 2010en
dc.date.updated2010-11-30T22:13:50Zen
dc.descriptiontexten
dc.description.abstractThis report summarizes the work performed for the design and development of the Proteus research robot. The Proteus design is motivated by the need for a modular, flexible, and usable autonomous robotic platform. To accomplish these goals, a modular hardware architecture coupled with low-power, high-computation processing is presented. The robot is subdivided into three layers: mobility, computation, and application. The interface between layers is characterized by well defined APIs and may be individually replaced to achieve different functionality. An efficient low-level event scheduler is described along with higher-level software algorithms for motion control and navigation. Experiments of Proteus robots are provided including field tests and collaboration with outside research institutions.en
dc.description.departmentElectrical and Computer Engineeringen
dc.format.mimetypeapplication/pdfen
dc.identifier.urihttp://hdl.handle.net/2152/ETD-UT-2010-05-1471en
dc.language.isoengen
dc.subjectModular roboten
dc.subjectMobile robotsen
dc.subjectProteus research roboten
dc.titleDesign and development of a modular robot for research useen
dc.type.genrethesisen

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