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Title page for ETD etd-04072003-141839

Type of Document Master's Thesis
Author Mattos, Leonardo Serra,
Author's Email Address lsmattos@ncsu.edu
URN etd-04072003-141839
Title The EvBot II: An Enhanced Evolutionary Robotics Platform Equipped with Integrated Sensing for Control
Degree Master of Science
Graduate Program Electrical Engineering
Advisory Committee
Advisor Name Title
Dr. Edward Grant Committee Chair
Dr. John Muth Committee Member
Dr. Mark White Committee Member
Dr. Troy Nagle Committee Member
Keywords
  • neural network controller
  • robotic platform
  • distributed robotics
  • USB
  • array
  • data acquisition
  • sensors
  • acoustic
  • cooperative robotics
Date of Defense 2003-04-02
Availability unrestricted
Abstract
The research presented in this thesis describes the design and development of the EvBot II, a small, computationally powerful, and robust evolutionary robotics platform equipped with an acoustic array system. The EvBot II represents the next generation of autonomous robots for distributed robot-colony research, and its design has expanded the sensing capabilities and the overall performance of the EvBot robots by the incorporation of two microcontroller units, shaft encoders and a complete acoustic array system for tracking and navigation purposes. The design, development and test of this new robot is described in detail throughout this thesis, including the design of an USB data acquisition system capable of simultaneously sampling eight audio channels as required for the realization of the added acoustic array system. Experiments designed to evaluate the performance of this new robot and its components are also described in this thesis, as well as experimental results showing that it is a well-suited platform for the study of evolutionary robotics, distributed robot-colonies and sensors technologies.
Files
  Filename       Size       Approximate Download Time (Hours:Minutes:Seconds) 
 
 28.8 Modem   56K Modem   ISDN (64 Kb)   ISDN (128 Kb)   Higher-speed Access 
  etd.pdf 7.60 Mb 00:35:11 00:18:05 00:15:50 00:07:55 00:00:40
  EvBotArray_1012Hz.avi 5.89 Mb 00:27:16 00:14:01 00:12:16 00:06:08 00:00:31
  EvBotArray_Airplane_Sound.avi 6.28 Mb 00:29:05 00:14:57 00:13:05 00:06:32 00:00:33
  EvBotII_in_the_Maze.avi 1.37 Mb 00:06:21 00:03:16 00:02:51 00:01:25 00:00:07
  EvBotII_in_the_Maze_(3).avi 2.62 Mb 00:12:07 00:06:14 00:05:27 00:02:43 00:00:13
  EvBotII_Move2Sound.avi 1.26 Mb 00:05:49 00:02:59 00:02:37 00:01:18 00:00:06
  EvBots_Two_Generations.avi 1.59 Mb 00:07:22 00:03:47 00:03:19 00:01:39 00:00:08
  RobotArray_Simulation_1000Hz.avi 8.63 Mb 00:39:58 00:20:33 00:17:59 00:08:59 00:00:46