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dc.contributor.advisorSaranlı, Uluç
dc.contributor.authorAvcı, Akın
dc.date.accessioned2018-01-03T12:00:37Z
dc.date.available2018-01-03T12:00:37Z
dc.date.copyright2008-12
dc.date.issued2008-12
dc.date.submitted2008-12
dc.identifier.urihttp://hdl.handle.net/11693/35717
dc.descriptionCataloged from PDF version of article.en_US
dc.descriptionThesis (M.S.): Bilkent University, Department of Computer Engineering, İhsan Doğramacı Bilkent University, 2008.en_US
dc.descriptionIncludes bibliographical references (leaves 81-85).en_US
dc.description.abstractDesign and construction of small autonomous mobile robots is a challenging task that involves the selection, interfacing and programming of a large number of sensor and actuator components. Facilitating this tedious process requires modularity and extensibility in both hardware and software components. This thesis concerns the development of a real-time infrastructural architecture called the Universal Robot Bus (URB), based on the popular Inter-Integrated Circuit (I 2C) bus standard. The main purpose of the URB is the rapid development and realtime interfacing of local nodes controlling small sensor and actuator components distributed on a mobile robot platform. It is designed to be very lightweight and efficient, with real-time support for RS232 or USB connections to a central computer. The URB infrastructure is inspired from the RiSEBus architecture, which is also an internal communication protocol for mobile robots, and developed to fit our requirements. URB offers a modular and extensible architecture for rapid and frequent changes to the platform design. Mobile robots also need to perform accurate sensory processing and estimation in order to operate in unstructured environments. Hence, the URB also supports real-time operations with reliable hardware and software components. The first novel contribution of this thesis is the design and implementation of automatic synchronization of data acquisition across multiple nodes. Our synchronization algorithm ensures that each node completes data acquisition tasks simultaneously well before read operations. Our experiments also prove that each individual node acquires data at approximately the same time instant. The second major contribution of this thesis is the incorporation of automated and unsupervised data acquisition across multiple nodes into the URB protocol. Autonomous data acquisition helps acquire periodic and frequently needed data over nodes. This enhancement reduces the computational load on the central processing unit and reduces bandwidth costs over the communication medium. This thesis also servers a survey on network architectures and protocols, network applications in robotics, synchronization algorithms, and applications of synchronization in robotics besides implementation details of the URB.en_US
dc.description.statementofresponsibilityby Akın Avcı.en_US
dc.format.extentxvii, 93 leaves : tables ; 30 cmen_US
dc.language.isoEnglishen_US
dc.rightsinfo:eu-repo/semantics/openAccessen_US
dc.subjectCommunication protocolen_US
dc.subjectFieldbusen_US
dc.subjectReal-time communicationen_US
dc.subjectMobile roboticsen_US
dc.subjectDistributed systemsen_US
dc.subjectClock synchronizationen_US
dc.subjectTime synchronizationen_US
dc.subject.lccTJ211.495 .A93 2008en_US
dc.titleThe Universal robot bus : a local communication infrastructure for small robotsen_US
dc.title.alternativeEvrensel robot veriyolu : küçük robotlar için yerel haberleşme altyapısıen_US
dc.typeThesisen_US
dc.departmentDepartment of Computer Engineeringen_US
dc.publisherBilkent Universityen_US
dc.description.degreeM.S.en_US
dc.identifier.itemidBILKUTUPB111709


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