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projektewip:swarm [23.01.2015 19:51] – t_xprojekte:swarm [18.10.2019 11:53] – ↷ Seite von projektewip:swarm nach projekte:swarm verschoben tcatm
Zeile 3: Zeile 3:
 ''Selfcoordinated, Weightless, Autonomous, Robotic MASS (Massive Autonomous Super Swarm)'' ''Selfcoordinated, Weightless, Autonomous, Robotic MASS (Massive Autonomous Super Swarm)''
  
-===== Übersicht =====+===== Overview =====
  
-''Projektidee:'' Ein Schwarm an fliegenden Mini-Koptern, die selbstständig aber selbstkoordiniert durch den Raum fliegen.+''Project idea:'' A swarm of mini-copters, flying through the room in an autonomous and self-coordinated fashion. Show-casing some hacker ideals like:
  
-''Eigenschaften:''+  * Art 
 +  * Decentralization, no authority 
 +  * Computers can enhance your life (maybe a swarm of 20 could lift some bigger objects and make themselves useful?)
  
-  * selbstladend +''Properties:''
-  * ausweichend +
-  * dezentral koordinierend (Formationen etc. ohne zentralen Koordinator) +
-  * bunt (LEDs) +
-  * möglichst klein+
  
-===== Realisierung =====+  * self-recharging 
 +  * collision avoidance 
 +  * decentrally coordinated (flying in formation etc. without a central coordinator / master) 
 +  * colourful! (LEDs) 
 +  * as small as possible
  
-==== Kommunikation ====+===== Implementation - Hardware =====
  
-==== Sensorik ====+==== Communication ====
  
-==== Aktoren ====+==== Sensors ====
  
-===== Interessantes =====+''Collision Avoidance:'' 
 + 
 +  * [[http://www.amazon.com/SainSmart-HC-SR04-Ranging-Detector-Distance/dp/B004U8TOE6|SainSmart HC-SR04 Ranging Detector Mod Distance Sensor (Blue)]] 
 +    * ranging distance : 2cm~500 cm resolution : 0.3 cm 
 +    * schwer/groß: ~30g or <9g? 
 +  * [[https://www.reichelt.de/A-10P20/3/index.html?&ACTION=3&LA=446&ARTICLE=145921&artnr=A-10P20&SEARCH=ultraschall|Ultraschallsensor, > 98 dB, > -74 dB ]] 
 +    * Diameter: 10mm 
 +    * Weight: <5g (0,000 kg?) 
 + 
 +Alternative: rebuild the eye of an insect? Many small cameras with a low resolution? Like an insect measure distance by difference in the frames over time. 
 + 
 + 
 +Photosensor + lenses: http://www.livescience.com/29213-camera-works-like-bug-eye.html 
 + 
 + 
 +==== Actors ==== 
 + 
 +Vibrationmotor (modified) 
 +  * [[https://www.reichelt.de/VM-0610-A-3-0/3/index.html?&ACTION=3&LA=446&ARTICLE=152129&artnr=VM+0610+A+3.0&* 
 +SEARCH=vibrationsmotor|Vibrationsmotor, 3 V, 150 mA, 10.000 U/min]] 
 +    * 0,004 kg 
 +  * [[http://www.pollin.de/shop/dt/MTM0OTg2OTk-/Motoren/Gleichstrommotoren/Vibrationsmotor_131028_3_V_.html|Vibrationsmotor 131028, 3 V-]] 
 +  * Zu testen: Zugkraft / mögliches Gewicht pro Motor 
 +  * Flügel: Papier und Draht? 
 + 
 +  * [[http://www.ebay.de/itm/10x-Mini-Solarmotor-25-000U-min-3-6V-DC-Elektro-Motor-Modellbau-RC-Elektromotor-/141491544334?pt=Motoren_Getriebe&hash=item20f18da10e|10x Mini-Solarmotor 25.000U/min 3-6V DC Elektro Motor Modellbau RC Elektromotor]] 
 +    * 3,8g 
 +    * 30mA -> 180mW @6V max 
 + 
 +==== Power supply ==== 
 + 
 +''Accumulator:'' 
 + 
 +  * [[https://www.reichelt.de/Akkupacks-LiPolymer/JM-MSL-3-7-160/3/index.html?&ACTION=3&LA=2&ARTICLE=108499&GROUPID=4225&artnr=JM+MSL+3%2C7+160|MicroStar Lipo 3,7V 160mAh 25C]] 
 +    * 0,592 Wh (~20-30min.?) 
 + 
 +''Inductive charger:'' 
 + 
 +  * Mobile Qi 
 +    * [[https://www.reichelt.de/Induktionsladegeraete/NAVILOCK-65911/3/index.html?&ACTION=3&LA=2&ARTICLE=148380&GROUPID=6613&artnr=NAVILOCK+65911|Interner Qi Ladeempfänger für Galaxy Note 3 ]] 
 +    * Mobile Qi kabellose Ladestation von Navilock 
 +      * -> teuer 
 + 
 +''Power over Laser:'' 
 + 
 +a) Build a box / tunnel where they could fly through which would probably be the safest way. 
 + 
 +b) Tracking Lasers 
 + 
 +Lasers aiming at the copters. As a safety measure, lasers shouldn't have such a high energy but should come from multiple angles instead. They could either aim in static directions or be made moveable. 
 + 
 +b.1) Lasers from the ceiling 
 + 
 +Use multiple cameras and/or other sensors with a high FPS and recognize when objects are going to get between them (via 3D object modelling and/or motion detection). 
 + 
 +  * Advantage: Copters even rechargable while in motion or formation, no need to return to certain positions 
 +  * Disadvantage: More safety measures needed 
 + 
 +b.2) Lasers from the walls upwards 
 + 
 +Lasers mounted to the wall at a height of about ~2.3m 
 + 
 +  * Advantage: Safe as long as there are no reflecting parts at 2.3m+ 
 +  * Disadvantage: Copters would need to surface to ~2.5m from time to time 
 + 
 +Mixture of a)+b): 
 + 
 +Build a box with poly (Plexiglas), mount it to the ceiling but keep the bottom side open. Use a fog machine to fill it with fog. Build coloured lasers into the box. Start shooting lasers at a copter from all directions once it enters the box from the bottom. Play some laser or charging sounds over speakers, let the copter do some charging flashing. Watch the amazing colour play :). 
 + 
 +Optimum laser wave length for solar panels, according to http://www.solarschulen.net/global/download/%7BOLKFMKJULV-1118200894727-TCFNYWJAOX%7D.pdf: 1132nm (IR) 
 + 
 +  * DVD laser: 
 +    * http://elabz.com/laser-diode-power-output-based-on-dvd-rrw-specs/ 
 +    * 650nm (red) 
 +    * 4x 100mW, 8x 140mW, 16x 250mW 
 +  * CD laser: 
 +    * http://optics.ph.unimelb.edu.au/atomopt/diode/gh0781ra2c.pdf 
 +    * 780nm (near IR) 
 +    * 48x CD-R writing ~225mW 
 + 
 +[[https://de.wikipedia.org/wiki/Laser#Gefahren|Looks like IR or UV lasers are especially dangerous]], so maybe stick to the DVD lasers even though they are less efficient? 
 + 
 +''Solar panels:'' 
 + 
 +  * [[http://www.ebay.com/itm/Two-2-Solopower-Flexible-Lightweight-CIGS-Solar-Cell-/181641608680?pt=LH_DefaultDomain_0&hash=item2a4aaefde8|Two (2) Solopower Flexible Lightweight CIGS Solar Cell]] 
 +  * [[http://www.ebay.com/itm/Five-5-Solopower-Flexible-Lightweight-CIGS-Solar-Cell-/181641602819?pt=LH_DefaultDomain_0&hash=item2a4aaee703|Five (5) Solopower Flexible Lightweight CIGS Solar Cell .]] 
 +  * [[http://www.ebay.com/itm/Solopower-14-5-x-1-75-Lightweight-Flexible-CIGS-Solar-Cell-Lot-of-10-/191140471629?pt=LH_DefaultDomain_0&hash=item2c80dc234d|Solopower 14.5" x 1.75" Lightweight Flexible CIGS Solar Cell Lot of 10]] 
 +    * 10g 
 + 
 +===== Implementation - Software ===== 
 + 
 +===== Interesting Things =====
  
 ''Boards:'' ''Boards:''
projekte/swarm.txt · Zuletzt geändert: 04.01.2021 00:58 von 127.0.0.1

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