23-08-2012, 04:36 PM
COAL MINE EXPLORATION FOR RESCUE AND RECOVERY USING MOBILE ROBOTS
1COAL MINE EXPLORATION.ppt (Size: 1.12 MB / Downloads: 63)
OBJECTIVE
Nominal search and rescue
Visual inspection, temperature and the air quality determination using Real Time Operating System-Micro C/OS II.
Mine recovery
Focusing on ascertaining the state of mine by obtaining the inspection results from simulated codings.
PROPOSED ARCHITECTURE…
Embedded Controller - the brain of the mobile robot.
The system hardware constitutes Sensors, Processor, Controller, Actuators, Communication user interface and Power supply.
Processor unit - processing the signal and to send proper error signals.
Wireless communication using wifi technology & video processing.
REAL-TIME OPERATING SYSTEM
RTOS that manages the time of a microprocessor, microcontroller, or a digital signal processor
Prioritizes the work to be done
Provides ‘multitasking’
Provides ‘services’ to the application
Semaphores
Message mailboxes and queues
Event flags
Time delays, timers, and timeouts
Task management
Memory management
RTOS ADVANTAGES
Software that manages the time of a microprocessor or microcontroller
Ensures that the most important code runs first
Allows Multitasking
Provides valuable services to our application
Time delays
Resource sharing
Inter-task communication and synchronization
MICRO C/OS-II
MicroC/OS-II is a portable, ROMable, scalable,
pre-emptive, real-time, multitasking kernel
MicroC/OS-II provides the following services:
Tasks (threads)
Event flags
Message passing
Memory management
Semaphores
Time management
A task is a simple program that thinks it has the CPU all to itself each Task has
Its own stack space
A priority based on its importance
A semaphore is a protected variable or abstract data type that constitutes a classic method of controlling access by several processes to a common resource in a parallel programming environment.
ALGORITHM
Step 1: OS is initialised and the prior conditions are set.
Step 2: Task 1 is created to picturize our mobile robot with higher priority.
Step 3: Task 2 is created to move our robot forward in the path with the second priority.
Step 4: Task 3 is created to bring an obstacle in the path of the robot.
WORK DONE
Studied MICRO C/OS II-Real Time Operating Systems software.
Started writing the codings for our project and have created our robot by simulation process.
Have planned to implement the tasks for various process in our project