2D-Modeling with Lego Mindstorms

Authors: Miroslav Popelka, Jakub Nožička

Abstract:

The whole work is based on possibility to use Lego Mindstorms robotics systems to reduce costs. Lego Mindstorms consists of a wide variety of hardware components necessary to simulate, programme and test of robotics systems in practice. To programme algorithm, which simulates space using the ultrasonic sensor, was used development environment supplied with kit. Software Matlab was used to render values afterwards they were measured by ultrasonic sensor. The algorithm created for this paper uses theoretical knowledge from area of signal processing. Data being processed by algorithm are collected by ultrasonic sensor that scans 2D space in front of it. Ultrasonic sensor is placed on moving arm of robot which provides horizontal moving of sensor. Vertical movement of sensor is provided by wheel drive. The robot follows map in order to get correct positioning of measured data. Based on discovered facts it is possible to consider Lego Mindstorm for low-cost and capable kit for real-time modelling.

Keywords: LEGO Mindstorms, ultrasonic sensor, Real-time modeling, 2D object, low-cost robotics systems, sensors, Matlab, EV3 Home Edition Software.

Digital Object Identifier (DOI): doi.org/10.5281/zenodo.1093608

References:

[1] Christos P. Loizou, Christos P.Constantinos S. Despeckle filtering algorithms and software for ultrasound imaging. San Rafael, CA: Morgan, 2008. ISBN 15-982-9620-5.
[2] Sanches, João Miguel, Andrew LAINE a Jasjit S SURI. Ultrasound imaging: advances and applications. New York: Springer, c2012, xi, 360 p. ISBN 14-614-1180-7.
[3] Jensen, Jørgen Arendt. Estimation of blood velocities using ultrasound: a signal processing approach. New York, USA: Cambridge University Press, 1996, xviii, 317 p. ISBN 05-214-6484-6.
[4] Mathworks, Inc. The MathWorks: Accelerating the pace of engineering and science
[online]. 2014. URL: .
[5] Gent, Roger. Applied physics and technology of diagnostic ultrasound. Prospect, S.A: Milner Pub, 1997. ISBN 06-462-7601-8
[6] Kremkau, Frederick W. Diagnostic ultrasound: principles and instruments. 5th ed. Philadelphia, Pa.: W.B. Saunders, c1998, xi, 590 p. ISBN 07-216-7143-8.K
[7] Acoustical imaging: volume 26. S.l.: Springer-Verlag New York, 2013. ISBN 978-146-1346-449.
[8] Lego mindstorms ev3 discovery book: a beginner's guide to building and programming robots. S.l.: O'Reilly Media, 2014. ISBN 978-159-3275-327.
[9] Rollins, Mark. Beginning LEGO MINDSTORM EV3. New York: Apress, 2014. ISBN 1430264365.