A non-cyanide brass electroplating using glycerate- zincate bath: a study on the effects of varying NaOH concentration and electrode distance.

Date

3-2003

Degree

Bachelor of Science in Applied Physics

College

College of Arts and Sciences (CAS)

Adviser/Committee Chair

Zaldy A. Andales

Abstract

A microcontroller-based automated guided vehicle (AGV) was developed to provide a low-cost solution for intelligent driver-less navigation. The automated guided vehicle was implemented as an autonomous mobile platform that does not have the need for floor guidance tracks and is able to commute from one station to another upon user command. The AGV traces a path set at fixed distance from the walls of its premises. The AGV first performs the scan area commands where it commutes a circuit around a closed premise and stores the coordinates of other stations it encountered along its path before returning to its starting station. The AGV may then be prompted to execute the seek station command where it commutes to other stations whose coordinates are saved in memory. The vehicle uses an array of three ultrasonic transducers to determine obstruction and wall proximity. The AGV constantly calculates its (x,y) position relative to its starting station which is the origin in a cartesian plane (0,0). An analog electronic compass and wheel encoder provide the parameters for calculating position. Stations, which are floor-mounted pads that are of opposite hue to the premises floor set at a minimum distance of 30cm from the area wall, are detected by a light reflectance logic sensor. The vehicle was tested in a 6m x 3m enclosed area to determine position deviation in the system. Ten around-the-premise runs were made and the AGV's calculated coordinates upon return to its origin station where recorded. All ten coordinates were within the range of xtarget ±50cm and ytarget ±50cm. A distance allowance of ±50cm to its target coordinates was therefore allowed to compensate for position deviation. The AGV was able to scan an area by wall-following, storing coordinates of encountered stations. returning and stopping at its origin station and navigate, upon user command, to stored station locations by wall-following.

Language

English

Location

UPLB Main Library Special Collections Section (USCS)

Call Number

Thesis

Document Type

Thesis

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