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Localizing the maximum in an environmental field using a mobile sensor Signals, Instruments & SystemsSara Oppenheimer & Bruno Spahni

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Plan Goal Experiment Results Conclusion

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Goal |Experiments |Results |Conclusion Light (20W) Goal of the Project: Finding the location of maximal light in an environmental field. Tools: E-Puck -Go to the Light -LED indicate lights direction - Stop near the light source - All LED turn on Two main steps:

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Methodology of the robot: 1. Measures environmental informations 2. Analyses the data 3. Wheels and LED reaction 4. Stops if its near light Goal |Experiments |Results |Conclusion

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An e-puck with: -8 IR sensors (we only use the receptor function) { i=0; for(i = 0;i

Goal |Experiments |Results |Conclusion Go to the Light (2 Methods): 1 st : Create two variables with the sum of the right and left sensors values respectively. The robot follows the direction of the lower addition value if(bufD > bufG){ e_set_speed_left(50); e_set_speed_right(100); } else{ e_set_speed_left(100); e_set_speed_right(50); } bufD = sample_buffer[0] +sample_buffer[1] +sample_buffer[2] +sample_buffer[3]; bufG = sample_buffer[4] +sample_buffer[5 ]+sample_buffer[6] +sample_buffer[7];

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Goal |Experiments |Results |Conclusion Go to the Light (2 Methods): 2 nd : Find the sensor with the minimal value Give a particular direction to the wheel for each sensor min = 8000; for(i=0;i