MRI Instrument Development: A New Generation of Mobile Robots with Climbing and Reliable Communication Capabilities

本项目开发具有爬墙和可靠通信能力的新一代移动的机器人，开发一套微型机器人，用作分布式机器人、移动的传感器网络和可靠无线通信等广泛研究的研究仪器。这种新一代的移动的机器人将目前移动的漫游车的2-D世界转变为3-D世界，它可以在许多类型的表面上操作，在地板上移动，爬墙，在天花板上行走，并在它们之间穿梭。这些机器人包含高性能、高适应性的基于FPGA的多处理器，以支持传感、计算、通信和动态可重构性或资源，从而能够在城市搜索和救援、监视、环境监测和行星探索等广泛任务中进行研究和开发。爬壁机器人由基于FPGA的多处理器组成，具有视觉和无线通信功能。这些机器人形成了一个全面的测试平台，用于测量分布式机器人应用中的性能、QoS和可靠性等各种广受欢迎的指标。

This project, developing a new generation of mobile robots with wall-climbing and reliable communication capabilities, develops a set of miniature robots to be used as a research instrument suitable for a broad class of research in distributed robotics, mobile sensor networks, and reliable wireless communication. Transforming the present 2-D world of mobile rovers into a 3-D universe, this new generation of mobile robots operates on many types of surfaces, moves on floors, climbs walls, walks on ceilings, and transits between them. The robots contain highly capable, highly adaptive FPGA-based multiprocessors to support sensing, computing, communications, and dynamic reconfigurability or resources, enabling research and development in a wide range of tasks in urban search and rescue, surveillance, environmental monitoring, and planetary exploration. The wall-climbing robots consist of the FPGA-based multiprocessors with vision and wireless communication capabilities. The robots form a comprehensive testbed for measuring various sought-after metrics such as performance, QoS, and reliability in distributed robotics applications.