1. DIFFERENTIAL ROBOT RoboKOS-11 Differential robot RoboKOS-1 BSc. eng. Jakup BERISHA

2. DIFFERENTIAL ROBOT RoboKOS-12 RoboKOS-1 Project ► RoboKOS-1 project is a BSc degree practical project which I finished at 14-th of July 2006 at Faculty of Applied Technical Sciences in Mitrovica. ► After my graduation, I upgraded this project with some new componets which are usually used in mechatronics. Thees parts I ordered from USA. ► Since robotics is not developed in Kosova, I founded usefull, to present my work which I have done, during my BSc degree exam practical project. ► I believe that, presentation of this project, will help informing and stimulate young students, so they will start working in robotics/mechatronics practical projects. BSc. eng. Jakup BERISHA

3. DIFFERENTIAL ROBOT RoboKOS-13 Technical data ► RoboKOS-1 robot use a differential robot principle and has following components: ► MCU (Intel 8051 compatible) ► Digital electronic module (MCU module) ► Analog electronic module(H bridge) ► DC electromotors ► battery for autonomous supply up to three hours ► Manual and automatic control of robot movement BSc. eng. Jakup BERISHA

4. DIFFERENTIAL ROBOT RoboKOS-14 RoboKOS-1 features: Manual command of robot movement: ► possibility of command with Joystick ► possibility of command via radiowave/radiocontrol ► Automatic command of robot movement ► possibility of command via microcontroller(MCU) and programming ► the movement path as needed ► Autonomous work of the robot via battery up to three hours Upgrade possibilities of the robot: ► Installing different sensors, like, UV, IR, installing of digital camera, robotic-arm ect. BSc. eng. Jakup BERISHA

5. DIFFERENTIAL ROBOT RoboKOS-15 RoboKOS-1 possibilities of use: Since robotics/mechatronics is such a field which demand considerable amount of investments, this project wold be much advanced if more sensors and other components would be installed. In such a case, the possibilities of use of the RoboKOS-1 would be as in different fields as follow: Since robotics/mechatronics is such a field which demand considerable amount of investments, this project wold be much advanced if more sensors and other components would be installed. In such a case, the possibilities of use of the RoboKOS-1 would be as in different fields as follow: ► transporting different materials at closed buildings, warehouse, hotels ect ► cleaning of flat surfaces as automatic vacuum cleaner ► to control, hasardus areas with such a materials which are harmful for humans ► detecting and unmount of unexploded objects and explo- sives (for two last applications the robot should have robotic-arm and digital camera mounted) BSc. eng. Jakup BERISHA

6. DIFFERENTIAL ROBOT RoboKOS-16 Fig. 1 Intel 8051 architecture and pin assigment 40-pin DIP BSc. eng. Jakup BERISHA

7. DIFFERENTIAL ROBOT RoboKOS-17 ► Since RoboKOS-1 robot is based on Intel 8051 compatible MCU in following slides I will present some features of this MCU. ► Even that the Intel 8051 microcontroller was produced in year 1980 this MCU is still widely used today. ► Because of the good features of This MCU, this MCU is produced via other producers also like, ATMEL, Dallas etc. ► The microcontroller used in my project is Atmel AT89S8252 which is Intel 8051 compatible and has more features. BSc. eng. Jakup BERISHA

8. DIFFERENTIAL ROBOT RoboKOS-18 Fig.2 Detailed block diagram of internal architecture of Intel 8051 BSc. eng. Jakup BERISHA

9. DIFFERENTIAL ROBOT RoboKOS-19BSc. eng. Jakup BERISHA

10. DIFFERENTIAL ROBOT RoboKOS-110BSc. eng. Jakup BERISHA

11. DIFFERENTIAL ROBOT RoboKOS-111BSc. eng. Jakup BERISHA

12. DIFFERENTIAL ROBOT RoboKOS-112 Fig. 3 Block diagram of RoboKOS-1 connection of external devices Input / Output Device Buffer Input / Output Device Fig. 4 Connecting external devices via Buffer, block diagram Intel 8051 Comp MCU Interface H-bridgeTwo DC motors BSc. eng. Jakup BERISHA

13. 13 RoboKOS-1 differential robot block diagram Intel 8051/52 Interface/ electronics H-bridge Circuits RoboKOS-1 robot Control possibilities Via Microcontroller Via Radio-control Two DC gear-head motors Via Joystick H-bridge Circuits Two DC gear-head motors Radio Receiver Joystick from old (Commodore C-64) Interface DIFFERENTIAL ROBOT RoboKOS-1

14. 14 Fig. 5 Differential principle of the robot movement BSc. eng. Jakup BERISHA

15. DIFFERENTIAL ROBOT RoboKOS-115 Some photos during my practical work of the robot The lab in which I worked is called KITCHEN BSc. eng. Jakup BERISHA

16. DIFFERENTIAL ROBOT RoboKOS-116BSc. eng. Jakup BERISHA

17. DIFFERENTIAL ROBOT RoboKOS-117BSc. eng. Jakup BERISHA

18. DIFFERENTIAL ROBOT RoboKOS-118 RoboKOS-1 final version for BSc degre exam practical project 13/07/2006. As we can see from this picture, the DC motors and gears were different. BSc. eng. Jakup BERISHA

19. DIFFERENTIAL ROBOT RoboKOS-119 The photos which follow are made after upgrade of the robot, new DC gear-head motors, radio-control, DC charger BSc. eng. Jakup BERISHA

20. DIFFERENTIAL ROBOT RoboKOS-120BSc. eng. Jakup BERISHA

21. DIFFERENTIAL ROBOT RoboKOS-121BSc. eng. Jakup BERISHA

22. DIFFERENTIAL ROBOT RoboKOS-122 Stanley, a VW Touareg, Autonomous Ground Vehicle winner of the DARPA Grand Challenge 2004 & 2005 designed by Standford University and VW Electronic Research Laboratory USA BSc. eng. Jakup BERISHA

23. Autonomous Ground Vehicle, Passat TDI 2007, 2-nd place of the DARPA Grand Challenge 2007 designed by Standford University and VW Electronic Research Laboratory USA BSc. eng. Jakup BERISHADIFFERENTIAL ROBOT RoboKOS-1