=Paper=
{{Paper
|id=Vol-2494/paper_22
|storemode=property
|title=Developing a Concept of Available Multi-Functional Modular Robot for Education and Research
|pdfUrl=https://ceur-ws.org/Vol-2494/paper_22.pdf
|volume=Vol-2494
|authors=Oksana Mezentseva,Vyacheslav Petrenko,Fariza Tebueva,Andrey Pavlov,Artem Apurin
}}
==Developing a Concept of Available Multi-Functional Modular Robot for Education and Research==
https://ceur-ws.org/Vol-2494/paper_22.pdf
Developing a Concept of Available Multi-Functional
Modular Robot for Education and Research
Oksana Mezentceva Vecheslav Petrenko Fariza Tebueva
28mos05@mail.ru vip.petrenko@gmail.com fariza.teb@gmail.com
Andrey Pavlov Artem Apurin
losde5530@gmail.com apurin.a@icloud.com
North Caucasus Federal University, Stavropol, 355009, Russian Federation
Abstract
The development of educational robotics is caused by the need to de-
velop algorithmic thinking of students and the training of specialists
in the technical direction. A number of robotic construction sets and
platforms designed to form the competencies for solving complex engi-
neering problems have been developed to ensure the educational pro-
cess. These tools in educational robotics demonstrate high efficiency
however the possibility of acquiring such a kit is limited by both the
high cost of the proposal and the lack of ready-made experimental de-
velopments on the market. On this basis, the goal of this work is to
improve the quality of education in robotics and programming by de-
veloping the concept of an affordable multifunctional modular robot
based on small spherical robots. The ideas of both design solutions
and the software component of the robot control system are proposed
in the article. The analysis of the cost of components required for the
implementation of the prototype. The advantages, disadvantages and
limitations of the proposed solution are analyzed, and the potential
applications of the modular robot are investigated. The expected re-
sults of the implementation of the proposed solution in the educational
process are presented.
Keywords: educational robotics, modular robotics, robotics in higher
education, innovate education.
1 Introduction
The introduction of robotics into education is becoming more and more popular in the modern world. This
is due to the need to develop algorithmic thinking of students and the training of specialists in the technical
direction. In addition, robotic kits provide a wide range for the creation of illustrative examples of the practical
application of students’ knowledge.
Copyright c c 2019 by the paper’s authors. Copying permitted for private and academic purposes.
In: Jože Rugelj, Maria Lapina (eds.): Proceedings of SLET-2019 – International Scientific Conference Innovative Approaches to
the Application of Digital Technologies in Education and Research, Stavropol – Dombay, Russia, 20-23 May 2019, published at
http://ceur-ws.org
Currently, there are 3 main types of robotics:
• sports;
• creative;
• educational.
Sports robotics is currently one of the most popular. The popularity of this type is due to competitive
orientation. This area of robotics includes various types of competitions (slalom on the line, kegelring, mini-
sumo, etc.). Participation in competitions of this type implies a certain knowledge base, necessary for creating
robots and their programming. Sports robotics, designed to demonstrate their skills and abilities to the students
who are already interested in robotics. Creative robotics serves to demonstrate the creative abilities of students.
This type of robotics is characterized by the desire to create new robots that can find practical application in
our life. Creative robotics is a qualitatively new level of human activity, implying the availability of basic and
advanced knowledge in this area, which are necessary for the development of man-made society [Pel18, Wun16,
Mur17]. Educational robotics is designed to form basic knowledge and skills in the design and programming of
robots. Educational robotics is a relevant solution for student learning. Despite the fact, that educational robotics
is a relatively new direction, it is developing rapidly. Dozens of companies are engaged in the development of
robotic platforms for education [Kut16, Zim16]. All manufacturers of educational robotics work closely with the
best specialists in the field of education from around the world to identify the main problems of the educational
process. The main task of all educational robotics platforms is to increase students’ motivation to learn, to
improve the quality of educational programs for the preparation of competent specialists who are able to solve
complex engineering problems. Different platforms solve this problem in different ways. Table 1 provides a list
of the main robotic construction sets used in the educational process.
Table 1: Main educational robotics platforms
Name Country Manufacturer
Mindstorms Education Denmark Lego
TRIK Russia TRIK
ROBOKIT Korea RoboRobo
VEX USA VEXRobotics
FischerTechnik Germany FischerTechnik
Huna South Korea MRT International Limited
ScratchDuino Russia Tyrnet
The result of comparison of the technical characteristics of robotic designers is presented in Table 2.
Table 2: Comparative characteristics of robotic construction sets
Mind- TRIK ROBOKIT VEX FISCHER HUNA Scratch
storms TECH- Duino
Educa- NIK
tion
Microcontroller characteristics
CPU architec- ARM 9 ARM9 + PIC16F887 TIVA ARM 9 AVR AVR
ture DSP ARM
Cortex
M4
CPU frequency, 300 375 20 80 200 16 16
MHz
Wireless support
Bluetooth Yes - - - Yes - Yes
Infrared data Yes - - - - Yes -
transmission
Wi-Fi Yes Yes - - - - -
Wireless connec- Yes Yes - - - - Yes
tivity with PC
USB interface Yes Yes - Yes Yes Yes Yes
Mind- TRIK ROBOKIT VEX FISCHER HUNA Scratch
storms TECH- Duino
Educa- NIK
tion
Type of con- Mini USB - USB Micro Mini USB USB USB B
nector for wired USB
communication
with a PC
Number of out- 4 4 8 12 8 8 8
put ports
Number of input 4 - 7 12 8 6 5
ports
System memory
RAM 64 256 32 32 8 16 2
Persistent user 16 16 32 256 2 32 32
memory
Power supply
Battery powered Yes Yes - Yes Yes - -
Battery Type Li-On Li Po - Ni Mh - -
Capacity mA / h 2200 2200-4200 2000 1500
Input Voltage -10 V, 700 11,1 V - 9,6 V 8,4 V, 700 - -
Characteristics mA mA
Output Voltage -7,4 V 11,1 V - 7,2 V 8,4 - -
Characteristics
Charging indica- Yes Yes - Yes Yes - -
tion
Software
Supported Soft- LEGO TRIK - Mod Kit C- AVR AVR
ware MIND- Studio Compiler
STORMS
Educa-
tion EV3
Software
Operating sys- Windows, Windows, - Windows Windows Windows Windows,
tem support MacOS, Linux, Android,
iOS, Android iOS
Android
Price
Standard set, $ 324,56 463,65 231,82 463,65 231,82 231,82 154,55
On the basis of the data presented in Table 2, it can be concluded that the existing proposals make it possible
to effectively study robotics and programming, however, the cost of these constructs is not always affordable.
One of the areas of educational robotics is modular robotics. Modular robots are one of the most difficult
areas of robotics in general. Each newly added element changes the shape and capabilities of the end device,
for example, adds functionality or allows the robot to move in new planes [Yim07]. To date, most of these
devices remain in research laboratories. Modular construction is found in the designs of FestoMolecubes [Zyk08],
CellRobotKEYiTECH [Key01] in devices created in the MIT laboratory [Rom15], and various snake robots
[Lil13]. Table 3 presents an overview of existing solutions for the study of modular and group robotics.
Table 3: Comparative characteristics of robotic systems
Robot Sensor/ Motion/ Size Auto- University/ Description
Module Max. nomy Institute
Speed Time
CellRo- Camera, wheel, 25.4 cm 1-3 h KEYi TECH The head module supports up to 20
bot distance, 12.5 modules to create the desired configura-
blue- cm/s tion. There is a possibility to program
tooth, and debug control algorithms.
gyro,
accelero-
meter
Cellulo structured Omnidi- 7.5 cm 1-2 h École Poly- Cellulo [Özg17, Özg18] is one of the
dense rectional technique world’s first tangible swarm robot plat-
pattern ball Fédérale de forms, combining autonomous swarms
sensing wheel, Lausanne with haptic-enabled multi-user tangible
camera, 20 cm/s (EPFL), interaction. Initially invented as an ed-
capac- Switzerland ucational platform, research is now be-
itive ing conducted on rehabilitation, gam-
touch ing and human-computer interaction
with Cellulo in addition to education.
Colias- Camera, wheel, 4 cm 1-3 h CIL at Colias-III [Hu16] is an extended ver-
III distance, 35 cm/s University sion of the Colias micro-robot. It was
light, ofLincoln, mainly developed for implementation of
bump, UK bio-inspired vision systems.
range
Droplets Light vibration 4.4 cm 24h+ Correll Lab Droplets are an open hard- and soft-
at the Uni- ware experimental platform for large-
versity of scale swarming research [Cor15]. The
Colorado team raised funds via crowdfunding to
build 1000 of these ’Droplets’ [Emm12].
Infinite experiments due to a powered
floor that doubles as global communica-
tion medium for swarm programming.
Kilobot distance, vibration, 3.3 cm 3 - 24 h Harvard Uni- Kilobot [Rub14] is a relatively re-
light 1 cm/s versity, USA cent swarm robotic platform with novel
functions such as group charging and
group programming. Due to its sim-
plicity and low power consumption, it
has a long autonomy time of up to 24 h.
Robots are charged manually in groups
in a special charging station.
Mona distance, wheel, 6.5 cm Perpe- The Uni- Mona [Arv18] is an open-source robot
bump, 5 cm/s tual versity of mainly designed to test the proposed
range, Manchester, Perpetual Robotic Swarm [Arv17]. It
RF UK has been designed as a modular plat-
form allowing deployment of additional
modules that are attached on top of
the platform, such as wireless commu-
nication or a vision board. Latest ver-
sion of the robot was developed as a
robotic platform for education and re-
search purposes.
SuperBot Distance, vibration 13x - University Reconfigurable modular robot [Shen06]
blue- 6.5x 6.5 of Southern with decentralized control system. The
tooth, m California, robot performs the following functions:
IR, gyro, USA arbitrary combination of blocks, their
accelero- interchangeability, the formation of a
meter common electrical and information net-
work, receiving and transmitting data.
The development presented in this article is a description of the creation of a modular robo-constructor sets
that will help in mastering robotics and programming.
2 Task
Thus, the purpose of this work is to improve the quality of education in robotics and programming by developing
the concept of an affordable multifunctional modular robot based on small spherical robots. The concept proposed
in this article is aimed at solving the following tasks:
• consideration of the basic concepts in the field of robotics and design, acquaintance of students with the
current state of robotics and educational robotics;
• training students in the design and programming of robots;
• development of students’ logical and creative thinking;
• development of skills to create and present projects in the field of technical creativity.
3 Development Of Methodology
Reconfigurable mechatronic-modular robots are currently robotic systems consisting of many different modules
that interact with each other and exchange information to perform the objective function. The modular robot
consists of separate modules that have the ability to move relative to each other, creating different configurations.
Multiple construction is the principal feature that allows to talk about ensuring reliability, high adaptability of
the structure, reconfigurability, its scalability, ability to self-repair, etc. in accordance with the specifics of the
tasks to be solved in the conditions of uncertainty of the environment, external disturbances and the state of its
own subsystems. The development of modular robots is based on the following principles:
• universality - modular robots are used to perform a wide range of tasks;
• reliability - in the event of a malfunction, the corresponding robot module can be replaced without inter-
rupting the performance of the required task;
• availability - the total cost of robots with a modular structure is much lower than analogues due to the mass
production of identical modules.
Based on the principles presented, the concept of developing a modular robot consists of two parts: hardware
and software components.
3.1 The Design Of The Proposed Robot
The proposed concept involves the development of a modular robot based on small spherical electromagnetic
robots and a robot control system. The small-sized spherical robot, 7 cm in diameter, is an autonomous robot
module and contains a set of standard components: a controller, a control board, two motors, a communication
module, a battery, two electromagnets and two servo-drivers for controlling the position of electromagnets. The
pairing of two such modules is carried out by programmatically switching on electromagnets in the formation of
a particular topology of the robot. The spherical shape of the robot and the servos controlling of the position of
the electromagnet allow changing the orientation of the modules relative to each other both when moving in a
given topology and when reconfiguring the structure of the robot. The basic functional diagram of the module
is shown in Figure 1.
Figure 1: Basic functional block diagram
According to this concept, the spherical module of the robot should be implemented as a mobile robot with a
differential drive placed in a spherical case. The kinematic diagram of the module is presented in Figure 2. In
Figure 2, x and y denote the geometric position of the module center in the global coordinate system, φ denotes
the direction of movement of the mobile robot relative to the x axis in the global coordinate system. The variable
r is the radius of the wheels of the robot, and S is the distance between the wheels. Finally, ν and ω are the
linear and angular velocity, respectively, and ωL and ωR are the rotational speeds of the left and right wheels,
respectively.
Figure 2: Kinematic diagram of the robot module
This model is one of the most simple and minimalistic representations of a two-wheeled mobile robot. In this
model, the robot is represented by three degrees of freedom.
3.2 A Comparative Assessment Of The CTS According To The Functional Completeness
To implement the functionality of the robot, it is necessary to develop a software management system that
includes algorithms for communication, motion control, navigation, interface modules. The block diagram of the
control system is presented in Figure 3.
Figure 3: Control system block diagram
The following stages of the software development process of the robot control system should be highlighted:
1. Formation of requirements for the development of the robot.
2. Development of algorithms for the interaction of module components.
3. Software implementation of the module component interaction algorithms.
4. Development of robot control system algorithms.
5. Software implementation of robot control system algorithms.
6. Testing and approbation of the product performance.
7. Operation and maintenance of the robot.
The output functionality of the proposed modular robot control system is a generated set of control actions for
performing operations such as:
1. Movement along a predetermined trajectory of both the entire robot and individual modules.
2. Formation of a given kinematic structure of the robot.
3. Adaptive reconfiguration of the modular kinematic structure in accordance with the environmental condi-
tions or the required task.
3.3 Analysis Of The Cost Characteristics Of The Proposed Solution
The calculation of the cost of the components of the module developed by the robot is presented in Table 4.
Table 4: Calculating the cost of module components
Component Quantity Price, $ Amount, $
Microcomputer Omega 2 (Plus) 1 18,24 18,24
Arduino Nano 1 6,80 6,80
Electromagnet LS-P 20/15 2 2,55 5,10
Servo FS90 2 2,63 5,25
Bluetooth adapter HC-06 1 2,01 2,01
Obstacle sensor YL-63 1 1,39 1,39
Engine driver L293D 1 1,08 1,08
Geared motor 2 2,47 4,95
CAN Transceiver SN65HVD230 1 2,47 2,47
CAN bus MCP2515 1 1,39 1,39
Electromechanical relay 1 1,08 1,08
Battery (150 m/h, 5 V) 1 2,78 2,78
Total 54,09
Thus, the affordable cost of components leads to the low cost of manufacturing the robot, as well as further
refinement and modernization, which makes it attractive to use the proposed solution in educational institutions.
4 Results
For visualization of the proposed solution, a simulation model developed in the C# programming language is
presented. The result of the formation of various variants of the kinematic structure of the robot is presented in
Figure 4.
Figure 4: Simulation model of the proposed robot
Based on the given examples, it can be concluded that the number of possible configurations is limited only by
the number of modules that can be used to form and change the kinematic structure of the robot, as well as their
relative positions. Thus, the proposed solution will lead to an increase in the quality of education in robotics
and programming by shaping the following competencies in students:
• ability to program applications and create software prototypes for solving applied tasks;
• understanding of the principles of software development in one of the high-level programming languages;
• knowledge of the design and electronic parts of robotic designers;
• knowledge of the features of typical models of robots;
• knowledge of the main types of tasks performed by programmable robots;
• ability to design and implement algorithms in programming languages;
• ability to use software development tools;
• programming skills of robot movements;
• skills of connecting and programming the robot feedback in accordance with the data collected using various
sensors.
5 Discussion
This article presents the main ideas for implementing the proposed concept. Further research should be focused
on the development of design solutions and the physical implementation of the robot, as well as on the analysis
of the effectiveness of improving the quality of education in robotics and programming. The clear advantage of
the proposed solution is the high reliability of the robot due to the use of a modular design, as well as affordable
cost, due to the low price of components and ease of manufacture. In addition, the scope of the robot is not
limited to the use of organizations and institutions engaged in educational activities and conducting research
and development work. The proposed robot can be applied in the following areas:
• search and rescue services;
• industrial enterprises of various industries;
• private security companies.
This fact determines the possibility of applying the knowledge and skills obtained using the proposed solution for
training in various fields of science and technology in the future. The development of projects, the development
and modernization of the robot, the conduct of scientific and research experiments, the implementation of joint
or group assignments will allow students to learn how to work in a team, set tasks, monitor their decisions,
keep statistics and reports, design works and presentations, speak to an audience, and emotional control in
competitions. In the process of work, students will be able to show initiative, leadership and creative abilities.
6 Conclusion
Thus, this article proposed the concept of an affordable multifunctional modular robot based on small spherical
robots to improve the quality of education in robotics and programming. The ideas of both design solutions
and the software component of the robot control system are proposed. The analysis of the cost of components
required for the implementation of the prototype. The advantages, disadvantages and limitations of the proposed
solution are analyzed, and the potential applications of the modular robot are investigated. The expected results
of the implementation of the proposed solution in the educational process are presented.
Acknowledgment
This research is financially supported by the Ministry of Science and Higher Education of the Russian Federation
under the Grant agreement 14.575.21.0166 from 26 September 2017. The research topic: “Development of the
software and hardware system of the control system based on the solution of the inverse problem of dynamics
and kinematics” (Unique reference identifier of the agreement: RFMEFI57517X0166). Work on the project is
carried out at the North-Caucasus Federal University (NCFU).
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