ARES: The Autonomous Robotic Environmental Sensor

dc.contributor.advisorBiglarbegian, Mohammad
dc.contributor.advisorAliabadi, Amir
dc.contributor.authorDyer, Benjamin
dc.date.accessioned2021-04-27T19:17:17Z
dc.date.available2021-04-27T19:17:17Z
dc.date.copyright2021-04
dc.date.created2021-04-13
dc.degree.departmentSchool of Engineeringen_US
dc.degree.grantorUniversity of Guelphen_US
dc.degree.nameMaster of Applied Scienceen_US
dc.degree.programmeEngineeringen_US
dc.description.abstractSensing the indoor environment is a complicated task accomplished through the use of multiple expensive sensors. In order to reduce costs, the Autonomous Robotic Environmental Sensor (ARES) is developed. ARES is a custom-designed omniwheel robot with high modularity, allowing many environmental sensors to be mounted to it. For navigation of an indoor environment, feedback linearization and sliding mode controllers are developed using a kinematic model, modified to include wheel slip. Testing shows the sliding mode controller provides the best performance for indoor environmental sensing. ARES is used to measure environmental variables in a large laboratory. Measurements are collected at multiple positions periodically over a diurnal cycle. Environmental statistics and predictions of thermal comfort derived from collected data are presented, showing that ARES is capable of taking meaningful measurements of the environment at a fraction of the cost of stationary sensors.en_US
dc.identifier.urihttps://hdl.handle.net/10214/25491
dc.language.isoenen_US
dc.publisherUniversity of Guelphen_US
dc.rightsAttribution 4.0 International*
dc.rights.urihttp://creativecommons.org/licenses/by/4.0/*
dc.subjectOmniwheelen_US
dc.subjectControlen_US
dc.subjectEnvironmental Sensingen_US
dc.subjectThermal Comforten_US
dc.subjectSliding Mode Controlen_US
dc.subjectRoboticsen_US
dc.subjectMechatronicsen_US
dc.titleARES: The Autonomous Robotic Environmental Sensoren_US
dc.typeThesisen_US

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