INTERNATIONAL SCHOOL, VIETNAM NATIONAL UNIVERSITY, HANOI FACULTY OF APPLIED SCIENCES ------------ Major: Informatics and Computer Engineering UNIVERSITY GRADUATION THESIS DEVELOPING LINE TRACING ROBOT FOR MEDICAL USE. Le Xuan Hai Students : Pham Trong Hieu - 18071522 HA NOI, 2024 INTERNATIONAL SCHOOL, VIETNAM NATIONAL UNIVERSITY, HANOI FACULTY OF APPLIED SCIENCES ------------ Pham Trong Hieu Major: Informatics and Computer Engineering UNIVERSITY GRADUATION THESIS DEVELOPING LINE TRACING ROBOT FOR MEDICAL USE. Instructor guides Le Xuan Hai HA NOI, 2024 Table of Contents Acknowledgement. 6 List of figures.
7 List of Tables. 8 List of symbols (Glossary). 9 Abstract and Keywords. 11 Reasons for Selecting the Topic.
11 Research Aims and Objectives. 13 CHAPTER 1: THEORETICAL FOUNDATION. Introduction of Arduino Mega 2560 Pro. Arduino Mega 2560 Pro specifications:.
Introduction of Microcontroller ATmega2560. Introduction of H Bridge Circuit. Introduction to infrared sensors. Mechanism of operation of infrared sensor:.
I2C communication standard between Arduino Mega 2560 Pro and infrared sensor TCRT500, LM393: 21 CHAPTER 2: DESIGN AND MANUFACTURE MEDICAL VEHICLE MODELS. Hardware design and construction. Calculate engine selection. Calculate and select the engine control module.
Design RFID system. Electrical system design. Algorithmic flow chart. 36 CHAPTER 3: RESULTS AND DISCUSSION.
In terms of manufacturing:. 40 CONCLUSION, LIMITATIONS, AND FUTHER WORKS. 44 Acknowledgement As a student of Informatics and Computer Engineering, the complexity of this project far exceeded my initial understanding and abilities. However, with the exceptional support, guidance, and generosity of my advisors and mentors, I was able to overcome these challenges and complete this work.
I am incredibly grateful to my family for their unwavering support and patience throughout this journey. I would also like to extend my sincere thanks to the teachers at the International School - Hanoi National University, and my classmates for their enthusiastic support and assistance, which were crucial to the completion of this meaningful endeavor. I owe a special debt of gratitude to my advisors, particularly my primary advisor, PhD. Le Xuan Hai.
His guidance illuminated the path forward, connecting me with invaluable technology mentors. He not only inspired us to develop creative ideas and overcome obstacles but also significantly enhanced our performance through his encouragement. Finally, I could not have completed my research without his valuable help. I sincerely thank him for his remarkable contribution and look forward to collaborating with him on future projects.
Without their guidance and generosity, I would not have been able to achieve this success. I am profoundly grateful and hold them in the highest regard. My achievements are a testament to their support and mentorship. Declaration I hereby declare that this thesis titled "Developing Line Tracing Robot for Medical Use" is the result of my own work and research.
All sources and references have been properly acknowledged, and no part of this thesis has been submitted for any other degree or qualification. I certify that the work presented in this thesis is original and has not been copied from any other source or work unless explicitly stated and referenced. I have followed the ethical guidelines and principles of academic integrity in conducting and reporting this research. I acknowledge the support and guidance of my advisors and mentors, and I am grateful for their contributions to completing this work.
Any errors or omissions are entirely my own. Pham Trong Hieu List of figures Figure 1: Arduino Mega 2560 pro [1]. 15 Figure 2: H bridge circuit model. 17 Figure 3: Directional rotation motor.
18 Figure 4: Directional rotation motor. 19 Figure 5: Overview of IR sensor working principle [2]. 20 Figure 6: How does an infrared proximity sensor work? [3]. 21 Figure 7: I2C communication standard [4].
22 Figure 8: System block diagram. 24 Figure 9: Coordinate system on line tracking robot. 25 Figure 10: Model of forces acting on the wheel. 26 Figure 11: JGA25 reduction motor.
27 Figure 12: TCRT5000 boundary inductor circuit diagram. 28 Figure 13:Operating range of the sensor. 29 Figure 14:Simulation diagram of TCRT5000 infrared sensor. 30 Figure 15: Simulation diagram of Module L298.
31 Figure 16: Pin diagram of Module L298. 33 Figure 18: Block diagram of the electrical system of the line tracking robot. 34 Figure 19: Algorithm Flow Chart. 36 Figure 20: Complete Car Model.
39 List of Tables Table 1: Arduino Mega 2560 Pro specifications. 16 Table 2: Technical specifications of JGA25 reduction motor. 27 List of symbols (Glossary) No. Symbol Description 1 𝑀1 Vehicle mass 2 𝑀2 Secondary volume 3 m Wheel mass 4 𝐺1 Center of gravity of the vehicle frame 5 𝐺2 Center of gravity of heavy objects 6 L Vehicle length 7 R Wheel radius 8 𝑅1 Wheel radius 1 9 𝑅2 Wheel radius 2 10 𝜔 Wheel rotation angle 11 T Moment acting on the wheel 12 𝛾 Rotational acceleration of the wheel 13 𝑔 Gravitational acceleration 14 𝛼 Projection angle of the sensor 15 𝛽 Projection angle of the sensor 16 𝑋𝑑 Interference area 17 h Distance from sensor to obstacle 18 𝑣𝑚𝑎𝑥 Maximum speed 19 I Moment of inertia 20 P Engine capacity Abstract and Keywords The advancement of robotics technology has opened new possibilities in medical applications.
This project focuses on developing a line tracing robot for medical use, aiming to improve efficiency and accuracy in tasks like medication delivery, patient assistance, and laboratory sample transport within healthcare facilities. The robot utilizes infrared sensors for line detection, microcontrollers for processing data, and motor drivers for precise movement, ensuring smooth navigation around obstacles while maintaining consistent speed and direction. Extensive testing showed the robot's ability to follow lines accurately, adapt to environmental changes, and perform tasks autonomously with minimal human intervention. The project also explores integrating the robot into existing medical infrastructure, emphasizing its benefits in enhancing operational efficiency, reducing human error, and improving patient care.
Future enhancements could include wireless communication for remote control and advanced algorithms for complex navigation. Overall, this line-tracing robot represents a significant advancement in applying robotics technology to streamline processes and elevate healthcare service quality. Keywords: Line tracking, RFID, Medical INTRODUCTION Reasons for Selecting the Topic Automation is a multidisciplinary field that encompasses mechanical engineering, control systems, information technology, and mechatronics. The automation industry is becoming increasingly vital for economic development, especially during the current phase of industrialization.
It requires a highly skilled workforce to operate complex systems. Today, robots have achieved significant milestones in the production industry as well as in everyday life. The creation of robots is an ever-growing billion-dollar industry. Among all types of robots, mobile robots stand out due to their unique capabilities that other types do not possess.
Mobile robots exhibit highly flexible movement, expanding the range of tasks they can perform. To date, they have proven to be indispensable components in many operations, attracting significant interest and investment in research. Mobile robots are categorized into various types: path-finding robots, line-following robots, obstacle- avoiding robots, maze-solving robots, and more. Among these, line-tracing robots have the widest applications, especially in the medical field.
Advances in robotics are poised to offer tremendous benefits to humanity. The benefits and significant roles that line-tracing robots bring to life and medicine, coupled with our personal interests, have motivated us to explore and clarify the topic of “developing line-tracing robots for medical use.” This study aims to deepen our understanding of their inner workings and applications, thereby expanding our knowledge and contributing to medical care advancements. Research Motivation The goal of “Developing line-tracing robots for medical use” is to enhance healthcare quality by optimizing the delivery processes of medications, medical equipment, and necessary tools within hospitals, thereby reducing time and errors. Employing line-tracing robots will increase the level of automation in hospitals, reduce the workload of staff, and enable them to focus more on patient care.
Additionally, robots can operate in hospital environments without causing pollution or infections, ensuring hygiene and safety for both patients and medical personnel. Research Aims and Objectives The primary objective of the research on “Developing line-tracing robots for medical use” is to create an autonomous line-tracing robot designed for use in medical environments such as hospitals, clinics, and healthcare agencies. Specifically, the robot will be capable of following pre-laid lines and transporting medications, medical equipment, and other necessary tools between hospital rooms in an automatic and efficient manner. Research Scopes The scope of the research includes several aspects.
First, it involves investigating and analyzing all technologies related to line-tracing robots, including scanners, control systems, and software for line detection. Next, it encompasses designing and producing a robot model, from selecting components and designing the framework to refining control algorithms and programming software. This process requires a tight integration of theoretical knowledge and practical application to create a product that meets the stringent requirements of the medical environment. The research also focuses on testing and evaluating the operational performance of the robot in real-world conditions.
This includes testing the robot in different hospital locations, assessing its movement capabilities, line-tracing accuracy, and obstacle- avoidance skills. Additionally, ensuring the safety and reliability of the robot during hospital operations is crucial. All safety standards and protocols will be considered and adhered to during development. Research Contents The content of the research also covers the integration of the robot with the hospital's management systems and other medical equipment.
This includes expanding communication interfaces and protocols so that the robot can interact and collaborate with other devices, creating a complete automation system. Thus, the research not only focuses on developing an advanced technological product but also emphasizes refining operational procedures, reducing errors, and enhancing healthcare quality. Research Method The project “Developing line-tracing robots for medical use” employs a research technique that combines theory and practice to achieve its stated goals. Initially, it involves researching and gathering knowledge about robotics theory, control theory, mechanics, and necessary electronics.
Based on this foundation, we will proceed with the overall design of the robot, including both mechanical and electronic components. Next, selecting the appropriate components and necessary software plays a crucial role in the robot-building process. Components such as the Arduino MEGA 2560 PRO microcontroller, scanners, motors, and power supplies are carefully chosen to ensure the robot's stability and accuracy. Upon completing the design and assembly phases, we will move on to the programming phase.
This is a critical step to confirm the robot’s ability to operate correctly and effectively in a medical environment. Our research will involve experiments and testing to review the robot’s performance, particularly the accuracy of the line-tracing process. These experiments will not only confirm the robot’s compliance with standards but also identify any drawbacks and limitations in the system. Based on the research and experimental results, we will review and refine the robot to improve its output.
This research method ensures a harmonious combination of theory and practice, providing a solid foundation and practical utility in real life. All practical experiments and research are crucial for assessing the robot’s performance and feasibility, thereby making the necessary modifications to complete the final product and meet all the topic’s requirements and goals. Thesis Layout This thesis is organized into several chapters, each focusing on a different aspect of the research and development of a line-tracing robot for medical use. The chapters are structured as follows: Chapter 1: THEORETICAL FOUNDATION This chapter provides the theoretical background for the research, including the basic principles of line-tracing robots, control algorithms, and sensing methods.
It reviews existing research and analyzes current solutions, identifying the challenges to be addressed and the research objectives. Chapter 2: DESIGN AND MANUFACTURE OF MEDICAL VEHICLE MODELS This chapter outlines the process of designing and manufacturing medical vehicle models. It details the selection and development of mechanical, electronic, and software components to create vehicles capable of accurately following predefined lines.