This archive contains the work done within the scope of the thesis submitted for the partial fulfillment of the requirement for a Master's Degree in Mechanical Engineering at Technische Universität Berlin.
The main purpose of the project is to establish a communication network for the project MURMEL based on the defined requirements. Via the developed communication network, route information, sensor values, and actuator states will be instantly shared between services robots, smart dustbins, and the application control center.
The designed communication network for the project MURMEL consist of three components as below;
- Smart Dustbins
- Autonome Service Robots
- MURMEL Network Server
The smart dustbin idea is based on robots’ route optimization to prevent unnecessary driving schedules to empty non-full dustbins. The dustbins ’ state can be measured in regular intervals by installing sensors in dustbins to measure the fullness levels. However, for transmitting the sensor data to the central control center, dustbins must be equipped with wireless communication modules.
During the course of this undertaking the TU Berlin and its associated partner in this project the BSR will investigate how far a specially developed service robot can support and improve the existing process in the field of waste management in a city like Berlin. Autonome Service Robots will be the main focus in this context to automate the garbage collection procedures.
Robots are running on Robots Operating System ROS by utilizing different packages and algorithms for each specific task. In order to establish communication links to MURMEL Network Server a ROS package called murmel_comm is created. The package contains the python nodes to create MQTT and WebSocket Clients.
The developed MURMEL Network Server will be the central unit in the communication network between to link the communication between robots, dustbins, and the application control center.
Deployment of the developed communication network is carried out in three steps as shown below. For a more detailed description of the installation procedures please follow the links.
- Installation of the network server
- Installation of the ROS communication package
- Installation of the LoRaWAN creditentials on smart dustbins
Click to the image to see the simulation video.
