Haɗa Hankali da Sadarwa Tsakanin Ma'aikata Da Yawa Ta Amfani da Kyamarar Taron VLC

1. Gabatarwa & Bayyani

Wannan takarda tana magance wata matsala mai mahimmanci a cikin ƙarfin tsarin ma'aikata da yawa (MAS): rashin iya bambanta da hankali tsakanin ma'aikata iri ɗaya, waɗanda aka kera da yawa (misali, jirage marasa matuka, motocin bincike) da haɗa hankalinsu da hanyoyin sadarwarsu cikin sauƙi. Hanyoyin gargajiya kamar launi ko alamomi (misali, ArUco) ba su da amfani ga ma'aikata masu jujjuyawa ko kera da yawa. Sadarwar rediyo, duk da cewa tana da tasiri wajen canja wurin bayanai, ba ta da mahallin sarari na asali, wanda ke haifar da "raba" tsakanin hangen ma'aikaci da tushen bayanan da aka karɓa.

Shawarar da aka gabatar tana haɗa sabon abu tare da Na'urorin Hankali na Tushen Taro (Kyamarorin Taro) da Sadarwar Hasken Gani (VLC). Kyamarorin taro, waɗanda ke ba da rahoton canjin haske na kowane pixel ba tare da jinkiri ba tare da ƙuduri na microsecond, ana amfani da su azaman masu karɓar haske mai sauri. Ma'aikata suna sanye da LED waɗanda ke watsa lambobin ganewa na musamman ta hanyar ƙyalli mai sauri, waɗanda kyamarorin RGB na yau da kullun ba za su iya gane su ba amma kyamarar taro akan ma'aikacin makwabciya za ta iya gane su. Wannan yana haifar da haɗin kai kai tsaye, mai sanin sarari: ma'aikacin "yana ganin" wane takamaiman ma'aikaci a cikin filin hangensa yake watsa bayanai.

2. Hanyoyin Tsari & Ƙirar Tsarin

3. Cikakkun Bayanai na Fasaha & Tushen Lissafi

Ana ɓoye siginar VLC ta amfani da Maɓallin Kunna-Kashe (OOK). Bari $s(t) \in \{0, 1\}$ ya wakilci siginar da aka watsa. Kyamarar taron tana haifar da taron $e_k = (x_k, y_k, t_k, p_k)$ a pixel $(x_k, y_k)$ da lokaci $t_k$ tare da polarity $p_k \in \{+1, -1\}$ (yana nuna ƙaruwa ko raguwar haske) lokacin da canjin haske na logarithmic ya wuce kofa $C$: $$p_k \cdot (\log L(x_k, y_k, t_k) - \log L(x_k, y_k, t_k - \Delta t)) > C$$ inda $L$ yake haske. LED mai ƙyalli zai haifar da jirgin ƙungiyoyin taro masu kyau da marasa kyau. Algorithm na warwarewa ya ƙunshi:

1. Haɗa Sarari: Haɗa abubuwan taro daga tushen LED ɗaya ta amfani da kusanci a cikin jirgin hoto.
2. Warware Lokaci: Nazarin lokacin tsakanin taro a cikin ƙungiya don dawo da jerin binary $\hat{s}(t)$, wanda ke wakiltar ID da aka warware.
3. Gyaran Kuskure: Yin amfani da tsarin ɓoyewa (misali, lambobin Hamming) don rage kurakurai daga amo ko rufe wani ɓangare.

4. Sakamakon Gwaji & Nazarin Aiki

5. Nazarin Kwatance & Muhimman Fahimta

Mahimman Fahimta: Taron-VLC ba shine mafi girman hanyar sadarwa ba, kuma ba shine mafi kyawun mai ganewa mai tsabta ba. Ƙimarsa ta musamman ita ce kasancewa mafi kyawun gauraye wanda ke haɗa yankuna biyu cikin sauƙi tare da babban ƙarfi ga motsi—wani muhimmin sifa ga tsarin ma'aikata da yawa masu ƙarfi.

6. Nazarin Kwararre Na Asali

Mahimman Fahimta: Wannan takarda ba kawai game da sabon dabarar sadarwa ba ce; mataki ne na asali zuwa ga sadarwar jiki don injina. Marubutan sun gano daidai cewa ƙalubalen gaske a cikin MAS na gaba ba motsin bayanai daga aya A zuwa B ba ne (wanda rediyo ta warware), amma kafa wannan bayanin ga daidai abu na jiki a cikin yanayin gani mai ƙarfi. Shawararsu ta yi wayo ta amfani da ilimin kimiyyar lissafi na kyamarorin taro don ƙirƙirar yanayin hankali wanda ke da sarari da lokaci na asali, kamar yadda wasu dabbobi ke amfani da hasken halitta don ganewa.

Kwararar Hankali & Ƙarfafawa: Hujja tana da gamsarwa. Sun fara da matsala ta halal, wacce ba a warware ta ba (ganewar ma'aikata iri ɗaya), sun ƙi hanyoyin da suke akwai saboda dalilai masu haske, kuma sun ba da shawarar sabon haɗin fasahohi biyu masu tasowa. Amfani da kyamarorin taro yana da wayo musamman. Kamar yadda aka lura a cikin bincike daga Ƙungiyar Robobi da Hankali ta Jami'ar Zurich, fa'idodin kyamarorin taro a cikin yanayi mai sauri da babban kewayon motsi sun sa su zama manufa don wannan matsayin mai karɓar VLC, suna shawo kan iyakancewar blur ɗin motsi na RGB-VLC na tushen firam. Ci gaban gwaji daga kwaikwayo zuwa robobi na jiki yana da inganci ta hanyar dabaru.

Kurakurai & Giba Masu Muhimmanci: Nazarin, duk da haka, yana jin myopic game da ƙarfin girma. Takarda tana ɗaukar tsarin keɓe. Me zai faru a cikin tarin ɗimbin ma'aikata 100, duk suna ƙyalli LED? Kyamarar taron za ta cika da abubuwan taro, wanda zai haifar da magana ta tsaka-tsaki da tsangwama—matsala ta shiga da yawa da ba su magance ba. Hakanan sun yi watsi da babban farashin lissafi na haɗa taro da warwarewa na ainihin lokaci, wanda zai iya zama toshewa ga ma'aikata masu ƙarancin wuta. Idan aka kwatanta da sauƙin sauƙi na daidaitawar UWB (wanda kuma zai iya ba da mahallin sarari, ko da yake tare da ƙaramin haɗin gani kai tsaye), tsarin su yana ƙara rikitaccen kayan aiki.

Fahimta Mai Aiki & Hukunci: Wannan babban yuwuwar, shugabanci ne na bincike na musamman, ba mafita da za a iya turawa ba. Ga masana'antu, abin da za a ɗauka shine saka idanu kan haɗuwar hankali na tushen taro da sadarwar gani. Aikace-aikacen nan take yana yiwuwa a cikin sarrafa, ƙananan ƙungiyoyin robobi masu haɗin gwiwa (misali, ƙungiyoyin robobi na masana'antu) inda rudanin gani ke zama matsala ta aminci da inganci. Masu bincike yakamata su mai da hankali gaba kan magance matsalar tsangwama ta shiga da yawa, watakila ta amfani da ra'ayoyi daga CDMA ko LED masu shugabanci, da kuma haɓaka guntu na warwarewa mai ƙarancin wuta. Wannan aikin yana samun A don ƙirƙira da gano matsala ta asali, amma B- akan shirye-shiryen aiwatarwa na zahiri. Yana buɗe kofa; tafiya ta cikinta zai buƙaci warware matsaloli masu wahala a cikin ka'idar sadarwa da haɗin tsarin.

7. Tsarin Nazari & Misalin Ra'ayi

Yanayi: Robobi uku iri ɗaya na jigilar kaya (T1, T2, T3) suna buƙatar daidaitawa ta hanyar ƙetare hanya mai kunkuntar. T1 yana bakin ƙofar kuma yana iya ganin T2 da T3 a ciki, amma bai san wanne shine wanne ba.

Mataki-mataki Tsari tare da Taron-VLC:

1. Hankali: Kyamarar taron T1 ta gano ƙura biyu masu motsi (ma'aikata). A lokaci guda, tana gano tsarukan taro daban-daban guda biyu, masu mitar girma waɗanda aka sanya su a kan wuraren waɗannan ƙura.
2. Warwarewa & Haɗawa: Na'urar sarrafa ta kan jirgin tana haɗa abubuwan taro a sarari, tana ware tsarukan. Tana warware Tsari A azaman ID "T2" da Tsari B azaman ID "T3". Yanzu ta san ƙurar hagu ita ce T2 kuma ƙurar dama ita ce T3.
3. Aiki: T1 yana buƙatar T2 ya ci gaba. Yana aika saƙon rediyo wanda aka yiwa ID "T2" tare da umarnin "ci gaba 1m". Saboda an haɗa ID da hankali, T1 yana da yakinin cewa yana ba da umarni ga ma'aikacin da ya dace.
4. Tabbatarwa: T1 ya lura ƙurar hagu (wacce aka haɗa da hankali zuwa T2) ta ci gaba, yana tabbatar da cewa an aiwatar da umarnin ta hanyar ma'aikacin da aka yi niyya.

Bambanci da Rediyo-Kawai: Tare da rediyo kawai, T1 yana watsa "duk wanda yake hagu, ci gaba." Duka T2 da T3 sun karɓa. Dole ne kowannensu ya yi amfani da nasa na'urori don gano ko su ne "a hagu" dangane da T1—wani aiki mai rikitarwa da kuskure na daidaitawar kai. Taron-VLC yana yanke wannan shubuha ta hanyar sanya haɗin kai a bayyane da waje (daga hangen T1).

8. Ayyukan Gaba & Hanyoyin Bincike

Aikace-aikacen Nan Take:

• Robobi na Masana'antu na Haɗin Gwiwa: Ƙungiyoyin hannayen robobi iri ɗaya ko dandamali masu motsi a cikin masana'antu masu wayo don watsa kayan aiki da haɗin gwiwar taro.
• Daidaituwar Tarin Jiragen Marasa Matuka: Jirgin kusa da tsari inda jiragen marasa matuka ke buƙatar gano maƙwabtansu nan take don kaucewa karo da aiwatar da motsi.
• Ƙungiyoyin Motoci Masu Cin Gashin Kansu: Duk da cewa yana da ƙalubale a waje, ana iya amfani da shi a cikin filayen kayan aiki masu sarrafawa don ganewar mota/trella da haɗawa.

Hanyoyin Bincike na Dogon Lokaci:

• Shiga Da Yawa & Sadarwar Cibiyar Sadarwa: Haɓaka ka'idoji (TDMA, CDMA) don yawan al'ummar ma'aikata don guje wa tsangwamar LED. Yin amfani da rarraba tsawon raƙuman ruwa (LED masu launi daban-daban) shine tsawo mai sauƙi.
• Matsakaicin Watsa Bayanai: Matsawa bayan IDs masu sauƙi don watsa bayanan yanayi na asali (misali, matakin baturi, niyya) kai tsaye ta hanyar haɗin gani.
• Haɗin Neuromorphic: Aiwatar da duk bututun warwarewa akan na'urori na neuromorphic, daidaita bayanan firiji na tushen taro tare da lissafi na tushen taro don ingantaccen amfani da makamashi, kamar yadda cibiyoyi kamar Aikin Kwakwalwar ɗan Adam suka bincika.
• VLC Mai Biyu: Sanya ma'aikata da kyamarar taro da babban mai daidaita LED mai sauri, yana ba da damar cikakkiyar tashoshin sadarwar gani masu sanin sarari tsakanin ma'aikata biyu.
• Daidaitawa: Ƙayyadaddun tsarin daidaitawa da tsarin ID don aiki tare, kamar yadda ka'idojin Bluetooth ko WiFi suka samo asali.

9. Nassoshi

1. Nakagawa, H., Miyatani, Y., & Kanezaki, A. (2024). Haɗa Hankali da Sadarwa Tsakanin Ma'aikata Da Yawa Ta Amfani da Sadarwar Hasken Gani ta Amfani da Kyamarorin Taro. Proc. na AAMAS 2024.
2. Gallego, G., da sauransu. (2022). Hankali na Tushen Taro: Bita. IEEE Transactions akan Nazarin Tsari da Injin Hankali. (Bita mai mahimmanci akan fasahar kyamarar taro).
3. Jami'ar Zurich, Ƙungiyar Robobi da Hankali. (2023). Bincike akan Hankali na Tushen Taro. [Kan layi]. Ana samuwa: https://rpg.ifi.uzh.ch/
4. Ma'auni na IEEE don Gida da cibiyoyin sadarwa na birni–Sashi na 15.7: Sadarwar Gani na Maras Igiya na Gajeren Zango Ta Amfani da Hasken Gani. (2018). (Ma'auni na asali don VLC).
5. Aikin Kwakwalwar ɗan Adam. Dandalin Lissafi na Neuromorphic. [Kan layi]. Ana samuwa: https://www.humanbrainproject.eu/en/
6. Ozkil, A. G., da sauransu. (2009). Robobin Sabis a Asibitoci. Bita. (Yana nuna buƙatar ganewar robobi na duniyar gaske).
7. Schmuck, P., da sauransu. (2019) SLAM Monocular na Haɗin gwiwar Multi-UAV. IEEE ICRA. (Misalin MAS inda ganewar ma'aikaci ke da mahimmanci).
8. Lichtsteiner, P., Posch, C., & Delbruck, T. (2008). Na'urar Hankali ta Hankali ta Lokaci mai Asynchronous 128x128 120 dB 15 μs. IEEE Journal of Solid-State Circuits. (Takardar kyamarar taro ta farko).