## 3 Methodology
### AMR in the Logistics 4.0 Laboratory of the University of Miskolc  
Within the same laboratory mentioned above, there are also two AMRs, a 2 nd generation of Festo Robotino. Although these devices are more than 10 years old, they are still good for educational purposes and for understanding what an AMR is. These AMRs use no external infrastructure, only the onboard sensors, which are ultrasonic sensors around the circular frame and a 2D camera. This is the main difference compared to an AGV, and therefore, a separate lesson is dedicated to showing these features. One of the AMRs also has an electric gripper. These AMRs together can be seen in Figure 10.  
Mention must be made of the fact that, formerly, the two AMRs were not connected to any network, since they were not used for years; therefore, it was necessary to find a solution to their task. However, this solution is also implemented into the learning model, since, in this way, the students can understand how such an automated machine should be implemented into an existing logistics system.  
Figure 8: Software of LIDAR sensor—Entering the position of mirrors.  
Figure 9: Software of LIDAR sensor—Create a room contour (self-made screenshot).  
A Festo Robotino basically can be controlled and connected in two ways:  
* The Robotino works as an AP (Access Point); in this case, other devices can connect to Robotino's internal AP.
* The Robotino works as a client; in this case, the Robotino should connect to an external AP like a Wi-Fi router  
Since their ages are not fully the same, the Robotinos in the laboratory have two different network devices (see Figure 11), but the connection is similar.  
The first case is more beneficial if only one device connects with the Robotino. However, within the laboratory, the goal is to connect the AMRs to the AGV and to the main conveyor control system; therefore, the second option is the proper solution. Connecting devices to the network is especially crucial in industry, fulfilling the requirements of IoT (Internet-of-Things). Other advantages are that both Robotinos can be controlled directly from a desktop computer, notebook, smartphone, or tablet. Two examples of successfully established connections can be seen in Figure 12.  
Figure 11: Different network devices used within Festo Robotinos.  
Figure 10: AMRs used in Logistics 4.0 laboratory.  
A new program was created with Robotino self-programming software to control the Robotino. In this program, the Robotino can be controlled either by a joystick connected to the PC, or by a control panel, which consists of the direction symbols shown on the screen. The program and control panel created in Robotino View software v.4 can be seen in Figure 13. This programming way is a good example for the students, since it can be shown that programming contains not only fully textual writing but also a graphical way can be used.  
In this graphical program, the following functions were defined:  
* Live camera
* Opening or closing gripper
* Function block the Control panel--onboard control possibility  
Figure 12: Successfully established live control with Festo Robotinos (self-made screenshots). (**a**) Both Robotinos are from the same desktop computer. (**b**) From a smartphone.  
Figure 13: New program for controlling Festo Robotino.  
* Function block Joystick--the value of rotation of the joystick hand is divided by five for more accurate control
* Function block Omnidrive calculates the necessary RPM for the three motors