This project will have a huge impact on academics and industry. With the help of this project we have tried to depict the modern & global application of cell phone.
Mobile phone for robotic control can overcome these limitations and provides the advantage of robust control, working range as large as the coverage area of the service provider, no interference with other controllers.
This project is very useful on the Military usage of remotely controlled military vehicles .the vehicles are controlled by the cell phone then the range of control will be broad& by the use of wireless camera we can detect the position of enemies.
The industry can find major application of this project in developing mobile operated products as commercial projects. As security feature is most important factor of this project so industries have scope of finding some relevant information in building up of commercial land rover. They may be used in any search operations, where men power cannot work.
This project will also prove beneficial in academics. The students can learn various principles and terminologies proposed in this project which would help their cause of advancing this technology by adding their innovative ideas and thoughts.
CHAPTER 4 FINDING
Researching and Designing
gathering information
identifying specific details of the design which must be satisfied
identifying possible and alternative design solutions
planning and designing a appropriate structure which includes drawings
Design Of Robot
Differential drive is a method of controlling a robot with only two motorized wheels.
What makes this algorithm important for a robot builder is that it is also the simplest control method for a robot. The term 'differential' means that robot turning speed is
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determined by the speed difference between both wheels, each on either side of your robot. For example: keep the left wheel still, and rotate the right wheel forward, and the robot will turn left.( Don't want to turn) As long as both wheels go at the same speed, the robot does not turn - only going forward or reverse.
As shown in above figure wheels are attached with chassis made up of any metal (like iron). Shaft of two DC motors (around 150 RPM or more) are directly coupled with real wheels. So as both motors rotate CW, the land rover moves forward. And as both motors rotate CCW, it will move backward. to turn it left right DC motor rotates and to turn it right left DC motor rotates. Also it will take left & forward-right turn as well as backward-left & backward-forward-right turn if required. For that, either of the motors (left or right) is rotated CW or CCW. For example if left motor rotates CW,will take forward-right turn and if it rotates CCW then backward-right turn.
Similarly for right DC motor.
The differential drive algorithm is useful for light chasing robots. This locomotion is the most basic of all types, and is highly recommended for beginners. Mechanical construction, as well as the control algorithm, cannot get any simpler than this.
pseudocode:
input sensor reading
make decision based on sensor reading.
Do
one of below actions:
to drive straight both wheels move forward at same speed
to drive reverse both wheels move back at same speed
to turn left the left wheel moves in reverse and the right wheel moves forward
to turn right the right wheel moves in reverse and the left wheel moves forward
Well it is a system that contains sensors, control systems, manipulators, power supplies and software all working together to perform a task. Designing, building, programming and testing a robots is a combination of physics, mechanical engineering, electrical engineering, structural engineering, mathematics and computing. In some cases biology, medicine, chemistry might also be involved.
Construction work can now begin, with:
The major building blocks are cell phone, DTMF decoder, micro-controller, DC motor driver circuits.
Cell phone: - This is very first and the most important part of the system because due to this only the entire system is activated and works. It will receive the signals from another cell phone and gives them as input to DTMF decoder. First the system is activated by calling the SIM card number inside the phone. Afterwards it will receive DTMF code signals dialed from another cell phone and give it to DTMF decoder.
DTMF decoder: - The function of this block is self understood. It will take DTMF input given by cell phone decode it and gives 4-bit digital output to micro controller.
It also generates an interrupt every time when it gives digital output
Micro-controller: - You can call this block as the heart of entire system because it actually performs all the controlling actions. Depending upon the code given by DTMF decoder it will move the rover forward, backward, left or right by rotating both DC motors
DC Motor driver: - It receives actuating signals from micro controller in terms of high / low logic, amplifies (current) it and rotates 2 DC motors in both directions
DTMF decoder:
-As shown in figure it is made up form readily available MT8870 chip that is widely used for DTMF based application. It receives DTMF tones and generates 4-bit digital output corresponding to received DTMF signal of digits 0 - 9 and other signals (like
*, # etc) also. It receives input form cell phone to its pin no 2. It amplifies it through internal op-amp amplifier. If it receives valid DTMF tone, it will produce pulse output on StD (pin no 15). This is indicated by green LED connected as shown. The 4-bit digital output is latched on pins 11 - 14 and that is given to micro controller.
The StD output is also given to interrupt pin of micro controller through transistor that will generate negative pulse every time when DTMF signal is received. This negative pulse will generate an interrupt. All the movements of robotic arm are controlled by cell phone digit switches 1 to 8. The 4 bit digital output corresponding to these switches form MT8870 are as given here
Sample Robotic
SAMPLE INPUT OUTPUT
The code accepts incoming commands via telnet or voice recognition, then it sends the commands out to a robot device. It is essentially an API for using a cellphone to control a robot.
Highlighted functionality includes:
Voice recognition to speak to your robot
Text-to-speech so your robot can speak back
Compass orientation to point North, East, South, West, or any degree in between
Remote control commands for forward, back, left, right, and stop
Audio recoding to use the phone's mic to record sounds
GPS to acquire the phone's location and speak the city and state
XMPP Chat to send chat commands to the robot
Diagram Using Microcontroler
PIC Microcontrollers are quickly replacing computers when it comes to programming robotic devices. These microcontrollers are small and can be programmed to carry out a number of tasks and are ideal for school and industrial projects. A simple program is written using a computer, it is then downloaded to a microcontroller which in turn can control a robotic device.
http://www.technologystudent.com
Augmented Microcontrollers and Development Boards In a pure sense, a microcontroller is just an IC (integrated circuit, or a black chip thing with pins coming out of it). However it is very common to add additional external components, such as a voltage regulator, capacitors, LEDs, motor driver,timing crystals, rs232, etc to the basic IC. Formally, this is called an augmented microcontroller.
Timing Microcontrolled
The Final Equation create a delay of 5 seconds.
calculating:
655000 cycles/second -> 655 cycles/ms
655 cycles/ms * 1.5ms = 982.5 cycles ~= 982 cycles
http://www.robot-electronics.co.uk/
So to get servo to stop moving, send a signal of 1.5ms long, or 982:
Cycles
A 'cycle' is the smallest amount of time it takes for your microcontroller to do 'nothing.'
For example, suppose I ran this while loop on a microcontroller:
cycles=8;
turn servo on delay_cycles(982);
turn servo off
Using the same equation for 1ms and 2ms, the extremes of servo motion, we calculate some more:
655 cycles/ms * 1ms = 655 cycles
655 cycles/ms * 2ms = 1310 cycles
For 5 seconds delay.
Next Finding Using Android
and then program this:
loop 50 times:
delay_cycles(65535);
In this project 8051 and bluetooth module are communicating over uart @9600bps.
Bluetooth module HC-05 is controlled via simple AT commands. This module comes in SMD package and works on 3.3v power supply. The BT module is a SPP supported profile so it can be connected easily to any controller or embedded device.
In this profile the data sent and receive to module directly comes on the RX pin of microcontroller. It becomes really easy to make your device bluetooth compatible.
L293D H-Bridge motor driver are used to control two DC motors. A readymade compact size chassis is used to avoid the chassis assembly comlexities . The chassis contains 2 decks the lower is used for BO motors fitting the upper is used as a battery stack. On top plate the controller board is mounted by screw fitting.
- See more at: http://www.8051projects.net/download.php?
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CHAPTER 5
Discussion
A mobile robot is an automatic machine that is capable of movement in any given environment.Mobile robots have the capability to move around in their environment and are not fixed to one physical location. In contrast, industrial robots usually consist of a jointed arm (multi-linked manipulator) and gripper assembly (or end effector) that is attached to a fixed surface.
Mobile robots are also found in industry, military and security environments. Domestic robots are consumer products, includingentertainment robots and those that perform certain household tasks such as vacuuming or gardening.
Our Robot is the branch of technology that deals with the design, construction, operation, and application of robots, as well as computer systems for their control, sensory feedback, and information processing. These technologies deal with automated machines that can take the place of humans in dangerous environments or manufacturing processes, or resemble humans in appearance, behavior, and/or cognition. Many of today's robots are inspired by nature contributing to the field of bio-inspired robotics.
Electric motors
The majority of robots use electric motors, often brushed and brushless DC motors in portable robots, or AC motors in industrial robots and CNC machines. These motors are often preferred in systems with lighter loads, and where the predominant form of motion is rotational.
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Sensing
Sensors allow robots to receive information about a certain measurement of the environment, or internal components. This is essential for robots to perform their tasks, and act upon any changes in the environment to calculate the appropriate response. They are used for various forms of measurements, to give the robots warnings about safety or malfunctions, and to provide real time information of the task it is performing.
Speech recognition
Interpreting the continuous flow of sounds coming from a human, in real time, is a difficult task for a computer, mostly because of the great variability ofspeechThe same word, spoken by the same person may sound different depending on local acoustics, volume, the previous word, whether or not the speaker has a cold, etc.. It becomes even harder when the speaker has a different accent.
Mobile manipulator is nowadays a widespread term to refer to robot systems built from a robotic manipulator arm mounted on a mobile platform. Such systems combine the advantages of mobile platforms and robotic manipulator arms and reduce their drawbacks. For instance, the mobile platform extends the workspace of the arm, whereas an arm offers several operational functionalities.
A mobile manipulation system offers a dual advantage of mobility offered by a mobile platform and dexterity offered by the manipulator. The mobile platform offers unlimited workspace to the manipulator. The extra degrees of freedom of the mobile platform also provide user with more choices. However the operation of such a system is challenging because of the many degrees of freedom and the unstructured environment that it performs in.
Control
The mechanical structure of a robot must be controlled to perform tasks. The control of a robot involves three distinct phases – perception, processing, and action (robotic paradigms). Sensors give information about the environment or the robot itself (e.g.
the position of its joints or its end effector). This information is then processed to
calculate the appropriate signals to the actuators (motors) which move the mechanical.
The processing phase can range in complexity. At a reactive level, it may translate raw sensor information directly into actuator commands. Sensor fusion may first be used to estimate parameters of interest (e.g. the position of the robot's gripper) from noisy sensor data. An immediate task (such as moving the gripper in a certain direction) is inferred from these estimates. Techniques from control theory convert the task into commands that drive the actuators.
At longer time scales or with more sophisticated tasks, the robot may need to build and reason with a "cognitive" model. Cognitive models try to represent the robot, the world, and how they interact. Pattern recognition and computer vision can be used to track objects.Mapping techniques can be used to build maps of the world.
Finally, motion planning and other artificial intelligence techniques may be used to figure out how to act. For example, a planner may figure out how to achieve a task without hitting obstacles, falling over, etc.
Manual remote
A manually tele operated robot is totally under control of a driver with handphone or other control device. The device may be plugged directly into the robot, may be a wireless joystick, or may be an accessory to a wireless computer or other controller.
A tele-op'd robot is typically used to keep the operator out of harm's way.
Segregation of duties
Muhammad Abu Sofian Find a variety of information to produce the robot by using software. Make sure components that can be survey in connection to the sensor circuitry to ensure that the robot has a security aspect
CHAPTER 6
Conclusion
Human-robot interaction
If robots are to work effectively in homes and other non-industrial environments, the way they are instructed to perform their jobs, and especially how they will be told to stop will be of critical importance. The people who interact with them may have little or no training in robotics, and so any interface will need to be extremely intuitive.
Science fiction authors also typically assume that robots will eventually be capable of communicating with humans through speech, gestures, and facial expressions, rather than a command-line interface.
Technological trends
Various techniques have emerged to develop the science of robotics and robots. One method is evolutionary robotics, in which a number of differing robots are submitted to tests. Those which perform best are used as a model to create a subsequent
"generation" of robots. Another method is developmental robotics, which tracks changes and development within a single robot in the areas of problem-solving and other functions.
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Autonomously guided robot
An autonomously guided robot knows at least some information about where it is and how to reach various goals and or waypoints along the way.
"Localization" or knowledge of its current location, is calculated by one or more means, using sensors such motor encoders, vision, Stereopsis, lasers and global positioning systems. Positioning systems often use triangulation, relative position and/or Monte-Carlo/Markov localization to determine the location and orientation of the platform, from which it can plan a path to its next waypoint or goal. It can gather sensor readings that are time- and location-stamped, so that a hospital, for instance, can know exactly when and where radiation levels exceeded permissible levels. Such robots are often part of the wireless enterprise network, interfaced with other sensing and control systems in the building.