Middle-East Journal of Scientific Research 23 (Sensing, Signal Processing and Security): 286-290, 2015ISSN 1990-9233 IDOSI Publications, 2015DOI: 10.5829/idosi.mejsr.2015.23.ssps.110Corresponding Author: G. Chinnadurai, St Peters University, Chennai, India.286IOT Controlled Two Wheel Self Supporting Robot Without External SensorG. Chinnadurai and H. Ranganathan St Peters University, Chennai, IndiaAbstract: An Two wheel self supporting robot is design using IOC(Internet-on-a-chip) controller. The DC motoris controlled by PWM technique. In the existing system the robot were designed using tilt sensor, IR sensor,Attitude sensor and moving robot in a straight line. We propose a new design in two wheel self support robotusingtheprincipleofcurvaturetechnique,wereaforcethatmakestherobottofollowacurvedpath.Thedirectionisalwaysperpendiculartothevelocityoftherobot,towardsthefixedpointoftheinstantaneouscenter of curvature of the path. Another advantages robot can be controlled world wide using IOC controller.Itsnowpossiblythelowcostplatformavailablewithcombinedhigh-endmicrocontrollerand802.11functionality on-board.Key words: Self Balancing Robot (SBR) power supply Internet-on-a-chip (IOC) IOT (Internet-of-things)INTRODUCTION implementation is approached. After simulation, resultingTwo wheel balancing robot is designed to follow the uprightpositionandrejectdisturbancessuchasgentleline. The robot controller mother board is designed using pushes [1].IOC controller board. Four wheel self balancing robot for Thedesignofanautomaticselfbalancingcontrolclimbing thetreeisdesignedusingATMEGA16.The system for a tree climbing robot fabricate and testa selfclimbing robot iscontrolled by RF.Theclimbingtree balancingcontrolsystemforafourwheeledclimbingrobot balancesbyadjustingtherotationspeedofDC robot. HM-RF transparent wireless data link module wasmotor proportional to the tilt angle or the robot frame. In used for transferring the data between the remote controltherobotforreceivingthesignalfromtheremote.The androbot.TheproblemsarousedbythetreeclimbingIOCcontrollerisgeneratingPWMsignalfordriveDC robotsareduetotheirregularitiesofthetreetrunkmotorcontrol.DCmotoriscontrolledusingonmobile surfaces.ThePWMtechniquewasusedtocontrolthephone throughtheinternet.Thedrawbackofthefour speedofmotorsbyprovidingintermediateamountsofwheelroboticsthatduetotheirregularitiesinthetree electrical power between fully-on and fully-off situations.trunk. This irregularities in tree trunk makes the robot to The tilt sensor that was used in this system was measuredstuck. Whilepassingtheirregularityareasinthetree and thetiltangles.Theremotesendthedatatothemakes less tilt and makes the motor to reduce the speed. climbing robot and the microcontroller analyse them andIn one minute 4.6m the robot can climb the tree without make the appropriate decision. Corresponding to that, themaximumintheirregulariestrunkregions.Inverted robotcouldclimbandpasstheirregularitiesofthetreependulum principle of two-wheeled self-balancing robot, trunk successfully [2].this paperdescribedtheuseofFPGAcontrollerfor The dynamicdualwheelself-balancingrobotwasattitude sensor data acquisition.designed by differential equation method. The state spaceThe designandimplementationofaself-balancing modellingprocedureusedforit.ThePIDcontrolleristwo-wheeled robotissimilartotheclassicalunstable, controllingthepositionbycalculatingthedifferencenon-linear mechanicalcontrolproblemofaninverted betweenactualsetbalancepointandoutcomefrompendulumonacart.Thelinearizedsystemdynamics overallsystemofselfbalancingrobot.PROTEOUS,equationsandapproachesthecontrolproblem,of MATLAB and VM lab are used to simulate the result andstabilizing the robot, using a Linear Quadratic Regulator observetheverifiedvitalresponsesofdifferentforstatefeedback.ForsimulationresultKalmanfilter components [3].implementation manages to stabilize the pendulum in anMiddle-East J. Sci. Res., 23 (Sensing, Signal Processing and Security): 286-290, 2015287A two-wheeled self balancing robot was constructed beenimplementedinthefinalversionoftherobot.with dualmodenavigationhavingthecapabilitiesto Because of the need to use the knowledge in the fields ofbalanceitselfontheflatterrainordesiredpath.The mechanics, electronics,programming and control, it haddistancesensorsmountedforcollectinginformationon most representative mechatronic problems [8].tiltangleandspeedsensorsmountedforcollecting For invertedpendulumprincipleoftwo-wheeledinformation of the velocityof the body inrelative tothe self-balancingrobot,thispaperdescribedtheuseofground.Amicrocontrolleranddirectcurrentmotor FPGAcontrollerforattitudesensordataacquisitionoperatively coupled for processing information collected systemdesign.Itincludedpowerfuladvantageoffrom the sensors to the microcontroller and for controlling reconfigurablehardwarethatweselectFPGAthe wheels vice-versa. The remote control is coupled with controller to substituteMCU, ARMand DSP controller,microcontrollertooperatetherobotindualnavigation etc.two-wheelself-balancingrobotintheapplicationmodes [4]. environment.ThedesignrealizeddataacquisitionwithThestabilizationofaself-balancingrobotbicycle inertialsensorinself-balancingrobotsystemwhichisdesignedbyusingoff-the-shelfelectronics.Itisan basedonFPGAcontroller.Themodelusedtheideaofunstable nonlinear system which is similar to an inverted reuse areatosolvetheproblemthatseveralsensorspendulum.Experimentalresultswereshowingthe collectdatasimultaneouslyandoutputparallelly,itrobustnessandefficiencyoftheproportionalplus achievedearlydataacquisitionwithinertialsensorsinderivativecontrollerbalancingthebicycle.Theself- FPGA controlling system. At last data acquisition modulebalancing bicycle uses a control moment gyroscope as an areverifiedthroughtheexperimentsandsimulationandactuator forbalancing.Thesystemreliesongyroscopic thedesignofself-balancingrobotwithFGPAcontrollerprecession torquetostabilizethebicyclewhileitis achieved [9].upright [5]. Based on the structure model of a two-wheeled self-Asixthorderdynamicmodelwasdevelopedand balancingrobot,asystematicmathematicalmodelwasconceivedwithintheCyber-CarsProject,theintended devisedaccordingtodynamicmechanicstheory. Agoal of this was to provide an on-demand, fully automatic kineticequationwasconstructedusingNewtoniantaxi serviceinanurbanenvironment.Here,thecontrol dynamicsandmechanics,whichisbasedonsystemobjectivesaredifferentsinceintendedusesofthetwo structure model. The number of simulation done and thenvehicles are unalike; the Seaway longitudinal acceleration a fuzzy PD controller is designed. The position and speedand thus velocity are controlled by the torque disturbance ofrobotareinputsandforthistheangleandanglerateof the driver. So, when a driver leans forward, the Seaway are controlled by PD controller [10].accelerates forward to prevent the passenger from falling. Atwo-wheeledroboticmachine(TWRM)has aThis isthetypicalresponseofaninvertedpendulum challengingissueofbalancingwhentheloadcarriedbyprinciple. Incontrast,thetwowheeledbalancedvehicle themachineischangingpositionalongthevehicletrajectorymustbeentirelycontrolledbythesteering intermediatebody(IB).Toovercomefromthisproblemcomputer. Then, the passenger motion is a disturbance to twotypesofcontroltechniquesaredevelopedandbe rejected.Furthermore,thismodelismeantasan implemented on the system, the traditional proportional-alternative road vehicle, not intended for the sidewalk [6]. derivative(PD)controlandfuzzylogic(FL)control.An accelerometer and a rate-gyroscope built into the Simulationshadbeencarriedoutfortwovariablesmicro-controller were implemented in order to achievea namely; the level and duration of a disturbance force andvertical balance. In this model, fusion of both sensor data the position and speed of the payload [11].intoasingleusablevaluewasachievedthrough a Twowheeledbalancingrobotsareanareaofcomplementaryfilter.Asresult,theoutputofthe research that may provide the unique stability control thatsupportive filter was designed to be primarily dependent is required to keep the robot upright differentiates it fromonthe gyroscopedata,towhichafractionofthe traditionalformsofrobotics.Theinvertedpendulumaccelerometerdatawasaddedtocompensateforthe principle is used to provide the mathematical modelling ofgyroscopic drift. The control loop and the PID controller thenaturallyunstablesystem.Asproblemsandactedasaclosedloopfeedbackmechanism,inorderto difficultiesstartedintheprogramming,theexpectationsbalance the robot [7]. reducedtosimplyprovidingarobotthatcouldmaintainThe remotecontrolledself-balancingmobilerobot stability. The software and programming side was not wellspecific parts are designed to the integration of electronic, executing with the majority of the difficulties encounteredmechanicalandsoftwaresections.TheLQRcontrolhas in these areas [12].Middle-East J. Sci. Res., 23 (Sensing, Signal Processing and Security): 286-290, 2015288Theresearchontwo-wheeledinvertedpendulum(TWIP)mobile has gained momentum over the last decadein a number of robotic laboratories around the world. Thepaper deals withthe hardware design ofsuch a robot. ATWIPmobilerobotaswellasMATLABinterfacingconfiguration to be used as flexible platform comprises ofembedded unstable linear plant intended for research andteaching purposes. The results showed that the proposedembedded design architecture based on Matlab is capableof delivering the desired outcome [13].Two wheeled balancing robots are based on invertedpendulum principle which relies upon dynamic balancingsystems for balancing and manoeuvring. The purpose ofdesigning aselfbalancingtwowheeledrobotusingAndroidphonewhichisamechanicalarrangementconsistingofalongbodysupportedbytwowheelson Fig. 1: Photo of the controller board. one end.Theaimistobuildaself-balancingrobotandreplace alltheconventionalsensorssuchasaccelerometer, gyroscopewithasingleandroidphonewhichalongwithhavingallthesensorsprovidesanoption for onboard signal processing [14].Fromtheabovetheliteraturereviewthetwowheelrobot is designed for the purpose of less track space andeasy to steer. The two wheel balancing robot can be usedfor cut through the obstacles then four wheelrobotwith Fig. 2: Photo of the Robothigh steer ability and less weight the two wheel robot canmove faster.These2wheelrobotcanbeusedin Itis aboutthe size of a Raspberry Pi and contains twotransportationareaswheremancannotmoveandfour 20-pinheadersthatprovidegeneralpurposeI/O,ADCwheel robots cannot move. So for the robot where design channels,I2C,SPI,PWMandotherfunctions.Itcontainsfor surfaceofirregularis,balancing,linetrackingetc.in abuilt-inUSB-to-JTAGinterfaceintenedfordebuggingthis paper we designed a low power consuming robot with and flash memory programming and 802.11 antenna, someIOC controlled PID algorithm in the processor. The speed geral purpose switches and LED and a nice sensor areaof the robot is increased by applying PWM of DC motor. whichcontainsanaccelerometerandthermocoupileMethodology: The CC3200 contains a variety of features itatanobject.TheFigure1showsthephotooftheincluding an in-built network processor to handle popular controller board.protocolssuchasTCPandUDP,secureconnectivity The Figure 2 shows the photo of the Self balanchingincluding TLS/SSL and a main ARM Cortex-M4 core for Robot. DC motor converts electrical energy to mechanicalrunningapplication.InfacttheCC3200isamulti work.Ithas2terminaldevicesfirsttoapplyvoltageprocessorchip;thenetworkprocessorsubsysteminside acrossterminals to provide a direct current to the motorcontains another ARM core dedicated for the task. Its in- and secondtoshaftspeedsuptoaterminalvelocity.built lotofI/Osandalsoin-builtDC-DCconvertersso Often packaged with gearboxes and/or encoders. It act inthat itcanoperatewithaverybatteryrangeof2.1Vto accordancewithFaradaysLaw.Itcanoperatedirectly3.6V. It would be useful for IoT devices including nodes from rechargeablebatterieswhichprovidethemotiveand gateways.powerforthefirstelectricvehicles.DCmotorsarestillmany microcontrollerwhichcontainbuilt-inFlash foundforapplicationsofsmalltoys,diskdrivesandinmemory for storing the code,the CC3200 has a large chunk largesizestooperatesteelrollingmillsandpaperofin-builtstaticRAM(SRAM)thatisloadedwiththe machines.codefromanexternal8-pinserialFlashchip,itshasan The magnitude of the centripetal forceon an objectentire filesystemacanbeusedtooptionallystore of mass m moving at tangential speed v along a path withadditional files. The CC3200 launchpadisfeature-packed. radius of curvature r is: sensorwhichmeasuretemperatureremotelybypointingMiddle-East J. Sci. Res., 23 (Sensing, Signal Processing and Security): 286-290, 2015289F=ma =mv /rc2Where ais the centripetal acceleration. Angular velocityc of the object about the center of the circle:F=mrw2Expressedusingtheperiodforonerevolutionofthe rotation(ICR)robot wheelingcircle, T, the equation becomes:WhenthemotorrotatesinforwarddirectionthesystemF=mr4v /T will be moving at front. Likewise, when the motor rotates2 2derivationsofformulasforvelocityandaccelerationof side.wtherethewheelmoveforwardorreverseitcanthe Robot. In two dimensions the position vector r which controlledbapplypwmsignaltoDCmotorfromIOChas magnitude (length)r and directed at an angle above controller.the x-axis can be expressed in Cartesian coordinates usingthe unit vectors and: CONCLUSIONr = r cos( )+r sin( ) yFrom the experimental setup the robot was made toAssumeuniformcircularmotion,thevelocityvand curvaturewasabletomaintainbytherobot.Stilltheacceleration can be found by a of the motion by making performance of the robot has to be evaluated by running,derivatives of position with respect to time. inthedifferentsurfaces.Theperformanceoftherobotr = r cos(wt) +r sin (wt) y controlled technique, were a force that makes the robot tor = v =-rw sin(wt) +rw cos(wt) y always perpendiculartothevelocityoftherobotismaintained, towards the fixed point of theinstantaneousr = a=-rwcos (wt) -rwsin(wt) y center of curvature of the path. Balanching iscontrolled2 2by using mobile phone keys through internet.a = -w(r cos(wt) +r sin(wt) y)2REFERENCESr in Cartesian coordinates.a=-w r SebastianNilsson,Self-balancingtwo-wheeled2Thenegativeshowsthattheaccelerationispointed 2. HamedShokripour,WanIshakWanIsmail1andtowardsthecenterofthecircle(oppositetheradius), ZahraMoezKarimi,Developmentofanautomatichence it is called "centripetal. selfbalancingcontrolsystemforatreeclimbingInFigure3Instantaneouscenterofcurvaturebased robot.robotwheeling.Theself-balancingrobotwasdesigned 3. UmarAdeel,K.S.Alimgeer, OmairInam,andbuiltbyusingthepic-microcontroller,dcmotors, AyeshaHameed,MehmoodQureshiandsomebasicelectroniccomponentstogetthejobdone. MehmoodAshraf,2013.AutonomousdualwheelMicrocontrollerisusedtodigitallycontrolengine selfbalancingrobotbasedonmicrocontrollersystems.Ithascapacitytoregainfunctionalitywhenits JournalofBasicandAppliedScientificResearch,holdonforaneventsuchasabuttonpressorother 3(1): 843-848, 2013 2013.obstruct.Itcontainsaprocessorcore,memoryand 4. Abdul Ghani, N.M., L.K. Haur, T.P. Yon and F. Naim,programmableinput/outputperipherals.Similarly,when Dual mode navigation for two-wheeled robot.we wanttorotatethemotorbackwarddirectionfront 5. PomYuanLamandTanKianSin,Gyroscopicsensor should have lesser value compare tobacksensor. stabilization of a self-balancing robot bicycle.Fig. 3: PhotooftheInstantaneouscenterofin backward direction the system will be moving at backruncontinuouslyandtheInstantaneouscenterofcouldbemoreefficienttheprincipleofinternetonchipfollow a curved path is performed well. The direction is1. Brian Bonafilia, Nicklas Gustafsson, Per Nyman androbotMiddle-East J. Sci. 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Kumuda,th47(2) 2005-2013 JATIT and LLS. Self balancing robot using android phone.10. JunfengWu,WanyingZhangandShengdaWang,A two wheeled self-balancing robot with the FuzzyPD control method.