robot tele-operation system based on gprs
TRANSCRIPT
Robot Tele-Operation System Based on GPRS
Synopsis
• Abstract• Introduction• Literature Review• System Analysis• Requirement Analysis• Design• Implementation• Conclusion• Snapshots
Abstract
• General Packet Radio Service(GPRS) to teleoperate a mobile robot
• 2 control methodso Predefined sequenceso Instant action
• This system uses a GSM/GPRS mobile telephony network
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Introduction
• Robotics has now converged with mobile communications
• Teleoperation of robots using cell phonesObjective The aim of the proposed work is to present a
security integrated system, based on the WAP framework for remote monitoring and control Robot
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System Analysis
• Problem definition• Existing system• Proposed system
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Problem Definition
To help the user in controlling and monitoring the activities of the remote object. The user can monitor the object using the mobile and can serve the disabled or mentally challenged person from a remote station.
Existing System
• The existing system called as COMMBOTS combine the M2M communication capabilities with robotics
• 1 or 2 bytes long messages which are exchanged through the RS232 ports of both devices
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Limitations
• Need of a purposely built protocol• Need of a proxy• Consists of primitive communication mechanism• No Security
Proposed System
• Important feature is its size that is suitable for programming from a PC platform.
• Capability to move into a surface as small as a desk, both in autonomous as remotely
• It is equipped with an in-built wireless communication module.
• Architecture
Advanatges
• Global and international usability.• Security and access control.• Simplicity in devices, complexity in gateways.• Designed for all types of mobile phones, GSM CDMA back
Requirement AnalysisSoftware requirements
Language : JAVA-Servlets,JSP,WML.
Technology : J2EE
Server : Tomcat Server 5.5.
Hardware requirements
Processor : pentiumIV Hard Disk : 20GB RAM : 128MB Embedded kit(MC-8051) Serial port connector. RF transmitter and RF receiver. Robot. RS232 cable back
Design
• System design• Detail design
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System design
• System Architecture• Block diagram
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System Architecture
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Block Diagram
SERVER
DATA BASE
RMISERVER
WEB/APP SERVER
PC CLIENT
MOBILECLIENT
NETWORK
WAPGATEWAY
EMBEDDED DEVICE
WEB CAM
ROBOTICUNIT
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Detail design
• UML Usecase Diagram• UML Class Diagram• UML Sequence Diagram• UML Collaboration Diagram• UML Activity Diagram back
UML Usecase Diagram
mobile client
command
Authentication
Database
commands
action performed
Embedded kit
webcam
Tomcat server
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UML Class Diagram
Embedded kit
programmed chips
receive cmds()
(from Use Case View)
webcam
sends images()captures images()
mobile client
user name : charpassword : charWAP Details : char
gain access()commands()entering details()view image()
(from Use Case View)
Database`user details : char
Validity check()
Tomcat server
IP address : char
Send cmds()receive cmds()DB access()receive image()
(from Use Case View)
11 11
1
1
1
1*
1
*
1
1
1
1
1
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UML Sequence Diagram
: Mobile Client
: Tomcat server : Database : Embedded kit
: webcam
authentication( )
verification( )
commands( )
receives command( )
action performed( )
load image( )
view image( )
valid user( )
Display page( )
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UML Collaboration Diagram
: Mobile Client
: Tomcat server
: Database
: Embedded kit
: webcam
7: action performed( )
1: authentication( )5: commands( )
9: view image( )
2: verification( )
6: receives command( )
8: load image( )3: valid user( )
4: Display page( )
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UML Activity Diagram
Login Details
Verify Login Details
Is Details Valid?
Sends Command to server
Commands passed to kit
Action Performed
[ yes ]
[ no ]
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Implementation
Modules• Authentication module• Invoking the Remote Object (RMI CONCEPT)• Connecting Server and Embedded Kit (SERIAL
PORT)• Processing and Transmission of Data• Receiving and Execution of controls by Robotic
unit• Controlling and Monitoring the Robot through
WAP
Authentication Module
• Obtaining identification credentials such as username and password from a user and validating those credentials against the value stored in the data base
• If valid display Home page
snapshots
Invoking the Remote Object
The RMI concept consists of three things• RMI Registry• Server • Client
Overview of RMI
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Connecting Server and Embedded Kit
• Remote object connects with the embedded kit through RS232 at the port COM1
• Interface between the PC and the Micro Controller.
• 2nd (R), 3rd(T) and 5th(G)Pin
RS232 Pin Diagram
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Processing and Transmission of Data
• The data got from the server will be in the form of 16 bit binary values
• The data from the server is fed into MAX232 interface then send to micro controller
• Then the commands are Encoded by Encoder and then transmitted through transmitter
Transmitter
Receiving and Execution of controls by Robotic unit
• Receives the transmitted signal • The signals received will then be decoded by
the decoder
• The control unit then performs the appropriate actions as per the commands given by the client.
Receiver
Controlling and Monitoring the Robot through WAP
• The Robot can be monitored by the client with the help of the web camera connected to the server• The web cam generates the still images of the movements of the Robot and transmits it to the client• Once authenticated the mobile client can sent commands to the Robotic unit and can control the Robot. Back
Conclusion
• An application that allows the teleoperation of a mobile robot, like Giraa_02, from the cellular network was implemented
• The GPRS teleoperation is useful in systems that require characteristics like mobility, wide coverage.
• Transmission speed is in Kbytes.• The transmission speed depends on several
factors, like the network congestion, the mobile device, etc. back
Future Enhancement
• Controlled by using Bluetooth in mobile.• 4G Cellular can use the IP address of the
Remote object• Voice recognision
COMMBOTS
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Literature Review
• Polytechnic Jaime Isaza Cadavid, University of Antioquia Medellín-Colombia (IEEE 2007)
• Referred JAVA Complete reference for programming
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Thank You