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

back

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

back

System Analysis

• Problem definition• Existing system• Proposed system

back

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

back

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

back

System design

• System Architecture• Block diagram

back

System Architecture

back

Block Diagram

SERVER

DATA BASE

RMISERVER

WEB/APP SERVER

PC CLIENT

MOBILECLIENT

NETWORK

WAPGATEWAY

EMBEDDED DEVICE

WEB CAM

ROBOTICUNIT

back

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

back

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

back

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( )

back

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( )

back

UML Activity Diagram

Login Details

Verify Login Details

Is Details Valid?

Sends Command to server

Commands passed to kit

Action Performed

[ yes ]

[ no ]

back

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

back

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

back

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

back

Literature Review

• Polytechnic Jaime Isaza Cadavid, University of Antioquia Medellín-Colombia (IEEE 2007)

• Referred JAVA Complete reference for programming

back

LOGIN PAGE

UNAUTHERISED USER

back

HOME PAGE

MOBILE LOGIN

back

CONTROLS

Thank You