Robot Tele-operation System Based on GPRS

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Robot Tele-operation System Based on GPRS

  1. 1. Robot Tele-Operation System Based on GPRS
  2. 2. Synopsis <ul><li>Abstract </li></ul><ul><li>Introduction </li></ul><ul><li>Literature Review </li></ul><ul><li>System Analysis </li></ul><ul><li>Requirement Analysis </li></ul><ul><li>Design </li></ul><ul><li>Implementation </li></ul><ul><li>Conclusion </li></ul><ul><li>Snapshots </li></ul>
  3. 3. Abstract <ul><li>General Packet Radio Service(GPRS) to teleoperate a mobile robot </li></ul><ul><li>2 control methods </li></ul><ul><ul><li>Predefined sequences </li></ul></ul><ul><ul><li>Instant action </li></ul></ul><ul><li>This system uses a GSM/GPRS mobile telephony network </li></ul><ul><li>back </li></ul>
  4. 4. Introduction <ul><li>Robotics has now converged with mobile communications </li></ul><ul><li>Teleoperation of robots using cell phones </li></ul><ul><li>Objective </li></ul><ul><li>The aim of the proposed work is to present a security integrated system, based on the WAP framework for remote monitoring and control Robot </li></ul><ul><li>back </li></ul>
  5. 5. System Analysis <ul><li>Problem definition </li></ul><ul><li>Existing system </li></ul><ul><li>Proposed system </li></ul><ul><li>back </li></ul>
  6. 6. Problem Definition <ul><li>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. </li></ul>
  7. 7. Existing System <ul><li>The existing system called as COMMBOTS combine the M2M communication capabilities with robotics </li></ul><ul><li>1 or 2 bytes long messages which are exchanged through the RS232 ports of both devices </li></ul><ul><li>back </li></ul>
  8. 8. Limitations <ul><li>Need of a purposely built protocol </li></ul><ul><li>Need of a proxy </li></ul><ul><li>Consists of primitive communication mechanism </li></ul><ul><li>No Security </li></ul>
  9. 9. Proposed System <ul><li>Important feature is its size that is suitable for programming from a PC platform. </li></ul><ul><li>Capability to move into a surface as small as a desk, both in autonomous as remotely </li></ul><ul><li>It is equipped with an in-built wireless communication module. </li></ul><ul><li>Architecture </li></ul>
  10. 10. Advanatges <ul><li>Global and international usability. </li></ul><ul><li>Security and access control. </li></ul><ul><li>Simplicity in devices, complexity in gateways. </li></ul><ul><li>Designed for all types of mobile phones, </li></ul><ul><li>GSM </li></ul><ul><li>CDMA </li></ul><ul><li>back </li></ul>
  11. 11. Requirement Analysis <ul><ul><li>Software requirements </li></ul></ul><ul><ul><li>Language : JAVA-Servlets,JSP,WML. </li></ul></ul><ul><ul><li>Technology : J2EE </li></ul></ul><ul><ul><li>Server : Tomcat Server 5.5. </li></ul></ul><ul><ul><li>Hardware requirements </li></ul></ul><ul><ul><li>Processor : pentiumIV </li></ul></ul><ul><li>Hard Disk : 20GB </li></ul><ul><li>RAM : 128MB </li></ul><ul><li>Embedded kit(MC-8051) </li></ul><ul><li>Serial port connector. </li></ul><ul><li>RF transmitter and RF receiver. </li></ul><ul><li>Robot. </li></ul><ul><li>RS232 cable back </li></ul>
  12. 12. Design <ul><li>System design </li></ul><ul><li>Detail design </li></ul><ul><li>back </li></ul>
  13. 13. System design <ul><li>System Architecture </li></ul><ul><li>Block diagram </li></ul><ul><li>back </li></ul>
  14. 14. System Architecture back
  15. 15. Block Diagram back SERVER DATA BASE RMI SERVER WEB/APP SERVER PC CLIENT MOBILE CLIENT NETWORK WAP GATEWAY EMBEDDED DEVICE WEB CAM ROBOTIC UNIT
  16. 16. Detail design <ul><li>UML Usecase Diagram </li></ul><ul><li>UML Class Diagram </li></ul><ul><li>UML Sequence Diagram </li></ul><ul><li>UML Collaboration Diagram </li></ul><ul><li>UML Activity Diagram </li></ul><ul><li>back </li></ul>
  17. 17. UML Usecase Diagram back
  18. 18. UML Class Diagram back
  19. 19. UML Sequence Diagram back
  20. 20. UML Collaboration Diagram back
  21. 21. UML Activity Diagram back
  22. 22. Implementation <ul><li>Modules </li></ul><ul><li>Authentication module </li></ul><ul><li>Invoking the Remote Object (RMI CONCEPT) </li></ul><ul><li>Connecting Server and Embedded Kit (SERIAL PORT) </li></ul><ul><li>Processing and Transmission of Data </li></ul><ul><li>Receiving and Execution of controls by Robotic unit </li></ul><ul><li>Controlling and Monitoring the Robot through WAP </li></ul>
  23. 23. Authentication Module <ul><li>Obtaining identification credentials such as username and password from a user and validating those credentials against the value stored in the data base </li></ul><ul><li>If valid display Home page </li></ul><ul><li>snapshots </li></ul>
  24. 24. Invoking the Remote Object <ul><li>The RMI concept consists of three things </li></ul><ul><li>RMI Registry </li></ul><ul><li>Server </li></ul><ul><li>Client </li></ul>
  25. 25. Overview of RMI back
  26. 26. Connecting Server and Embedded Kit <ul><li>Remote object connects with the embedded kit through RS232 at the port COM1 </li></ul><ul><li>Interface between the PC and the Micro Controller. </li></ul><ul><li>2 nd (R), 3 rd (T) and 5 th (G)Pin </li></ul>
  27. 27. RS232 Pin Diagram back
  28. 28. Processing and Transmission of Data <ul><li>The data got from the server will be in the form of 16 bit binary values </li></ul><ul><li>The data from the server is fed into MAX232 interface then send to micro controller </li></ul><ul><li>Then the commands are Encoded by Encoder and then transmitted through transmitter </li></ul>
  29. 29. Transmitter
  30. 30. Receiving and Execution of controls by Robotic unit <ul><li>Receives the transmitted signal </li></ul><ul><li>The signals received will then be decoded by the decoder </li></ul><ul><li>The control unit then performs the appropriate actions as per the commands given by the client. </li></ul>
  31. 31. Receiver
  32. 32. Controlling and Monitoring the Robot through WAP <ul><li>The Robot can be monitored by the client with the help of the web camera connected to the server </li></ul><ul><li>The web cam generates the still images of the movements of the Robot and transmits it to the client </li></ul><ul><li>Once authenticated the mobile client can sent commands to the Robotic unit and can control the Robot. Back </li></ul>
  33. 33. Conclusion <ul><li>An application that allows the teleoperation of a mobile robot, like Giraa_02, from the cellular network was implemented </li></ul><ul><li>The GPRS teleoperation is useful in systems that require characteristics like mobility, wide coverage. </li></ul><ul><li>Transmission speed is in Kbytes. </li></ul><ul><li>The transmission speed depends on several factors, like the network congestion, the mobile device, etc. back </li></ul>
  34. 34. Future Enhancement <ul><li>Controlled by using Bluetooth in mobile. </li></ul><ul><li>4G Cellular can use the IP address of the Remote object </li></ul><ul><li>Voice recognision </li></ul>
  35. 35. COMMBOTS back
  36. 36. Literature Review <ul><li>Polytechnic Jaime Isaza Cadavid, University of Antioquia Medellín-Colombia (IEEE 2007) </li></ul><ul><li>Referred JAVA Complete reference for programming </li></ul><ul><li>back </li></ul>
  37. 37. LOGIN PAGE
  38. 38. UNAUTHERISED USER
  39. 39. back HOME PAGE
  40. 40. MOBILE LOGIN
  41. 41. b a ck CONTROLS
  42. 42. Thank You

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