Pc Presentation By Hafiz Muneeb


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A PC Controlled Wireless ROBOT With Real-Time Video Monitoring & a
LASER Targeting System by Hafiz Muneeb

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Pc Presentation By Hafiz Muneeb

  1. 1. Final Year Project A PC Controlled Wireless ROBOT With Real-Time Video Monitoring & a LASER Targeting System. MR436 Rover by Hafiz Muneeb Ilyas Muhammed Aamir Rasheeduddin Warsi Zia Wahid Project Advisor : Engr. Zubair Ahmed Department of Electronics Usman Institute Of Technology
  2. 2. Contents <ul><li>What is a Robot ? </li></ul><ul><ul><li>Types of Robots </li></ul></ul><ul><li>MR436 Rover </li></ul><ul><li>Why this Project ? </li></ul><ul><li>Drive Sub-system </li></ul><ul><ul><li>MR436 Rover Drive Sub-system </li></ul></ul><ul><ul><li>Steering Mechanism </li></ul></ul><ul><li>Camera Roaming Arm </li></ul><ul><li>Laser Arm </li></ul>
  3. 3. Contents (Cont..) <ul><li>Camera and Laser as a Single Configuration </li></ul><ul><li>Electronic Hardware </li></ul><ul><li>GUI Software </li></ul><ul><li>MR436 Rover Video Clip </li></ul><ul><li>Applications of MR436 Rover </li></ul><ul><li>Future Enhancements </li></ul>
  4. 4. What is a Robot ? <ul><li>A Machine that have some intelligence and can do certain tasks . </li></ul><ul><li>The word robot was first used by a Czechoslovakian dramatist, Karel Capek, in his 1921 play “Rossum’s Universal Robots”. </li></ul><ul><li>Derived from Czech word robota meaning “ forced labour ”. </li></ul>
  5. 5. Types of Robots <ul><li>Industrial Robots </li></ul><ul><li>Military Robots </li></ul><ul><li>Space Exploration Robots </li></ul><ul><li>Medical Robots </li></ul><ul><li>Domestic (Personal) Robots </li></ul>
  6. 6. MR436 Rover <ul><li>MR436 Rover is a PC controlled wireless Robot. </li></ul><ul><li>Omni directional Vehicle </li></ul><ul><li>A 4-DOF Robotic arm is mounted on its base. </li></ul><ul><li>The arm is incorporated with a camera and a laser . </li></ul><ul><li>Sends real-time video captured by the onboard camera to the PC at remote location. </li></ul>
  7. 7. MR436 Rover (Cont..) <ul><li>Controlled by a GUI software developed in visual basic. </li></ul><ul><li>Capable of targeting the laser to any point or location in the region covered by the camera vision . </li></ul><ul><li>The instruction for targeting a laser to a particular point is given by the user. </li></ul>
  8. 8. Why this Project ? <ul><li>Interest in Robotics </li></ul><ul><li>Various areas of electronics engineering like communication, microcontrollers, motor controlling, sensors etc are involed in this single project. </li></ul><ul><li>Involves software programming along with hardware design </li></ul><ul><li>PC to machine interface </li></ul>
  9. 9. Drive Sub-system <ul><li>Typical drive mechanism </li></ul><ul><ul><li>Two wheel differential drive with one free castor. </li></ul></ul><ul><ul><li>One steering wheel with two drive wheels </li></ul></ul><ul><ul><li>Car-type drive </li></ul></ul>
  10. 10. MR436 Rover’s Drive Sub-system <ul><li>Four wheeled vehicle </li></ul><ul><li>Two drive wheels </li></ul><ul><li>Two free castor wheels </li></ul><ul><li>Independent steering mechanism </li></ul><ul><li>Omni directional . </li></ul>
  11. 11. MR436 Rover’s Drive Sub-system (Cont..) <ul><li>DC geared motors (391 rpm) are used to drive the wheels </li></ul><ul><li>Two spur gears are meshed together in the drive assembly </li></ul><ul><li>Bigger spur has 72 teeth and the smaller spur has 52 teeth </li></ul><ul><li>Gear Ratio is 1.38 </li></ul><ul><li>Can run at a speed of 2.2 m/s at no load </li></ul>
  12. 12. MR436 Rover’s Drive Sub-system (Cont..) Steering Mechanism <ul><li>Two spur gears (180 teeth each) are attached to the two steering rods of drive wheels </li></ul><ul><li>A steeper motor at center with a spur gear (90 teeth) mounted on the shaft is meshed with both spur gears on the steering rods </li></ul><ul><li>Gear ratio is 2:1 </li></ul><ul><li>Can steer at a rate of 1 degree/step of the stepper motor </li></ul>
  13. 13. Camera Roaming Arm <ul><li>Mounted on the base plate of the Rover </li></ul><ul><li>2- DOF spherical coordinate </li></ul><ul><li>configuration with constant </li></ul><ul><li>radius </li></ul><ul><li>It has two joints & two links </li></ul><ul><li>Joint 1 is a direct drive with a stepper </li></ul><ul><li>motor while joint 2 is an indirect drive </li></ul><ul><li>with a DC geared motor </li></ul><ul><li>The camera is attached at the end </li></ul><ul><li>face of link 2 </li></ul>
  14. 14. Camera Roaming Arm (Cont..) <ul><li>It has a horizontal movement with a resolution of 9 mm </li></ul><ul><li>One revolution of DC motor at joint 2 causes a vertical motion of 7.69 cm </li></ul><ul><li>Workspace of Camera arm is 46177.2 cm 3 </li></ul>
  15. 15. Laser Arm <ul><li>Mounted on top at the end of link 2 of the camera arm. </li></ul><ul><li>2-DOF spherical coordinate configuration with constant radius. </li></ul><ul><li>It has two joints and two links. </li></ul><ul><li>Both the joints are indirectly driven </li></ul><ul><li>by stepper motors with a gear ratio of 1:20 </li></ul><ul><li>The laser is mounted at the end of link 2 </li></ul>
  16. 16. Laser Arm (Cont..) <ul><li>The laser can move horizontally and vertically with a resolution of 0.09 degree or an angular displacement of 0.19 mm per step of a stepper motor </li></ul><ul><li>Workspace of laser arm is 152689.17 cm 3 </li></ul>
  17. 17. Camera and Laser Arm as single Configuration <ul><li>4-DOF Spherical coordinate configuration with constant radius </li></ul><ul><li>Total workspace is 152689.17 cm 3 </li></ul>
  18. 18. Electronic Hardware <ul><li>Atmel AT89C51 Microcontroller is used as a main controller </li></ul><ul><li>DC motors are controlled through relays </li></ul><ul><li>Steppers motors are controlled through an efficient driver </li></ul><ul><li>circuits designed by using AT89C2051 controller and TIP-122 power transistors </li></ul><ul><li>A 555 Timer based IR obstacle detection circuit board </li></ul><ul><li>A pair of 433.33 MHz transceiver TRXQ1 by RF Solutions is used for the wireless communication between the PC and the Rover </li></ul><ul><li>Communication is done via PC serial port at 9600 baud rate </li></ul><ul><li>All on-board circuitry is powered by a 12V DC , 36 A car battery </li></ul>
  19. 19. GUI Software
  20. 21. Applications of MR436 Rover <ul><li>If its end-effector (laser) is replaced with a weapon, than it can be of tremendous importance for military applications, as it can work like an unmanned remotely controlled armed vehicle </li></ul><ul><li>It can be used for serviellance </li></ul><ul><li>With its end-effector replaced with a tool, it can do a number of industrial jobs like welding, drilling, painting, moving something from one place to another etc </li></ul><ul><li>It can be used for the exploration of such places or environment which are hazardous to humans </li></ul>
  21. 22. Future Enhancements <ul><li>MR436 Rover can be programmed to become a fully autonomous vehicle so that it can take decisions on its own. </li></ul><ul><li>Since it has a visionary system, it can perform various operations on the basis of image processing , such as object recognition etc. </li></ul><ul><li>Different sensors can be added such as motion detection sensors, proximity sensors, temperature detection sensors etc. </li></ul><ul><li>Can be programmed to follow a line or run between the maze. </li></ul><ul><li>The GUI software can be enhanced by adding a mapping or tracking algorithm which shows a graphical representation of the vehicle along with the displacement and directions. </li></ul>
  22. 23. References <ul><li>[1] T. B. Lauwers, G. A. Kantor, and R. L. Hollis, “A Dynamically Stable Single-Wheeled Mobile Robot with Inverse Mouse-Ball Drive.” Proceedings of IEEE International Conference on Robotics & Automation, Orlando, May 15-19, 2006. </li></ul><ul><li>[2 ] G. Sen Gupta, S.C. Mukhopadhyay, C. H. Messom and S. Demidenko, “Master-Slave Control of a Teleoperated Anthropomorphic Robotic Arm with Gripping Force Sensing .” Extended paper for I&M Transactions – Special Issue of IMTC 2005 </li></ul><ul><li>[3] Oliver Purwin and Raffaello D’Andrea, “Trajectory Generation for Four Wheeled Omnidirectional Vehicles ” Proceedings of American Control Conference Portland, OR, USA, June 8-10, 2005. </li></ul><ul><li>[4] Masaharu FURUTA and Sumiko MAJIMA, “A system design for transforming an everyday object into an omnidirectional robot.” 2nd International Conference on Autonomous Robots and Agents, Palmerston North, New Zealand, December 13-15, 2004. </li></ul><ul><li>[5] Scott A. Brandt, Christopher E. Smith & Nikolaos P. Papanikolopoulos, “A Flexible Testbed for Vision-Guided Robotic Research.” Proceedings of the IEEE International Conference on Systems, Man, and Cybernetics, October, 1994. </li></ul><ul><li>[6] Borenstein, J. and Koren, Y., &quot;Real-time Obstacle Avoidance for Fast Mobile Robots.&quot; IEEE Transactions on Systems, Man, and Cybernetics, September, 1989. </li></ul><ul><li>[7] Johann Borenstein and Yoram Koren, “Obstacle Avoidance with Ultrasonic Sensors.” IEEE Journal of Robotics and Automation, Vol, 4, NO.2, April 1988. </li></ul><ul><li>[8] Johann Borenstein and Yoram Koren, “Motion Control Analysis of a Mobile ROBOT.” Transactions of ASME, Journal of Dynamics, Measurement and Control , November, 1986. </li></ul>
  23. 24. End of Presentation <ul><li>Thank you for your attention. </li></ul>