SIMULATION, DESIGN AND PRACTICAL
IMPLEMENTATION OF A MOBILE WIRELESS
AUTONOMOUS SURVEILLANCE SYSTEM
T.C. Manjunath* , P.S. Shingare* , S. Janardhanan*
* Research Scholars , Interdisciplinary Programme in Systems and Control Engineering ,
ACRE Building , Indian Institute of Technology Bombay ,
Maharashtra State, India.
Keywords: Driver Units, Actuators, Micro-controller, Parallel Port Interface, Transmitter, Receiver.
Abstract: The paper presents the design, implementation of the a unique type of computer controlled wireless mobile
surveillance robot equipped with intelligence. Building an experimental autonomous mobile wireless
vehicle, which has the ability to perform in real time environments is both a technical and scientific
challenge and demands the development of systems for perception, modeling, planning and
navigation. Within this scope, this paper describes the construction of a low cost mobile
autonomous robot, intended for educational and surveillance purposes. This is a technology
demonstration work. The objective of the work is to design, fabricate each part and construct a
mobile robot and control it with a computer through wireless link which would accomplish two
dimensional motion on a horizontal plane, moving from one place to another, avoiding obstacles in
its path of motion by using infra-red sensors and performing the pick and place motion. The work
was undertaken as a sponsored consultation based project under the guidance of the author in the
institute.
1 INTRODUCTION
We are living in the age of automation. Today,
things are becoming more and more automated.
Automation has taken over the traditionally
manually controlled process in almost all the
industries. Today, a mobile robot can be designed
in order to operate in a wide range of industrial,
military, scientific, domestic, humanity and in
educational applications. Here, we have designed
and implemented such a system and is as follows.
2 DESIGN OF THE MECHANICAL
SUBSYSTEM
Our aim was to make a mobile robot, which can
move on a floor and perform pick and place
operation. It’s mechanical set-up has been divided
into three parts for ease in understanding the
assembly, viz., Movable base assembly, Manipulator
with up / down motion, Gripper.
2.1 Movable Base Assembly
The mobile base assembly is moving on two wheels
fit at the back end of the base and protruding out
from side. Castor wheel is fit below acrylic sheet to
support base assembly. Acrylic sheet has following
properties, viz., Light in weight, Good insulating
medium, Can be cut into various shapes and sizes.
To drive the system we have to use motors that can
give sufficient torque and at the same time they
should have sufficient rpm so that the robot can
move at a respectable speed. We had following
options before us. AC motors, Stepper motors and
DC Servo motors.
The first option of using a.c. motors was rejected, as
it would have required a power to the mobile system
from ac mains supply and this would have clearly
inhibited the movement of mobile base assembly.
Stepper motors are bulky and also consume more
power to give same amount of torque as simple DC
servomotors. Hence, even this option is rejected.
DC servomotors are light weighted and consume
less power. Therefore they can be easily driven
446
C. Manjunath T., S. Shingare P. and Janardhanan S. (2004).
SIMULATION, DESIGN AND PRACTICAL IMPLEMENTATION OF A MOBILE WIRELESS AUTONOMOUS SURVEILLANCE SYSTEM.
In Proceedings of the First International Conference on Informatics in Control, Automation and Robotics, pages 446-454
DOI: 10.5220/0001144504460454
Copyright
c
SciTePress
from a small on board dc power supply using a
simple electronic driving circuitry. Hence dc
servomotors were selected, as they were perfectly
suited for our application. Two D.C. Servomotors
drives the base assembly on which all electronic
component and gripper are mounted. These motors
are mounted on the lower surface of acrylic sheet
with help of cast aluminum brackets (clamping).
The process known as sand casting of the aluminum
makes clamping. To smooth the surface after
casting, filing and machining have been done on
clamping. To achieve the free rotation of the
wheels, bearing is fitted in each clamper. Clampers
are than attached to the base with the help of nuts
and bolts. Since the base has to carry the whole
weight of robot, torque at the wheel shafts has to be
very high. This is achieved with spur gears. The
motor shaft have a self - locking capability, i.e.,
motor shaft gets locked in the same position where it
was when the power supply to the motor is removed.
2.2 Manipulator With Up / Down
Motion
A robot manipulator is a mechanical device. To
achieve the up / down motion of the gripper the
following arrangement has been made. A geared DC
servomotor with gearbox (inside) is fitted below the
acrylic sheet in the front portion of the robot such
that motor shaft is come out from the top surface.
Long threaded ms is directly coupled to the motor
shaft with the help of nut and bolt. A cuboids of
acrylic sheet is internally threaded with same
threading as on sliver rod so that it can freely move
up or down on ms rod shaft. Gripper is attached to
the cuboids with the long bolt and nut.
2.3 Gripper
The Robot being PNP-type has a gripper as the end
effecter. The gripper will be of parallel jaw type,
which will work on the principle of left-hand / right-
hand screw. The LH / RH screw will be made by
tapping a brass rod with LH die from one end and
RH die from other end so that gripper jaws will
move in opposite direction, that is jaws will move
either towards each other to grip an object or away
from each other to release it. The LH / RH screw
will be coupled to a motor shaft via spur gear
arrangement.
2.4 Gears
The gears are required for following two reasons:
For reducing the speed of the robot.
For increasing torque of the motors.
2.5 Specification of Motors / GEARS
BASE MOTORS
Torque: 10 kg.cm, Current rating 1A, CW-CCW
Motion, Base Motor Speed - 55 r.p.m.
GRIPPER MOTOR
Torque: 5kg.cm, Current Rating 0.5A, CW-CCW
Motion,
Base Motor Speed 55 r.p.m
GEARS
Material: Deldrin ( Polyacetal resin), Ratio 1: 4 -----
12 × 48 teeths, Center : Aluminium Bush with 3 / 8
with 3 nos. screw / tapped holes.
3 THE PC’S SERIAL PORT
This topic looks at serial ports inside the PC,
between the connector and the CPU.
PORT ARCHITECTURE
The UART
ABOUT RS-232
THE MAX 232
A simple way to translate from 5V logic to RS -
232 is to use one of the many chips designed for
this purpose. Maxim Semiconductor was the
first to offer RS - 232 interface chips that
require only a +5V power supply. Many other
companies, including Linear Technology,
Harris Semiconductor, Texas Instruments,
Dallas, Semiconductor, and National Semi-
conductor, now have similar chips, as well as
dozens of derivatives for just about every
conceivable configuration. The chips may be
listed in catalogs and data books under Linear,
Interface, or Special Function ICs. The original
MAX 232 includes two drivers that covert TTL
inputs to RS - 232 outputs, and two receivers
that accept RS - 232 inputs and translate them
to CMOS - compatible outputs. The drivers and
receivers also invert the signals.
SIMULATION , DESIGN AND PRACTICAL IMPLEMENTATION OF A MOBILE WIRELESS AUTONOMOUS
SURVEILLANCE SYSTEM
447
3.1 Voltages For 5 V TTL And
CMOS Logic
Table 1: Voltage levels
Parameter TTL
Logic
(Volts)
CMOS
logic
(volts)
74HCT
(Volts)
Logic-low
output (max)
0.4 0.1 0.1
Logic-high
output (min)
2.4 3.5 3.5
Logic-low
input (max)
0.8 1 0.8
Logic-high
input (min)
2.0 3.5 2.0
The chip contains two charge - pump voltage
converters that act as tiny, unregulated power
supplies that enable loaded RS - 232 outputs of
+
7V or better. Four external capacitors store
energy for the supplies. The recommended
value for the capacitors is 1
µ
F or larger. Most
of the example circuits in this book use a
MAX232A or MAX233, but you can use any
converter with the appropriate number of
drivers and receivers.
Figure 1: Max 232
4 FM TRANSMITTER
Figure 2: FM Transmitter
There are basically two methods of FM
generation :
1.
Parameter variation method.
2.
Indirect method (Armstrong method).
The above schematic is for a FM transmitter
with 2 W O/P power that can be used b/w 85
and 110MHz. This circuit uses “parameter
variation method” of FM generation. In the
above circuit, the carrier frequency is very
nearly equal to the resonant frequency of an
inductance capacitance combination. Thus the
carrier frequency is f = (2
L1C1)
–1
. The
trimming capacitor C
1
is shunted by a voltage
variable capacitor C
v
. A voltage variable
capacitor commonly called a varicap (BB204),
is one whose capacitance value depends on the
to biasing voltage maintained across it’s
electrodes.
In the circuit the modulating signal varies the
voltage across Cv. As a consequence, the
capacitance of Cv changes and causes
corresponding change in carrier frequency.
Thus at the contractor of transistor Q
1
and Q
2
we get signal whose instantaneous frequency
depends on the instantaneous value of the
modulating signal (i.e., FM). This signal is
amplified by class push - pull power amplifier
formed by Q
1
and Q
2
. Then the amplified
signal is coupled to an antenna. In this circuit
Q
1
and Q
2
should be cooled with a heat sink.
The 22pf variable capacitor is for the frequency
adjustment. The another trimmer must be
adjusted to maximum power with minimum
SWR and input current.
A principal difficulty with this circuit is that
when we require the carrier frequency to be
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448
maintained constant to a high order of precision
over extended period of time. There is certain
measure of inconsistency in requiring that a
device have a long time frequency stability and
yet be able to respond readily to a modulating
signal.
5 ANTENNA CONSTRUCTION
DETAILS
There are two types of antennas. They are a hi-
gain multi-element yagi antenna for long-range
transmission and simple open dipole antenna
for short-range transmission. Also another very
simple type of antenna, called GP antenna or
‘Ground Plane’ antenna, could be used, but GP
antenna and a half – wave dipole antenna gives
approximately the same range while a half
wave dipole antenna is much simpler to built
and easy to erect at a more height than a GP
antenna. That is why we are not going into
detailed construction of GP antenna.
First, we will describe the hi-gain, 5 - element
yagi antenna. A yagi antenna gives much more
gain than a dipole both for reception or
transmission. Actually a yagi is an array
consisting of a driven element (the dipole) and
one or more parasitic elements. This type of
antenna is relatively unidirectional and the
directive gain is improved by the addition of
more directors to give directive gains from
about 7dB for a three - element yagi to about 15
dB for a five - element yagi. Therefore, it is
obvious that if you use a five - element yagi
instead of a simple dipole for both transmission
and reception range will increase even up to
150%.
For this purpose, you need to construct an
‘open-dipole’ very carefully. This is a
directional type antenna and if you use it
horizontal, as shown in the figure, it gives a
‘figure of eight’ radiation pattern transmission
perpendicular to its length. This way, signal
travels much larger distance. Here two
telescopic aerials or two ½” or ¾” diameter
aluminum rod, each of length defined by
0.475W or 1484mm for 96 MH
z
application is
used as two ‘Dipole Elements’.
Place them on a horizontal plastic or wooden
plate and fix with nut - bolts. Insulated ropes
instead of nut - bolts to fasten elements with the
plate can be used. This plastic or wooden plate
serves two purposes. Firstly it hold two dipole
elements in a same horizontal line and secondly
it insulates between two elements as well as
from the boom. Here you must ensure while
constructing that two dipole elements should
never come into contact with each other and
also with boom. Also two elements should
remain in a single straight line. Connect co-
axial cable RG 59 (or any other good quality 75
ohms CATV co-axial cable) as shown in the
figure.
Center core should be connected to one element
(any one) and shielding should be connected to
another. In figures, for the sake of clarity, we
have shown that RG59 is long stripped and
connected to elements. But you should not strip
co-axial long. Strip as much needed and
connect it just at the 25mm openings of dipole
with small screws. Ensure that co-axial
shielding or center core does not touch boom.
No we shall describe construction details of rest
of the yagi. You will need a 1” x 1” square
boom with some ½” or ¾” diameter aluminum
rod (for dipole and other elements) to build this
yagi. We have already discussed how to make
the dipole.
Now for fixing this dipole with the boom at
appropriate place, you need to drill hole at the
boom and at the base plate (plastic or wooden
plate). The is clearly shown in the above
figure. Ensure that while fixing the dipole with
the boom, the but-bolt (placed between two
dipole elements, in the 25mm gap) should never
come into contact with any dipole element or
co-axial cable (as this nut-bolt is electrically
connected with bloom). Now fix the rest of the
elements, i.e. one reflector and three directors.
Drill hole at the boom according to figure and
use nut bolts to attach all directors and reflector
with boom. It does not matter whether the
elements are electrically connected to boom or
not. Just they should be parallel to each other
and perpendicular to boom. The antenna boom
should be kept horizontal in all conditions for
best results.
SIMULATION , DESIGN AND PRACTICAL IMPLEMENTATION OF A MOBILE WIRELESS AUTONOMOUS
SURVEILLANCE SYSTEM
449
6 IMPORTANT INSTRUCTIONS
REGARDING ANTENNA
Table 2: Frequency Range
96MH
z
f MH
z
Reflector 1563mm 0.5W
Open Dipole 1484mm 0.475W
Director 1 1409mm 0.451W
Director 2 1341mm 0.429W
Director 3 1272mm 0.407W
Antenna should be erected at least at the
highest point of a double storey building
roof using a PVC pipe, metal pipe or
bamboo etc. i.e. antenna height should be at
least 30 - 40 feet above ground level.
Direction of maximum radiation is
perpendicular to the element in case of
dipole antenna, exactly like yagi.
There should be no physical obstruction in
front of dipole / yagi and the ‘line of sight’
for transmission should be free.
Use very good quality wire in all cases.
Use as much wire as needed, If you use
minimum wire, power loss in the wire would
be less and you will get more range.
Television antenna or CATV connection
wire should be at least 20 - 30 feet away
from dipole antenna; otherwise interference
may happen.
Never make a circular or spiral coil of the
excess wire as you normally do it in case of
a TV receiver. This will decrease range
drastically. Cut the excess wire.
7 AUDIO-VIDEO TRANSMITTER
Figure 3: AV Transmitter
The circuit presented here is a simple audio/video
transmitter with a range of 3 to 5 m. The A/V signal
source for the circuit may be a VCR, a satellite
receiver or a video game etc. A mixer which also
operates as an oscillator at VHF (H) channel 5 TV
frequency is amplitude modulated by video signal
and mixed with frequency which contains video
carrier frequency of 175.25 Mhz and audio carrier
frequency of 180.75 Mhz. Then, the transmitter is a
B-System of CCIR compatible.
The circuit consists of transistor T1 with its resonant
tuned tank circuit formed by inductor L1 and
trimmer capacitor VC1, oscillating at VHF (H)
channel 5 frequency. Transistor T2 with its tuned
circuit formed using SIF coil and inbuilt capacitor
forms oscillator. The audio signal applied at the
input to T2 results into frequency modulation of 5.5
Mhz oscillator signal. The output of 5.5 Mhz FM
stage is coupled to the mixer stage through capacitor
C8 while the video signal is coupled to the emitter of
T1 via capacitor C4 and variable resistor Inductor
L1 can be wound on a 3mm core using 24SWG
enameled wire by just giving 4 turns.
Calibration/adjustment of the circuit is also not very
difficult. After providing 12V DC power supply to
the circuit and tuning your TV set for VHF (H)
channel 5 reception, tune trimmer VC1.
Component Value
L1 4 Turns , 24 SWG on 3mm ferrite core
Transformer 7:18
7.1 Comparator
Figure 4: A Comparator
7.2 Comparator using LM-324
Comparator is used at the output of an amplifier.
Comparator ensures that signal applied at the RXD
pin of 89c51 and serial port (MAX-232) is of TTL
logic level (0-5V). It also avoids transmission noise
and prevents false triggering. LM-324 is an op-amp
comparator. It requires single supply voltage (3-
15V). Its slew rate is also high, therefore it can
handle data at high baud rate.
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450
8 RECEIVER
The TEA5591A is a 24-pin integrated radio circuit,
derived from the TEA5591 and is designed for use
in AM / FM portable radios and clock radios. The
main advantages are separate IF input pins for AM
and FM, A split-up AM-IF stage (for distributed
selectivity), An LED driver indicator. The main
advantage of the TEA5591A is its ability to operate
over a wide range of supply voltages (1.8 to 15 V)
without any loss of performance.
The AM circuit incorporates :
A double balance mixer, A ‘one-pin’ oscillator with
amplitude control operating in the 0.6 to 30 MHz
frequency range, A split-up IF amplifier, A detector,
An AGC circuit which controls the IF amplifier and
mixer.
The FM circuit incorporates :
An RF input amplifier, A double balanced mixer, A
‘one-pin’ oscillator, Two IF amplifiers (for
distributed selectivity), A quadrature demodulator
for a ceramic filter
Internal AFC.
8.1 Circuit Diagram
(TEA5591A as FM Demodulator
only)
Description :
The L293 and L293D are quadruple high-current
half-H drivers. The L293 is designed to provide bi-
directional drive currents of up to 1 A at voltages
from 4.5 V to 36 V. The L293D is designed to
provide bi-directional drive currents of up to 600-
mA at voltages from 4.5 V to 36 V. Both devices are
designed to drive inductive loads such as relays,
solenoids, dc and bipolar stepping motors, as well as
other high-current/high-voltage loads in positive-
supply applications.
Figure 5: Receiver
9 MOTOR DRIVER
Figure 6: A Motor Driver
All inputs are TTL compatible. Each output is a
complete totem-pole drive circuit, with a Darlington
transistor sink and a pseudo-Darlington source.
Drivers are enabled in pairs, with drivers 1 and 2
enabled by 1,2EN and drivers 3 and 4 enabled by
3,4EN. When an enable input is high, the associated
drivers are enabled and their outputs are active and
in phase with their inputs. When the enable input is
low, those drivers are disabled and their outputs are
off and in the high-impedance state. With the proper
data inputs, each pair of drivers forms a full-H (or
bridge) reversible drive suitable for solenoid or
motor applications.
SIMULATION , DESIGN AND PRACTICAL IMPLEMENTATION OF A MOBILE WIRELESS AUTONOMOUS
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451
10 OBSTACLE ALLEY
If you drive an automobile, you know the practical
application of the Pauli exclusion principle: Two
objects cannot occupy the same space at the same
time. What’s true for automobile is even true for
robots. An autonomous robot has to keep itself from
colliding with obstacles. Obstacles might take the
form of a wall or post, or they may be mobile like a
dog, a person, or another robot. Since robot can’t
know the position of moving object in advanced, it
must have some way of detecting obstacles in real
time. Humans, of course, use vision. While a robot
that can see would be very desirable, it’s also quite
expensive and difficult to make a vision system
appropriate for robotics.
Luckily, detecting obstacles doesn’t require anything
as sophisticated as machine vision. A much simpler
system will suffice. Some robots use SONAR
(sometimes called SODAR when used in air instead
of water) or RADAR. An even simple system is to
use infra red light to illuminate robot’s path and
determine when light reflects off an object.
11 IR BASICS
In theory, detecting an object with IR is simple. You
simply shine an IR light (an IR LED) in forward
direction and use a detector to look for reflected
light. In practice, it is somewhat more complicated.
If we used this oversimplified approach, the detector
will falsely trigger from ambient IR that occurs
naturally. To prevent these false triggers we shall
want to employ detectors that are sensitive to IR
modulated at particular frequency and modulate the
IR source to that same frequency. In common
remote control for consumer electronics the
modulation frequency is 38khz.
We can readily find IR receiver sensitive to this
frequency. Therefore we need an external circuit to
modulate IR LED. Another refinement useful for the
robotics is to use two detectors (and possibly two
LED’s). You shall place one detector on the left side
of the Robot and other on the right. This allows us to
detect object and determine its position relative to
the robot. If only one detector activates, the object is
on that side. If both detectors turn on, the object is
dead ahead.
12 THE OSCILLATOR
IR LED’s are commonplace and work just like
regular LED’s. To modulate the LED’s, you can use
555-based oscillator.
In this circuit we can adjust the frequency by
adjusting the potentiometer. The output should be
near 38khz. Of course 555 is not extremely stable, so
value may vary a bit, but it should be close to 38khz.
13 IR DETECTION:
The detectors look like transistors with bulge on one
side. The bulge is sensitive area. Two of the three
pins carry power and ground to the detector. The
other pin emits logic 0 when it detects IR light. Here
we have used TSOP1738, which is shown in
Figure 7.
Figure 7: IR sensor Figure 8: Optocoupler Pin
out
13.1 Block Diagram
Figure 9: Block diagram of IR unit
The mounting of the detector and the LED’s can be
a little tricky and depends on the exact construction
of the robot. We need to direct the LED’s in forward
direction and minimize the leakage from around the
sides of the LED’s. This can be achieved by
covering the LED with a bit of heat shrink sleeving.
The position of detectors is crucial. We should
mount them as far apart as possible and tilt them
slightly away from the LED’s.
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13.2 Circuit Diagram
Figure 10: Optocoupler
13.3 Optocoupler
The features of the Optocoupler unit are as follows.
Convenient plastic Dual-In-Line Package. High
Input-Output Isolation Guaranteed 3750 Vac (rms).
UL recognized. VDE approved per standard
0883/6.80. Special lead form available that satisfies
VDE0883/6.80 requirement for 8 mm minimum
creepage distance between input and output solder
pads.
13.4 Shaft Encoder
The slotted (eight slots) disc is coupled to one of the
base motor shaft gears and opto-coupler. When the
disc rotates it cuts the light beam emitted by the
LED. This generates pulses at the output of the
phototransistor. These pulses are applied to T0 input
of the micro-controller. The timer is programmed as
a 16-bit counter in mode 1. The count is proportional
to the distance covered by the wheel.
14 SOFTWARE
The mobile surveillance vehicle employs a
sophisticated application controlling interface
created in visual basic 6.0 as it is a fantastic
programming language for any application software
development. The software is designed for
maximum robot control and working efficiency. It is
so designed that the user can have complete control
over each movable part of the Robot. Also the user
can easily maneuver the Robot.
The PC algorithm is as follows. From the front
end, the pc will send start code and machine code for
each instruction in the first byte and then the
operation code in the next byte. Delay of 1sec is kept
between the transmissions of two bytes using timer
event for proper reception at the micro-controller
side. The byte format is,
D7 D6 D5 D4 D3 D2 D1 D0
Start / Stop /
Action Select
Bit
Machine Code /
Motion Select
Bit
Mode /
No. of
bt
D7-D5
000- start code ; 001- vehicle base ; 010- gripper ;
011- camera ;100- send sensor data ; 101- send
battery level ; 110- execute ;111- stop.
D4-D3
00- base forward / gripper up / camera on ;
01- base right / gripper catch / camera cw ;
10- base reverse / gripper release / camera ccw ;
11- base left / gripper down / camera off ;
The last two bits indicate number of bytes to be sent.
The data following the code specifies the distance to
be traveled by the robot. The ONCOMM event will
wait for the count from micro-controller. When
triggered, the map will be drawn from initial
position to new position by line function. PC can
request the battery and sensor status to the robot.
89C51 MICROCONTROLLER ALGORITHM
1. Start.
2. Initialize the system- clear all ports, set baud
rate and enable serial interrupts. Set first byte
flag (FB) = 1, code flag (CF) = 1, machine flag
(MF) = 0.
3. Receive serial interrupt.
4. If FB = 0, then go to step 8.
5. Else (FB = 1): If MF = 1 (stop code received),
send data to PC and make CF = 1 & MF = 0
Else (MF = 0) : check for MSB 3 bits (000-start
code), if not matched, go to step 3
6. Check next 3 bits (machine code)
7. If machine code matched, make MF = 1(m/c
selected) & FB = 0 and go to step3.
Else (false): make MF = 0 & FB = 0 and go to
step 3.
8. Check for code flag. If CF = 0, go to step 10.
9. Else (CF = 1): Load LSB 2 bits in counter (no
of bytes), push code, make CF = 0 (for data) and
go to step 3.
10. Decrement count & push data.
11. If count != 0, go to step 3. Else (count = 0):
12. Check for machine flag (execute only if the
machine is selected)
13. If MF = 0; go to step 3.
14. Else (MF = 1): make FB = 1, decode and
execute the instruction and go to step 3.
15. End.
SIMULATION , DESIGN AND PRACTICAL IMPLEMENTATION OF A MOBILE WIRELESS AUTONOMOUS
SURVEILLANCE SYSTEM
453
Figure 11: An application oriented GUI
The software GUI is shown above in Figure 11.
15 CONCLUSIONS AND
APPLICATIONS
A mobile wireless remote surveillance vehicle
was indigenously designed and implemented. The
system is capable of moving upto 3 km range
and capture the video of the front end of the
robot and transmit it to the host computer. A
on-board microcontroller on the mobile
surveillance vehicle controls each and every
operation of the robot by giving instructions and
taking instructions from the transmitter and
receiver. A rotating web camera is thus used to
send the messages from the remote area to the
host PC. The following are the applications.
Surveillance: As the camera is mounted on the
robot, video information of the surroundings can be
transmitted which could be useful in some critical
applications such as reconnaissance and surveillance
activities performed in military and chemical plant.
Nuclear plants : In the nuclear plants where human
intervention is impractical mobile wireless robot is
very much useful.
Space exploration : Mobile robot can be sent into
the space to determine various atmospheric
conditions with the help of sensors. With the camera
mounted on the base the terrain of planets can be
observed.
Pick and place : Robot is equipped with gripper
having up/down motion, which could be useful in
various industries to lift different objects. Due to
up/down motion objects placed at various heights
can be lifted.
REFERENCES
Dr. Amitabha Bhattacharaya, “Mechatronics of Robotic
Systems”.
Groover, Weiss, Nagel and Odrey, “Industrial
Robotics”, McGraw Hill.
Manjunath. T.C., “Fundamentals of Robotics”, Nandu
Publishers, 2
nd
Edition, Mumbai.
Klafter, Thomas and Negin, “Robotic Engineering”,
Prentice Hall of India, New Delhi.
Gulati, R. R., “Monochrome and color TV”, Wiley.
Kenneth Ayala, J., “The 8051 Microcontroller”, Penram
International.
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