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 methods
o Predefined sequences
o 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 phones
Objective
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

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 Requirement Analysis
Software 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
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 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
WEB CAM

SERVER
WEB/APP DATA
SERVER BASE ROBOTIC
UNIT

RMI
SERVER
EMBEDDED
DEVICE

NETWORK

WAP
GATEWAY
PC CLIENT
MOBILE
CLIENT

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 Detail design
UML Usecase Diagram
UML Class Diagram
UML Sequence Diagram
UML Collaboration Diagram
UML Activity Diagram

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 UML Usecase Diagram

webcam

Database

Tomcat server

commands
Embedded kit

command action performed

mobile client
Authentication

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 UML Class Diagram
Tomcat server
(from Use Case View)

IP address : char
Embedded kit
(from Use Case View)

Send cmds() programmed chips

1 1
receive cmds()
DB access() receive cmds()
receive image()
mobile client 1 1
(from Use Case View) 1
user name : char
password : char *
WAP Details : char 1

gain access() webcam

commands()
entering details() sends images()
view image() captures images()

1
Database`
user details : char

Validity check()
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 UML Sequence Diagram
: Tomcat server : Database : Embedded : webcam
kit
: Mobile Client
authentication( )

verification( )

valid user( )
Display page( )

commands( )

receives command( )

action performed( )

load image( )

view image( )

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UML Collaboration Diagram
7: action performed( )

1: authentication( )
5: commands( ) 6: receives command( )
: Tomcat : Embedded
server kit
4: Display page( )
: Mobile Client 9: view image( )

8: load image( )
3: valid user( ) 2: verification( )
: webcam

: Database

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UML Activity Diagram
Login
Details

Verify Login
Details
[ no ]

Is Details
Valid?

[ yes ]

Sends Command
to server

Commands
passed to kit

Action
Performed

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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.
 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.
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 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 Medelln-Colombia (IEEE 2007)
Referred JAVA Complete reference for
programming

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