Iaetsd design of rf based voice-controlled multi-terrain robot to

DESIGN OF RF BASED VOICE-CONTROLLED MULTI-TERRAIN ROBOT TO
TRAVEL ON UNEVEN SURFACES
C.Venkatesh T.Venkata Subbaiah
Assistant Professor, Department of ECE, AITS, Department of ECE, AITS,
Rajampet, Andhra Pradesh, India Rajampet, Andhra Pradesh, India
E-mail: venky.cc@gmail.com E-mail: t.v.subbaiah1994@gmail.com
G.Sarath Kumar
Department of ECE, AITS,
Rajampet, Andhra Pradesh, India
E-mail: sarath.g66a@gmail.com
Abstract— Ambulation in rough and unstructured terrain
is naturally very difficult for small animals or robots. The
ability to climb is found widely among small animals
.Mobile robots are more and more leaving the protected
lab environment and entering the unstructured and
complex outside world, e.g. for applications such as
environmental monitoring. A substantial portion of the
Earth is inaccessible to any sort of wheeled mechanism
natural obstacles like large rocks, loose soil, deep ravines,
and steep slopes conspire to render rolling locomotion
ineffective. Hills, mountains, shores, seabeds, as well as the
moon and other planets present similar terrain challenges.
In many of these natural terrains, the terrain robot is well-
suited to travel in uneven surfaces In robotics, various
climbing systems have been presented so far using
different approaches for climbing but only very few are
capable of up righting themselves after landing. Inspired
by the terrain climbing capability, a small terrain robot
has been developed. In this paper the working and design
of terrain robot is presented. This robot utilizes four
wheels to drive over just about any terrain. It works on
any indoor surface and outdoor surfaces. This is an
intelligent robot that can easily move on uneven surfaces
too. This robot uses RF technology controlled by RF
remote. This can be moved forward and reverse direction
using geared motors of 60RPM. Also this robot can take
sharp turnings towards left and right directions.
Keywords— Ambulation, Seabeds, Terrain, Locomotion.
I. INTRODUCTION
In Recent technology advances mechanical, electronics,
communication, and networking make it possible to build
small robots and organize many of them to form a mobile
sensor network. This mobile sensor network has various
applications such as search and rescue, surveillance, and
environmental monitoring. The small terrain robot are
developed for such applications. Compared with the
traditional wheeled sensors. This ability makes jumping an
ideal locomotion method in the areas of rugged terrain and
natural obstacles. To use jumping as a locomotion method, the
robot must be able to jump continuously; therefore, the
following two capabilities are needed: (1)The robot can jump
with a certain takeoff angle; (2) After landing on the ground,
the robot can self-right from any possible landing posture.
Besides these two capabilities, it would be beneficial that the
robot can also change the jumping direction or the takeoff
angle.In nature, millimeter-sized insects often address both
obstacles and efficiency through jumping. While jumping is
often seen as an energetically costly escape mechanism, has
shown that as insect size shrinks, jumping becomes more
advantageous due to the higher takeoff velocities allowed.
Because small jumpers are more mechanically efficient than
their larger counterparts, they require less muscle tissue to
make them more energy efficient as well.
This paper presents the design and working of terrain
robot with experimental results
II. DESIGN STUDY
The block diagram of the robotic system consists of
Transmitter and Receiver sections. The Transmitter section
consists of PC with commands, RF Module and the Receiver
section consists of RF module, ARM processor (LPC2148),
H- Bridge and DC Motor.
A. Transmitter:
The Transmitter section having the four switches
placed around the neck and RF Module. Initially the switches
are at logic1. When the switch is pressed the concerned switch
level goes to logic0.The switches are the inputs to RF
transmitter through the RF encoder is shown in fig.1
Fig. 1. Transmitter Section
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B. Receiver
The received signal from the transmitter is fed to the
RF decoder (Serial input and parallel output) .The output of
the decoder is given to H-Bridge through the ARM processer
shown in fig2.The output of H-Bridge drives the DC motors.
Fig. 2. Receiver section
III. RF TECHNOLOGY
Radio frequency [RF] has a frequency range about 3Hz to
300GHz. This range corresponds to frequency of alternating
current electrical signals used to produce and detect radio
waves. Since most of this range is beyond the vibration
rate that most mechanical systems can respond to RF
usually refers to oscillations in electrical circuits or
electromagnetic radiation. When an RF current is supplied to
an antenna, it gives rise to an electromagnetic field that
propagates through space. Electrical currents that oscillate at
RF have special properties not shared by direct current signals.
One such property is the ease with which it can ionize air
creates a conductive path through air. Another property is the
ability to appear to flow through paths that contain insulating
material, like the dielectric insulator of a capacitor. The
degree of effect of this property depends on the frequency of
the signals. RF is a radio frequency technology which uses
frequencies in the range of 3MHZ to 300 MHZ in general.
Here in this RF system, we are using the frequency of
433MHZ which is in the Frequency range. The distance of
this radio frequency range is up to 100m in general. In this
project, the distance is up to 100m.
A. RF TRANSMITTER:
The STT--433 is ideal for remote control applications as
shown in Fig.1 where low cost and longer range is required.
The transmitter operates from a 1.5-12v supply, making it
ideal for battery powered applications. The transmitter
employs a SAW-stabilized oscillator, ensuring accurate
frequency control for best range performance. The
manufacturing friendly SIP style package and low– cost
make the STT-433 suitable for high volume applications.
Fig. 3. RF Transmitter STT-433MHZ
Features: 433.92Hz Frequency, Low cost, 1.5-12V operation,
small size.
PIN OUT:
GND: Transmitter ground. Connect to ground plane.
DATE: Digital date input. This input is CMOS compatible
and should be driven with CMOS level inputs.
VCC: Operating voltage for the transmitter.VCC should be
bypassed with a .01uF ceramic capacitor and filtered with
a 4.7uF tantalum capacitor . Noise on the power supply will
degrade transmitter noise performance.
ANT: 50ohm antenna output. The antenna port impedance
affects output power and harmonic emissions. Antenna can
be single core wire of approximately 17cm length or
PCB trace antenna.
B. RF RECEIVER:
The data is received by the RF receiver from the
antenna pin and this data is available on the data pins.
Two data pins are provided in the receiver module. Thus data
can be used for further application.
This output is capable of driving one TTL or
CMOS load .It is a CMOS compatible output. The data
transmitted in to the air is received by the receiver. The
received data is taken from the data line of the receiver
and is fed to the decoder.
Fig. 4. RF Receiver STT-433MHZ.
Features:
* Low current (max.100ma)
* Low voltage (max.65v).
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C. ENCODER AND DECODER:
The encoder and decoder used here is HT12E and HT12D
respectively from HOLTEK SEMICONDUCTORS INC. The
HT12E encoder ICs are series of CMOS LSIs for remote
control system applications. They are capable of encoding 12
bit of information which consists of N address bits and 12-N
data bits.
Fig. 5. RF Encoder Connections
Encoder IC (HT12E) receives parallel data in the form of
address bits and control bits. The control signals from remote
switches along with 8 address bits constitute a set of 12
parallel signals. The encoder HT12E encodes these parallel
signals into serial bits. Transmission is enabled by providing
ground to pin14 which is active low. The control signals are
given at pins 10-13 of HT12E.
Fig. 6. RF reciver connections
Features:
* Operating voltage 2.4V~12V.
* Low power and high noise immunity CMOS
Technology.
* Low standby current.
IV. JUMPING MECHANISM:
Traditionally, most mobile robots have been equipped with
wheels. The wheel is easy to control and direct. It provides a
stable base on which a robot can maneuver and is easy to
build. One of the major drawbacks of the wheel, however, is
the limitation it imposes on the terrain that can be successfully
navigated. A wheel requires a relatively flat surface on which
to operate. Rocky or hilly terrain, which might be found in
many applications as forestry, waste clean-up and planetary
exploration, imposes high demands on a robot and precludes
the use of wheels. A second approach to this problem would
be to use tracked wheel robots. For many applications this is
acceptable, especially in very controlled environments.
However, in other instances the environment cannot be
controlled or predicted and a robot must be able to adapt to its
surroundings.
V. TERRAIN ROBOT HARDWARE TOOLS
Robotic colonizer main board is the brain of mechanical
robot which receives the commands from PC through ZigBee
wireless connection and processes these commands to perform
pattern motion control. The main part in the robot main board
is ATmega168 microcontroller which generates two PWM
signals for each wheel of DC motor. The two active wheels of
the robot are actuated by two independent servo motors
modified for continuous rotation. In particular, The robot is
powered by 12 V battery. The hardware tools of the robotic
system are: ZigBee, ATmega 168 Microcontroller, L293D
Driver Circuit, DC Motors, PH Meter, Metal Detector, GPS
The hardware components of the robotic system is as shown in
Fig. 4.
A) ARM Processor
ARM7TDMI is a core processor module embedded in many
ARM 7 microprocessors including LPC2148. The
ARM7TDMI core is a 32-bit embedded RISC processor. Its
simplicity results in a high instruction throughput and
impressive real-time interrupt response from a small and cost-
effective processor core.
Founded in November 1990, it is spun out of a corn
computers, it designs the ARM range of RISC processor cores.
Licenses ARM core designs to semiconductor partners who
fabricate and sell to their customers. ARM dose not fabricate
and sell to their customers it also develop technologies to
assist with the design in of the ARM architecture. Software
tools, boards, debug hardware application software, bus
architectures, peripherals etc. The ARM processor core
originates within a British computer company called acorn.
Instruction set. Essentially, the ARM 7TDMI-S processor has
two instruction sets:
*The standard 32 –bit ARM set.
*A16-bit thumb set.
ARM stands for advanced RISC machines. It is a 32 bit
processor core used for high end applications. The LPC 2148
micro controller are based on a 16– bit/32-bit ARM7 TDMI-S
CPU with real time emulation and embedded trace support
that combined the micro controller with embedded high speed
flash memory running from 32 KB to 512 KB.
ARM (Advance RISC machine)
T- The thumb 16 bit instruction set.
D-ON chip debug support.
M- Embedded multiplier.
I- Embedded ICE hard ware.
S-Synthesizable.
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The ARM has seven basic operating modes
User: unprivileged mode under which most tasks run
FIQ: entered when a high priority (fast) interrupt is raised.
IRQ: entered when a low priority (normal) interrupt is raised.
Supervisor: entered on reset and when a software
interrupt instruction is executed.
Abort: used to handle memory access violations.
Undef: used to handle undefined instructions.
System: privileged mode using the same registers as user
mode.
The ARM architecture provides a total of 37 register ,
all of which are 32 –bits long . however these are
arranged in to several banks, with the accessible bank
being governed by the current processor mode. In each
mode, the core can access; A particular set of 13 general
purpose registers (r0 –r12),A particular r13 -which is
typically used as a stack pointer, r14 is used as a link
register for branching.
B) LPC2148 CONTROLLER:
The LPC2141/42/44/46/48 microcontrollers are based on
a 16-bit/32-bit ARM 7TDMI-CPU With real–time emulation
and embedded trace support, that combine microcontroller and
embedded high speed flash memory ranging from 32KB to
512KB. Serial communications interfaces ranging from a USB
2.0 full–speed device, Multiple UART’s, SPI,SSP to 12C- Bus
and on-chip SRAM of 8KB up to 40KB, make these devices
very well suited for communication gate ways and protocol
converters, soft modems, voice recognition and low end
imaging, providing both large buffer size and high processing
power. Various 32 –bit timers, or dual 10- bit ADC, 10-bit
DAC, PWM channels and 45fast GPIO lines with up to nine
edge or level sensitive external interrupt pins make these
microcontrollers suitable for industrial control and medical
systems.
C) L293D Driver Circuit:
Motor driver is basically a current amplifier which takes a
low-current signal from the microcontroller and gives out a
proportionally higher current signal which can control and
drive a motor. In most cases, a transistor can act as a switch
and perform this task which drives the motor in a single
direction[4].
D) DC Motors:
DC motors are configured in many types and sizes,
including brush less, servo, and gear motor types. A motor
consists of a rotor and a permanent magnetic field stator. The
magnetic field is maintained using either permanent magnets
or electromagnetic windings. DC motors are most commonly
used in variable speed and torque.
Motion and controls cover a wide range of components that in
some way are used to generate and/or control motion.
E) Ultrasonic Sensor Motors:
An ultrasonic transducer is a device that converts energy
into ultrasound, or sound waves above the normal range of
human hearing. While technically a dog whistle is an
ultrasonic transducer that converts mechanical energy in the
form of air pressure into ultrasonic sound waves, the term is
more apt to be used to refer to piezoelectric
transducers or capacitive transducers that convert electrical
energy into sound. Piezoelectric crystals have the property of
changing size when a voltage is applied; applying
an alternating current (AC) across them causes them to
oscillate at very high frequencies, thus producing very high
frequency sound waves. The location at which a transducer
focuses the sound can be determined by the active transducer
area and shape, the ultrasound frequency, and the sound
velocity of the propagation medium. Some systems use
separate transmitter and receiver components while others
combine both in a single piezoelectric transceiver.Non-
piezoelectric principles are also used in construction of
ultrasound transmitters. Magnetostrictive materials slightly
change size when exposed to a magnetic field; such materials
can be used to make transducers. A capacitor microphone uses
a thin plate which moves in response to ultrasound waves;
changes in the electric field around the plate convert sound
signals to electric currents, which can be amplified.
VI. EXPERIMENTAL RESULTS
The autonomous manoeuvre sailing robot
for oceanographic research is used to explore all the details on
the surface of the water. This robot is used for locating the
position of the system using GPS & GSM, detects metals
present in the ocean, and measures the depth and boundaries,
used for surveillance and rescue operation.
Fig. 7. Robot is moving aty sandy surface
Fig. 8. Robot is moving in sandy and rocky surface
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Fig. 9. Robot is moving in rocky surface
VII. CONCLUSION
In this paper, we introduce a successful working prototype
model of terrain robot is designed to travel in uneven surfaces.
An autonomous terrain robot offers major advantages
compared to other vehicles. In this paper we also discuss the
development process of a robotic system for environmental
monitoring in search &rescue and demining applications.
Further development is required to demonstrate the feasibility
of a terrain robot for long term use in open area and helpful
for the scientists.
REFERENCES
[1] Alina Conduraru , Ionel Conduraru, Emanuel Puscalau, Geert De
Cubber, Daniela Doroftei, Haris Balta” Development of an autonomous
rough-terrain robot”
[2] G. De Cubber and D. Doroftei and H. Sahli and Y. Baudoin, Outdoor
Terrain Traversability Analysis for Robot Navigation using a Time-Of
Flight Camera, RGB-D Workshop on 3D Perception in Robotics, 2011
[3] D. Doroftei and G. De Cubber and K. Chintanami, Towards
collaborative human and robotic rescue workers, Human Friendly
Robotics, 2012.
[4] K. Richardson, Rescue robots - where were they in the Japanese quake
relief efforts?, Engineering and Technology Magazine, vol.6, nr. 4, 2011
[5] M.P. Khorgade “Application of MEMS in Robotics and Bio MEMS”,
Proceedings of the UK sim 13th
international conference.
[6] Mobile Robotic “ Navigation and control for large-scale wireless sensor
network repair”, by Kyle lathy in north Carolina state university on
may6, 2009
[7] S. Mehta, ET. “Al. CMOS Dual -Band Tri-Mode chipset for IEEE
802.11a/b/g wireless LAN”, IEEE RF IC Symposium, pp 427-
430,2003
[8] B. Razavi,” RF Transmitter Architectures and circuits”, IEEE CICC,
pp.197-204, 1999.
[9] M.P. Khorgade “Application of MEMS in Robotics and Bio MEMS”,
Proceedings of the UK sim 13th
international conference.
[10] Mobile Robotic “ Navigation and control for large-scale wireless sensor
network repair”, by Kyle lathy in north Carolina state university on
may6, 2009
[11] L. Fortuna, M. Frasca, M.G. Xibilia, A. A. A , M. T. R s , “M p pu A m
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15, Nov. 30 to Dec. 02, 2010.
[12] I. Hayas , N. I suk, “M m g s”, I P . O I . Symposium on
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[13] T. H. L , F.H. F. L u g, P.K.S. T m, “P s m s us g uzz g ,” IEEE
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[14] Embedded systems 2nd
edition - RajKamal
[15] Programming AVR microcontroller - Dhananjay v.Gadre
[16] Robotics reference guide - Joseph A. Angelo
[17] Data networks and interfacing - Hawkins
[18] Texas - linear IC’s manual
[19] Segnetics Digital IC’s manual ZigBee Specification
Author Profile
C.Venkatesh received B.Tech
Degree from J.N.T.University,
Hyderabad and M.Tech Degree from
J.N.T.U.A.,Anantapuramu.
Presently he is with
Annamacharya institute of Technology &
Sciences, Rajampet, Andhra Pradesh,
India, working as an Assistant Professor
in Department of ECE. His research
interests include Embedded Systems, Signal Processing and Digital
Imaging. He presented many research papers in National &
International Conferences. He is a member of professional societies
like MISTE,MIE,IACSIT(Singapore), IAENG(Hong Kong),
UACEE(India), ISOC(Switzerland), APCBEES(China) and SIE
(Singapore).He acted as reviewer for many International conferences
and journals
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