mplementation of HMI-Guided Tracked Wheel Wireless Network Surveillance of a Weapon Robot

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1 mplementation of HMI-Guided Tracked Wheel Wireless Network Surveillance of a Weapon Robot I Manjusagar.L M.Tech,,VLSI SJBIT, Bangalore-60 manjusagarl@gmail.com Komala.M Asst prof, Dept. of ECE SJBIT, Bangalore-60 komala2007@rediffmail.com Abstract As one of the major steps toward fully intelligent autonomous robotic weapon, this paper works have accomplished in three major areas: (1) design of the surveillance system by DM3730 processor (Beagleboard-xM), (2) implementation of the obstacle avoidance system, and (3) performance of the human machine interface surveillance system via wireless network surveillance equipment, such that the supervisor can control the vehicle by keyboard or genius mouse. In order to accomplish all these three achievements, there have been major additions and overhaul in both system software code and system circuit board developments. All these development including the developed algorithm, and hardware implementation are covered in this paper. The experimental results have shown the practicality of the DM3730 processor, obstacle avoidance systems, wireless network surveillance equipment, and the ZigBee wireless technology applied to weapon robots. Keywords-Weapon Robot, Obstacle Avoidance, Wireless Network Surveillance, ZigBee. I. INTRODUCTION There are times when the rescue team is unable to enter the scene of the accident due to various shortcomings that might endanger the rescuers lives. In order to overcome these possible obstacles, a lot of researchers have built some various robots that can enter these dangerous sites in place of the rescuers. Hence, we will extend the research in the past [3-7] to implement a weapon robot in this paper. The key feature is the application of DM3730 processor applied to design a controller so that all of the design functions can be implemented. Furthermore, the vehicle can be orientated by ZigBee based wireless system. Besides, we design the human machine interface surveillance system programming environment and wireless network surveillance equipment, such that the supervisor can control the weapon robot by keyboard/genius mouse. Last but not least, we use the ultrasonic sensors to carry out the design of the obstacle avoidance system. To illustrate the effectiveness of the design, we plan an urban fight space as the scenario setting such that the robot can finish all functions. The experimental results validate the practicality of the DM3730 processor, obstacle avoidance systems, wireless network surveillance equipment, and the ZigBee wireless technology applied to weapon robots. II. MECHANISM OF A WEAPON ROBOT Fig. 1 is the vertical view for the platform of the weapon robot.. The structure contains two active wheels, one small assistant wheel, and two ultrasonic sensors. The specification of the robotic platform includes (1) the length is 41cm, (2) the width is 31cm, and (3) the height is 20cm. Fig. 3 shows the production of the self-made robotic weapon which contains a MP5K electric BB gun. We put a MP5K electric BB gun on the platform of the robot and set one camera behind the sight of the gun. The specification of the robotic weapon includes (1) the length is 52cm, (2) the width is 31cm, and (3) the height is 34cm 15

2 III. BEAGLEBOARD-xM The BeagleBoard is a low-power open source hardware single-board computer produced by Texas Instruments in association with Digi-Key. The BeagleBoard was also designed with open source software development in mind, and as a way of demonstrating the Texas Instrument's DM3730 system-on-a-chip. [5] The board was developed by a small team of engineers as an educational board that could be used in colleges around the world to teach open source hardware and open source software capabilities. Figure 2. BeagleBoard-xM High Level Block Diagram The BeagleBoard-xM processor is the DM3730CBP 1GHz version and comes in a.4mm pitch POP package. POP (Package on Package) is a technique where the memory is mounted on top of the processor. DM3730 includes an ARM Cortex- A8 CPU (which can run Windows CE, Linux, Risc OS [7], or Symbian, Android is also being ported [8] ), a TMS320C64x+ DSP for accelerated video and audio decoding, and an Imagination Technologies PowerVR SGX530 GPU to provide accelerated 2D and 3D rendering that supports OpenGL ES 2.0. Video out is provided through separate S- Video and HDMI connections. A single SD/MMC card slot supporting SDIO, a USB On-The- Go port, an RS-232 serial connection, a JTAG connection, and two stereo 3.5 mm jacks for audio in/out are provided. Built-in storage and memory are provided through a PoP chip that includes 256 MB of NAND flash memory and 256 MB of RAM (128 MB on earlier models). The board uses up to 2 W of power and can be powered from the USB connector, or a separate 5 V power supply. Because of the low power consumption, no additional cooling or heat sinks are required. 16

3 Table 1. Beagleboard-xM specifications. IV. OBSTACLE AVOIDANCE Ultrasonic sensors have long been used for range measurements, tank level control, and proximity detection when difficult environments, challenging reflection surfaces or the need for extreme accuracy render traditional optical sensing devices unsuitable. Ultrasonic sensors measure the distance or presence of target objects by sending a pulsed ultrasound wave at the object and then measuring the time for the sound echo to return. Knowing the speed of sound, the sensor can determine the distance of the object. Fig. 4 shows the principle of ultrasonic sensors. V. WIRELESS NETWORK SURVEILLANCE. The system consists of a wireless router (Fig. 4), a network camera and a wireless remote surveillance system. Figure 4. wireless router Figure 3. Ultrasonic Range Finder - XL-Maxsonar In this paper, we use PING ultrasonic distance sensors, shown in Fig. 3. The XL series of MaxSonars are a super highperformance version of the easy-to-use sonar range finder from Maxbotix. The XL series of this sensor features higher resolution, longer range, higher power output and better calibration when compared to the LV version. The sensor provides very accurate readings from 0 to 765cm (0 to 25.1ft) with 1cm resolution. This sensor can be powered with anywhere between 3.3 and 5VDC. Range information can be gathered through one of three methods - analog, serial, or PWM - all of which are active at the same time. The analog output will produce a voltage proportional to the measured distance, with a sensitivity of (Vcc/1024)V/cm. The serial interface is simple and formatted to RS-232, with voltages ranging from 0 to Vcc and terminal settings of N-1. Finally, the PWM pin outputs a pulse-width representation of the range with a scale factor of 58us/cm. The DIR-615 D-Link wireless router provides a better wireless signal for our network than previous-generation wireless G technology. Upgrading our home network to wireless provides an excellent solution for sharing an internet connection and files such as video, music, photos, and documents. D-Link wireless products use intelligent antenna technology to transmit multiple streams of data which enables us to receive wireless signals in the farthest corners of our home. Not only does the D- Link wireless technology extend our wireless range, it also works with previous-generation wireless devices. Moreover, the DIR-615 also includes quality of service prioritization technology that analyzes and separates multiple data streams based on sensitivity to delay, enabling multiple applications to stream smoothly across our network. Besides, this wireless router uses powerful n technology with multiple intelligent antennas to maximize the speed and range of our wireless signal to significantly outperform previous-generation wireless G MIMO devices. The antennas on the wireless router make use of our home's environment by bouncing multiple wireless signals off walls and ceilings to work around obstructions VI. ZIGBEE TRANSPARENT-P2PMODE This is the very popular 2.4GHz XBee module from Digi. These modules take the stack (the basis for Zigbee) and wrap it into a simple to use serial command set. These modules allow a very reliable and simple communication between microcontrollers, computers, systems, really anything with a 17

4 serial port! Point to point and multi-point networks are supported. I/O line support, Easy-to-Use, Free & Unlimited RF-XPert Support. VII. EXPERIMENT Figure 5. XBee 1mW Wire Antenna Fig.7 indicates the block diagram of the system architecture. The robot can avoid obstacles autonomously via ultrasonic sensors. Moreover, the supervisors can control the weapon robot by keyboard/genius mouse when the switch is changed from automatic button to manual one. Besides, the supervisors survey the neighborhood of the robot via the image acquisition/transmission technique such that they can look after the security of the environment by a human machine interface surveillance system. The experimental results validate the practicality of obstacle avoidance systems and wireless network surveillance equipment applied to robots. Figure 6. System Architecture VIII. CONCLUSION Table 2. Specifications Some of key features are, Long range data integrity, Advanced Networking & Security, Low Power, ADC and In this paper, a weapon robot is implemented. Moreover, DM3730 processor are applied to design a controller so that all of the design functions can be implemented. Furthermore, the vehicle can be orientated by ZigBee based wireless system. Besides, we design the human machine interface surveillance 18

5 programming environment and wireless network surveillance equipment, such that the supervisor can control the weapon robot by keyboard/genius mouse. Last but not least, we use the ultrasonic sensors to carry out the design of the obstacle avoidance system. The experimental results validate the practicality of the DM3730 processor, obstacle avoidance systems, wireless network surveillance equipment, and the ZigBee wireless technology applied to weapon robots. REFERENCES [1] C.C. Wang and C.T. Shen, Application of ZigBee Technology for Wheeled Mobile Robots, Proceedings of ICSSMET2008 International Conference on Safety & Security Management and Engineering Technology 2008, Nov , WFC, Chiayi, Taiwan. [2] C.C. Wang and C.T. Shen, Implementation of Wireless Image Tracking for Wheeled Mobile Robots, 2008 International Conference on Innovative Computing, Information and Control ICICIC 2008, June 18-20, Dalian University, Dalian, China. [3] C.C. Wang, F.Y. Huang, C.T. Shen, Y.Y. Chen, C.C. Jiang, C.L.Lin, and H.M. Chen, Teleoperation System for Tracked Robots,2008 Conference on Information Technology and Applications in Outlying Islands, NPU, Penghu, Taiwan, May 30-31, pp ,2008. [4] Chun-Chieh Wang and Kuo-Lan Su, Design and Implementation of Human Machine Interface Surveillance Systems for Tracked Robots, 14th International Symposium on Artificial Life and Robotics, , [5] C.C. Wang, K.H. Hsia, K.L. Su, Y.C. Hsieh, and C.L. Lin, Application of a Remote Image Surveillance System in a Robotic Weapon, th International Symposium on Artificial Life and Robotics (AROB), Feb. 4-6, Oita, Japan, pp ,