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1. Left joystick is move to up direction Robot moves forward Left joystick is move to down direction Robot moves backward Left joystick is move to left direction Robot moves to left Left joystick is move to right direction Robot moves to right 30 3 42 Microcontroller P16F877A Configuration The syntax for the configuration bits is _ CONFIG 0x3F32 The hexadecimal code 3F32 is equivalent to the binary code 0011 1111 0011 0010 The configuration bits for the PIC microcontroller 16F877A consists of 14 bits only the most significance two bits are ignored For bits 0 to 1 is lo which refer to the HS oscillator For bit 2 is set to 0 to disable the Watchdog Timer For bit 3 is set to 0 to disable Power up Timer Enable For bit 6 is set to 0 to disable Brown out Reset Bit 7 is for Low Voltage Single Supply In Circuit Serial Programming Enable bit was set to 0 so that RB3 is digital I O HV on MCLR must be used for programming Bit 8 is set to 1 to off Data EEPROM code protection Bit 9 and 10 is set to 11 to off the write protection and all program memory may be written to by EECON control Bit 11 is set to 1 to disable In Circuit Debugger Bit 13 is set 1 to off Code protection Bits 4 5 and 12 is Unimplemented and Read as 1 3 4 3 PS2 Starter Kit Protocol PS2 wireless controller consist 30 buttons on it In order to differentiate which button is pressed PS2 starter Kit uses a unique protocol b2. PSZ 19 16 Pind 1 07 UNIVERSITI TEKNOLOGI MALAYSIA DECLARATION OF THESIS UNDERGRADUATE PROJECT PAPER AND COPYRIGHT Author s full name GO TING LOONG Date of birth 03 MARCH 1989 Title RESCUE ROBOT Academic Session 20112012 02 declare that this thesis is classified as C CONFIDENTIAL Contains confidential information under the Official Secret Act 1972 Ll RESTRICTED Sontains restricted information as specified by the organisation where research was done OPEN ACCESS agree that my thesis to be published as online open access full text acknowledged that Universiti Teknologi Malaysia reserves the right as follows 1 The thesis is the property of Universiti Teknologi Malaysia 2 The Library of Universiti Teknologi Malaysia has the right to make copies for the purpose of research only 3 The Library has the right to make copies of the thesis for academic exchange Certified by SIGNATURE SIGNATURE OF SUPERVISOR 890303 01 5435 DR ZOOL HILMI BIN ISMAIL NEW IC NO PASSPORT NO NAME OF SUPERVISOR Date 28 JUNE 2012 Date 28 JUNE 2012 NOTES If the thesis is CONFIDENTIAL or RESTRICTED please attach with the letter from the organisation with period and reasons for confidentiality or restriction I hereby declare that I have read this thesis and in my opinion this thesis is sufficient in terms of scope and quality for the award of the degree of Bachelor in Enginee
3. of 1 1 meters per second this robot communicates to operator via Wi Fi 802 11g and is using a SH 4 processor Dimensions are 370 mm x 650 mm x 180 mm and weighs is 22 5 kg It is powered by a 3700 mAh Lithium Polymer battery which lasts for 60 minutes It has six independent crawlers and has two flipper arms which allow it to move over obstacles effortlessly 2 2 3 Darmstadt Rescue Robot Figure 2 3 Darmstadt Rescue Robot The Team Hector Darmstadt established at the Technische Universitat Darmstadt within the PhD program Cooperative Adaptive and Responsive Monitoring in Mixed Mode Environments funded by the German Research Foundation DFG This program addresses the exciting and challenging research areas of navigation and coordination of multiple autonomous vehicles as well as monitoring in mixed mode environments that are characterized by the heterogeneity resources capabilities and connectivity The experience in hardware and software of autonomous robots has already been successfully applied to RoboCup soccer and there have been studies in simulation on cooperative control Different algorithms were developed from computer vision for people detection and object recognition which can now be applied to Search and Rescue scenarios Finally team members from mechanical engineering are focusing on the design and experimental evaluation of unmanned aerial and ground vehicles for environmental monitoring and surveillance application
4. uart rec void function to wait for a byte receive from uart unsigned char temp while RCIF 0 wait for data to received temp RCREG return temp return the received data unsigned char skps unsigned char data function to read button and joystick finformation on ps controller uart_send data return uart_rec void skps_vibrate unsigned char motor unsigned char value function to control the vibrator motor uart_send motor on ps controller uart_send value void forward motor ra 0 motor_rb 1 motor_la 0 motor Ib 1 void backward motor_ra 1 motor_rb 0 motor_la 1 motor_lb 0 void left motor_la 1 motor_lb 0 motor ra 0 motor_rb 1 void right motor_la 0 motor_lb 1 motor_ra 1 motor_rb 0 void stop motor_la 0 motor Ib 0 motor ra 0 motor_rb 0 Imotor armla 0 Imotor armlb 0 lmotor armra 0 Imotor armrb 0 arm motor 0 body motor 0 53 Appendix B Right Motor Right Motor 1 Left Motor Left Motor 1 GND OUT4 INPUT4 OUTS INPUTS OUT2 INPUT2 DUT1 INPUT4 SEN_B ENABLE_B SEN A ENABLE A VS VCC RAD ANO RA1 AN1 RA2 AN2 RASIAN3 RAA TOCKI RAS ANA REO RDTANS RE1 AWRIARG RE2 CS ART OSC1CLKIN PGD RB7 PGC RBB RBS RB4 PGM RB3 RB2 RB1 INT RBO PSP7 RD7 PSP6 RD6 PSPS RDS OSC2 CLKOUT PSP4 RD4 RCO T10SO RC1T10SI RC2 CCP1 RC3 SCK R
5. v skps p joy ru down v skps p joy rd left v skps p joy 11 right v skps p joy Ir button control for mobilility if skps p_up 0 check up button body_motor 1 forward move forward SPEEDL 230 SPEEDR 230 else if skps p_down 0 check down button body_motor 1 backward move backward SPEEDL 230 SPEEDR 230 else if skps p_left 0 check left button body_motor 1 left rotate left SPEEDL 230 SPEEDR 230 else if skps p_right 0 check right button body_motor 1 right rotate right SPEEDL 230 SPEEDR 230 else if skps p_triangle 0 48 arm_motor 1 Imotor armla 1 Imotor armlb 0 lmotor armra 1 Imotor armrb 0 SPEEDL 230 SPEEDR 230 j else if skps p_cross 0 arm_motor 1 Imotor armla 0 Imotor armlb 1 Imotor armra 0 lmotor armrb 1 SPEEDL 230 SPEEDR 230 analog control for mobility else if up v gt 0 forward body motor 1 if left_v gt 0 if up_v gt left_v SPEEDL up_v left_v 140 else SPEEDL 140 SPEEDR up_v 140 else if right_v gt 0 if up v right v SPEEDR up v right v 140 else SPEEDR 140 SPEEDL up_v 140 SPEEDL up_v 140 SPEEDR up_v 140 49 else if down_v gt 0 backward body_motor 1 if left_v gt 0 if down_v gt left_v SPEEDR down_v left_v 140 else SPEEDR 140 SPEEDL down_v 140 else if right_v gt 0 if down_v gt right_v
6. 13 Objectives The objectives of this project are 1 4 To develop a low cost rescue robot that have highly potential and demand in the present and future market To design a robot to search for the survivor in the disaster area and assist the rescue worker in the rescue mission Scope of Project The scopes of study of this project are as followed l In the robot structure design track wheels have been used rather than conventional wheels to enable the robot to travel through different type surface or rough terrain Besides a pair of lifting arm with has been attached to the body of the rescue robot in order to climb up the stair or obstacle The wireless control system and the wireless monitoring system was used in this project to allows the robot operator away from the harmful environment or harmful device and avoids the wire or cable interrupts the robot motion For the wireless control system wireless PS2 controller and Cytron PS2 Starter kits was used to control the robot motion Beside the microcontroller P16F877A interface was used as the main processing unit and C language as the programming language For the wireless monitoring system a wireless IP camera has been attached to the robot as a monitoring system The video from the wireless IP camera can directly view by using computer laptop or smart phone CHAPTER 2 THEORY AND LITERATURE REVIEW 2 1 Introduction This chapter reviews the paper w
7. 4 Programming and Software Design 3 4 1 Flow Chart 3 4 2 Microcontroller P16F877A Configuration 3 4 3 PS2 Starter Kit Protocol 3 4 4 PS2 Starter Kit Signal Processing 3 4 4 1 Button Control Digital Control 3 4 4 2 Joystick Control Analog Control 3 4 5 Pulse Width Modulation Module vii 11 11 13 15 16 16 19 21 22 24 25 27 30 30 3l 3l 32 34 4 Result and Discussion 4 1 Actual Robot 4 2 Applications 4 3 Live Video 5 Conclusion and Recommendation 5 1 Conclusion 5 2 Limitations 5 3 Recommendation Reference Appendix A Appendix B viii 35 35 36 39 41 41 42 42 43 45 53 TABLE NO 3 1 List of Table TITLE Major Components Used In This Project PAGE 16 FIGURE NO 1 1 1 2 1 3 2 1 22 2 3 2 4 3 1 3 2 3 3 3 4 3 5 3 6 3 7 List of Figure TITLE The statistics of Natural disaster 1990 2000 Mohd Zamri Ramli Engineering Seismology and Engineering Earthquake Research Group E Seer of the faculty of civil engineering Universiti Teknologi Malaysia Dr Norhisham Bakhary Engineering Seismology and Engineering Earthquake Research Group E Seer of the faculty of civil engineering Universiti Teknologi Malaysia ROBHAZ DT3 Hibiscus Darmstadt Rescue Robot Sandia Gemini Scout Mine Rescue Robot Three Dimensions Drawing of the Rescue Robot Rover 5 Tank Chassis Set Mechanism Arm Original mot
8. Another two motors is used to control the mechanism arms motion and there are named as Arm Motors 3 2 Mechanism Arms Design The applications of the rescue motor are the real situation may face a lot of obstacles or stair In order to move over uneven terrain and up and down stairs the robot structure was modified by adding two mechanism arms at the front of the tank chassis The mechanism arms were made by removing two tracked wheel from another Rover 5 Tank Chassis Set The mechanism arms are support a thin stainless steel beam Figure show the modified mechanism arm 14 Figure 3 3 Mechanism Arm Besides the motor shaft for the Arms Motor has replaced by a longer steel shaft in order to attach the mechanism arms to the robot structure Figure 3 4 show the original motor shaft and modified motor shaft The above one is the modified motor shaft and the below one is the original motor shaft Figure 3 4 Original motor shaft and modified motor shaft 15 3 3 3 Track Wheel Motion Design In the original design six motors were expected for the whole robot motion and mechanism arms motion Due to the limitation of robot structure space it is very difficult to install six motors on the robot structure This problem has been overcome by adding a coupling between the tracked wheel and it is named as Tracked Wheel Coupling The coupling couples together the two wheels so that the two tracked wheel on one side can be move by a
9. DO PSPO RD1 PSP1 RX RC7 TX RCB SDO RC5 SDI RC4 RD3 PSP3 RD2 PSP2 BIS PIC16F877P IC3 VS ENABLE A SENA ENABLE B SEN B INPUT1 OUT1 INPUT2 OQUT2 INPUT3 OUT3 INPUT4 0UT4
10. P2 Figure 3 6 Pin Diagram of PIC16F877A 17 Input 3 for Arms Motor Driver Input 1 for A Motor Driver Input 2 for Motor Driver Arms Motor Driver acked Wheel Motor Driver Jnput 2 for Ti heel Motor Driver Input 1 for Tracked Wheel Motor Driver Input 3 for Tracked Wheel Motor Driver PM for Arms Motor Driver Input 4 for Tracked Wheel Motor Driver PAM for Tracked Wheel Driver Figure 3 7 Circuit Connection of PIC16F877A Figure 3 6 shows the architecture of PIC16F877A and Figure 3 7 shows the circuit connection of PICI6F877A Microcontroller PIC16F877A is a 40 pins microcontroller which has five I O ports PIC16F877A is chosen to be used as the main processing unit for the rescue robot because it has high enough performance but with cheaper price which is only cost about RM20 Besides this microcontroller has 2 PWM modules with 10 bits resolutions The transmitter pin TX and receiver pin RX is used to communicate with PS2 Starter Kit Eight pins of the PIC16F877A are used to control the direction of four motors The two pins RC1 and RC2 are used to control the speed of the motors by Pulse Width Modulation PWM Due to the microcontroller only have two PWM outputs it is impossible to control four motor speeds simultaneously 18 The problem has overcome by control the enable pin of the motor diver L298 by two microcontroller pins RB1 and RBO which connect to a transistor BC547 The connection
11. Rescue Robot mengatasi tangga atau halangan Satu IP kamera tanpa wayar dipasangkan kepada robot tersebut untuk mengawal and merakamkan live video sekeliling Rescue Robot Dengan kawalan secara tanpa wayar Operator robot tersebut dapat mengawal situasi kawasan bencana dan mencari mangsa yang terselamat di kawasan bencana Untuk mengelakkan operator Rescue Robot terancam daripada benda atau alat yang membahayakan Rescue Robot direka bentuk dengan kawalan jauh tanpa wayar Dengan sistem kawalan secara tanpa wayar robot tersebut tidak akan mengacaukan operasi robot vi Table of Contents CHAPTER TITLE PAGE Acknowledgements iii Abstract iv Abstrak v Table of Contents vi List of Table ix List of Figure x List of Abbreviations xiii 1 Introduction 1 1 1 Overview 1 1 2 Problem Statement 2 1 3 Objectives 5 1 4 Scope of Project 5 2 Theory and Literature Review 6 2 1 Introduction 6 2 2 Previous Related Works 6 2 2 1 ROBHAZ DT3 6 2 2 2 Hibiscus 7 2 2 3 Darmstadt Rescue Robot 8 2 24 Sandia Gemini Scout Mine Rescue Robot 3 Methodology 3 1 Introduction 3 2 Mechanical Design of Robot Structure 3 2 1 Main Robot Structure Tracked Wheel Design 3 2 2 Mechanism Arms Design 3 2 3 Track Wheel Motion Design 3 3 Components and Electrical Circuitry 3 3 1 PIC 16F877A Microcontroller 3 3 2 Motor Driver L298 3 3 3 Voltage Regulator LM7805 3 3 4 PS2 Starter Kit and PS2 Wireless Controller 3 3 5 Apexis Wireless IP Camera 3
12. SPEEDL down_v right_v 140 else SPEEDL 140 SPEEDR down_v 140 SPEEDL down_v 140 SPEEDR down_v 140 else if left_v gt 0 leftQ body_motor 1 SPEEDL left v 120 SPEEDR left v 120 else if right v gt 0 else right body motor 1 SPEEDLrright v 120 SPEFDR right v 120 stop body motor 0 SPEEDL 255 SPEEDR 255 50 void init motor PWM configuration PR2 255 set period register T2CON 0b00000100 CCPICON 0b00001100 config for RCI to generate PWM for more detail refer datasheet section capture compare pwm CCP2CON 0b00001100 config for RC2 to generate PWM Tris configuration input or output TRISA 0600000011 set RAO and RA2 pin as input other as output TRISB 0b00000000 set RBO RB4 pin as input other as output TRISC 0b10000000 set PORTC pin as output TRISD 0b00000000 set all PORTD pin as output TRISE 0b00000000 Isetup USART SPBRG 0x81 set baud rate to 9600 for 20Mhz BRGH 1 baud rate high speed option TXEN 1 lenable transmission TX9 0 CREN 1 enable reception SPEN 1 enable serial port RX9 0 RCIE 0 disable interrupt on eachdata received enable all unmasked interrupt GIE 0 PEIE 0 51 void uart send unsigned char data function to send out a byte via uart while TXIF 0 wait for previous data to finish send out TXREG data send new data j unsigned char
13. SPEEDR down_v 140 SPEEDL down_v 140 SPEEDR down_v 140 left 34 body_motor 1 SPEEDL left v 120 SPEEDR left v 120 else if right_v gt 0 right body motor 1 SPEEDLrright v 120 SPEFDR right v 120 J Figure 3 22 Syntax of PS2 Starter Kit Analog Control 3 4 5 Pulse Width Modulation Module In order to use the PWM of the microcontroller to control the motors speed the registers CCPICON and CCP2CON is set to 0b00001100 to enable the PWM mode of the microcontroller The PR2 register is set to 255 which means that the period of the PWM is set to 255 T2CON is set to 4 that enables the timer2 Figure 3 23 shows the initialization code for PWM PR2 255 T2CON 0b00000100 CCP1CON 0b00001100 CCP2CON 0600001100 Figure 3 23 PWM Module Initialization CHAPTER 4 RESULT AND DISCUSSION 41 Actual Robot Figure 4 1 show the front view and the top view of the actual robot N 1 SP quta V Pie oer dE eB AN TR Figure 4 1 Front view of Rescue Robot 36 Figure 4 2 Top view of Rescue Robot 42 Applications As mentioned in the early chapter the rescue robot is used to monitoring the situation of the disaster area The situation of the disaster area is unpredictable and unsafely The rescue robot would have the ability to move in the several kind of surface Figure 4 3 to Figure 4 6 show the robot move in the various surfaces Figure 4 3 Moving on the g
14. am into the microcontroller by using USB programmer Program flow chart is also included in the next section Figure 3 17 shows the programming workplace of MPLAB IDE Figure 3 18 shows the USB programmer used for burning program into microcontroller an MPLAB IDE v8 63 L Program c l8 x File Edt View Project Debugger Programmer Tools Configure Window Help Jsixi DEHN ii SAJAN cr Q 8 lt Checksum 0x4406 ne lmotor armla RB6 ne lmotor armlb RBS 4ft motor ne lmotor armra RB4 ine lmotor armrb RB 11 x PIG fesbsabIPO denovzec 11250035 INS WR r ini G9 q Removable Disk E Se KINGSTON Li 15 Thesis docx Microsoft N MPLAB IDE v8 63 IL D6 TEORIAS 23 50 Figure 3 17 MPLAB IDE Work Place Terhnolani iecnnorogies Figure 3 18 USB ICSP PIC Programmer V2010 26 27 3 4 1 Flow Chart The rescue robot function mainly base on the signal received from the PS2 controller The program flow chart is showed as below Received amp Reading the signal from the PS2 Analog Digital Digital Left joystick is moved Up Button is pressed Robot moves forward Down Button is pressed Robot moves backward Right Button is pressed Robot moves to right Left Button is pressed Robot moves to left Triangle Button is pressed Lift the arms up Cross Button is pressed Lift the arms down 28 29
15. built in servo motor to rotate camera view The camera has maximum pitch angle 270 and maximum yaw angle 270 Apexis Wireless IP Camera it has the moderate resolution and cheaper price compared to other wireless IP camera The video provided by the camera is of a middle quality but good enough for this project The live video can be viewed by computer laptop or smart phone This makes the operator s life easier because the live video can view in many ways and more suitable for the usage of rescue robot Normally the disaster area is always do not the electricity power supply if the electricity power supply of the laptop ran out the operator can use smart phone to access the wireless IP camera Moreover the live video can be view simultaneously by computer laptop and smart phone This allows more than one operator to access the live video The 25 operation mechanism of Apexis wireless IP camera is creating a wireless network connection around it The live video can be viewed by connecting the wireless network with laptop or smart phone Besides the Apexis wireless IP camera do not need software to operate the wireless IP camera can use any web browser to view the live video 3 4 Programming and Software Design This section discusses the software development process MPLAB IDE version 8 63 is used for writing program C language is used to program the PIC microcontroller 16F877A PICkit 2 programmer is used for burning the progr
16. ch e SEER 2009 Research Group Retrived June 28 2012 from http utm simple my content php id 109 amp cid 81 amp lang 1 3 Joseph Loh and Rashvinjeet S Bedi 2009 October 11 Unshaken Complacency The Star Retrieved October 11 2009 from http thestar com my news story asp file 2009 10 1 1 focus 4882460 amp sec foc us 4 Lee W amp Park C 2004 RoboCup2004 US Open 5 Lee W Kang S Kim M amp Park M 2004 ROBHAZ DT3 Teleoperated Mobile Platform with Passively Adaptive Double Track for Hazardous Environment Applications 1 33 38 6 Ohno K amp Yoshida T 2009 RoboCupRescue 2009 Robot League Team lt Pelican United JAPAN gt Rescue Robot League Pelican United Japan 7 Germany H D Graber T Kohlbrecher S Meyer J amp Petersen K 2011 RoboCupRescue 2011 Robot League Team 1 8 Soltanzadeh A H Chitsazan A Azizah S amp Ghazali S A 2010 RoboCupRescue 2010 Robot League Team 2009 9 Azizah S amp Ghazali S A 2009 RoboCupRescue 2009 Robot League Team 10 Soltanzadeh A H Rajabi A H Alizadeh A Eftekhari G amp Soltanzadeh M 2011 RoboCupRescue 2011 Robot League Team I 11 Billah M Ahmed M amp Farhana S 2008 Walking Hexapod Robot in Disaster Recovery Developing Algorithm for Terrain Negotiation and Navigation 328 333 12 Kadous M W Sheh R K man amp Sammut C 2006 Effectiv
17. chanism arms Thus it enables the rescue robot to executes its duty smoothly and independently The objectives of the project are fulfilled 5 2 5 3 42 Limitations There are some limitations of this project which are stated follows The robot structure is modified from original Rover 5 Tank Chassis Set which made from the plastic material The plastic material is not strong enough and hard to modify by welding The PS2 controller is able to the rescue robot in the range of 2 m only The wireless IP camera is very high power consume device a bid battery is need to operate the wireless IP camera The original motor of Rover 5 Tank Chassis Set is not enough torgue to left the mechanism arms from flat position 0 Recommendation For future development purpose few suggestions are recommended as follows Do not modify the original Rover 5 Tank Chassis Set but direct made a new tracked wheel platform with metal material Use other stronger wireless control device to replace the PS2 controller and PS2 Starter Kit in order to control the rescue robot in bigger range The Apexis wireless IP camera can be replace by a lower power consume camera or any live vision device A high torque DC motor or stepper can be use to replace the original motor of Rover 5 Tank Chassis Set 43 REFERENCES 1 Mary Bellis 2012 The Definition of a Robot About com Guide 2 Engineering Seismology and Earthguake Engineering Resear
18. disaster like Japan China and Philippines the development of the rescue robot is gaining momentum However the development trend in Malaysia is still far behind those countries In fact Malaysia may face the natural disaster in the future according the research of several researchers and experts 1 2 Problem Statement According to Centre for Research on the Epidemiology of Disasters CRED the statistics of the natural disaster is keep increase from year to year The statistics below showed that the number of disaster is increasing yearly from 1990 to 2000 Number of events Trends in number of reported events Much of the increase in the number of hazardous events reported is probably due to significant improvements in information access and also to population growth but the number of floods and cyclones being reported is still rising compared to earthquakes How we must ask is global warming affecting the frequency of natural hazards wave surge wild fires wind storm Earthquakes versus climatic disasters Floods Cyclones Earthquakes 1900 1920 1940 1960 1980 2000 1980 1985 1990 1995 2000 Source Figure 1 1 The statistics of Natural disaster 1990 2000 Malaysians think earthquakes will never occur in the country But in reality they do with the most recent one with its epicentre in Manjung Perak occurring on 29 April 2009 In fact Malaysia has a small history of earthguakes The region aro
19. e User Interface Design for Rescue Robotics 13 M Tandy S Winkvist and K Young 2010 Competing in the RoboCup Rescue Robot League 1 15 None 44 14 Mohd Syawal Bin Mohamed Abdul Fatah 2006 Tracked Wheel Development and Implementation for Mobile Robot Bachelor Degree Universiti Teknologi Malaysia Skudai 15 Lim Choong Honn 2008 Development of A Wireless Mobile Robot Bachelor Degree Universiti Teknologi Malaysia Skudai 16 Lee Wai Kun 2010 Wheeled Mobile Robot with Motion Control Bachelor Degree Universiti Teknologi Malaysia Skudai 17 Singapore Robotic 2010 Jaguar Platform User Manual Singapore Singapore Robotic 18 Cytron Technologies Sdn Bhd 2008 PS2 Controller Starter Kit Skudai Johor Cytron Technologies Sdn Bhd 19 Microchip Technology Inc 2003 PIC16F87XA Data Sheet U S A Microchip Technology Inc 20 Fairchid Semiconductor 2001 MC78XX LM78XX MC78XXA 3 Terminal 1A Positive Voltage Gegulator U S A Fairchid Semiconductor 21 STMicroelectronics 2000 Dual Full Bridge Driver L298 U S A STMicroelectronicsote 22 Shenzhen Apexis Electronic Co Ltd 2011 IP Camera Remote Pan Tilt Rotate User Manual China Shenzhen Apexis Electronic Co Ltd 2011 Appendix A finclude include lt pic h gt configuration CONFIG Ox3F32 define define SPEEDL CCPRIL define SPEEDR CCPR2L Selector for motor driver define arm motor RBI define body motor RB2 Neft b
20. er costs Nobody wants to spend that much because they think it will never happen I have spoken to building owners but no one really seems to care says Dr Norhisham The firemen can t check the connections which are covered Do we have to wait until something happens before we take any preventive action He says that to ensure buildings are still safe after an earthguake post earthquake assessment is essential which would first entail visual inspection If needed non destructive tests can be conducted to identify unseen damage in structural members Based on the results of the assessment the rehabilitation process can proceed if required Figure 1 3 Dr Norhisham Bakhary Engineering Seismology and Engineering Earthquake Research Group E Seer of the faculty of civil engineering Universiti Teknologi Malaysia From the statistics and research of several researcher and experts there is a high possibility for Malaysia facing the natural disaster in the future and there is a high possibility that most buildings in would collapse since Malaysian do not take earthquake into account If the disaster suddenly happens in Malaysia are Malaysia Polis Force and Malaysian Fire and Rescue Department able to rescue the victim immediately As a leader of technology institution in Malaysia something should be done to prevent or reduce the affect before any disaster happens in Malaysia with the advanced technology knowledge
21. is show as Figure When the output logic of the microcontroller pins RB 1 or RB2 is set to 1 the enable pin of the motor drivers L298 will be set to 1 to enable the motor driver or vice versa PIC 16F877A RB1 RB2 Enable Pin of Motor Driver L298 Figure 3 8 Motor Drivers Enable Pin Connection By manipulate the programming only one of the motor drivers will be enable its corresponding microcontroller pin is set to 1 and another motor driver will be disabling As a result the PWM value will be passing to one of the motor driver only so that the two different PWM value can be use by only two PWM output The connection able the motor speed turning and motor speed control for four DC motors Beside an external crystal of 20Mhz is connected to the PIC18F4550 at pin 15 and 16 as shown in Figure to establish oscillation For 20Mhz crystal two 15pF capacitors are used for oscillator stability purpose 19 3 3 2 Motor Driver L298 CURRENT SENSING B OUTPUT 4 OUTPUT 3 INPUT 4 ENABLE B INPUT 3 LOGIC SUPPLY VOLTAGE Vs GND INPUT 2 ENABLE A INPUT 1 SUPPLY VOLTAGE Vs OUTPUT 2 OUTPUT 1 CURRENT SENSING A P A TAB CONNECTED TO PIN 8 DSSIN240A Figure 3 9 Motor Driver L298 Left Motor1 CN Left Motor2 Right Motor1 Right Motor2 Figure 3 10 Tracked Wheel Motor Driver Circuit Connection 20 Left Motor Left Motor2 Right Motor Right Motor2 Figure 3 11 Arms Mot
22. ject presents the development of a low cost Rescue Robot where it encompasses into three main parts mechanical design wireless remote control and wireless video transmission In the mechanical design track wheels have been used rather than conventional wheels to enable the robot to travel through different type surface or rough terrain Beside a pair of lifting arm with has been attached to the body of the rescue robot in order to climb up the stair or obstacle Moreover a wireless camera has been attached to the robot as a monitoring system With the monitoring system the robot operator is able to search for survivor or any harmful device Last but not least the robot has been designed by wireless control so that the operator able to remote controls the robot The wireless control allows the operator away from the harmful environment or harmful device and avoids the wire or cable interrupts the robot motion Abstrak Projek ini membincangkan reka bentuk Rescue Robot yang berkos rendah Project ini dibahagikan kepada tiga bahagian utama iaitu reka bentuk mekanikal untuk struktur robot kawalan jauh tanpa wayar dan penghantaran video tanpa wayar Reka bentuk mekanikal untuk struktur robot roda lipan dipilih dan digunakan untuk membolehkan Rescue Robot menjalan di atas permukaan yang berlainan Selain daripada itu sepasang lengan mekanikal dipasangkan kepada Rescue Robot Tujuan memasanglkan lengan mekanikal adalah membolehkan
23. l PIC Peripheral Interface Controller UART Universal Asynchronous Receiver Transmitter IC Integrated Circuit CHAPTER 1 INTRODUCTION 1 1 Overview A robot can be defined as a programmable self controlled device consisting of electronic electrical or mechanical units More generally it is a machine that functions in place of a living agent Robots are especially desirable for certain work functions because unlike humans they never get tired they can endure physical conditions that are uncomfortable or even dangerous they can operate in airless conditions they do not get bored by repetition and they cannot be distracted from the task at hand Due to the several advantages of the robot it has been used for industry production and domestic application One of the domestic robots is V Bot Robotic Vacuum Cleaner RV 8 which having smart cleaning program that enables seguence of four cleaning movements and several sensor such as Cliff avoidance sensor to prevents V Bot from falling down staircases In industry application the robots are use to position car frames bolt pieces together and even do welds and priming From the statement above it is known that the robot is very useful and helpful for our human being However the robot may have other function other than helping human being in their life In fact the robot may save our life as well when the robot was used it the rescue propose In the country having natural
24. ller pins RB1 or RBO and 5V The connection is showed in the Figure 3 8 3 3 3 Voltage Regulator LM7805 OUTPUT COMMON INPUT Figure 3 12 Voltage Regulator LM7805 Input Output N 100nF Voltage 9V Voltage SV v Uu Figure 3 13 Circuit Connection of LM7805 Figure 3 12 shows LM7805 architecture and Figure 3 13shows the circuit connection of circuit connection for LM7805 LM7805 is used to supply a stable output voltage 5V to microcontroller PIC18F4550 motor driver L298 as the logic power supply LM7805 has internal current limiting thermal shut down and safe operating area protection capability The output current can goes up to 1A A heat sinking has been attached to the IC LM7805 to protect the IC from overheat and damage 22 3 3 4 PS2 Starter Kit and PS2 Wireless Controller The situation around the rescue robot is unsafe and unpredictable This is very difficult to program the rescue robot autonomously The robot is design to operate manually by the PS2 controller Figure 3 14 Wireless PS2 Controller Figure 3 14 show Wireless PS2 Controller PS2 is abbreviation for Playstation2 Playstation2 wireless controller 2 4 GHz and Cytron PS2 Controller Starter Kit were utilized to remote control the rescue robot Play Station 2 PS2 controller has been chosen because it easy to obtain from any game store and it offers good human manual input for control system But the major problem t
25. o achieve this is the socket for PS2 and the protocol to communicate with it PS2 socket is very unigue and difficult to obtain Besides protocol to obtain the status digital and analog of each button and analog stick on PS2 controller is difficult 23 This problem has overcome by using the Cytron PS2 Starter Kit reading Joy stick button s state will be easier It offers a standard connector for Sony PS2 controller to plug in Moreover the Cytron PS2 Starter Kit is using serial communication over UART and only reguire four simply connection on it there are transmitter TX receiver RX voltage supply SV and Ground Indeed the TX and RX are cross connected to TX pin 25 and RX pin 26 on microcontroller 16F877A Cross connection mean the transmitter TX of PS2 Starter Kit is connected to the receiver RX of microcontroller 16F877A while the receiver RX of PS2 Starter Kit is connected to the transmitter TX of microcontroller 16F877A The connection enables the two devices to communicate and transfer data with each other Figure 3 15 PS2 Controller Starter Kit 24 3 3 5 Apexis Wireless IP CAmera Figure 3 16 Apexis Wireless IP Camera Figure 3 16 show Apexis Wireless IP Camera As mention before the situation around the rescue robot is unsafe and unpredictable Apexis wireless IP camera was used to monitor and send the captured image to the robot operator Apexis wireless IP camera was chose because it has
26. ody motor define motor_la RC4 define motor Ib RC5 Iright body motor define motor ra RCO define motor_rb RC3 Neft lift motor definelmotor_armla RB6 definelmotor_armlb RB5 right lift motor define Imotor_armra RB4 define Imotor armrb RB7 skps protocol definep_select define p_joyl define p_joyr define p_start define p_up define p_right define p_down define p_left definep 12 definep r2 define p 11 10 define p rl 11 define p_triangle 12 define p_circle 15 O 0 J O A S 2 O define p cross definep sguare define p joy Ix definep joy ly define p joy rx define p joy ry define p joy lu Hdefine p joy ld define p joy II Hdefine p joy Ir define p joy ru Hdefine p joy rd Hdefine p joy rl Hdefine p joy rr Hdefinep con status define p motorl define p motor2 function prototype void init void void forward void void stop void void backward void void reverse void void left void void right void void uart_send unsigned char data unsigned char uart_rec void unsigned char skps unsigned char data void skps_vibrate unsigned char motor unsigned char value main function void main void unsigned char up v down v left_v right_v init stop 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 initialize microcontroller stop all motor 46 47 while 1 read joy stick value process up
27. or Driver Circuit Connection Figure 3 9 show the architecture of Motor Driver IC L298 and Figure 3 10 and Figure 3 11 shows the circuit connection L298 is a high current four channels driver which is suitable to used for controlling the two DC motors per motor driver for bidirectional It is capable of delivering up to 2 5A current output per channel Each Motor Driver IC L298 consists of four inputs and four outputs Four inputs are connecting to the microcontroller and four outputs are connecting to the four terminals of two motors The logic power supply for Motor Driver IC L298 is 5V which is connected to the pin 9 of the IC while motor power supply for the motor in this project is 7 4V connected to pin 4 of the IC The PWM signal from PIC16F877A is connected to the two enable pin of L298 which are pin 6 and pin 11 in order to control the speed of the motor Since the PWM signal used is 8 bits hence the range of PWM signal used is 0 to 255 with 255 as the maximum speed Since the circuit does not require current sensing pin 1 and pin 15 of Motor Driver IC L298 is connected to the ground As mention in the previous part the microcontroller only has two PWM outputs thus it is impossible to control four motor speeds simultaneously This problem has been solved by controlling the 21 enable pin pin 9 of the motor diver L298 The enable pin pin 9 of the motor diver L298 is connected to a transistor of BC547 which to two microcontro
28. or shaft and modified motor shaft The Tracked Wheel and the Tracked Wheel Coupling Pin Diagram of PIC16F877A Circuit Connection of PIC16F877A PAGE 12 12 14 14 15 16 17 3 8 3 9 3 10 3 11 3 12 3 13 3 14 3 15 3 16 3 17 3 18 3 19 3 20 3 21 3 22 3 23 4 1 4 2 4 3 4 4 4 5 4 6 Motor Drivers Enable Pin Connection Motor Driver L298 Tracked Wheel Motor Driver Circuit Connection Arms Motor Driver Circuit Connection Voltage Regulator LM7805 Circuit Connection of LM7805 Wireless PS2 Controller PS2 Controller Starter Kit Apexis Wireless IP Camera MPLAB IDE Work Place USB ICSP PIC Programmer V2010 PS2 Starter Kit Protocol Syntax of PS2 Starter Kit Digital Control The declaration of four unsigned character for analog control Syntax of PS2 Starter Kit Analog Control PWM Module Initialization Front view of Rescue Robot Top view of Rescue Robot Moving on the grass Surface Moving on the rock surface Moving on the sand surface Moving on the unsafe condition 18 19 19 20 21 21 22 23 24 25 26 30 32 32 34 34 35 36 36 37 37 38 xi 4 7 4 8 4 9 xii The live video received by laptop 39 The live video received by smart phone 39 The live video received by Laptop and Smart Phone 40 simultaneously xiii List of Abbreviations PS2 A PlayStation 2 IP Internet protoco
29. orks researches books article and journals which are related to this title The theoretical and methodological recommendations from these academic materials have been studied so that the advantages could be applied to this project 2 2 Previous Related Works 2 2 1 ROBHAZ DT3 ROBHAZ DT3 the Robot for Hazardous Application has been created for Korean troops in Irag It was jointly developed by Yujin Robot and the state run Korea Institute of Science and Technology It is equipped with portable remote controlled station and wireless communication of Image amp data Figure 2 1 ROBHAZ DT3 It is equipped with laser sensors this enables the remotely operated bot to create a map of the place where a disaster has taken place Infrared cameras are used to detect victims The robot also features foldable arms four cameras and a set of temperature sensors The ROBHAZ DT3 has a unique set of tank treads that enable it to adapt easily to uneven terrain Note that the design allows waterproof great flexibility earlier and smaller versions were able to climb stairs 2 2 2 Hibiscus Figure 2 2 Hibiscus Chiba Institute of Technology Japan has developed a new rescue robot named Hibiscus This robot s main purpose is to look for survivors in case of disasters like earthquakes which are common in Japan It has an infrared thermal camera which can detect trapped survivors in the rubble by their heat signature With the max speed
30. rass Surface Figure 4 4 Moving on the rock surface Figure 4 5 Moving on the sand surface 37 Figure 4 6 Moving on the unsafe condition 38 39 4 3 Live Video Figures 4 7 and 4 8 show the live video received from Apexis Wireless IP Camera by laptop and smart phone Although the resolution of the IP camera is moderate the live video received is clear enough for the Rescue Robot applications Figure 4 7 The live video received by laptop Figure 4 8 The live video received by smart phone 40 As mention in the previous chapter the video from Apexis Wireless IP Camera can be view simultaneously by computer laptop and smart phone Figure 4 9 show the simultaneous video received by laptop and smart phone Figure 4 9 The live video received by Laptop and Smart Phone simultaneously CHAPTER 5 CONCLUSION AND RECOMMENDATION 5 1 Conclusion In conclusion the rescue robot is able to be remotely controlled by the robot operator The live video around the rescue robot is able to feedback to the operator using the wireless IP camera Since the operator is able to control the rescue robot and monitor the situation around the rescue robot the rescue worker can away from the dangerous and harmful disaster area and reduce the risk of injury Beside the rescue robot is capable to travel on the several type of surface and avoid the specific obstacles using a modified tracked wheel structure and me
31. re 3 20 Syntax of PS2 Starter Kit Digital Control 3 4 4 2 Joystick Control Analog Control The joystick of the PS2 is used the joystick angle analog to control it The syntax is begin by declare four unsigned characters up_v down v left_v and right_v to represent the four ordinary direction which are up down left and right as show in Figure 3 21 Then equal the unsigned character to the four direction of the PS2 Starter Kit protocol up v skps p joy ru down v skps p joy rd left v skps p joy ID right v skps p joy Ir Figure 3 21 The declaration of four unsigned character for analog control Next use the unsigned characters to determine the direction of the joystick Besides by using loop in the loop programming technigue the other four direction which are up left up right down left and down right can be determined 33 else if up_v gt 0 else if down_v gt 0 else if left_v gt 0 forward body motor 1 if left_v gt 0 if up_v gt left_v SPEEDL up_v left_v 140 else SPEEDL 140 SPEEDR up_v 140 else if right_v gt 0 if up_v gt right_v SPEEDR up_v right_v 140 else SPEEDR 140 SPEEDL up_v 140 SPEEDL up_v 140 SPEEDR up_v 140 backward body_motor 1 if left_v gt 0 if down_v gt left_v SPEEDR down_v left_v 140 else SPEEDR 140 SPEEDL down_v 140 else if right_v gt 0 if down_v gt right_v SPEEDL down_v right_v 140 else SPEEDL 140
32. ring Electrical Mechatronics Signature JEN A TE INN Name of Supervisor DR ZOOL HILMI ISMAIL Date 28 JUNE 2012 RESCUE ROBOT GO TING LOONG A thesis submitted in fulfillment of the reguirements for the award of the degree of Bachelor of Engineering Electrical Mechatronics Faculty of Electrical Engineering Universiti Teknologi Malaysia JUNE 2012 I declare that this thesis entitled Rescue Robot is the result of my own research except as cited in the references The thesis is not been accepted for any degree and is not concurrently submitted in any candidature of any other degree Signature TIA tor nu Name GO TING LOONG Date 28 JUNE 2012 Acknowledgements First and foremost I would like to take this opportunity to express my sincerest gratitude towards my project supervisor Dr Zool Hilmi Ismail for all his guidance advice trust and freedom gave to me in the process of conducts this project My outmost thanks also go to my family members who have given me support throughout the process of conducts this project and my academic years Without the support and encouragement from them I might not be able to become who I am today Last but not least my sincere appreciation also extends to all my fellow friends and course mate for your constructive suggestions and encouragement The teaching and tips from you are definitely useful for me to conduct this project Abstract This pro
33. s The team s name was recently changed from Darmstadt Rescue Robot Team to Hector Darmstadt which stands for Heterogeneous Cooperating Teams of Robots 2 24 Sandia Gemini Scout Mine Rescue Robot Figure 2 4 Sandia Gemini Scout Mine Rescue Robot Gemini Scout robot a product of Sandia Labs can withstand explosions crawl over boulders find its way through 18 inches of water and navigate through 10 rubble piles Gemini Scout having a boot to deliver food air packs and medicine to miners trapped underground before human rescue teams can arrive But while Gemini Scout is impressive it s not the only rescue robot that first responder teams have in their arsenal Gemini Scout Mine Rescue Robot is less than 61cm 4 feet long and 30 5cm 2 feet tall and it is nimble enough to navigate around tight corners and over safety Sandia engineers had to build something intuitive for new operators who need to learn the system quickly so they used an Xbox 360 game controller to direct the robot To ensure functionality in flooded tunnels Gemini Scout s controls and equipment needed to be waterproof It s able to navigate through 45cm 18 inches of water crawl over boulders and rubble piles and move in ahead of rescuers to evaluate potentially hazardous environments and help in rescue operations planning CHAPTER 3 METHODOLOGY 3 1 Introduction This chapter discussed the complete development process of the resc
34. single motor Figure 3 5 show the wheel of the tracked wheel and the Tracked Wheel Coupling Figure 3 5 The Tracked Wheel and the Tracked Wheel Coupling 16 3 3 Components and Electrical Circuitry This section discusses the electrical circuitry design and components used The full circuit connection is show in Appendix B Table shows the major components used in this project Table 3 1 Major Components Used In This Project NO Components Quantity 1 PIC16F877A 1 2 L298 2 3 PIC Starter Kits 1 4 PS2 wireless Controller 1 5 PS2 Starter Kit 1 6 Apexis Wireless IP Camera 1 7 Transistor BC547 2 331 PIC 16F877A Microcontroller MCLR VPP Ll RB7 PGD RAO ANO T lt RB6 PGC RAT AN1 e RB5 RA2 AN2NREF CVREF gt RB4 RA3 AN3 VREF lt RB3 PGM RAA4 TOCKI C10UT lt RB2 RAS ANA SSIC2OUT lt L lt RBI REO RD ANS lt lt RBO INT RE1ANR ANG gt lt Vo RE2 CS AN7 lt VSS V0D 5 RD7 PSP7 Vss 1 RD6 PSP6 OSC1 CLKI 1 lt 28 RD5 PSP5 OSC2 CLKO lt O 27 H4 RD4 PSP4 RCO TIOSO TICKI amp H lt ROTIRXIDT RC1 T1OSI CCP2 lt 25 J RC6 TX CK RC2 CCP1 lt 24 J RC5 SDO RC3 SCK SCL L 23 J RC4 SDI SDA RD0 PSP0 22 J RD3 PSP3 RD1 PSP1 lt L 20 21 RD2 PS
35. ue robot including the structure and mechanism circuitry and also software 3 2 Mechanical Design of Robot Structure This section discusses the mechanical design of robot structure and modification of the original component 12 TUP VIEW 24 FRUNT VIEW SIDE VIEW Figure 3 1 Three Dimensions Drawing of the Rescue Robot 3 2 1 Main Robot Structure Tracked Wheel Design Figure 3 2 Rover 5 Tank Chassis Set 13 In order to travel on the racked uneven terrain tracked wheel is the main component of the rescue robot Several tracked wheel have been studied in order to choose the most suitable tracked wheel for this project The design shape price function limitation of each tracked wheel have been considered The tracked wheels was used in this project is Rover 5 Tank Chassis Set Rover 5 Tank Chassis Set was chose because there are several advantages of it The clearance can be adjusted by rotating the gearboxes in five degree increments Stretchy rubber treads maintain tension as the clearance is raised Besides inside of the chassis are 4 noise suppression coils at the bottom and a battery holder that accepts 6x AA batteries Moreover Rover 5 Tank Chassis Set consists of four motor spaces to install four motors in the robot structure In this project four motors have been installed in the robot structure Two motors are used to control the robot motion and there are named as Tracked Wheel Motors
36. und Sabah especially around Ranau Kudat and Lahad Datu is no stranger to earthguakes and according to a seismological expert it is not uncommon for two or three to strike the area yearly Beside according to the Engineering Seismology and Engineering Earthquake Research Group E Seer of the faculty of civil engineering Universiti Teknologi Malaysia there is a possibility of a much larger earthquake occurring in Malaysia especially if the earthquakes in Indonesia trigger the inactive fault lines running in peninsular Malaysia 1 Figure 1 2 Mohd Zamri Ramli Engineering Seismology and Engineering Earthguake Research Group E Seer of the faculty of civil engineering Universiti Teknologi Malaysia Dr Norhisham Bakhary another researcher from E Seer says that with the exception of the Penang Bridge and KLCC buildings or structures in Malaysia are not designed to resist the force of an earthguake This means that if an earthguake with a high magnitude occurred in Malaysia there is a high possibility that most buildings would collapse Dr Norhisham says that buildings in this country are only designed for a top or normal load and not for a lateral or side to side load which earthguakes cause He adds that for buildings to be able to withstand earthguakes structural members have to be bigger in size besides many other design considerations This means more material is needed for construction which translates into high
37. y defining each button with a particular number The PS2 Starter Kit Protocol is showed as Figure 3 19 define p_select define p_joyl define p_joyr define p_start define p_up define p_right define p_down define p_left define p 12 define p r2 define p 11 define p rl oOvnd4aAuLruwnr o 31 define p_triangle 12 define p_circle 13 define p_cross 14 define p_square 15 define p joy Ix 16 define p joy ly 17 Hdefine p joy rx 18 Hdefine p joy ry 19 define p joy lu 20 Hdefine p joy Id 21 define p joy ll 22 define p joy Ir 23 define p joy ru 24 define p joy rd 25 Hdefine p joy rl 26 define p joy rr 27 define p con status 28 define p motorl 29 define p motor2 30 Figure 3 19 PS2 Starter Kit Protocol 3 4 4 PS2 Starter Kit Signal Processing This section discusses the signal processing of the PS2 Starter Kit Initially the logic of all buttons is 1 The button will be set to 0 when it has been pressed 3 4 4 1 Button Control Digital Control The button of the PS2 is used the Digital Logic to control it When the button is pressed the logic state of the up button is equal to 0 Then the if loop condition become true the if loop will be executed The syntax for the PS2 controller up button signal processing is show in Figure 3 20 32 if skps p_up 0 body_motor 1 motor selection forward move forward SPEEDL 230 PWM SPEEDR 230 PWM Figu
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