Untitled - Universiti Teknologi Malaysia
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1. H LO OO S Ka i EE E ut Boreuy 9 P5 9 Ko i OLTAGE REGULATOR 5ND GND COMPUTER APPENDIX B SCHEMATIC OF THE TRANSMITTER CIRCUIT 552. Recent Templates NET Framework 4 Sort by Default Search Installed Templates Type Visual Basic i D Windows Forms Application Visual Basic Visual C 4 Visual C ATL CLR General MFC Test Win32 Visual F Other Project Types Database A project for creating an application with a Windows user interface WPF Application Visual Basic D Console Application Visual Basic Im ASP NET Web Application Visual Basic i o El Class Library Visual Basic ASP NET MVC 2 Web Application Visual Basic Du G Modeling Projects Silverlight Application Visual Basic Test Projects SE Online Templates Silverlight Class Library Visual Basic WCF Service Application Visual Basic ASP NET Dynamic Data Entities Web Application Visual Basic St WindowsApplicationl Location C Users Shahnor Desktop Visual Studio Solution Create new solution Solution name WindowsApplicationl WI Create directory for solution Add to source control Figure 3 8 Visual Studio 2010 Project Page Visual Basic 2010 comprises a few windows which are the Form window the Solution Explorer window and the Properties window It also consists of a toolbox which contains many useful controls that allows a programmer to develop his or her visual basic programs Those windows are shown in Figure 3 9 Build Debug Team Data Tools Architecture Test Analyze Window Help ia a Gdg aala e G debug Je A
3. PR 6 alta AU e lowe s s tee Ss a 4 P WF Toolbox x vb Forml vb Design X Properties b All Windows Forms 4 Common Controls mae a PNPMR Module L bumble bee jp ointer e 2 la Green book c Button File Education Modules Robot Stat ial Mpg EECH Ta Semi Automatic Build Action Compile S jpg CheckedListBox GUI Controller Copy to Out Do not copy La main prograrr ComboBox Insert and Go Custom Toc Pattern HD W eee S Custom Toc kal Sad robot wit ateTimePicker Di Sad robot wit Label File Name Forml vb kl stock footage LinkLabel Full Path C Users Shahnor J urbhbl jpg ListBox urljpg ListView kl urll jpg MaskedTextBox ka ur2ipg MonthCalendar il wergvcipg om 2 5 kal wewqegf jpg Notifylcon i Windows 7 gi NumericUpDown kl wgegwejpg PictureBox 7 App config E Forml vb Ya Interfacel vb Ye Modulel vb sabunog eis EE gt gt Haane ProgressBar RadioButton RichTextBox TextBox W ToolTip Output Treeview Jalas WebBrowser 4 Containers Managing E Output PEO RR EE OI Figure 3 9 Visual basic in Microsoft Visual Studio 2010 28 After the form is debugged the new window will appear When some of button in the GUI clicked the specific operation will happen to the program For instance it will show a new window named as GUI Controller The codes behind this click button are shown in the Figure 3 10 This button will do the operat
4. sensors and programming This is to ensure the project is heading in the right direction to achieve its intended objectives The scopes of project are i To use existing mobile robot designed and built by Nirot Oh A L Ah Paa 1 ii To use Arduino Mega as the microcontroller for the mobile robot iii To use nRF24L01 and Arduino Uno as a wireless communication module iv To use Microsoft Visual Studio 2010 software and visual basic as a programming language to build the education module 1 5 Report Layout This report consists of 6 chapters Chapter 1 is the introduction to this project This chapter consist of project background problem statement project objectives and project scopes Meanwhile Chapter 2 will discuss about literature review This chapter consists of many important and useful insights to conduct the project Chapter 3 gives the research methodology of this project It explains about the software and electronic design for this project In Chapter 4 it presents the results and discussion of the result In chapter 5 it will show you how this project is managed Finally the conclusion and recommendation of the project will be discussed in chapter 6 CHAPTER 2 LITERATURE REVIEW 2 1 Introduction This chapter discusses about the previous project and related works that are used as references to complete this project Other than that the theory of electronic and visual basic also being shown and discussed Thi
5. Creating Basic GUI Controller Figure 3 11 shows the complete computer program that can be used to control the robot operation This program is called as Basic GUI Controller The Initiate Robot button is used to reposition the arm to its original position For the buttons inside the Robot Movement box is used to control robot wheels and the rest of the 29 buttons are used for gripper and arms This section will discuss about the developing process of this basic GUI controller a Basic Controller 2 Figure 3 11 Basic GUI Controller After Microsoft Visual Studio 2010 opened and Visual Basic template is chosen to create Windows Form Application the program is ready to be constructed For the basic robot controller the GUI button can be created by dragging the button tool from the toolbox to the Windows Form Application Each of these GUI buttons contains code inside it to do the specific operation Other than that Serial Port components also need to be added to make the serial peripheral communication possible To create a program that attractive to the student a good graphic and background of the software need to be modified To do this change the background properties of each of the components inside the Windows Form Application Figure 3 12 show the development of the GUI controller After Microsoft Visual Studio 2010 opened and Visual Basic template is chosen to create Windows Form Application the
6. DESEN FormiL vb Design x 35 Graphical User Interface of Robot Controller xogjoo gt sabung ezeq dh Robot Movement MenuStrip2 SerialPortl D Timerl Figure 3 14 The Visual studio showing GUI Robot Controller A Creating and Writing Files To make the program to be capable of recording and displaying the operation that have been done atext file need to be created in order to save the operation This file is named as myFile txt that will be created on the desktop folder in the computer In Figure 3 15 the write variable is defined as streamwriter for writing character to a stream in a particular file Dim write As StreamWriter Dim read As StreamReader Figure 3 15 Public class definition of write and read 33 Based on the Figure 3 16 the command of File AppendText will create and write W the myFile txt file if there is no existing file there But if myFile txt already created there this command will just write W without erasing the previous data characters write File AppendText C Users Shahnor Desktop myFile txt write Write W write Close Figure 3 16 Code to create the file and write the letter W B Deleting File and Clearing text boxes Figure 3 17 shows how the operation of clearing textboxes and list boxes could be done For the process of clearing text boxes an empty file needs to be created inside the computer For this project it is named as
7. Ka AMT L Figure 2 1 Arduino Mega 2 2 2 Arduino Uno The Arduino Uno is a microcontroller board based on the ATmega328 datasheet It has 14 digital input output pins of which 6 can be used as PWM outputs 6 analog inputs a 16 MHz ceramic resonator a USB connection a power jack an ICSP header and a reset button 9 It contains everything needed to support the microcontroller simply connect it to a computer with a USB cable or power it with a AC to DC adapter or battery to get started Figure 2 2 shows Arduino Uno microcontroller Figure 2 2 Arduino Uno 2 3 Motor Drivers Motor driver or motor controller is a device or a group of devices that serves to govern in some predetermined manner the performance of an electric motor 10 Motor drivers are used to control the motor operation such as start stop forward or reverse the rotation and regulating the speed 2 3 1 L298 Arduino Motor Driver Shield This motor shield allows Arduino to drive two channel DC motors It uses a L298N chip which delivers output current up to 2A each channel The speed control is achieved through conventional PWM which can be obtained from Arduino s PWM output Pin 5 and 6 The enable disable function of the motor control is signalled by Arduino Digital Pin 4 and 7 11 The Motor shield can be powered directly from Arduino or from external power source It is strongly encouraged to use external power supply to power the motor shiel
8. Tilt Left 1 Stop Forward 2s Q Tilt Left 2 Reverse 2s Stop Servo Motors Wheels Operation 3003 Front Arm Push Position 80 to position 1 Front Arm Pull Position 1 to position 80 Middle Arm Up Position 70 to position 94 Middle Arm Down Position 94 to position 70 Arm Operations Gripper Wheel Spin Clockwise 0 25s Spin Anticlockwise 0 25s 26 3 52 Developing and Programming the Teaching and Learning Module A graphical user interface is a type of user interface that allows users to interact with electronic devices with images rather than text commands 16 GUI also used in computers gaming devices and portable video player Visual Basic is a third generation event driven programming language and integrated development environment IDE from Microsoft 17 In typical application of visual basic it let the user create their application or simple software This will make the complicated program look simpler and easier to be understood rather than a bunch of letter in a normal debug window 3 5 2 1 Creating the Main Program Based on Figure 3 8 the New Project Page has three templates of project which are Visual Basic Visual C and Visual C Since we are going to use Visual Basic as a platform to build the education module we shall select Visual Basic As we are going to learn to create windows Applications we will select Windows Forms Application 27
9. mobile robot need to be done The robot will operate wirelessly according to the input from the GUI controller This wireless communication module is about the connection between two microcontrollers Two nRF24L01 are used for the communication between the two microcontroller Figure 3 24 shows the source code of GUI program to send string to the Arduino Meanwhile in the Figure 2 35 the serial properties especially its baud rate and the port name need to be the same with the Arduino s Private Sub Button4 Click ByVal sender As System Object ByVal e As System EventArgs Handles Button4 Click SerialPort1 Open SerialPort1 Write A SerialPort1 Close End Sub Figure 3 24 Source code to send string Properties SerialPort1 System IO Ports SerialPort Pi Bl La 7 3 4 gt ApplicationSettings Name GenerateMember Modifiers Friend DataBits 8 DiscardNull DtrEnable Handshake Parity ParityReplace PortName Figure 3 25 Serial port properties 38 Figure 3 26 shows the source code of the wireless communication program of the system For receiving and transmitting address it must be the same with the other Arduino to make it connected to each other void setupi Serial begin 9600 Mirf spi sMirfHardwareSpi Mirf csnPin 9 define CSN pin of the arduino Mirf cePin 8 define CE pin of the arduino Mirf initi Mirf setRADDRI byte 00008 receiving address from other arduino Mir
10. my File txt Kosong txt file Public Class definition of RekodArray Retrieving string W to the array in Private Sub The timer properties The counter listbox and codes listbox Timer loop Source code to send string Serial port properties Arduino communication source code Windows of the whole program Basic GUI controller Position of arms and gripper Movement test Robot doing pick and place operation GUI recorder Replaying the operation 28 29 30 31 32 32 33 33 34 35 35 35 36 36 37 37 38 40 41 41 42 43 44 45 xii Hz MHz RM LIST OF SYMBOLS Ampere Frequency Hertz Mega Hertz Malaysia Ringgit second Voltage xiii XIV LIST OF ABBREVIATIONS IC Integrated circuit UART Universal asynchronous receiver transmitter MHz Mega hertz USB Universal serial bus ICSP In circuit serial programming AC Alternate current DC Direct current PWM Pulse width modulator MCU Multipoint control unit SPI Serial peripheral interface ISM International Safety Management RF Radio frequency bps byte per second dB deciBell GUI Graphical user interface IDE Integrated development environments RM Ringgit Malaysia APPENDIX A B LIST OF APPENDICES TITLE Schematic of the Robot Circuit Schematic of the Transmitter Circuit PAGE 54 55 XV CHAPTER 1 INTRODUCTION 11 Project Background Teaching and learning module based on pick and place mobile robot i
11. operation have been conducted The program was successfully recorded the operation when the user start to move the robot using the GUI controller This program saves the operations as a string inside the array in the background process Figure 4 6 shows operations and the total operations that have been done in the text box 44 Manually press STOP G to end replay Recorded Operations WWWWWDDDWWWWWAAAWWWWWM JUIKN Total Code 26 Figure 4 6 GUI recorder 45 Test on the Ability to Replay Saved Operation After recording the robot operation the user can replay the previous operation that he or she done The program also has been test to know the successfulness of the program Figure 4 7 shows the program after the replay operations have been done For every second the command number and codes is updated until reach the final code For every second also this code string sent to the port Arduino to be sent to the robot s microcontroller controller part 45 2 23 Command No 24 Command No 25 Command No 26 Command No 27 Command No 28 Command No 29 Loc Ww Ww Ww WwW Ww D D D WwW Ww WW Ww Ww A A A Ww WwW Ww w w M J U K N Figure 4 7 Replaying the operation 4 6 Test on Wireless Communication This test is conducted to know the farthest distance from the computer that can be reached by the robot while still stay connected with the wireless communication This experiment con
12. program is ready to be constructed For the basic robot controller the GUI button can be created by dragging the button tool from the toolbox to the Windows Form Application Each of these GUI buttons contains code inside it to do the specific operation Other than that Serial Port 30 components also need to be added to make the serial peripheral communication possible To create a program that attractive to the student a good graphic and background of the software need to be modified To do this change the background properties of each of the components inside the Windows Form Application Figure 3 12 show the development of the GUI controller Toolbox GUI Windows Form Application eo Basic GUI Controller Microsoft Visual Studio cg S8 STEE IECH EE ES File Edit View Project Build Debug Team Data Tools Architecture Test Analyze Window Help z ji ALT ot ub e Forml vb Design Xx Access Default lt BackC _ Cont gt Backgr MM Syste Backgr Tile Cursor Default Font Microsof ft Text The text associated with the control Serial Port for SPI Connection Figure 3 12 The development of the software This Basic GUI Controller also equipped with shortcut button to make the robot control easier and faster The user can just press the button on the computer keyboard to send the operation data to the mobile robot The shor
13. with record and replay ability For operating the robot controller using the GUI controller with record and replay ability user can control the robot by pressing certain keys on the computer In addition students can also program the robot to repeat the operation that has been done About educational module it is in the form of a special program for students to learn the basics of robotics and also to understand the structure behind this robot These include the display of basic notes program flowcharts basic term definitions and basic programming ABSTRAK Modul pengajaran dan pembelajaran berdasarkan kepada robot bergerak ambil dan letak adalah alat pengajaran yang dibangunkan untuk membantu pelajar belajar tentang asas robotik Dalam kehidupan seharian robot menjadi semakin dan semakin penting untuk menyelesaikan dan memudahkan tugas manusia Oleh itu pembangunan modul untuk pendidikan robotik seharusnya diambil serius Projek ini adalah kombinasi daripada dua elemen penting iaitu merekabentuk litar elektronik dan merekabentuk program komputer Projek ini juga melibatkan pemasangan mikropengawal baru kepada robot sedia ada membina modul komunikasi tanpa wayar dan mencipta module pendidikan berdasarkan robot bergerak Robot bergerak ini dilengkapi dengan module komunikasi tanpa wayar untuk membolehkan komunikasi antara robot dan komputer Robot ini boleh dikawal dengan dua cara Cara yang pertama adalah dengan menggunakan kekunci arah dala
14. 0 RESISTOR 8 0 05 0 40 11 LED 2 0 10 0 20 12 BATTERY HOLDER 2 3 00 6 00 13 RECHARGEABLE BATTERY L S L S 30 00 14 OTHERS L S L S 21 60 DONUT BOARD WIRE PINS SOLDERING IRON CABLE SCREWS BOLTS AND NUTS 49 5 4 Summary This chapter has shown the Gantt chart of the project for the whole semester as well as the table for the estimated cost CHAPTER 6 CONCLUSION AND RECOMMENDATION 6 1 CONCLUSION As a conclusion this project has achieved the objectives The reliability and the stability of the project is perfect as been expected The basic GUI controller can now control the robot operation The GUI controller with record and replay ability also successfully constructed However regarding the mobile robot there are some problems that affect the stability This is caused by the low performance of the mobile robot wheels mechanical part But the arms and the gripper are functioning well As the brain of the robot microcontroller is successfully installed and able to control the robot The microcontroller will execute the program that has been uploaded to it The wireless communication module also functioning well In overall the teaching and learning module based on pick and place mobile robot has been successfully developed 51 6 2 RECOMMENDATION In the future there are some improvements can be done to improve the functionality and flexibility of the teaching and learning module This will make the module more user
15. 3 2 Software Development Tools 3 2 1 Microsoft Visual Studio 2010 Ultimate 3 2 2 Arduino IDE 3 3 Teaching and Learning Module Design 3 3 1 Main Program 3 3 2 Learning Module Overview 3 4 Hardware Design 34 1 Overall Circuit Design 34 2 Robot Microcontroller 3 4 3 Motor Driver 3 4 4 Communication System Circuit Design 3 5 Graphical User Interface Module 3 5 1 Robot Microcontroller 3 5 2 Developing and Programming the Teaching and Learning Module 3 521 Creating the Main Program 3 5 2 2 Creating Basic GUI Controller 17 17 17 18 18 19 20 21 21 22 23 23 24 25 25 26 26 28 viii REFERENCES APPENDICES 3 5 2 3 Creating GUI Controller with record and replay function 3 5 3 Wireless Communication Module 3 6 Summary EXPERIMENTAL RESULTS AND DISCUSSION 4 1 Introduction 42 Test Run of the Education Module 4 3 Test on Robot Operation Controlled by GUI Controller 44 Test on the Ability to Record Operation 4 5 Test on the Ability to Replay Saved Operation 4 6 Test on Wireless Communication 4 7 Summary PROJECT MANAGEMENT 5 1 Introduction 5 2 Gantt Chart of the Project 5 3 The Estimated Cost 5 4 Summary CONCLUSION AND RECOMMENDATION 6 1 Conclusion 6 2 Recommendation 31 37 38 39 39 39 41 43 44 45 46 47 47 47 48 49 50 50 51 52 54 ix TABLE NO 2 1 3 1 4 1 4 2 5 1 5 2 LIST OF TABLES TITLE Arduino Uno and Arduino Mega SPI pins Robot Motor Operation T
16. And Place Mobile Robot DC Motor 1 Wheel sensorl Gripper sensor2 Wireless Module Microcontroller Arduino Uno Arduino Motor Drivers Mega nRF24LO1 L293d IC fal L298 IC nRF24LO1 Voltage regulator Figure 3 5 The block diagram of the electronic parts 23 3 42 Robot Microcontroller By using the Arduino Mega the robot now possible to do the pick and place operation The microcontroller used to control three DC motors two servo motors two motor drivers nRF24L01 communication module and other sensors Due to the such many input and output The arduino Mega are chosen instead of Arduino Uno because it have much more input output pins The microcontroller is attached behind the mobile robot as can be seen in Figure 3 6 Figure 3 6 The hardware of the mobile robot 3 4 3 Motor Driver The motor driver L298 shield is attached to the Arduino Mega behind the mobile robot This motor driver is capable to supply current up to 2A to both wheel motors To control the motor rotation speed this motor driver used PWM which can be obtained from Arduino s PWM output Pin 5 and 6 24 Other than that L293D also used to control the gripper motor This IC is much simpler and easier to be programmed The disadvantage of using this IC it only can supply up to 0 6A current that is not enough to drive the wheel motors 3 4 4 Communication System Circuit Design This project used nRF24L01 as the wireless communi
17. Items Clear and ListBox2 Items Clear are used This code will easily wipe all the previous information in that two list boxes Back to Figure 3 17 in order to delete the existing file myFile txt that have been stored in the desktop just simply using operation delete File Delete C Users Shahnor Desktop myFile txt C Array for Record the Operation Character An array is a variable that holds multiple values of the same type For this program the array of RekodArray X X can be a value from 0 to 100 This array will holds a string value such as W A S D N J U I K and M when these button pressed Figure 3 19 shows how to define RekodArray as string The variable nMula and M also used to make this array because it will change by time to time RekodArray nMula and RekodArray M Based on figure 3 20 the sring W is sent to RekodArray nMula 35 Dim RekodArray 1 As String Dim nMula As Integer Pim M As Integer Figure 3 19 Public Class definition of RekodArray send to array RekodArray nMula CStr Ww KotakTeks2 Text CStr nMula 1 nMula nMula 1 Figure 3 20 Retrieving string W to the array in Private Sub D Timer Timer is used in order to make the one second time interval of writing Counter box and Codes box Other than that this timer also used to set the time when to send the string contained in the RekodArray M to the port3 Based on Figure 3 21 the timer is s
18. Kosong txt that is placed in a specific folder as shown in the Figure 3 18 Then the program will copy characters inside the Kosong txt file to be put in the textbox Recorded Codes and textbox2 Total Codes resetButton Private Sub Button18 Click ByVal sender As System Object ByVal e As System EventArgs Handles Button18 Click read File OpenText C Users Shahnor Desktop Visual Studio Kosong txt Kosong txt is an empty file KotakTeks Text read ReadToEnd Put Kosong txt to the text box KotakTeks2 Text read ReadToEnd Put Kosong txt to the text box ListBox1 Items Clear ListBox2 Items Clear read Close nMula File Delete C Users Shahnor Desktop myFile txt delete myFile txt End Sub Figure 3 17 Clearing textboxes clearing list boxes and deleting my File txt 34 5 2 sik C Users Shahnor Desktop Visual Studio Organize v Include in library v Share with v Burn Favorites BE Desktop NM Downloads Recent Places od Libraries Documents d Music E Name AN Automatic A Distance and Directions A GUI Controller 1 GUI PNPMR A Index A Ustudents L Kosong txt New folder Date modified 24 2 2014 3 18 PM 24 2 2014 3 54 PM 24 2 2014 2 18 PM 27 2 2014 10 04 AM 14 9 2014 10 49 PM 26 2 2014 1 28 AM 21 10 2014 4 13 PM ts Pictures E Videos Figure 3 18 Kosong txt file On the other side to clear the items inside the ListBoxl and ListBox2 the codes ListBoxl
19. PSZ 19 16 Pind 1 07 UNIVERSITI TEKNOLOGI MALAYSIA DECLARATION OF THESIS UNDERGRADUATE PROJECT REPORT AND COPYRIGHT Author s fullname SHAHNOR SUZAINI BIN NOR SAZALI Date of Birth 21 MARCH 1991 Title TEACHING AND LEARNING MODULE BASED ON PICK AND PLACE MOBILE ROBOT Academic Session 2014 2015 declare that this thesis is classified as 1972 CONFIDENTIAL Contains confidential information under the Official Secret Act RESTRICTED Contains restricted information as specified by the organization where research was done full text OPEN ACCESS 1 agree that my thesis to be published as online open access acknowledged that Universiti Teknologi Malaysia reserves the right as follows 1 The thesis is the property of Universiti Teknologi Malaysia The Library of Universiti Teknologi Malaysia has the right to make copies for the purpose of research only The Library has the right to make copies of the thesis for academic exchange Certified by ve NATURE SIGNATURE OF SUPERVISOR 91032101 01 6015 EN AHMAD RIDHWAN BIN WAHAP NEW IC NO PASSPORT NAME OF SUPERVISOR Date 19 JANUARY 2015 Date 19 JANUARY 2015 NOTES X If the thesis is CONFIDENTAL or RESTRICTED please attach with the letter from the organization with period and reasons for confidentiality or restriction I hereby declare that I have read this project report and in my opinion this project report is sufficient in terms of scope and quali
20. ble 2 1 Arduino Uno and Arduino Mega SPI pins PIN po GND GND GND po NEE 33V See note 3 3V See note DIO 8 DIOS 12 2 5 Related Works To conduct this project the related project are studied and referred These are including armed mobile robot design project pick and place mobile robot project and Scorbase software for scorbot 2 5 1 Armed Mobile Robot Design This project has been done in 2002 by Nirot Oh A L Ah Paa Armed mobile robot can be define as a mobile robot with pick and place object from one place to another place function 1 This robot can be divided into two main parts which are mobile robot and robot arm Mobile robots have the capability to move around in their environment and are not fixed to one physical location 2 Robot arm referred as a part that equipped with a robot manipulator that can be modelled as a chained of several rigid bodies or links connected in series by neither revolute or prismatic joint driven by manipulator 13 Figure 2 7 shows the mechanical part of the robot Elbow gege KC Robot Body Dau Shoulder ae Mi Wrist Gripper Chained Wheel 4 PE ey Figure 2 7 The mechanical design of the mobile robot 13 The objectives of this project are to use basic and easy to purchase components in the local market to design the mobile robot that has high efficiency to move in rough or waving surface to design arm system by servo motor and to design gripper system tha
21. cation device This device is used because it is cheaper and easy to get from the market as compared to Xbee communication module To make the wireless transmission possible the other additional microcontroller is needed to control the nRF24L01 operation This microcontroller also connected to the computer USB port to retrieve the information from the GUI program Figure 3 7 shows the complete system of the communication module One of the nRF24L01 is attached to the robot microcontroller and the other nRF24L01 is attached to the Arduino Uno that will be connected to the computer The schematic of this circuit also can be seen on Appendix A and Appendix B Figure 3 7 The hardware of the communication module 25 3 5 Graphical User Interface Module 3 5 1 Robot Microcontroller In order to make the robot operates as desired the Arduino Mega that have been attached to the robot need to be programmed Based on Table 3 1 we can see that when a shortcut key is pressed the motor wheel will only move in several second For the servo motors that used to move the robot arms the servo will move from the initial position to the next position as can be seen in Table 3 1 Table 3 1 Robot motor operation Operation Description Key Motor Wheel Left Motor Right Motor Forward 5s Forward 5s Reverse 5s Reverse 5s Stop Forward 5s A Turn Right Forward 5s Stop D Tilt Right 1 Forward 2s Stop Tilt Right 2 Stop Reverse 2s
22. crocontrollers Theory and Applications 6 ed Tata McGraw Hill Publishing Company Limited 2007 10 11 12 13 14 15 16 17 53 Massimo Banzi Getting Started With Arduino Ist Edition Make Book 2008 Robert J Alonzo Electrical Codes Standards Recommended Practices and Regulations Elsevier Inc 2010 Cytron Enterprises 2 amp Motor Driver Shiled Brochure Cytron Technologies Sdn Bhd 2014 Nordic Semiconductor nRF24LO14 Single Chip 2 4GHz Transceiver Preliminary Product Specification v1 0 Nordic Semiconductor 2008 Johari Halim Shah Osman Robotics Unpublished note Universiti Teknologi Malaysia 2009 Ernest V Gaine New Research on Mobile Robots Nova Science Publishers 2008 Intelitek Inc SCORBASE Version 4 9 and Higher for SCORBOT ER 4u and SCORBOT ER2u User Manual Intelitek Inc 2003 Alan Evans Kendall Martin Mary Anne Poatsy Technology in Action Pearson Education 2008 Gary B Shelly and Corinne Hoisington Microsoft Visual Basic 2008 Comprehensive Concepts and Technigues Cengage Learning 2008 54 APPENDICES APPENDIX A SCHEMATIC OF THE ROBOT CIRCUIT A 5 ENABLE 8 ENABLE A V XOLOW Od LHO HOLOW 20 1457 INPUTI E BOTTOM SERVO TOP SERVO GRIPPER DC MOTOR Tes1Ip pue wa EEEKEER omg DTUNWWOI o9z eaw ounpiy peun
23. d Figure 2 3 shows the Arduino motor driver Shield D PPG GL H e MP ERE EES A D w LEI St MS rr Figure 2 3 L298 Arduino Motor Driver Shield Other specifications of this motor driver are as below i Logic control voltage 5V From Arduino ii Motor driven voltage 4 8 35V From Arduino or External Power Source iii Logic supply current Iss lt 36mA iv Motor driven current Io lt 2A v Maximum power consumption 25W T 75 C vi PWM or PLL speed control mode 2 3 2 L293D Motor Driver IC The L293D are guadruple high current half H drivers The L293 is designed to provide bidirectional drive currents of up to 1 A at voltages from 4 5 V to 36 V The L293D is designed to provide bidirectional 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 2 4 shows the integrated circuit of L293D Figure 2 4 L293D IC 2 4 Wireless Communication Module Wireless communication is proven to increase the flexibility of a robot In wired communication the robot working area is limited by the communication cable length 10 241 nRF24L01 Wireless Module The nRF24L01 is a single chip 2 4GHz transceiver with an embedded baseband protocol engine Enhanced ShockBurst suitable for ultra low power wireless appl
24. ducted because in the real world we do not know the distance from the computer and mobile robot that the student will conduct to control the robot The experiment was conducted in the clear area that does not have any obstacles in between the transmitter and receiver 46 Based on Table 4 2 the successfullness of the wireless communication between computer and mobile robot are recorded This is done by moving the mobile robot to the farthest distance it can reach The mobile robot operate smoothly from 0 meter to 26 meter but when passing 27 meter the wireless communication started to fail At this point the robot can no longer be controlled The experiment is repeated three times to make sure the consistency of the results Table 4 2 Robot wireless communication distance test Distance between mobile Signal Received robot and computer m First Test Second Test Third Test 47 Summary This chapter has explained about the tests that have been conducted on the teaching and learning module based on pick and place mobile robot These include test run on the education module test on robot operation controlled by GUI controller test on the ability to record operation test on ability to replay saved operation and test on wireless communication CHAPTER 5 PROJECT MANAGEMENT 5 1 Introduction This chapter discusses the project Gantt chart and also the estimated cost for the project By doing
25. e 42 keyboard of the computer The result whether the operation successfully done or fail are recorded This experiment repeated three times to ensure consistency of the GUI controller performance As a result the robot is confirmed can be controlled successfully using GUI controller Table 4 1 Test on the robot operation controlled by GUI controller ra li k PEP PRE Ea Ke attest IV IV NN Vv Vv viv iv v Vv Vv Vv Vv viv j2mttest_ V V N Vv v v Vv Vv Vv Vv Vv Vv Vv Vv WV WN et N NN Y Vv v Vv Vv Vv v Vv Vv Vv Vv Vv WI But there is a problem regarding the movement the left robot wheel move a bit faster than the right one This makes the robot move a bit to the right while we want it to go straight as can be seen in Figure 4 4 Figure 4 4 Movement test This problem probabily due to the mechanical problem of the robot Because of this robot already old the gears movement in the gear box are not smooth Other than that the robot chain wheels also sometimes accidently slipped making the movement not in straight path But this problem is just a minor problem as we are using manual operation and can redirect the movement using the GUI controller Figure 4 5 shows the mobile robot can do the pick and place operation using the GUI controller 43 Figure 4 5 Robot doing pick and place operation 44 Test on the Ability to Record Operation The test of the ability to Record the robot
26. e GUI has been developed using the Visual Basic software The search pick and place mobile robot is equipped with wireless communication module so that the mobile robot can be controlled wirelessly Xbee module is used as the transmitter and receiver of data signal 15 2 5 3 SCORBASE for SCORBOT ER 2u 4u SCORBASE for SCORBOT ER 2u 4u is a robotics control software package for robot programming and operation 15 This robot is available in the Faculty of Electrical Engineering Universiti Teknologi Malaysia Figure 2 11 shows the graphical user interface to control the robot arm by two operation modes which are normal robot movement and manual movement PA SCORBASE for SCORBOT ER4 ae ei File Edit Run Options View Window Help BD ow LE gE G ON o b Alb LB Ap IS Joints C xyz Speed5 v Uber ul 213141 5 6 zie RRASE Teach Positions Simple Position Number Include Axes Iw Robot Peripherals Ikat Speed d RB e Absolute L rs Expand C Relative to E Figure 2 10 GUI of the SCORBASE 2 54 Fischertechnik Invented by Artur Fischer and produced by GmbH in Waldachtal Germany Fischertechnik is used in education for teaching about simple machine as well as motorization and mechanisms The company also offers computer interface technology which can be used to teach the theory of automation and robotics More recently Fischertechnik has started producing a whole line of ki
27. ect also eguipped with slides for the student to go through and learn some of the robotic information These slides contain information regarding the pick and place mobile robot so that it can help students to learn about the robot that they will use Other than that the program such as graphical user interface to control the mobile robot also have been put in some of the slides 34 Hardware Design This project use the existing pick and place mobile robot All the mechanical part of this project is unchanged However there are some mechanical problems regarding the wheels and gripper that need to be repaired These caused some part of the mechanical works need to be done to revive this robot These includes changing broken gear in the gear box repairing the servo motor attachment to the arm and the gripper part 22 3 41 Overall Circuit Design Based on the Figure 3 5 from the computer laptop that have the SPI communication with Arduino the data is able to be sent to the nRF24L01 This nRF24L01 will later transmit the signal to the other nRF24L01 wirelessly As a main microcontroller Arduino Mega is connected to the nRF24L01 motor drivers sensors and two servo motors This circuit design consist of two DC power supply to make the robot operate smoothly The overall schematic of the robot control system schematic diagram and wireless system schematic diagram are as been attached in the Appendix A and Appendix B Pick
28. er comes with its arduino IDE intergrated development environment to make it possible to be programmed The language is almost the same as C language This IDE is used to program the robot arduino 19 Arduino Mega and transmitter microcontroller Arduino Uno Figure 3 2 shows the integrated development environment of the Arduino File Edit Sketch Tools Help sketch dec31a Figure 3 2 Arduino IDE 3 3 Teaching and Learning Module Design The teaching and learning module based on pick and place mobile robot are designed to have a parent window as a main window Based on Figure 3 3 we can see the overall block diagram of this program From the main window teaching and learning module based on pick and place mobile robot it can generate a lot more other windows Teaching and Learning Module Based on Pick and Place Mobile Robot GUI Controller Student with Learning Record and Module Replay Function Index 20 3 Tabs Main Page Introduction Module Basic GUI Controller Figure 3 3 Block diagram of the computer program 3 31 Main Program Main program of the teaching and learning module basically has several strip menus and tabs to generate other application This is a kind of GUI to let the user use the program and command what to do Figure 3 4 shows the start page of the program 21 Figure 3 4 Main program of the software 3 3 2 Learning Module Overview The proj
29. eriences 4 Particularly the educational robotics technologies enable students to control the behaviour of a tangible model robot by means of a virtual environment in which students investigate everyday phenomena 5 With our current situation in this modern world that facing the advancement of technology it is relevant and good for us to start thinking how to attract the younger generation to become good robotics field Therefore the attractive tools to educate the student in this field need to be created in order to generate more expertise in robotics especially in our country in the future 1 3 Project Objectives The main objective of this project is to develop a robotic education tools for student that can boost the student knowledge and interest towards robotic education To achieve this objective the following sub objectives need to be done in this project i To rebuild an existing search pick and place mobile robot by installing a new microcontroller unit designing the wireless communication system and constructing computer program to control robot by using computer ii To design and prepare the teaching and learning modules iii To write a computer program based on the teaching and learning module suitable for undergraduate students 1 4 Project Scopes The following are the guidelines that listed to ensure the project is conducted within its boundary of mechanical hardware modification electronics including
30. est on the robot operation controlled by GUI controller Robot wireless communication distance test Gantt chart of the project The estimated cost to rebuild the robot PAGE 11 25 42 46 48 48 FIGURE NO 2 1 2 2 23 24 23 2 6 2 7 2 8 2 9 2 10 2 11 3 1 3 2 3 3 3 4 3 5 3 6 3 7 3 8 3 9 LIST OF FIGURES TITLE Arduino Mega Arduino Uno L298 Arduino Motor Driver Shield L293D IC An nRF24L01 Transceiver nRF24L01 transceiver pins The mechanical design of the mobile robot Structure of the mobile robot GUI controller design GUI of the SCORBASE A robot sold by Fischertechnic Microsoft Visual Studio 2010 Arduino IDE Block diagram of the computer program Main program of the software The block diagram of the electronic parts The hardware of the mobile robot The hardware of the communication module Visual Studio 2010 Project Page Visual basic in Microsoft Visual Studio 2010 PAGE VD oo Aa NN 11 12 14 14 15 16 18 19 20 21 22 23 24 27 27 xi 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 3 24 3 25 3 26 4 1 4 2 4 3 4 4 4 5 4 6 4 7 The source code of the button Basic GUI Controller The development of the software The properties of button 1 The Visual studio showing GUI Robot Controller Public class definition of write and read Code to create the file and write the letter W Clearing textboxes clearing list boxes and deleting
31. et to repeat the loop for every 1000 milliseconds Total Code Properties El Timer1 System Windows Forms Tin saja Enabled False Interval 1000 ApplicationSet Tag Name Timerl GenerateMemb True Modifiers Friend Figure 3 21 The timer properties 36 To start the timer loop the command Timerl Start is used To stop this looping program Timer1 Stop is used Each loop interval is 1000 milliseconds or also equal to second Figure 3 22 shows the replay operations of the program The Counter and Codes List box will update every one second until the program stopped C ue Figure 3 22 The counter listbox and codes listbox Figure 3 23 shows that the operation done by the time in each second The ListBox2 Counter list box and ListBox 1 Codes box will print the Command No and string of RekodArray At the same time in will send the string of RekodArray to the serial port Private Sub Timer1 Tick 1 ByVal sender As System Object x x 1 ListBox2 Items Add Command No x ToString ListBox1l Items Add RekodArray M SerialPort1 Open SerialPort1 Write RekodArray M SerialPort1 Close M M 1 End Sub Figure 3 23 Timer loop 37 3 53 Wireless Communication Module In this project the designed GUI is the main controler to make the connection between the computer and the mobile robot In robot operation process the communication between the computer program and the
32. f setTADDR byte 00008 transmitting address from other arduino Mirf payload sizeof mypacket up to 32 byte only Mirf channel 100 Mirf config void loop while Mirf dataReady Serial available f program here Mirf getDatai byte smypacket Get data from GUI or serial computer Figure 3 26 Arduino communication source code 3 6 Summary This chapter has discussed the details of the development of the project The robot hardware microcontroller used wireless communication module GUI robot controller and the development of the teaching and learning module based on pick and place mobile robot have been explained CHAPTER 4 EXPERIMENTAL RESULTS AND DISCUSSION 41 Introduction This chapter is going to review the experimental results and the discussion of the project These include test run on the education module test on robot operation controlled by GUI controller test on the ability to record operation test on ability to replay saved operation and test on wireless communication 4 2 Test Run of the Education Module This teaching and learning module base on pick and place mobile robot consists of one main program and five other minor programs which have been discussed in Chapter 3 The GUI buttons working normally except some of the buttons that has unspecific operation These buttons are actually a way to improve this education module The tests of the programs are as shown
33. friendly and can be used for many levels of student Some of the recommendations are i Simplified the existing mobile robot model so that we can reduce the cost of this robot ii Enhance more advance syllabus based on the curriculum iii Education partnership program iv Enquiry and questionnaire given to the student after using the module Improve by time to time v Incorporating passive vision system into the existing module vi Active vision system capability to the robot by installing a camera to the robot 2 3 8 22 REFERENCES Not Oh A Ah Paa Rekabentuk Robot Bergerak Berlengan Universiti Teknologi Malaysia 2002 Ahmad Faizzudeen Bin Ab Aziz Fauzi Search Pick and Place Mobile Robot Universiti Teknologi Malaysia 2013 F B V Benitti Exploring the Educational Potential of Robotics in Schools A Systematic Review Computers amp Education Pages 978 988 2012 C Dede Theoretical Perspectives Influencing the use of Information Technology in Teaching and Learning J Voogt G Knezek Education Pages 43 62 2008 Resnick F Martin R Sargent B Silverman Programmable Bricks Toys to Think With IBM Systems Journal Pages 443 452 1996 Syed R Rizvi Microcontroller Programming An Introduction Taylor amp Francis Group LLC 2012 Ronald J Tocci Neal S Widmer Gregory L Moss Digital Systems Principles and Application Pearson Education Limited 2011 Ajay V Deshmukh Mi
34. ications The nRF24L01 is designed for operation in the world wide ISM frequency band at 2 400 2 4835GHz 12 To design a wireless communication system with the nRF24L01 you are simply need a microcontroller and a few external passive components You can operate and configure the nRF24L01 through a Serial Peripheral Interface SPD 12 Figure 2 5 shows the nRF24L01 device Figure 2 5 An nRF24L01 transceiver This module based on Nordic nRF24L01 highly integrated ultra low power ULP 2Mbps RF transceiver for the 2 4GHz ISM Industrial Scientific and Medical band 12 Nordic nRF24L01 integrates a complete 2 4GHz RF transceiver RF synthesizer and baseband logic including the Enhanced ShockBurst hardware protocol accelerator supporting a high speed SPI interface for the application controller 12 The specifications of this motor driver are as below i Power supply 1 9 3 6V ii JO port working voltage 0 3 3v 5v 11 iii Transmitting rate 7dB iv Receiving sensitivity lt 90dB v Transmission range 250m in open area vi Dimension 15x29mm Figure 2 6 shows the pins of nRF24L01 transceiver This transceiver need to be connected to the microcontroller to make the serial peripheral interfacing possible 1 GND 5 SCK 2 VCCc 6 MOSI 3 CE 7 MISO 4 CSN 8 IRQ Figure 2 6 nRF24L01 transceiver pins Based on Table 2 1 the Arduino Uno and Arduino Mega pins used to be connected to the nRF24L01 Ta
35. in Figure 4 1 All 40 those windows are functioned well The transmitter needs to be connected to the computer to make the program fully functioning Module Controfier Help Educaten Module Based On Pick And Place Mobile Rodat Man Page Rebs Type ot obat Robot Specticatons Contrai Sytem flock Diagram Robat Sintem Schematic Wireless System Schematic Rowobat Geduno Rowcha a Teaching And Learning Module Base On Pick And Place Mobile Robot File Run Education Modules RobotStatus Wireless Mode Help Tips And Hints Main Page Introduction N Figure 4 1 Windows of the whole program 41 43 Test on Robot Operation Controlled by GUI Controller To conduct this test Basic GUI controller need to be run as can be seen in Figure 4 2 Then connect the cable of the transmitter to the computer and on all the switches of the robot sl Basic Controller Figure 4 2 Basic GUI controller When the Initiate Robot button pressed the robot gripper went to the default position It is programmed to do so because to place the griper on the position where the robot can move and pick the object easily Figure 4 3 show the default position of the arms and gripper position after the button was pressed Figure 4 3 Position of arms and gripper After that the robot is ready to do the operation using the GUI controller Based on Table 4 1 the operations of the robot are experimented by pressing th
36. ion of calling other program from specific location in the computer using Process Start command sch N l J GUiControllesToolStripMenultem e alsa End Sub A bumble 38 e ial Green b 1 Private Sub TableLayoutPanel1 Paint ByVal sender As dl jpg There are no usable controls in g this group z er kal mia Drag an item Gal main pr onto this test P to adikte s E Private Sub TestToolStripMenultem Click ByVal sender jail Pattern the toolbar Process Start C Users Shahnor Desktop visual J ial Sad rob Me Close kail Sad_rob End Sub i stock fc kl urbhbij Lot ESCH sapinog Private Sub iControllerToolStripMenuItem Click 8yv Al urtipg Process start c Users Shahnor Desktop visual ial wll jpg all vin Private Sub AutghaticToolstriptenuItes Click Byval s tall wergve Process St Ft C Users Shahnor Desktop Visual lt ial wewger End Sub a Window all waegwe Private Sy DistanceDirectionsToolStriptenuitem_Clic 1 App config Procgfs Start C Users Shahnor Desktop Visual T Forml vb en D Interfacel v E Modulel vt Privife Sub FlowtayoutPaneli Paint 1 ByVal sender As Private Sub GUIControllerToolStripMenultem Click ByVal sender As System Object ByVal e As System EventArgs Handles GUIControllerToolStripMenuItem Click Process Start C Users Shahnor Desktop Visual Studio GUI Controller GUI Controller bin Debug GUI Controller End Sub Figure 3 10 The source code of the button 3 5 2 2
37. m pengawal GUI asas Cara yang kedua adalah dengan melalui pengawal GUI dengan kebolehan merakam dan memain semula Untuk operasi robot menggunakan pengawal GUI dengan kebolehan merakam dan memain semula pengguna boleh mengawal merakam dan memainkan semula operasi robot yang telah dilakukan Berkenaan dengan module pendidikan ianya adalah dalam bentuk program komputer untuk pelajar belajar tentang asas robotik dan juga untuk memahami struktur program disebalik robot tersebut Hal ini termasuklah paparan tentang nota asas carta alir program robot dan asas pemprograman sesuatu robot vi CHAPTER TABLE OF CONTENTS TITLE DECLARATION DEDICATION ACKNOWLEDGEMENT ABSTRACT ABSTRAK TABLE OF CONTENTS LIST OF TABLES LIST OF FIGURES LIST OF SYMBOLS LIST OF ABBREVIATIONS LIST OF APPENDICES INTRODUCTION 1 1 Project Background 1 2 Problem Statement 1 3 Project Objectives 1 4 Project Scopes 1 5 Report Layout LITERATURE REVIEW 2 1 Introduction 2 2 Microcontroller PAGE ii iii iv vi vii xi xiii XIV XV GA U N N e m vii 22 1 Arduino Mega 2 2 2 Arduino Uno 2 3 Motor Drivers 2 3 1 1298 Arduino Motor Driver Shield 2 3 2 L293D Motor Driver IC 24 Wireless Communication Module 241 nRF24L01 Wireless Module 2 5 Related Works 2 5 1 Armed Mobile Robot Design 2 52 Search Pick and Place Mobile Robot 2 5 3 SCORBASE for SCORBOT ER 2u 4u 2 54 Fishertechnik 2 6 Summary SYSTEM DESIGN 3 1 Introduction
38. mily especially my mother father and sisters For all this time they always give me unstoppable support and do motivate me when I am down and nearly drowned in those difficult times On the other hand thanks to all of my friends that contribute towards my technical understanding and thought That was so much helping for me in order to do this project Through this project I have gained so many experiences Many information and things that I learned to manage this project progress run as I expected iv ABSTRACT Teaching and learning module based on pick and place mobile robot is a teaching tools developed to help students to learn the basics of robotics In everyday life the robots are getting more and more important to solve and simplify human tasks Therefore the development of robotics education module should be taken seriously This project is a combination of two essential elements which are electronics circuit design and software design The project also involves installing new microcontroller unit for the existing mobile robot building wireless communication module and creating educational module based on mobile robot in the form of computer program This robot is also equipped with wireless communication module in order to enable communication between the robot and the computer This robot can be controlled in two ways First way is by using the arrow keys in the basic GUI controller The second way is through the GUI controller
39. programmed compared to other software Based on Figure 3 1 to build the Teaching and Learning Module start the Microsoft Visual Studio 2010 Then the Visual Basic template is chosen to create Windows Form Application The reason to choose Windows Form Application is to create the education module including the graphical user interface GUI of the robot pote P3 File Edit View Debug Team Data Tools Architecture Test Analyze Window Help ida Ga l kuala 0 88 coco CIFRAMA New Project Micrpsofte QO Visual Studio 2010 utimate Get Started Welcome W Z Close page after project load 7 Show page on startup Web Office Cloud Reporting SharePoint Silverlight Test WCF Workflow Visual Ce Visual C Visual Fe Other Project Types recentere elen ne Installed Tes es Windows Forms Application WPF Application Console Application ASP NET Web Application Class Library ASP NET MVC 2 Web Application Silverlight Application Silverlight Class Library Visual Basic Visual Basic Visual Basic Visual Basic Visual Basic Visual Basic Visual Basic Visual Basic WindowsApplicationil Show output from Location CAUsersiShahnor Desktop Visual Studio gt Browse Solution name WindowsApplicationl Create directory for solution Add to source control Figure 3 1 Microsoft Visual Studio 2010 3 2 2 Arduino IDE The arduino microcontroll
40. s a tools created to help student to learn robotics This project is the continuation from the two previous projects that had be done by Nirot Oh Ah Paa 1 and Ahmad Faizzudeen Bin Ab Aziz Fauzi 2 that titled as Rekabentuk Robot Bergerak Berlengan and Search Pick And Place Mobile Robot respectively In order to complete this project three main tasks which include installing programming and constructing a new microcontroller unit to the existing mobile robot to construct a wireless communication module and to write a robot control program on a computer This project also involves the design and development training kit as a guide and lesson for the student The robot can be controlled by using a main computer program that has several modes The purpose of these different methods of operation is to expose the students about the various example of controlling a robot The computer program will be written in visual basic language 1 2 Problem Statement Robotics education is a powerful tool to keep students interested and motivated in learning technology computer sciences engineering etc In the last two decades educational robots contribute to increase learning achievements in teaching of science technology engineering and mathematics 3 Technology based models and methods of teaching and learning are very helpful because they can provide many alternative ways of teaching which learners select as they engage in their educational exp
41. s includes the knowledge of system controller Arduino Mega and Arduino Uno nRF24L01 communication module and motor driver IC 2 2 Microcontroller A microcontroller is a small computer on a single integrated circuit IC containing a processor core memory and programmable input output peripherals 6 Microcontrollers are designed for embedded applications in contrast to the microprocessors used in personal computer or other general purpose applications 7 This microcontroller is frequently used for remote controls toys mobile robot and office machine 8 2 21 Arduino Mega Arduino Mega is an open source single board microcontroller based on the Atmega1280 It has 54 digital input output pins of which 14 can be used as PWM outputs 16 analogue inputs 4 UARTs hardware serial ports a 16 MHz crystal oscillator a USB connection a power jack an ICSP header and a reset button 9 It does contain everything needed to support the microcontroller simply connect it to a computer with a USB cable or power it with an AC to DC adapter or battery to get started Besides that Arduino hardware is programmed using a wiring based language syntax and libraries similar to C with some slight simplifications and modifications Figure 2 1 shows the top view of Arduino Mega 9 Figure 2 1 shows Arduino Mega microcontroller MADE IN 4 d 46 4 can Arduino MEGA vuwarduino cc BW ANALOG IN JIN amp a DM LAN Aa wt
42. t capable to pick and place various type of object Other than that this project also developed to have robot program with basic function In this project Nirot Oh is using MCH68hC11 controller produced by Motorolla which now are not relevant any more in term of efficiency and costing nowadays Therefore the best way to revive this robot is by using Arduino mega based on ATmega1280 as a microcontroller 2 5 2 Search Pick and Place Mobile Robot The project that has been done by Ahmad Faizzudeen Bin AB Aziz Fauzi 2 is the continuation of the robot created by Nirot Oh A L Ah Paa 1 The objectives of this project are to build a new microcontroller unit and the wireless communication module to an existing mobile robot for use in basic robot operation and simple robot programming 2 The robot is designed to perform search pick and place operations and by using a communication module enable the mobile robot to be wirelessly controlled using a computer Figure 2 8 shows the structure of the mobile robot Meanwhile Figure 2 9 shows the GUI controller design 14 Figure 2 9 GUI controller design The mobile robot works autonomously where the mobile robot search the object by using IR sensors and then pick the object using a manipulator the arms and the gripper and bring the object to another location The second mode is where the mobile robot is manually control via a personal computer through the Graphical User Interface GUI Th
43. tcuts of the buttons are as shown in the GUI This can be done by adding amp before the character that will be the shortcut key This is shown in the Figure 3 13 31 Properties 1x Button16 System Windows Forms Button z aal a 4 A BackColor DarkGreen BackgroundImage CL none BackgroundImageLayot Tile Cursor Default FlatAppearance FlatStyle Standard Font Microsoft Sans Serif 8 25 ForeColor C White Image C none ImageAlign MiddleCenter Imagelndex CL none ImageKey C none ImageList none RightToLeft No E Text Initiate Robot 81 x TextAlign MiddleCenter Figure 3 13 The properties of button 1 3 5 2 3 Creating GUI Controller with record and replay function Figure 3 14 shows GUI to control the mobile robot This GUI is created with dual function which are to control the robot and at the same time also can replay the previous operation Behind those buttons many type of command are used in order to make this program and the robot working as desired Other feature in this GUI is the user can observe the operations that in progress in the Recorded Operation box The total operation also shown in the Total Codes box When the Button 5 on the computer keyboard pressed which stand for Replay operation the program will start to replay the previous operation For every one second interval the counter and codes box will write the operation that plays in that particular time 32
44. the Gantt chart table students need to follow the given guidelines and timelines They also need to complete their project on time base on the Gantt chart By doing the cost estimation the author will clear on what to buy while conducting the project so that their cash flow is under the expected cost 5 2 Gantt Chart of the Project Table 5 1 shows the project Gantt chart for the whole semester Most of the time is used to do the programming works because it does take time to learn and get familiar with the Visual Basic language The programming works also includes the robot operation program 48 Table 5 1 Gantt chart of the project eaching and Learning Module GUI Controller Design Communication Module Wireless Interfacing GUI and Arduino Proggramming Arduino and Others Seminar Preparation and Presentation Thesis Writing 5 3 The Estimated Cost Table 6 2 shows the cost invested to build the robot Meanwhile for the software it is neglected because the software and the operating system are free of charge Table 5 2 The estimated cost to rebuild the robot 1 ARDUINO UNO R3 1 58 00 58 00 2 ARDUINO MEGA 1 68 00 68 00 3 NRF24LO1 2 30 00 60 00 4 ICL293D 1 10 80 10 80 5 MOTOR DRIVER L298 1 40 00 40 00 6 VOLTAGE REGULATOR 7805 1 12 00 12 00 7 CAPACITOR 2 1 00 2 00 8 IR SENSOR SET 2 3 50 7 00 9 IR TRANSMITTER AND RECEIVER 2 2 00 4 00 1
45. ts specialized for the construction of particular models like boats airplanes bridges cranes etc This is something of a departure from their traditional niche producing 16 generic sets from which literally hundreds of different models can be built Fischertechnik has also started producing advanced robotic sets including battery packs remote controls and programmable control boards Figure 2 11 shows a robot sold by Fischertecnic Figure 2 11 A robot sold by Fischertechnic 2 6 Summary This chapter has discussed about the microcontroller wireless device and integrated circuit In addition the related works also being briefly discussed All of these basic information about the technical side of the robot are very important in completing this project CHAPTER 3 SYSTEM DESIGN 3 1 Introduction This chapter discusses the design of the overall system It includes software development tools design of the teaching and learning module design of the hardware and the design of the graphical user interface 3 2 Software Development Tools Microsoft Visual Studio 2010 Ultimate and Arduino IDE will be used in the software development 18 3 2 1 Microsoft Visual Studio 2010 Ultimate To create the teaching and learning module this project used Microsoft Visual Studio Visual Basic Language as a platform to write the computer program Visual basic is selected because of its simplicity and it is easier to be
46. ty for the purpose of awarding the degree of Bachelor of Engineering Electrical Mechatronics Signature _ EN AHMAD RIDHWAN BIN WAHAP Name of Supervisor E Date Sr Se EE Ee TEACHING AND LEARNING MODULE BASED ON PICK AND PLACE MOBILE ROBOT SHAHNOR SUZAINI BIN NOR SAZALI A project report 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 JANUARY 2015 I declare that this project report entitled Teaching and Learning Module based on Pick and Place Mobile Robot is the result of my own research except as cited in the references The project report has not been accepted for any degree and is not concurrently submitted in candidature of any other degree Signature Name Date ii Specially dedicated to mak and abah for your support Also to my supervisor that always help me to conduct this project iii ACKNOWLEDGEMENT Alhamdulillah Thank you Allah for everything From the day I commit this project until this project was done a lot of things I have learned and a lot of problems I encountered and solved I would like to thanks to my supervisor En Ahmad Ridhwan Bin Wahap that contributing so many suggestions and ideas to my project He freguently spends some time for me to discuss about my project Other than that i would like to appreciate to my fa
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