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android controlled mobile robot - e-Archivo Principal

1. 101 6 1 JAVA GU I 103 6 2 ANDROID DEVELOPING PLATFORM 106 6 3 BASICS OF APPS DEVELOPMENT 108 6 4 APPLICATION FOR ROBOT CONTROL 115 6 4 1 Main activity 116 6 4 2 Control activity 118 CHAPTER 7 gt 125 Xi REFERENCES APPENDICES xii List of figures Figure 1 Figure 2 Figure 3 Figure 4 Figure 5 Figure 6 Figure 7 Figure 8 Figure 9 Robot Devastation logo Robot Devastation PC interface 1 This project s Android controlled robot Project s workflow Design hardware and smartphone programming CNC machine CAD CAM systems CATIA design and rendering Professional and domestic use 3D printer Intel 4004 the first commercial microprocessor Figure 10 Figure 11 Figure 12 Figure 13 Figure 14 Figure 15 Figure 16 Figure 17 Figure 18 Figure 19 Figure 20 Figure 21 Figure 22 Figure 23 Figure 24 Figure 25 Figure 26 Figure 27 Figure 28 Figure 29 Figure 30 Figure 31 Figure 32 Figure
2. 9 CHAPTER 2 ono nn 11 2 1 MECHANICAL STRUCTURE 12 2 2 ELECTRONIC HARDWARE AND PROGRAMMING 17 2 3 DC MOTORS 34 2 4 SMARTPHONE APPLICATIONS 45 CHAPTER 3 nn 51 3 1 3D MODELING AND DESIGN 52 3 2 ADDITIVE MANUFACTURING OR 3D PRINTING 58 33 ASSEMBLY 61 CHAPTER 4 nn 63 4 1 CONTINUOUS ROTATION MODIFICATION 65 CHAPTER 5 nnn nn 69 5 1 MICROCONTROLLER 70 5 2 MICROCONTROLLER PROGRAMMING 74 5 3 WI FI MODULE 81 5 4 WI FI MODULE PROGRAMMING 90 CHAPTER 6
3. As this project focuses on communications and building the controlling interface we could allow ourselves to choose a small cheap servo only with the necessary features to move the robot This is the TowerPro s SGgo a lightweight servo which for the price is very high quality and fast It comes with accessories for attaching and has two holes for screws In the picture below we can se these holes on the sides of the servo It is to these fins that we attach the front and rear parts of the robot using screws to hold them together This 5 servo which we can see in the introductory picture has one big disadvantage shared with other similar medium quality servos which is that it requires time effort and skills to modify it in order to make it rotate 360 It is possible that upgrading to more expensive but continuous rotation servos is more worthwhile in order to avoid all the trouble related to modifying the structure of these servos However it serves as a learning tool both in mechanics and analog electronics 64 4 1 Continuous rotation modification First we have to get the four bottom screws out which will let us disassemble the top and bottom plastic parts Figures 45 46 41 47 48 49 Unscrewed and modified servo After this we have to remove three mechanical stops First two metal fingers in the potentiometer must be cut using a small screwdriver to lift the metal plate and then cut its en
4. Next some captures of the Java code necessary for this application In the first capture we create and show the window containing the program private static void createAndShowGUI Create and set up the window JFrame frame new JFrame sliders Fframe setDefaultCloseOperation JFrame EXIT ON CLOSE Sliders animator new Sliders Add content to the window frame add animator BorderLayout CENTER Display the window frame pack frame setVisible true animator startAnimation In the next capture we create and configure the Sliders The class constructor of JSlider allows for initial minimum and maximum values that will be sent through the socket 105 Create the sliders JSlider rightSlider new JSlider JSlider VERTICAL MIN_RIGHT MAX_RIGHT INIT_RIGHT JSlider leftSlider new JSlider JSlider VERTICAL MIN_LEFT MAX LEFT INIT LEFT rightSlider addChangeListener this leftSlider addChangeListener this leftSlider setMajorTickSpacing 10 framesPerSecond setPaintTicks true 6 2 Android developing platform In order to start developing for Android it is recommended to download the ADT Bundle Android Developer Tools 50 It includes the Android SDK components Software developing kit a comprehensive set of development tools a debugger libraries sample codes etc and a version of the eclipse IDE with built in ADT This project has been developed completely under Eclips
5. platforms Communications hardware As mentioned before Arduino boards allow for external modules or shields to be attached to them in order to provide extra features to an existing design In particular for external communications we have devices either for wired or wireless connections For the first there is for example an Ethernet shield capable of providing internet RJ 45 connections and for the latter we can choose among various technologies depending on the protocols they use There are plenty RF modules available in the market belonging to the WPAN standards wireless personal area networks that operate in the 802 15 frequencies working group The IEEE 802 15 is a group of standards for local area communications used in many devices and products For example we have the DIGI s ZigBee RF modules 28 that use the 802 15 4 standard or other DIGI s modules with 802 15 1 first Bluetooth assigned standard Apart from Bluetooth and radio frequency makers such as Roving Networks or DIGI among others sell 802 11 b g n modules for Wi Fi connections capable of acting as server or clients depending on the desired topology or our system From all available devices for wireless communications we have to choose one that is suitable for Arduino not very expensive and pluggable into an XBee socket At this point we have two options first a DIGI s XBee Bluetooth module which in short acts as a node for an Ad Hoc connection
6. to enter this system Users could be located at any place in the world as long as they have access to the network and would be able to control their robots either with a PC or their smartphone preferred option to gain portability Last but not least there will be a server in charge of managing all field data that is to say anything relevant that happened at the location where these robots would interact In order to talk in greater detail about the server s behavior we should first define what kind of interaction there is supposed to be among the robots The purpose of this idea is to create a competitive environment modeled as a shooter game classic first person shooting games where users will compete and battle against others at anytime from anywhere Figure 2 Robot Devastation PC interface 1 In figure 2 we can see a prototype interface for PC with virtual shooting lasers to give users the right perspective of the target other robot The server will keep record of all events happening in real time receiving information about which robot is shooting which one where this is happening when and also information about points rankings etc This facet of the Robot Devastation project has not been covered at all in this project as it is in the field of computers science programming more suitable for computer science students hence being an ambitious project with modules in different areas of expertise
7. 6 0V 6 5 kg cm Speed 4 8V 0 20 sec 60 4 8V 0 17 sec 60 6 0V 0 14 sec 60 4 8V 0 10 sec 60 6 0V 0 08 sec 60 4 8V 0 09 sec 60 6 0V 0 07 sec 60 4 8V 0 12 sec 60 4 8V 0 24 sec 60 6 0V 0 20 sec 60 4 8V 0 19 sec 60 6 0V 0 15 sec 60 4 8V 0 28 sec 60 6 0V 0 22 sec 60 4 8V 0 19 sec 60 6 0V 0 15 sec 60 4 8V 0 20 sec 60 6 0V 0 16 sec 60 Table 3 Widely used servos and their features 32 Motor Type Coreless 3 pole Coreless Coreless Coreless 3 pole 3 pole 3 pole Coreless 3 pole Gear Mater ial Metal Plastic Titaniu m Plastic Plastic Metal Plastic Plastic Titaniu Plastic Street Price 11 95 8 90 67 99 49 99 3 65 39 95 12 95 24 99 98 98 24 99 Recently it is also possible to purchase continuous rotation servos so that we can avoid tampering with them but these are more expensive and not as common as the limited range servos 41 Locomotion issues When designing a robot we should first consider the way we want it to move through its environment and how it should accomplish it depending on what advantages and disadvantages each locomotion type has and how they suit our robot s requirements 33 Legged locomotion Often inspired by biological systems these kinds of mechanisms are very successful in moving through a wide area of harsh environme
8. 75 50 25 0 Dec 09 Jul 10 Feb 11 Sep 11 Apr 12 Dec 12 Apr 13 Aug 13 Dec 13 Apr 14 Figure 26 US smartphone penetration In the rising years of smartphone technology the software and hardware market had the next distribution The consolidating smartphone pie By Software Platform Symbian RIM BlackBerry Apple iPhone O Microsoft Windows Mobile Google Android Other Palm Linux By Hardware Maker Nokia RIMBlackBerry Apple iPhone e HTC Motorola Other Source Canalys Figure 27 Software and hardware platform pie 47 We can see that both in software and hardware markets Apple has experienced a notable growth while Nokia has decreased its share accordingly It is important to remember that before the smartphone era Nokia was the undisputable leader and Apple was not even a player in this market Nowadays however Apple s iOS and Google s Android are the two biggest competitors in both number of applications and market share which translates into smartphone sales as users perceive the availability and utility of the applications software as a key factor for a mobile device election Also in the last 2 years tablets have joined this hardware market competing in the same application stores Tablets are intended for different reasons with less portability bigger screens less connectivity but share almost all apps with smartphones The next chart shows
9. http reprap org wiki Main_Page 12 N Bilton Disruptions 3D printing on the fast track NYT May 2013 Online Available http bits blogs nytimes com 2013 02 17 disruptions 3 d printing is on the fast track nl todaysheadlinesgiemc edit_th_20130218 13 H Blair Smith Back to the moon NASA May 2013 Online Available http klabs org richcontent verification 80k85_verification index htm 14 G E Moore May 2013 Online Available http download intel com museum Moores_Law Articles Press Releases Gordon_Moore_1965 Article pdf 15 Wikipedia Basic information about CPU architecture May 2013 Online Available http en wikipedia org wiki Comparison_of_CPU_architectures 129 16 Atmel AVR May 2013 Online Available www atmel com 17 A Holdings ARM May 2013 Online Available arm com 18 Motorola MC68000 May 2013 Online Available http www freescale com files archives doc ref_manual M68000PRM pdf 19 The Most Widely Used Computer on a Chip The TMS 1000 State of the Art A Photographic History of the Integrated Circuit New Haven and New York Ticknor Fields May 2013 Online Available http smithsonianchips si edu augarten p38 htm 20 O Jostein Svendsli Atmel s Self Programming Flash Microcontrollers May 2013 Online Available http www atmel com Images doc2464 pdf 21 Microchip June 2013 Online Available http www microchi
10. 33 Figure 34 Figure 35 Figure 36 Figure 37 Figure 38 Figure 39 Figure 40 Figure 41 Figure 42 Basic Von Neumann processor architecture Die of an 8 bit PIC EEPROM microcontroller by Microchip 21 Some common microcontroller applications Arduino UNO The most used Arduino microcontroller Raspberry Pi Tiny AVR ISP programmer 25 LiPo battery and small sized solar cells 26 View of the Arduino development environment 24 Two pole brushed DC motor Floppy Disk brushless DC motors Industrial servomotor Servo block diagram Common servo parts Power consumption of different locomotion mechanisms 33 a Wheeled robot b Kovan robot 8 c NASA s wheeled robot Smartphone share per region US smartphone penetration Software and hardware platform pie Apps available per platform Platform market development A look into the OpenSCAD software 8 View of the LiPo battery 3D representation of a TowerPro sg90 3D view of the Arduino Fio board with the RN XV on it View of the front part 3D model of the rear part plug Rear part support Top view of a wheel Unassembled complete robot OpenSCAD to STL format and STL to G Code 40 A view of the software Replicator G 40 3D printer building a wheel 40 Preassembled robot xiii Co D UN 13 13 14 15 18 19 24 25 26 28 29 30 31 36 37 38 39 40 42 44 46 47 47 48 49 52 53 54 54 55 55 56 56 57 59 59 60 61 Figure 43 Figur
11. Chapter 3 Design and manufacture Although one of the main concerns of this project is providing robots with the capability of teleoperation there has been no better way of carrying this out than building the robot itself allowing for great versatility and full understanding between both the commanding part and the robot This is also a substantial and important part since we determine how the robot is going to physically behave according to how we implement the control and programming By being able to design the robot from scratch we try to simplify its mechanic behavior allowing for a more robust prototype in the sense that we can focus on the main issues rather than having to deal with unwanted working areas such as behavior against obstacles energy efficiency high torques or accelerations degrees of freedom or even less the appearance of the machine Nevertheless by designing the robot with the simplest way of movement which is two wheels we do not lose the flexibility that a more complex topology might provide Instead it can 51 change speed and direction almost instantly when commanded and at the same time assuring reliability 3 1 3D modeling and design For the purpose of designing and modeling the structure of the different parts of the robot there are different tools available each having their advantages and disadvantages as mentioned in the background chapter For this project it has been decid
12. GROUP plugdev 110 e Then execute chmod a r etc udev rules d 51 android rules Building and running When building an application Android projects are compiled and packaged into an apk file containing the compiled dex files a binary version of the manifest and compiled and uncompiled resources The following diagram shows the components involved in building and running an application Android Package apk Compilation A and Packaging Android Project AndroidManiftest xml Figure 76 Project phases 50 Before we run our project we should be aware of a few important directories and files in the Android project AndroidManifest xml This file describes the fundamental characteristics of the app and defines each of its components We define how the resources are going to be displayed and how each feature will behave Also we specify the activities and services that will run in the application and the target Android version 111 Src This is the directory for our app s main source files Res This folder contains several sub directories for app resources for example Drawable Directory of the drawable objects bitmaps included Layout Files that define our app s user interface Inside this folder we will put all images drawable objects jpg png etc and the xml files containing the layout information for each activity In Android every app is built with activiti
13. However in this project in particular a mobile robot has been built thought to be suitable with Robot Devastation as a first approach to the initial idea In addition according to the philosophy of the robotics association almost all material used in this project is open source both hardware and software and the developments achieved in every area are constantly being published so that others can use what they consider is useful for their own projects This assures that with a low budget we can develop applications that meet most of the requirements 1 1 Motivation and aim of the project Among all the technological and conceptual challenges faced in this project there is one above all which is meant to serve as a breaking point in the world of common user robotics amateurs and engineers and this is enabling a certain mobile robot to be controlled from a smartphone using no more than an internet connection Given that the great majority of users have access to smartphones an option to give wireless connectivity for any purpose comes handy so that developers will not concern themselves about implementing new hardware and software options to their existing projects Instead they can adapt their projects to be compatible with current connectivity protocols such as Wi Fi or Bluetooth and use a phone to interact with them This means that any of them would be capable of controlling their hardware from their phones contrary to hav
14. IP address to open a connection or connect using telnet 89 5 4 Wi Fi module programming The following part of the document explains how to configure and program the WiFly module RN 171 to connect it to a WLAN and act as a server for any Android device to talk to it via TCP This chapter is a summary of an extended tutorial by the same author of this document on how to use and configure the module with Arduino It can be found at http asrob uc3m es index php Tutorial Wi a Spanish step by step tutorial for programming the module for the first time Among the many ways possible for the module to work acting as access point Ad hoc or infrastructure it has been decided that it would be appropriate to configure it to connect to a local network providing it with a static IP so that it would be reachable at all times and would have a wide coverage in a certain spot Besides this is a much simpler configuration than making it broadcast its own wireless network However this last option acting as an access point would mean that we could use the robot in any place without the need for an external wireless network The disadvantage of configuring it as an AP is a lower coverage area less than 10 m The module will be configured so that it rapidly connects to a router at power up Apart from the Wi Fi module we will use the next tools e Ubuntu e Arduino FIO e WiFly Manual and datasheet e FTDI3 3V cable and a small t
15. It is quite simple only taking care in powering the servos with the battery and not with the Arduino which can only supply 40 mA Battery VCC GND GND Power VEC Arduino Robot Signal EE GND VCC signal D2 O1 RX Figure 57 Robot servos and battery layout Digital Input Output indu Boyeury 5 3 Wi Fi module After considering the pros and cons of the two main options for providing connectivity Bluetooth or Wi Fi it has been decided that the best choice would be the Wi Fi module The advantages are data with ultra low cost transport the biggest connectivity range ifusing local area networks with access point we can connect to everywhere in the world and a greater versatility providing many different configurations This way we have the possibility to interact with any device that is connected somehow to the network A significant factor is that between 2009 and 2010 there was a 158 growth in Wi Fi enabled consumer electronics and it was present in 90 cell phones 44 The best choice is the Roving Networks RN171XV fig 60 which is a standalone complete TCP IP wireless networking module Due to its small size and low power consumption it is perfect for mobile wireless applications such as sensing and portable devices It is the best option for projects migrating from existing 802 15 4 architecture to a standard 802 1 TCP IP based platform without any changes in their exist
16. Telnet communication between Laptop and Wi Fi module 97 This way we have established through Arduino a configuration connection and data streaming Next the last way to configure the Wi Fi module Directly with Arduino Sketch and IDE This last method for configuring the module is the simplest in terms of external help as we do not use libraries or extra material apart from the Arduino board and the Wi Fi module However we are required to dig into the user s manual and add a little bit of complexity to our code We will write a code in which the serial functions write and read will communicate with the Wi Fi module using the UART Let us recall that this serial pins are the standard pins for serial communications usually used for monitoring data and uploading sketches This way we use the same pins that the Arduino uses for talking to the module for uploading our program to the Arduino memory This program automatically sends to the Wi Fi s module a set of instructions similar to the ones used in the first method The same instructions that we use to configure it by telnet can be written to the UART and then serially read by the WiFly The only precaution that we must take is that we should leave a few milliseconds between each instruction so that it can take effect 98 include lt SofiwareSenal h include lt 5P1 h gt char receiver ST2 int cont SoftwareSenal senal lest 6 void setup f Sen
17. They should be small enough so that the we have the lowest power consumption and make the smallest robot possible with the tools at hand All of this in line with the previously designed small parts of the robot Apart from the obvious specifications that we must seek in any servo such as torque speed voltage ect Another element to bear in mind while choosing a servo is budget There is actually a huge variety of different servos offering similar features and almost all of them could suit our robot s demands so these are not really important at the time of choosing one servo or another However depending on the fiability that they provide prices vary within a considerable range As mentioned in the first parragraph the most important feature that we look for in a servo is size The world of electronics is constantly developing devices with enhanced features but smaller sizes and the new 63 generation of servos is not an exception Although with less fiability users can find in the market much smaller servos than before and even build their own controlling circuits for small DC motors using cheap affordable components Apart from the hardware servos and electronics it is important to remember that a limiting factor for reducing the robot s size is the accuracy with which the printer builds each piece If we try to build pieces that are two small the printer will not build them with the right accuracy
18. activity this way Android keeps record of the activities hierarchy in the AndroidManifest xml It only serves as an introductory screen from which users can introduce an IP and a port different from default that will be transferred to the second activity for connecting to the robot Figure 79 Main activity s graphical layout 116 The code for this activity is very simple only having the onCreate method and an event object that relates a button to the second activity The controlling button middle of the screen starts the second activity and leaves this one behind Within the onCreate constructor we set the rules for the layout path to xml file and the objects to build in the screen Next the block diagram for this activity Launch app onCreate optional Figure 80 Block diagram for the Main activity When the control button is pressed the control activity is launched In the next section we will explore in detail this second activity 117 6 4 2 Control activity In this activity users perform two important actions First with the connect button we can start the communications The program opens a socket with either the previously specified address or the default IP and port In the middle of the screen there is a text box that serves as a log for monitoring the sequence of actions that the program runs As we can see in Figure 83 the layout for this activity is in landscape mode by
19. allowing for two XBees modules to interact in short distances with low power consumption Second we have the option to use a Wi Fi 32 module Roving Networks RN 171 29 which is a little bit more expensive The first module is easy to configure on windows with a program called X CTU but users need an extra device for it an USB adapter Also these modules are thought to be used normally in pairs communicating with one another so it is a bit of an issue to get one working with a more complex device for example a smartphone Another disadvantage of the Bluetooth module is that it only works well in short distances allowing only for Ad Hoc connections On the other hand it has three worth mentioning advantages which are lower consumption than the Wi Fi module lower market price and is easier to use The second option is the RN 171 Wi Fi module which allows for more complex types of wireless networks Users can interact with this module in Ad hoc mode and more importantly with an access point Both ways this module can act as a server or as a client depending on what role it is playing in a specific topology A drawback for using Wi Fi Ad hoc connections with Android is that only the last version 4 Jelly Bean allows for it 33 2 3 DC Motors In the world of robotics most of the times engineers incorporate DC motors to every kind of robot due to the electronic controlling advantages motor sizes and the fact that robots
20. are going to discuss more extensively the different parts of the development of this project In the second section we review the background technologies and environment surrounding every major part of this project In the third section the design manufactory and assembly of the pieces involved in the robot are going to be exposed in detail as well as the procedures and tools involved In the next and fourth chapter we proceed to describe the election electronic modification and implementation of the servos used as DC motors that make the robot s movement possible In the fifth chapter we will take a look at the electronic configuration and hardware choice as well as all the programming Next in the sixth section we will discuss all topics related to the smartphone remote controlling and programming involved In the last section we can find the conclusions to this project 9 10 Chapter 2 Background In the context of robotics there is much to be discussed about the technological challenges and possible different implementations for each single project or solution as a result of the increasing development and progress in every area involved New ideas lead to new projects and every one of these projects lead to new ideas for improved projects often as an exchange of resources between different parties This interaction between developers among the world translates into an accelerated progress in whi
21. chip reduced the cost of processing power and its large scale production system led to lower unit costs fig 9 This automated manufacturing also 17 led to doubling the number of components that could fit in a chip every two years 14 These single chips had fewer electrical connections and thus an increased reliability The world of electronics was soon to be revolutionized Figure 9 Intel 4004 the first commercial microprocessor The previous medium scaled integrated circuits architecture was used in the first microprocessors The first were used in calculators and other embedded systems such as terminals or automation devices After this in the mid 70s they appeared in the first microcomputers From this moment on microprocessor architecture design starts to develop and expand In 1945 John Von Neumann published his organization of logical elements which IBM used to develop the IBM 701 the company s first commercial stored program computer in 1952 Opposed to the Von Neumann architecture in which there are shared signals and memory for code and data and the CPU can be either reading an instruction or writing reading data to from the memory we have the Harvard architecture with physically separate storage and pathways for 18 instructions and data Also in the Harvard architecture the CPU can both read an instruction and perform data memory access at the same time Computer architecture is the combinatio
22. ctrl c Now it is time to configure the module From the terminal we type telnet 169 254 1 1 2000 which starts a communication with the module using the telnet protocol By default the module listens for telnet 93 connections on port 2000 Once we open the connection the module answers HELLO After the connection is opened we type without carriage return to enter in configuration mode and should receive CMD We are now ready to configure it by typing the next commands followed by enter set wlan auth o Open network no authentication set ip dhcp o DHCP off It will not ask for an IP or gateway set ip adress X X X Y We set the WiFly s IP set ip host X X X Z The router s IP Same subnet set ip netmask 255 255 255 0 set wlan ssid name set wlan channel o It will look in every channel set wlan join 1 Automatically join the stored ssid After this we save and rebot save reboot The next time we power the Arduino with the WiFly module plugged in it will reach for the routers network and connect to it using the assigned static IP Arduino IDE and library On the internet we can find some libraries written in C destined to work with the WiFly module WiFlyHQ 45 WiFlySerial 46 WiFly etc and they all work in a similar way The most complete and robust is 94 the WiFly Shield library 47 To install it we have to download it and decompress it creating a libra
23. facets which the smaller they are produce a higher quality of surface 3D printers have a working process called additive manufacturing since it works by adding successive layers of a special polymer until it prints the whole piece Additive manufacturing is opposed to the traditional subtractive manufacturing which is a retronym for standard machining operations that use a raw object filling turning milling etc One advantage worth mentioning is that this technique allows for almost any shape excluding thin based pieces that cannot support their own top parts A typical layer thickness resolution for 3d printers is o 1 mm although there are models such as the 3d systems ProJet series 10 that allow for lower resolutions up to 16 micrometers In the industry it is common to print a slightly oversized version of the object and then use a higher resolution subtracting process to remove the remaining material One last and important advantage of 3d printers is that most of them are approximately desktop sized and certainly smaller than the common subtractive machines This is the reason why it is advantageous to first print the piece and then perform machining processes on it Various polymers are used in 3D printers such as acrylonitrile butadiene styrene ABS PLA ecological polycarbonate PC polyphenylsulfone PPSU and high density polyethylene HDPE These polymers come as a filament wrapped around a cylinder f
24. figure 41 After the GCode is generated we have to indicate some of the printer s options Although it allows us to choose among many variables the two most important of them are the platform s temperature and the extruder temperature 58 module example001 M130 Tool End Mill 0 25 inc vertex 1 443618e 666 5 518407e 000 f R140G00G4321 0000H1 vertex 1 443618e 000 0 000000e 000 p fanctica r from diaid d 2 N150512000403 i kin Toolpath ous vertex 1 443618e 000 0 000000e 000 module rotey ror e hi l capt endloop rotate 90 rot cylinder a r h h center true Sp N190X0 0000 9 0000F100 0 endfacet N200C00X1 0000Y1 000020 5000 facet normal 9 161808e 017 6 000000e 000 N210G00X1 0000Y1 0000Z0 2000 differenced 2 2061 1 0000Y3 00002 2 000088 outer loop N23OGAXA 0000YI_00002 1 0000F1 vertex 1 443618e 000 0 000000e 000 N240G1X2 0000Y3 00002 1 0000 E vertex 1 443618e 000 5 518407e 00 H250C1K2 0000Y1 00002 1 0000 6866 6 010 cys eh N2E0G1X1 0000Y1 00002 1 0000 vertex 1 443618e 000 5 518407e 000 N270G00X1 0000Y1 000020 5000 endloop W280G00K2 000 1_ 000020 5000 endfacet size 50 M2390G00X2 5000Y1 000020 2000 Le hole 25 NM300C1X2 5000Y1 00002 1 000033 facet normal 1 000000e 000 0 000000e 000 M310G2X3 0000Y1 500010 5000J0 outer loop 8320G2X3_ 600071 _9000T0 0000 0 eyt r_from_diathole eeasennd cogor Soour 10003 vertex 1 443618e 000 5 5184072 000 cyh 1_from_
25. hand however if the user wants to rotate it in both directions it is necessary to build a controller an expensive option unless it is possible to build an H bridge It is possible to use pulse width modulation PWM to increase decrease the speed without compromising the power which is a better option than changing the voltage A square signal acts in essence as a variable average voltage These motors are cheap small and easily controllable but they produce a relatively low torque 31 Brushless DC motors In this type of motor the rotor is a permanent magnet whereas the stator is an electromagnet Instead of using brushes commutation is achieved electronically so in order to detect changes in orientation brushless motors generally use Hall effect sensors to detect the rotor s magnetic field These motors are more expensive than the previous kind because of their design complexity and they need a controller to control the speed and rotation 36 Figure 19 Floppy Disk brushless DC motors They are more efficient and have a longer life thus being more capable for robotic applications providing more torque and speed than brushed motors They are usually found in floppy disks fig 19 and other low noise devices 31 Stepper motors Basically a sub type of brushless motors stepper motors only have more magnetic poles on the stator They convert a pulsed digital input signal into a discrete mechanical movement and requir
26. main in charge of sending cycling chain values for controlling the robot In the next section of this chapter we will take a look at the two activities Main activity and Control activity involved in the application their function some significant pieces of their code and the block diagram for each of them 114 6 4 Application for robot control This project s application consists of two Activities and two different threads for the second activity First upon launching the application we have an initial screen for the first activity in which we can introduce an IP and port for later connecting to a robot using that address If we do not introduce anything the application will use default values This first activity acts as an introductory screen and the only thing left to do there is pressing a button to change to the controlling activity fig 80 Basically the user decides when to start controlling the robot so the connections are not going to begin until the second activity is launched It is a waiting room for the Android robot interaction to begin running Main Activity Control Activity Wellcome screen Figure 78 Main activity and Control activity 115 As we can see in the previous image these two activities form the Android application 6 4 1 Main activity When launched fig 81 the application starts with this activity defining so in the Manifest as the main
27. microcontroller e Central processing unit CPU ranging from 4 up to 64 bits e Volatile memory RAM for volatile data storage e Non volatile program memory This can be PROM EPROM EEPROM or flash e Serial input and output such as serial ports and other serial communications interfaces SPI I2C etc e Peripherals such as timers or PWM generators 22 e Clock e Analog to digital converter or and Digital to analog converter with analog and digital inputs or outputs e In circuit programming These features are what make a microcontroller different from a single microprocessor At the same time that Intel started producing the 4004 1971 the first microcontroller was about to see the light thanks to the engineers Gary Boone and Michael Cochran 19 The result of their work was the TMS 1000 the first lone chipped CPU which went commercial in 1974 Soon after and partly in response to this Intel developed the 8048 1977 a chip optimized for control applications becoming one of the most successful microcontrollers in the company s history They sold over one billion 8048 chips mostly for keyboards and other numerous applications At this time microcontrollers had two memory variants One was only programmable once PROM and the other called EPROM erasable PROM could be rewritten thanks to a quartz window allowing for ultraviolet light exposure and thus making it erasable These two memories were actually th
28. the digital pins capable of providing PWM signals we connect each servo s control wire whereas the other two go to the power supply in this case the battery Servos have 3 wires GND VCC and signal PWM control Next we discuss more in deep how to write values to the servos in the loop function In order for our program to deal with servos we have two options We could either write PWM signals by software as explained in the servo controlling section of the background chapter or use an available standard servo library Servo h To simplify the program in this project the library option has been chosen This library allows for attaching or detaching a servo to and from any digital pin as well as writing a value to the servo controlling the shaft accordingly For this we could either use the function write or writeMicroseconds being the latter more precise 78 On standard servos a value from o to 180 will command a position for the shaft and on continuous rotation servos this will set up a speed being 90 the value of no movement It is worth mentioning that near end values o to 20 and 160 to 180 could not be well differentiated as many servos achieve full speed with lower values Technical issues It is necessary to notice that this specific hardware configuration FIO RN 171 Wi Fi module is especially difficult to work with since they use for communicating the same serial TX and RX pins as used for uploading s
29. the first command we compile the code After compiling and if there has been no error with the second command we launch the program In the next image we can see the resulting Java GUI which is a 103 simple window with two controllers sliders that send information to the Arduino fig 72 sliders lo C nl Som Full throttle Full Backwards 3 Figure 70 Java User interface program for robot control This Java Application creates a socket and acts as a client in order to send the data to the Arduino server listening for incoming data What is a socket A socket is one endpoint of a two P way communication link between two programs running i on the network A socket is bound to a port number so that the TCP layer can identify the application that data is destined to be sent An endpoint is a combination of an IP address and a port number 49 The Client side knows the hostname of the machine on which the server is running and the port number on which the server is listening fig 73 connection request Figure 71 Client server connection client request 49 104 The server side If there is no error in the connection the server accepts the connection and gets a new socket bound to the same local port It keeps the socket open so that it can continue to listen for client requests fig 74 connection Figure 72 Client server connection server accepts connection 49
30. 20 Today most CPU architectures implement one of the next two instruction set design strategies RISC reduced instruction set computing that uses a small highly optimized set of instructions that provide a high performance and a fast execution as opposed to CISC complex instruction set computing with a specialized and more complex set of instructions CISC RISC Emphasis on hardware Emphasis on software Multi clock complex Single clock reduced instructions instructions IS Many addressing modes Few addressing modes Easy compiler design Complex compiler design Pipelining does not function Pipelining not a major correctly because of problem this option speeds complexity of instructions up the processors Table 2 CISC vs RISC CPU architectures In table 1 we can observe the famous Intel s x86 which is a family of instruction set architectures based on the 8086 1978 Another worth mentioning microprocessors are the AVR 16 and ARM 17 families Intel has been one of the most important players in the recent history of microprocessor and embedded systems As seen in the first picture of this chapter the 4004 was the first commercial microprocessor by Intel in 1971 This 4 bit microprocessor was soon followed by an 8 bit 8008 processor the first of its kind which in turn was followed by the very successful 8080 1974 with a much improved performance being the first widely used microprocessor Motorola had at
31. 8 Atmel ARM The pin connectors are exposed allowing the board to be connected to other external interchangeable modules called shields in order to get extra features connectivity battery etc Most include a 5 Volt line regulator although there can be found some that operate at 3V They usually include a 16 MHz or 8 MHz crystal oscillator or ceramic resonator They come pre programmed with a boot loader to help uploading programs to the flash memory so that they do not need an external programmer All boards can be programmed with an RS 232 serial connection although the way this is implemented varies for some hardware versions They use an FTDI cable USB to serial that can be detachable or incorporated to the board There is also a way of programming it wirelessly either by Bluetooth or Wi Fi The fact that the hardware design is open source means that users can be perfectly aware of every component of the board and what is more they can build their own version with single electronic components that are found in any electronics store This way developers can also program the microprocessor with an AVR programmer for the firmware Fig 15 Figure 15 Tiny AVR ISP programmer 25 Some companies such as DIGI Roving Networks or Adafruit Industries manufacture shields that suit Arduino projects Roving Networks and 29 DIGI have a variety of Radio modules that can operate with Bluetooth or Wi Fi protocols and Adafruit
32. I I i Debugging Debug your application i and pl ri using the Android debugging Testing ent ibid and logging tools i I i l l l l l Test your application using the mii Android testing and PP instrumentation framework i Prepare your Configure build and test your application application in release mode for release Publishing Release your Publicize sell and distribute application your application to users Figure 74 Basic steps for apps development 50 108 Setup During this phase we install the development environment 22 part of this chapter and create our Android virtual device AVD Development We develop our source code and include all media files needed for the application video photo music etc Debugging and testing In this phase we build our project into a debuggable apk that we can install or run on the emulator We can also test the application using various SDK Android testing tools Publishing The last step is building the application for release and distributing it In this project we will focus in the first two parts First we will see how to set up an Android virtual device followed by how to install the application on a real Android hardware and last we will cover the building and running Managing virtual devices First from Eclipse we launch the AVD manager fig 77 which is an emulator configurator that lets us model an actual device by defining hardware
33. Specify the IP address set ip net lt address gt Specify the subnet mask set ip gateway lt address gt Specify the gateway save Store settings reboot Reboot the module in AP mode Once the module boots up in AP mode any client device can associate with the network the module is broadcasting Once associated the module DHCP server assigns an IP address to the client device Ad hoc mode An Ad hoc network is a point to point network in that each Wi Fi device is linked directly to all other devices on that network with no access point All devices participate in keeping the network alive and each keeps track of the other active devices on the network by sending and receiving beacon and probe packets In most cases IP addresses are assigned through automatic IP although one of the Wi Fi devices can be configured as a DHCP server There are also two ways to enable Ad hoc mode 88 The first via hardware we set GPIOg high at power up Upon powering up with that pin high the module creates an Ad hoc network with the next settings SSID WiFly GSX XX XX is Mac address Channel 1 DHCP OFF IP address 169 254 1 1 Netmask 255 255 0 0 Via software we introduce the next commands set wlan join 4 set wlan ssid name set wlan chan 1 set ip address 169 254 1 1 set ip netmask 255 255 0 0 set ip dhcp o save amp reboot Once a computer is associated with the Ad hoc network we can use the module s
34. This is the preferable configuration for non flat surfaces 44 2 4 Smartphone Applications Over the past few years the market of touchscreen mobile devices has experienced an enormous growth to the extent that according to the last surveys 34 around half of the US mobile consumers own smartphones The European mobile market as measured by active subscribers of the top 50 networks is 860 million and the rate of smartphone adoption is accelerating and is soon expected to reach a third of the sales 35 A smartphone is a mobile phone built on an operating system with more advanced computing capability than a feature phone media players camera GPS internet browsing etc Although the term was coined years before the real push that opened this market was the original iPhone by Apple Inc in 2007 one of the first mobile phones to use a multi touch interface After in July 2008 Apple announced its second generation phone with 3G support By then the App Store reached over 1000 million downloads in the first year having started with only 500 Two more versions of the iPhone have been released so far being Apple the leading company in all aspects from design to functionality 36 Following the success of the Apple s App Store other smartphone manufacturers soon launched their own software application stores such as Google s Android Market or Blackberry s App World between others 45 The Applications marke
35. Universidad Carlos IH de Madrid DEPARTMENT OF SYSTEMS ENGINEERING AND AUTOMATION FINAL YEAR PROJECT INDUSTRIAL ENGINEERING ANDROID CONTROLLED MOBILE ROBOT Author Jorge Kazacos Winter Tutor Juan Gonzalez Victores Director Alberto Jard n Huete Madrid 2 of July 2013 Title Android controlled robot Author Jorge Kazacos Winter Tutor Juan Gonz lez V ctores Director Alberto Jard n Huete EL TRIBUNAL Presidente Vocal Secretario Realizado el acto de defensa y lectura del Proyecto de Fin de Carrera el d a De eaen de en la Escuela Polit cnica Superior de la Universidad Carlos III de Madrid acuerda otorgarle la CALIFICACI N de VOCAL SECRETARIO PRESIDENTE Acknowledgement To start with I would like to focus my appreciation to the main impulse and motivating force of this project Juan Gonz lez Victores I am aware of his effort to help and keep the robotics association alive sacrificing his time for the benefit of the students who come and go always having learnt something new and exciting His constant and selfless help translates in the success of others meaning that his contribution to the association and guidance make students achieve their goals while interacting with other students often to learn from one another and share resources ideas solutions etc Regarding this project s framework Robot Devastation and its future versions and improvements I only
36. a begin 9600 senal Test begin 90600 Sena flush delay 1000 Senal prnt 85 check Senal pant set wan auth 0 check senal pant set io dhcp Or check Se al pnnt set ip adress XXX XAX AXA AXA check Senal_prni set ip host XXX XXX xxx cox check enal prni set io netmask 255 255 255 0 r check enal pnnt set wlan ssid S3 D r check senal_pnni set wlan chanel O r check enal pnni f set wan join T r check Senal_print save r Senal_print reboot r senal Test ponni lP senal Test pnntin WWiFIy 9 Next goes the check function which waits for the module to respond to each instruction and stores it in an array Then it prints this answer to the serial monitor 99 vad check cont 0 delay 1000 4 Recibe la respuesta del WVifly while Sera available J gt 0 receiver cont Senal_ read delay 100 cont i receiver cont 0 Escribe la respuesta senal lest pnntinfreceiwer 4 Vacia el buffer senal Test fushi delay 1000 i As loop function we can use the same as found in the second method Last it is important to notice that we send the character r as line feed for the instructions to take effect unless we send the command to start configuring the module which does not go with r 100 Chapter 6 Android application software This project focuses mainly in building a software application for control
37. advanced 3D modeling and on the other hand a 3D parametric compiler called OpenSCAD 8 For the manufacturing part the CNC industrial equipment carry out operations such as machining milling laser cutting threading turning etc These machines execute code extracted from the designing software and execute movements according to a generated a set of instructions for each operation For smaller projects the designer can send the CAD file to a specialized shop and have their piece manufactured accordingly which results in a higher unit cost Recently it is common to find both in professional and non professional environments what is called a 3D printer which works adding layers of a certain material using a machine code as reference 3D printers can be categorized from high precision state of the art machines to affordable amateur printers The first are used together with professional CAD systems and the latter are usually used with open source software tools both working with a digital model as reference fig 8 Figure 8 Professional and domestic use 3D printer 15 The pieces modeled with CAD software have to be sliced in order for the printer to be able to build each layer With the CAD software in this case OpenSCAD we export the components into a STL format 9 which is an intermediate data interface between the rendering software and the machines code This STL format approximates the object using triangular
38. ained before all data transferred to the Wi Fi module either using Bluetooth protocols or TCP IP protocols is treated always as characters For this reason although we send integers with one or more digits it is from the Arduino software side that we must implement a routine if we need it to convert these characters or strings into integers 102 6 1 Java GUI In order to test and demonstrate the communications with the Wi Fi module and Arduino a Java program has been built using simple TCP connections and a Java graphic user interface to interact with the servos The two most important console commands both in Windows and Linux to work with Java are Javac for compiling java code and Java for running the resulting class compiled file fig 71 EN cmd exe java Sliders El Se Cilecd Users JKazacostDropboxProyectolarduinoJava C Users JKazacostDropbox ProyectolarduinoJava gt dir volumen de la unidad C no tiene etique nomero de serie del wolumen es Z7CCE 6780 Directorio de C User E 699 TCPClient Jjava 7 archivos 12 148 bytes 2 dirs 441 278 676 992 bytes libres C Users JKazacos Dropbox Proyecto arduinolJava gt javac Figure 69 Console commands for running Java Note it is important that we have previously installed the Java platform Java SE which includes the Java Development Kit JDK and the Java Runtime Environment JRE to run applications More on this in the next section 48 With
39. and software options to be emulated by the Android emulator We can select a hardware profile for hardware features for example if it has a camera a physical QWERTY keyboard memory options and so on 109 Tools List of existing Android Virtual Devices located at CAllsersisow androwd awd AYD Name Target Mame Platform API Level CPU ABI Ho AVD available w A valid Android Virtual Device 2 A repairable Android Virtual Device Xx An Android Virtual Device that failed to load Click Details to see the error Figure 75 AVD Manager 50 Through this window we create and configure as many virtual devices as we need It is important that we test our application on different devices with different screens and features to enhance the application s performance Using hardware devices First we have to declare our application as debuggable in our Android manifest This step is automatic with Eclipse After this we have to enable USB debugging under Settings gt Applications gt Development Last we have to set up our system to detect our device Under Ubuntu Linux we have to add a udev rules file that contains a USB configuration for each type of device Each device manufacturer is identified as a unique vendor ID e First we log in as root and create this file etc udev rules d 51 android rules We should use the next format to add each vendor to the file SUBSYSTEM usb ATTR idVendor 0bb4 MODE 0666
40. are usually powered by DC currents and voltages In the industry robot actuators can also be pneumatic or hydraulic differing only in their capability to pressure the fluid Pneumatic actuators compared to hydraulic are low cost ecological solutions for less demanding forces whereas hydraulic actuators stand high power loads Both have the advantage of having non electrical components making them the best option for critical environments or processes The third and previously mentioned option the electric actuators is by far the most implemented in industrial or domestic robots There are basically three kinds of electric motors AC DC and stepper motors In high power single or multiphase industrial applications AC motors are used where a constant rotational torque and speed is required to control large loads On the other hand for light duty applications and since many autonomous robots are powered by DC batteries the actuators that they incorporate must be DC motors or steppers These are used along with microcontrollers positional electronics and small robots Before entering into the types of DC motors we will discuss some important variables that should be considered when designing robot motion functionalities 34 The two most important values when powering a DC motor are voltage and current where voltage is related to speed and current to the torque that we make the motor develop Further considerations It is impor
41. arket manufactured by other companies or engineers Before starting in detail with the Arduino project it is worth mentioning that other new devices are just starting to see the light and seem to be plausible competitors for the most demanding needs Projects that may need a higher computing power and more versatility are becoming more frequent since they incorporate all components of a computer in a single embedded electronic board As an example we have 27 single board computers SBC such as Raspberry Pi fig 14 BeagleBoard XM or iMX233 suitable for running desktop software Windows Linux and with a much larger RAM and flash memory than the typical microcontrollers Processors on SBCs are also more powerful and capable of dealing with more computing workload This integration of computing power is an answer to the demands of complex systems of processes Optimized chips for specific processes or particular tasks are rather expensive and rigid options so these embedded systems are usually the answer for integrating all processing and automation power in one single board resulting in a more affordable option Figure 14 Raspberry Pi Arduino Hardware The first Arduino microcontrollers were based on 8 bit Atmel AVR microcontrollers typically the megaAVR series of chips with complementary components to facilitate its integration with other circuits More recently a new version has been designed around a 32 bit 2
42. cedures can be done keeping the robot assembled and intact In the next picture we have an unassembled view of the robot in which there is a better understanding of each piece separately Figure 38 Unassembled complete robot It is also worth saying that some pieces have been redesigned several times until they have met the requisites of the 3D printer Not all shapes 57 and angles can be printed because of the working process of the 3D printer which is adding layers from bottom to top in order to create the object Finally no matter how precisely we design the pieces to fit together we will always need some retouching in the sense that sometimes the precision of the printer is lower than the precision needed for all pieces to fit Therefore some smoothing is needed on some pieces edges and holes 3 2 Additive manufacturing or 3D printing Once the pieces are designed the next step is manufacturing the designed pieces This is accomplished by a machine called a 3D printer The STL files are then opened by a program called ReplicatorG 38 fig 42 which serves as the main interface for operating the 3D printer With this software we place the object in the adequate printable way always with the largest part at the bottom and then translate the STL code into GCode 39 which is the machines operative code This code carries the information of how the printer will move and the order of the steps 40 See
43. ceive RX and transmit TX TTL serial data PWM 3 5 6 9 10 and u Provide 8 bit PWM output with the analogWrite function SPI 10 SS 11 MOST 12 MISO 13 SCK These pins support SPI communication LED 13 There is a built in LED connected to digital pin 13 8 analog inputs with 10 bits of resolution Communications The ATmega328P provides UART TTL serial communication available on pins o RX and 1 TX This serial connection can be monitored by the Arduino software through the serial monitor in which we can see the serial data sent to the Arduino from the computer and vice versa This should be done with a 3 3V FTDI cable The mini USB that comes with the board is only for charging the battery and not for uploading programs For further use of the Serial communications interface we can use the SoftwareSerial library The ATmega328P also supports I2C and SPI communication For I2C we should include the Wire library in the Arduino software For the SPI communication we need to check the datasheet The board was designed by Shigeru Kobayashi and manufactured by SparkFun Electronics 73 5 2 Microcontroller programming In order to start using the board we must solder either the male or female headers on the board In this case we soldered a row of male headers per row of I O pins When it comes to programming the board we have two options With an FTDI cable or wirelessly which only works wit
44. ch anyone from companies to single engineers can take part This technological background and its influences are discussed in this part of the report dividing it the same way as the main document is structured First we talk about the background of 3D modeling and designing followed by the background of electronics hardware and programming Third we will take a look at the implementation and incorporation of electric actuators and DC motors usually found both in industrial environments and in other electronics projects Fourth and last 11 we discuss the foundations and background of smartphone oriented programming In all parts we start from a generalist point of view talking about possible different implementations and then converge around the particular cases involving this project 2 1 Mechanical Structure In order to build a machine s structure there are many professional and non professional solutions in the market For the most demanding robots the industry provides manufacturing methods and solutions that suit high precision requirements high torques and forces and machine parts that withstand high stresses and have a stable response during time This is the case for example of robots used in assembly lines or paint shops As the execution and field performance of these industrial robots must be robust and precise they are manufactured with the best suitable composite materials such as carbon steel titanium com
45. ch between consumer electronics and traditional electronic components for developers motivated by the philosophy of open tools affordable for all users which let engineers incorporate a wide range of functionalities to their projects Considering these open tools as framework a big project is being developed at this time combining innovative ideas wireless technologies and an open philosophy for users to become an active part of the big system This idea is called Robot Devastation a new generation shooter with augmented reality and real robots Users will be able to play online with others with a smartphone or PC moving robots in championships and campaigns Everything 24 7 Robot Devastation Fig 1 is the big final project that serves as framework for ASROB the UC3M Student Robotics Society to develop a variety of projects related to it If we talk about the future of Robot Devastation this project has opened the way to the upcoming developments in each field related to it as it is only in an embryonic stage and there is always much to create and improve 3 a ai pyres a r Figure 1 Robot Devastation logo The idea Users robots will be located in the same place and they will be equipped with a locomotive system and a camera as the minimum gear These robots would be printable and open source although this could not be a requirement and be adjusted to a series of parameters to be considered legal
46. corporate error control circuits figure 20 For non industrial inexpensive solutions there are also mass produced servos suitable for any engineer or electronics amateur available from 2 to a range of 100 200 offering a relatively good performance in most cases They were commonly used in radio control devices RC but have had a huge increase in the world of small robotics These servos have a potentiometer for measuring the position of the output and from the comparison between that position and the commanded position an error signal is generated to drive the motor The servo will stop moving when it reaches the zero error position a PWM commanded position fig 21 Input shaft signal movement i Electronic control piba k Serve motor Bea system i Output positon sedsor Figure 21 Servo block diagram Servo hacking As for these small versatile servos it is common practice to use them for continuous rotation projects such as robot wheels or robot arms that need to rotate more than the servo s limited angle range since most standard servos allow the shaft to be positioned only between o to 180 39 degrees In order to do this users have to modify some mechanical and electrical components of the servo Each servo has its differences so the way to achieve this varies from servo to servo First one should eliminate any mechanical stops that the shaft gears or potentiometer may hav
47. cts 3D models LiPo battery Model of a lithium polymer battery for placing it under the robot This will be discussed in a later section Figure 31 View of the LiPo battery Servos After measuring all the distances of the servos we build a 3D object that represents them accurately in order to serve as a guide to design and develop the structure objects of the robot 53 Figure 32 3D representation of a TowerPro sg90 Electronic Board There is also an accurate 3D representation of the board also needed for the construction of the structure pieces Figure 33 3D view of the Arduino Fio board with the RN XV on it Structure objects As the servos are built opposite to one another with nothing between them they will constitute the main core of the structure so that the pieces that are going to be designed should basically hold the servos together firmly The designed structural pieces should also be able to hold the electronic board the Wi Fi board and the battery always minimizing the complexity and number of pieces involved 54 Front part This is a simple piece and it is destined to hold the front ends of the servos together by having two holes prepared for ISO metric M2 screws There is no need for threads because the screw fits firmly in the holes Figure 34 View of the front part Rear part plug In the back of the robot we have two complex pieces The rear part plug serves as a grip fo
48. data transfer However there was a problem with this Users did not get a fluid feeling when controlling the robot since they had to release and touch back again the screen with every change in direction making it both rough and uncomfortable The third improvement was simple we could make the change listeners wait a short delay before sending a value to the output buffer so that 123 there is no overlapping because the Arduino has time to process a single value before receiving another This actually resulted to be really fluid since users do not perceive this delay 10 ms which is perfect to create the right synchronization between both sides of the communication The last solution is probably the most professional but also the most complex of all As previously mentioned we create a second thread in charge of a cyclic communication This way the constantly changing seekbars and their associated event listeners are isolated from the code in charge of sending the values through the socket fig 86 Main thread Second thread 50 ms Figure 84 Multi threading behavior The complexity of this last implementation is far greater than the previous solutions since we are working with multi threading and its implications Although the user does not perceive it values are actually sent always every 50 ms which is a rigid rate separating the user commands from the data transfer This means we have an indirect control which c
49. default so that it is easier to control using the thumbs With the upper button we connect and with the bottom button we disconnect Figure 81 Graphical layout for the Control activity If connected successfully a connection accepted message will appear in the log showing the socket s IP and port If there is an error the log will try to catch the exception produced and will show the corresponding 118 error We then can associate the message to a specific cause and try to solve it This log text box is able to auto scroll when new messages are written and do not fit anymore This way there is always room for more messages and users are able to scroll upwards to read previous messages In the next image we can see the code in charge of that function public void Log String string if log null log append string n final Layout lay log getLayout if lay null int diferencia lay getLineBottom log getLineCount 1 log getsScrollY log getHeight if diferencia gt 8 jlog scrollBy diferencia There is also a disconnect button to close the socket This is always recommended and considered a good practice before closing the application so that we do not leave a sleeping process in memory or a useless open connection Next the code for opening the socket and connecting the seekbars values integers subject to be sent to the Arduino to the socket s associated output
50. dia size 2 5 fe i H340G2K2 5000Y1 000010 000030 vertex 1 443618e 000 0 000000e 000 vertex 1 443618e 000 0 000000e 000 a Y example00L N370GOOXO 0000YO 0000 endloop Figure 39 OpenSCAD to STL format and STL to G Code 40 The platform is the base on which the object will be laying and should be about 120 C The extruder melts the plastic at 220 C and makes the plastic go through it as a fine strip Preview XZ YZ You have made changes to this model Any unsaved changes will not be reflected in the generated toolpath Save the model now Drag to rotate Mouse wheel to zoom View Move Rotate Mirror Scale Generate GCode Figure 40 A view of the software Replicator G 40 59 After setting up the printing parameters with this program we command the printer to start working Fach piece takes on average about 20 to 30 minutes to be printed which makes for the entire robot 1 hour and 40 minutes The material from which they are made in this case is called ABS acrylonitrile butadiene styrene and comes in a coil prepared to feed the printer It is an inexpensive material if we consider the g compared to other manufacturing materials In the next picture we can take a look at the printer while building one of the wheels As we can see it works by adding layers from bottom to top using the extruder as starting p
51. ds with a diagonal cutter Figure 47 Mechanical Stops 41 Next we remove the other mechanical stop which is a small nub on the bottom of the output gear using a cutter this time but being careful not to break it This way the gear will be able to rotate freely Figure 58 Output gear 41 After removing the mechanical stops we have to reassemble the potentiometer and every gear in the right order engaging the motor s gear Figure 5 Gear train 41 65 Now comes the most difficult part In order to cancel the feedback that the potentiometer puts into the circuit we have to modify its electronic behavior Figure 50 Potentiometer s wires 42 Figure 51 Tin ends 42 Figure 52 Soldered resistors 42 First we cut the three wires that go from the potentiometer to the circuit red arrow We have to be really careful not to desolder any other wires since the tin unions are quite delicate and break easily Below the chip H bridge we leave 3 tin ends that must be reconnected to fixed resistor values in order for the circuit to be closed and dismiss any changes in the position of the shaft These were previously connected to the potentiometer In this picture tw SMD 2 2 KO resistors have been soldered to the circuit This is actually a quite difficult task if we lack specific soldering tools for SMD resistors since any common solder will break or damage the board 66 To solv
52. e since it is the officially supported IDE Some parts have been done in Linux and others in Windows Under Linux we must follow the next steps to have all packages configured and ready After downloading the SDK we untar the tgz into an appropriate location which we will refer to later when setting up the ADT plugin The next step is downloading the ADT plugin and once Eclipse starts we must specify the location of our ADT directory This plugin extends the capabilities of Eclipse to let us quickly set up Android projects build an app UI debug it and export app packages for distribution Now if we are running a 64 bit system we must install the ia 32 libs package using apt get Ubuntu ubuntu apt get install ia32 libs 106 After we install Java ubuntu apt get install oracle java7 installer Now we have to launch the SDK manager and install the last Android platform and the latest SDK platform tools This is because the original SDK package includes only the SDK tools In the next picture we can see the SDK manager which we can launch from Linux just by typing sdk in the command line mm Android SDK Manager a p ES an Packages Tools SDK Path C Users Kazacos Desktop adt bundle windows x86_64 20130219 sdk Packages i Name API Rev Status a M6 Tools E Y Android SDK Tools 21 Installed E a Android SDK Platform tools 16 0 2 Installed a D Android 4 2 2 API17 Fl Documentation for Andro
53. e 44 Assembled complete robot Top view of the assembled robot Figures 45 46 41 47 48 8 49 Unscrewed and modified servo Figure 50 Figure 51 Figure 52 Figure 53 Figure 54 Figure 55 Figure 56 Figure 57 Figure 58 Figure 59 Figure 60 Figure 61 Figure 62 Figure 63 Figure 65 Figure 66 Figure 67 Figure 68 Figure 69 Figure 70 Figure 71 Figure 72 Figure 73 Figure 74 Figure 75 Figure 76 Figure 77 Figure 78 Figure 79 Figure 80 Figure 81 Figure 82 Figure 83 Figure 84 Figure 85 Potentiometer s wires 42 Tin ends 42 Soldered resistors 42 Arduino FIO ATmega328P 16 Main Arduino block diagram Block diagram for storing string and converting to integer Robot servos and battery layout Roving Networks RN XV 171 Wi Fi module 29 Wi Fi module operating modes 44 Typical TCP applications 44 FTP client server configuration 44 HTML client configuration 44 GPIO_9to VCC amp Figure 64 Module powered by FIO Wire for short circuiting GPIO_9 to VCCC Wireless connection configuration Layout for serial communication Telnet communication between Laptop and Wi Fi module Console commands for running Java Java User interface program for robot control Client server connection client request 49 Client server connection server accepts connection 49 Android SDK manager 50 Basic steps for apps development 50 AVD Manager 50 Project phases 50 Activity l
54. e a special controller for the current to be applied in the desired sequence The rotor is made up of sometimes hundreds of magnetic teeth and it does not move in a continuous fashion but in discrete steps thus the name stepper motor They are used in many industrial control applications that require accurate positioning with low time response 31 37 Servomotors These are brushed motors integrated with a control system that enables precise positioning as they are built coupled with a feedback control circuitry The way to control them is by PWM and the typical positional and speed feedback devices are encoders resolvers and potentiometers They also incorporate a gear system to increase the torque and decrease the speed 31 Servomotors unmodified do not exhibit continuous rotation and are used for various purposes from robotics CNC machinery automated manufacturing and RC devices They are used for higher performance needs compared to stepper motors Their input is a signal that can be either analog or digital and it represents the position commanded for the output shaft The difference between servos and the previous DC motors is that these are closed loop mechanisms that incorporate circuitry and gearing Figure 20 Industrial servomotor 38 As mentioned before servomotors are widely used in the industry due to their high performance in relation to accurate positioning speed and torque Plus they usually in
55. e in order to let the shaft rotate beyond a full revolution Second it is necessary to cancel the feedback that the circuit sends to the DC motor through the potentiometer eliminating the electrical connection between this and the circuit that controls the DC motor The potentiometer however should be kept as it normally is part of the shaft or the shaft itself These are the common steps to modifying servos but the way it is achieved may vary from model to model Next some common parts found in a servo Figure 22 Common servo parts 40 Make Model TowerPr o MG995 TowerPr o SG 5010 Align DS610 Align DS520 Hextroni k HXT900 Hitec HS 645MG Hitec HS 311 Futaba S3001 Hitec HS 5955TG Futaba 3010 Modulati on Analog Analog Digital Digital Analog Analog Analog Analog Digital Analog Weight 1 94 oz 55 0 g 1 34 oz 38 0 g 1 85 OZ 52 5 g 0 91 oz 25 9 g 0 32 oz 9 1 g 1 95 oz 55 2 9 1 52 OZ 43 0 g 1 59 oz 45 0 g 2 17 oz 61 5 9 1 45 oz 41 0 g Torque 4 8V 10 0 kg cm 4 8V 8 0 kg cm 6 0V 11 0 kg cm 4 8V 9 6 kg cm 6 0V 12 0 kg cm 4 8V 1 9 kg cm 6 0V 2 5 kg cm 4 8V 1 6 kg cm 4 8V 7 7 kg cm 6 0V 9 6 kg cm 4 8V 3 0 kg cm 6 0V 3 5 kg cm 4 8V 2 4 kg cm 6 0V 3 0 kg cm 4 8V 18 0 kg cm 6 0V 24 0 kg cm 4 8V 5 2 kg cm
56. e minutes until we can see WiFly GSX XX on the available wireless networks list on Linux top right corner connection configuration The last two XX are the last two bytes of the modules MAC address Once it shows up Fig 68 we go to edit connections and select the WiFly GSX XX inside wireless and edit it Inside the wireless tab we select Ad hoc and leave everything else intact In the wireless security tab we select none for simplicity reasons and in the IPvx tab we select manual method and click on add in address 92 Editing wifi hotspot via lan Connection name Connect automatically Wireless Wireless Security IPv4 Settings IPv Settings SSID wifi hotspot via lan Mode Ad hoc h 7 Band Automatic 7 Channel default oo BSSID Device MAC address Cloned MAC address MTU automatic of bytes Available to all users Cancel Save Figure 66 Wireless connection configuration At this point we have to set an IP for our computer that is inside the subnet ranged by 255 255 0 0 For example we can set an IP of 169 254 1 1 and a Netmask of 255 255 0 0 We then save the changes and connect to WiFly GSX XX Once connected we open a prompt Linux terminal and ping to 169 254 1 1 This way we check if we can send and receive TCP packets to that address If everything goes well we should receive data To exit we press
57. e same but the EPROM required a ceramic package instead of an opaque plastic package as found in the PROM version Only the ceramic package with the quartz window made the EPROM a much more expensive option Later in 1993 an electrically erasable programmable read only memory EEPROM was introduced which allowed users to quickly erase the memory without the need of an expensive package This kind of technology also allowed for in system programming write data in a completely installed system In the same year a new kind of EEPROM 23 was introduced by Atmel called Flash memory and quickly other companies started manufacturing with this kind of technology In the future a possible new technology still under development could be used as a replacement for flash memories The MRAM magnetoresistive random access memory with a better performance power consumption and faster access times 20 Nowadays the unit cost of microcontrollers has decreased to a minimum resulting sometimes in 1 or fractions of a dollar per unit It is estimated that around 55 of all CPUs are 8 bit microcontrollers of microprocessors These inexpensive 8 bit processors suit perfectly for endless purposes such as automobiles office and home systems medical equipment robots toys remote controls and many other embedded systems 8 bit processors have the advantages of being robust and easy to program and they are rather inexpensive low consumption soluti
58. e this problem two common 1 4 W resistors have been used being really careful not to damage any part while soldering the resistors legs However this method has one big disadvantage the new circuit with these resistors will not fit into the servo s box so the only way possible is to make a hole in the box and let the resistors out through it In conclusion it is possible that this part of the project could be reconsidered because of its complexity and difficulty in the sense that we could avoid the technical trouble involved in this in favor for a better performance servo The only disadvantage would be an over cost for each servo 67 68 Chapter 5 Electronic hardware and programming In this part we will cover everything related to the election and use of all electronic devices involved in the robot In order to make the robot work and move we need a A R D U I E 0 microcontroller destined to serve as the main intelligence it deals with the possible inputs or outputs that the robot may implement for example activities such as running the servos communicating with other devices or algorithm execution For this specific project we also need a communicating module that will deal with the data transfer between the microcontroller board and the controlling device This module might or might not come incorporated to the main board meaning that we have the possibility of either an integrated solution or two sepa
59. ed that OpenSCAD is the best choice since it focuses on the computer aided design aspects instead of the artistic aspects This software is entirely open source and a very powerful parametrical tool that works by rendering scripts fig 32 This way programmers build their models with parametrical code and the software compiles the scripts and renders the object The great advantage of this program is that by being parametrical users can modify their objects attributes by changing certain values of their code However this is also a disadvantage since it makes it more complicated to create objects compared to other alternatives Figure 30 A look into the OpenSCAD software 8 52 As we can see on the left side we type the code of the piece while in the right side we can see the rendered result The objects are created using mathematical basic functions from which we can achieve more complex shapes Among the locomotion systems previously discussed for this project the 2 wheeled option has been selected in order to focus on other aspects of the robot such as communications and interfaces so that we can have the smallest robot to test approximately 5 cm long as well as the cheapest configuration There are 7 pieces modeled for this project s design Some are created as new structure pieces and others are only 3D models of real objects like servos or the electronic board Next we describe each in detail Real obje
60. een the operator and the robot another important objective is to develop the robot and its associated communications system under a low cost and open source philosophy always if possible depending on the part This way we can bring potential future users closer to the project since the whole robot costs less than 100 see Appendices The third objective challenge would be to provide the robot with a high autonomy in the sense of hours of use without the need for recharging At the moment the robot uses a LiPo battery which is a long battery life but it could be enhanced by using solar cells future versions see Chapter 7 conclusions and future work 6 1 2 Parts of the project The first part is the design manufacture and assembly of the robot s structure For the purpose of 3D designing a parametrical modeling software was used which will be discussed later along with other discarded options Regarding the manufacture the code from the 3D software is then translated into a machine code that can be read by a 3D printer which builds each piece layer by layer Once the pieces are complete they are assembled including the electronic components and the robot reaches its final shape and we then proceed to modify the servos to achieve continuous rotation by hacking the electronics as well as its mechanical structure This is all covered in Chapter 3 3D and Chapter 4 servos The second part concerns the programming and confi
61. er applications It is worth mentioning a family of modified Harvard architecture microcontrollers from Microchip Technology called PIC 23 Peripheral Interface Controller see figure 1 popular among both industrial developers and hobbyists due to low cost and wide availability users could usually get free samples Also used for educational purposes these microcontrollers have been used in the last years and have become tremendously famous In the last few years supported by the internet community there has been a substantial growth in the use of a new kind of open source microcontrollers and programmable hardware by a new generation of enthusiasts all around the world that use them as powerful tools to carry 25 out projects either in the field of education or just as a hobby For engineering students or graduates these new microcontrollers serve as great tools for developing their ideas or projects Where PIC microcontrollers used to be the rule for small projects prototypes and hobbyists devices a new family of microcontrollers called ARDUINO 24 has displaced it becoming in short time a very famous tool for developing almost any engineering project that requires a microcontroller In 2006 the Arduino Uno was announced Fig 13 and from then on the Arduino community started This project is based on an Arduino microcontroller and therefore we will explore in detail the characteristics of this product It is qui
62. es or services An activity is an application component that provides a screen with which users can interact to perform different actions Every activity is given a window with a user interface Every time that we open a new window from the classic computers point of view that window is an activity When we transition from one screen to another with different components and functions we change from one activity to another Another application component of the same hierarchy is a service A service can perform long running operations in the background but in the same thread but does not provide a user interface 112 Managing the activity lifecycle The Android system unlike other programming paradigms which implement a main method initiates code in an activity instance by invoking specific methods that correspond to different stages of its lifecycle There is a sequence of methods for starting the application and other sequence to tear it down fig 79 This two make a sequence similar to a step pyramid being the top of the pyramid resumed the point at which the activity is running and the user can interact with it onResume onPause onResumel onStart onStop onsStart onDestroy eno onCreatel lo Depending on the complexity of our activity we probably do not need Figure 77 Activity lifecycle 50 to implement every method of the lifecycle as the system normally manages t
63. ge conectado false catch IOException fallo Log No ha sido posible conectar IOException Log fallo getMessage conectado false e printStackTrace else Log ya estas conectado The codes showed in this document are a minor part of the complete code but are also fundamental for the application and worth analyzing Next the block diagram for this second activity together with the second thread for communications 120 Launch activity onCreate onStart start new thread write to write to pipe pipe Figure 82 Control Activity block diagram This program runs in the user s interface main thread and any changes in the seekbars are written in a variable that is accessible from the second thread through a pipe that connects both threads It is not possible for a second thread to access read or write any variable or instance created in the main thread so a special binding is required between both threads 121 The second thread fig 85 is constantly sending the values received from the first thread regardless of whether any seekbar changes its value or not Communicating thread button connect Data flow a Data flow Send for left o for right wheel wheel walt 50 ms Ao disconnect Figure 83 Second thread s block diagram In order to control the robot sending values to the Wi Fi module this implementation is
64. guring the electronic components for this project First the microcontroller board called Arduino based on the ATmega328P running at 8 MHz serving as the main intelligence for the robot This board is in charge of reading the wireless transferred data and moving the robot s DC motors Second there is a smaller Wi Fi module thought to be plugged on the Arduino enabling wireless connectivity with any device with internet connection such as laptops smartphones or other Wi Fi boards The main board is an open source electronics platform which users can build from common single electronic components or buy preassembled The programming software can be downloaded for free The Wi Fi board is not open source hardware but can be configured following its user s manual This is all covered in Chapter 5 The third and last major part covers all the Java programming first for a Laptop and then for a smartphone including socket processing user graphics interface and data calculations all destined to the creation of an intuitive application for moving the robot that is both simple and robust This is all covered in Chapter 6 miian yyyrere cebieea Vary wh i Teret Iot ragi Mit Ex w a Figure 4 Project s workflow Design hardware and smartphone programming 1 3 Document structure Having passed the introductory part of this document section 1 in the next chapters of the text we
65. h a pair of DIGI s RF modules As this project uses another board it is a must to program it with the cable After this we start developing the sketch or Arduino program As mentioned before there are two functions that we must implement in any program However before the first function we include the necessary libraries for our program and then we write the setup and loop functions First in the setup function we will initialize the variables attach one digital output for each servo and configure the software serial connection for carrying out the serial monitoring This will be explained along with the softwareSerial library In the setup function we also set the data rate for serial data transmission with serial begin 9600 A working value for the Arduino FIO is 9600 bps bits per second In the loop section we will write the main algorithm in charge of receiving the instructions from the smartphone and commanding the servos We read char values from the corresponding Arduino FIO buffer which come from the default serial connection with the Wi Fi module As the values received from the Wi Fi module and sent to the Arduino are treated as characters we need to implement a char to int transformation prior to executing any code that uses the received data 74 The values sent from the Wi Fi module to the Arduino are numbers from o to 180 coming from the commanding device In this case an Android phone that
66. hem if they are not specifically defined In the paused state the system is partially obscured by other activity and cannot receive any input or execute any code In the stopped state the activity is completely hidden and not visible to the user background The instances and activity information is retained but cannot execute any code 113 The created and started states are transient and the system quickly moves from them to the next state After the system calls onCreate it quickly calls onStart followed by onResume The onCreate method is invoked when the user selects the app icon from the Android system and it is equal to a main method launcher method The onCreate method should define the user interface as well as basic application startup logic Transitions between the other states are done by invoking the functions between them Figure 79 but are normally not specifically defined as the system does that automatically for example if we do not implement the onDestroy method the system will destroy all local class references from memory when no longer needed This project s main application only defines the onCreate method for building the user s interface buttons and other objects The rest of the methods are managed by the system while users run the activity However for the second activity controlling activity we manually define the onStart method for creating a second thread apart from the
67. hese requirements were only met first by Apple and also now by Android 49 In conclusion with this information we can foresee an attractive future for investors and developers in the applications software environment Smartphones are becoming more than just a communicating tool to become all in one devices with which we can control and monitor any other electronic devices subject to wireless communications At this point when developing applications most companies choose building multi platform applications for both Android and iPhone Both operating systems are widely used and cannot be set aside However there are big differences in both worlds while developing and programming that should be noticed On one hand Android is completely open source has a large community of developers and is a light weight operating system It is completely free to start developing for it and has a vast database of resources available on the internet but applications should be runnable by many different devices with different hardware configurations and computing power On the other hand the iOS for iPhone is only intended to work in iPhones thus making it easier for developers to develop focusing less on hardware requirements and more on code It is a proprietary system available only for Apple s devices and it costs 99 to become an iOS developer and purchase the complete developing toolset version for developers outside Apple 50
68. hin wire 90 We will show three different ways to configure and achieve the same results The first will be via hardware and then telnet and the last two software Configuration parameters will be stored in the module s memory so that every time it reboots it can auto connect to the router Hardware and telnet First of all we enable the WiFly s Ad hoc mode by connecting GPIO_9 8 pin of the XBEE s pinout to VCC 3 3v 1 pin See images below il Ag UD gt y MISA Figure 63 GPIO_9toVCC Figure 64 Module powered by FIO Figure 65 Wire for short circuiting GPIO_9 to VCCC 91 By forcing it enter in Ad hoc mode we can connect to it via telnet for the first time and then configure it There is also a software way to configure it in Ad hoc but we must first establish contact with it by forcing a hardware Ad hoc When powered up with the FTDI cable from a computer through the Arduino FIO it could be from the battery we should see the three LEDs on amber red and green This means the connections are correct Second of all we should try to reach its network According to the manufacturer the default values are e P 169 254 1 1 e Netmask 255 255 0 0 This Netmask means that if we want to reach its net we should have a 169 254 XXX XXX type of IP being XXX any number from o to 254 except for 1 1 which is the address of the module itself Once powered up we should wait perhaps som
69. his task 76 save incomming char in buffer are there any other remaining chars counter Fill undefined array elements with NULL convert to int with atoi y Figure 56 Block diagram for storing string and converting to integer When sent to the Arduino from the Wi Fi module a number can have from 1 to 3 digits Each digit is sent separately and treated as a character As the Arduino buffer allows for only one variable to be stored in it we have to build a loop that first reads that incoming value and then stores 77 it in the first position of an array If there is more incoming data that is to say another number s digit we place it in the next position of the array As we do not know how many digits the number will have we still have an array with a variable number of elements which are undetermined with no assigned value In order to use the function atoi which only works with a NULL ended string we have to fill the remaining positions with NULL values or M0 We then convert the string to an integer and it is ready to be read as a valid number for a servo After the data is written to the servo we clean the buffer for the next loop with serial flush It is important that we add a delay of 10 ms between the data is being written in the serial buffer and when reading the data This way we allow the buffer to have completed before we read any values Regarding the servos from two of
70. ich to incorporate the module and some hints on how to implement them First of all the module can be in two modes or states Data mode or command mode User Data Module Command Mode Figure 59 Wi Fi module operating modes 44 e Data mode default state WiFly module like data pipe TCP UDP header stripped or added transparent to UART Data written to UART is sent out to Wi Fi Data received from Wi Fi is read from UART e Command mode Used to assign data SSID pass phrase etc To configure parameters and or view the current configuration we must put the module into command mode There are various ways to connect to the Wi Fi module and enter in command mode for the first time In all of them the user has to establish connection with the module and send the escape sequence If the module answers CMD it means we are in command mode Note In the configuring part next section we will take a look at how to connect and configure the module 83 Upon entering the command mode the module can accept five types of commands Set commands These take effect immediately and are stored in memory They include the categories shown in table 5 Table 5 Set commands parameters EE Controls the ad hoc parameters broadcast Controls the broadcast hello hearibeat UDP message Sets the communication and data transfer timers and matching charac ters dns Sets the DNS ho
71. id SDE E SDK Platform E E Samples for SDK Ee ARM EABI v7a System Image E e Intel x86 Atom System Image E i MIPS System Image E Ba Google APIs O Ej Sources for Android SDK gt D E Android 4 1 2 API16 gt M Android 4 0 3 API15 gt Installed amp Installed 5 Installed e Installed Not installed Not installed e Installed e Installed Show Updates New Y Installed Obsolete Select New or Updates Install packages Sort by 9 API level Repository Deselect All Delete packages Done loading packages Figure 73 Android SDK manager 50 When the Android tools are updated or a new version is released we can use the SDK Manager to quickly download them to our environment 107 6 3 Basics of apps development Once we downloaded and installed the set of tools included in the SDK we can access them form the Eclipse IDE The basic steps for developing applications are shown in figure 76 Set up your Install the Android SDK development Android Development Tools i i environment and Android platforms l Setup setup AVDs Create Android Virtual Devices and devices and connect hardware devices for testing that will be used for testing i i O Create an Android project with Development in your source code resource files and Android manifest file j Build and run Build and run your application your application in debug mode i l l l l l
72. ifecycle 50 Main activity and Control activity Main activity s graphical layout Block diagram for the Main activity Graphical layout for the Control activity Control Activity block diagram Second thread s block diagram Multi threading behavior Concept of Robot Devastation by Santiago Morante XIV 62 62 65 66 66 66 71 71 76 77 80 81 83 85 86 86 91 91 93 96 97 103 104 104 105 107 108 110 111 113 115 116 118 121 122 124 127 List of tables Table 1 Basic information about CPU architectures 14 Table 2 CISC vs RISC CPU architectures Table 3 Widely used servos and their features 28 Table 4 Arduino FIO features Table 5 Set commands parameters Table 6 Default access point mode settings XV 20 21 41 72 84 87 XVI Chapter 1 Introduction Nowadays a new way of interacting with robots is starting to develop among both professionals and non professional electronics users Due to the recent development of open source software and more recently open source hardware as well as the decreasing prices in the world of electronic tools engineers find themselves in a situation where they can think of and carry out a vast range of projects These projects may start out of the industrial environment per se however most of the experience technical abilities and new ideas are subject to be applied later on in the industry of robotics There is consequently an approa
73. ing hardware Figure 58 Roving Networks RN XV 171 Wi Fi module 29 81 The module incorporates a 32 bit processor TCP IP stack real time clock crypto accelerator a power management unit and analog sensor interface It also offers additional functionality through its 8 programmable GPIOs general purpose input output and 3 ADCs The ADCs provide 14 bit resolution while the GPIOs can be configured to allow standard functionality or status signaling to a host microcontroller minimizing the need for serial polling between the module and the microcontroller Among all the features See manual or main web site we can outline some important ones Based common 802 15 4 footprint Access to every node Ad hoc and AP configurations Low power 3 3V supply Secure Wi Fi authentication Configuration over UART or wireless interface telnet using ASCII codes For this project the module has been connected to the Arduino hardware with the simplest configuration only using PWR TX RX and GND for communicating with the microcontroller A common serial communication This is showed in the circuit layout in the 3 2 section The module has an endless set of applications and lets the user set multiple configurations according to their needs To begin with there we will offer a general overview of the configuring commands default features and working modes Later we will see some typical applications 82 in wh
74. ing to develop any significant extra parts Given this we could make use of smartphones to our benefit with the purpose and idea of Robot Devastation As it is in an Alfa state there was no tangible product related to Robot Devastation around which we could start to develop the applications and dynamic systems derived from it Hence the need to create a small mobile robot capable of being controlled from Android platforms making use of the most suitable wireless technologies available which are for now Wi Fi internet protocols If we want users to be able to create their own robot designs as well as building them using layouts available on the internet we should make use of open hardware manufacturing tools such as the recent 3D printers which are increasing their presence in many environments According to this open philosophy and as a need to materialize the user client part of Robot Devastation a concept of a robot is born for this project It should be ready to connect to a wireless network almost instantly upon power on and subject to being controlled from a user interface with no delay in the communications In addition it should be printable as mentioned before All this requirements have been met in the robot built for this project figure 3 Figure 3 This project s Android controlled robot Apart from achieving the communications part wireless internet data transfer low latency and reaching long distances betw
75. ion May 2013 Online Available http www rovingnetworks com resources download 150 Wifly_Training Pres 131 entation 45 GitHub May 2013 Online Available https github com harlequin tech WiFlyHQ 46 T Waldock GitHub May 2013 Online Available https github com perezd arduino wifly serial 47 C Taylor P J Lindsay J Crouchley B Breznak and jmr13031 GitHub May 2013 Online Available https github com sparkfun WiFly Shield 48 Java Download May 2013 Online Available http java com en download index jsp 49 Java tutorials May 2013 Online Available http docs oracle com javase tutorial networking sockets definition html 50 Google Android developer tools May 2013 Online Available http developer android com sdk index html 51 R Wilson The Great Debate SOC vs SIP EE Times May 2013 Online Available http www eetimes com electronics news 4052047 The Great Debate SOC vs SIP 132 Appendices PROJECT BUDGET UNIVERSIDAD CARLOS Ill DE MADRID Escuela Polit cnica Superior 1 Author Jorge Kazacos Winter 2 Department Electronic Systems and Automation 3 Project Description Android Controlled Mobile robot Duration 10 months Indirect costs rate 20 4 Budget breakdown LABOUR COST Name Caices Dedicated Cost per con 3 time hours Hour Jorge Kazacos Winter COE o oe EJ Juan Gonz lez Senor 4000 Victo
76. is also works with the 170 series In HTTP client mode the module sends the next request message including comm remote string and sensor readings GET server php value 0F3000001111222233334444555500667777 n n When serial UART data arrives the module auto connects to web server and sends Access point mode AP mode In addition to infrastructure and Ad hoc mode the module can act as an access point providing several advantages over Ad hoc mode The module creates an AP network to which Android devices can join The module runs a DHCP server and issues IP addresses to seven clients which is much faster than automatic IP and Ad hoc mode The module supports routing between clients There are two methods for enabling AP mode hardware and software To enable it in hardware we must hold the GPIOg to 3 3V and then reset the module It starts with the next default AP mode settings Table 6 Default access point mode settings AP Mode Default WiFly AOcx yy where XXX is GSX for the RN131 and EZX for the RN171 yy is the LSB byte of the module s MAC address CN 8 To enable it via software we use the next commands After the first we do not need to enter them in the same order set wlan join 7 Enable AP mode set wlan channel lt value gt Specify the channel set wlan ssid lt string gt Set up network broadcast SSID set ip dhcp 4 Enable DHCP server set ip address lt address gt
77. ketches Here comes the biggest disadvantage of these two modules when used together Despite all the advantages that come when choosing the FIO board size connectivity ect it has been thought for being used with a DIGI s XBee Bluetooth or RF module which even allowed for wireless programming so if we want to connect it to the Wi Fi module we will have to put up with some difficulties when making it work As mentioned early we have to detach the Wi Fi module every time we want to upload a sketch but this is not the biggest trouble In order to start working with the module and check for incoming data we should use the serial monitor that comes with the Arduino IDE However the default serial pins are being used for data transfer to from the Wi Fi module so that we cannot monitor this flow of information In order to solve this issue and achieve data transfer and proper monitoring we should use the softwareSerial h library which allows for any other digital pin to serve as serial transfer RX and TX We then connect the RX and TX from the FTDI cable to these new pins and the rest VCC GND ARef and DTR to the corresponding FIO pins For this we have to disassemble the FTDI cable In conclusion we have two 79 running serial communications at the same time one for monitoring the buffered read values and other for communicating with the Wi Fi module Layout The next picture shows the electronic configuration of the robot
78. lf of all u s mobiles 35 telecomsmarketresearch com Europe s mobile operators look to international opportunities and LTE for future growth May 2013 Online Available http www telecomsmarketresearch com resources Mobile Market_Europe sh tml 36 A 1 J 1 2 Press Release Apple s App Store Downloads Top 1 5 Billion in First Year May 2013 Online Available http www apple com pr library 2009 07 14Apples App Store Downloads Top 1 5 Billion in First Year html 37 Appleinsider com Apple s rivals battle for iOS scraps as app market sales grow to 2 2 billion May 2013 Online Available http appleinsider com articles 11 02 18 rim_nokia_and_googles android bat tle for_apples ios scraps as app market sales grow_to 2 2 billion html 38 ReplicarotG May 2013 Online Available http replicat org 39 MIT Gcode May 2013 Online Available http carlsonmfg com cnc g code m code programming html 40 ASROB June 2013 Online Available http asrob uc3m es index php Instrucciones de impresion_R26 41 SG90 Continuous rotation tutorial May 2013 Online Available http www fetchmodus org projects servo 42 SG90 Electrical modification May 2013 Online Available http www dr iguana com prj_TPro_SG90 index html 43 S Kobayashi Arduino FIO May 2013 Online Available http arduino cc es Main ArduinoBoardFio 44 Roving Networks RN171 presentat
79. ling a robotic machine In particular the application controls a wheeled robot but it is possible to generalize the contents and functionality of this software to extend it to other types of robotic control robot arms humanoids industrial machinery etc It has been developed for Android with the possibility of being run by smartphones and tablets with wireless internet connections Java was the preferred language for this project although as mentioned in the background section it is possible to write parts of the code in both C and C The code has been written using Linux Ubuntu distribution and Windows both with Eclipse as IDE integrated developing environment Almost all features of the final application have been previously tested in an Android virtual device AVD where developers can check the behavior of their applications before installing them in a real device There have been parts however that could not be run in an 101 AVD such as connectivity with other devices TCP sockets and some multi thread code Before developing for Android directly it has been the intention of this project to fully understand the possibilities given by the Java language when interacting with external electronic devices Arduino using sockets and at the same time understand the way data is transferred through a TCP connection and how it is treated by the Arduino board This is covered in the next subsection As expl
80. makes for example a special shield for motor control Arduino boards can be powered with normal 9V or 5V batteries LiPo batteries and also have a solar panel support Fig 16 Figure 16 LiPo battery and small sized solar cells 26 Arduino Software In order to program the Arduino microcontrollers the founders of the project designed and created a tool intended to be easy and intuitive for new users This is called the Arduino IDE integrated development environment a Java written program that allows developers to write debug and compile programs as well as uploading them to the electronic board It is derived from the Processing 27 programming language IDE which is an open source programming language built with the purpose of teaching the fundamentals of computer programming in a visual context The programs written for the Arduino are called Sketches and are written in C or C The IDE comes integrated with some libraries such as the Wiring library which makes it easy to operate with inputs and outputs and other standard libraries for working with extra hardware 30 servos internet shields steppers or LCDs Nevertheless Developers can include extra libraries either creating them for particular needs extra hardware specific math functions etc or using other developers libraries In line with the philosophy of open source coding developers usually publish their new libraries and maintain the code for others
81. n stability on rough terrain maneuverability and control e Stability It is only necessary that the center of gravity is on the stability polygon e Maneuverability If the movement is differential turning is achieved by powering the wheels at different speeds the robot will be omnidirectional If the robot has an Ackermann steering configuration used by cars the vehicle will have a turning radius larger than itself which results in less maneuverability e Controllability The disadvantage of the differential configuration is that controlling the robot becomes harder than with the Ackermann configuration For example it is difficult to keep the robot in a straight line compared to standard vehicles since these use the same power for both wheels 43 Here there are some examples for wheeled robots 2 wheels 3 Wheels 4 Wheels Figure 24 a Wheeled robot b Kovan robot amp c NASA s wheeled robot The first fig 24a is the simplest configuration For a correct balancing it is necessary that the center of mass is below the axle Difficult to control but good maneuverability Cheap and small The second configuration shown in figure 24b consists in three steering wheels arranged in a triangle Usually for indoors Great maneuverability All wheels driven by a single belt The last Image fig 24c shows NASA s rover A 4 wheeled robot with the two front wheels acting as steering and the rear two as drivers
82. n exceso cada mbito relacionado con el robot o su manejo dise o estabilidad potencia manejo etc Una ventaja de este enfoque es que se consigue mantener el coste del proyecto al m nimo En definitiva se ha llevado a cabo el dise o y construcci n de un robot imprimible casi al 100 siendo as f cilmente duplicable y por otro lado se ha desarrollado un software de control del robot tanto para el microcontrolador de ste como para la aplicaci n de m vil encargada de controlarlo dando como resultado un robot controlado por Android Table of contents ACKNOWLEDGEMENT V ABSTRACT ooo VII RESUMEN conce IX TABLE OF CONTENTS XI LIST OF FIGURES XIII LIST OF TABLES nnn nnn nnn nnn XV CHAPTER 1 n nn nn nnn nnn nn nn nn nn nn nn nnn nnn nnn nnn nn nn nnnnnne 1 1 1 MOTIVATION AND AIM OF THE PROJECT 5 1 2 PARTS OF THE PROJECT 7 1 3 DOCUMENT STRUCTURE
83. n of microarchitecture and instruction set design Microarchitecture is the way the instruction set architecture ISA is implemented in a microprocessor so that a given ISA can be implemented with different microarchitectures The instruction set architecture defines the codes that a central processor reads A minimal hypothetical structure would include an Arithmetic Logic Unit ALU and a Control Logic section The ALU performs logical operations while the logic section retrieves instruction operation codes from memory fig 10 Arithmetic Logic Control Unit J Unit Accumulator Fy A 4 e LN Figure 10 Basic Von Neumann processor architecture In the next table we can see the differences between many of the processors found in the market 19 Table 1 Basic information about CPU architectures 15 Architecture introduced BE a Regis ster egister au way AVR32 2006 RISC Blackfin s2 200 Risca 8 Unknown A E eSERISC RISC eSERISC 16132 2009 i Ba RISC gdisier at de egister mas IS CC on y Register MIPS Home 1981 Register Risc 32 Unknown Register Register 32 64 3 Register es ss 2005 RISC E emory ia Register of E Register Register SuperH SH 32 1990s Register RISC 16 Unknown Memory Register System 360 System 370 z 84826 1964 Memory M cise 16 Unknown emory Architecture M emory emory ui 1978 Reelo CISC A emory
84. nce by providing it with solar cells up to a point where the robot would need to recharge much less often As a conclusion to this there will be a lot of work to do for a long time in all areas which will favor research and experience to those involved 126 Figure 85 Concept of Robot Devastation by Santiago Morante In the picture we can see a possible future version of the smartphone application in which we can actually see the environment at the time of playing as well as some augmented reality objects 127 128 References 1 J Gonz lez V ctores ASROB May 2013 Online Available http asrob uc3m es index php INTERFAZ 2 3ds May 2013 Online Available http www 3ds com products catia 3 Autodesk AutoCAD May 2013 Online Available http www autodesk com products autodesk autocad overview 4 Invis May 2013 Online Available http www inivis com 5 Newtek Inc May 2013 Online Available https www lightwave3d com 6 Blender foundation May 2013 Online Available http www blender org 7 ISTI CNR May 2013 Online Available http meshlab sourceforge net 8 C Wolf and M Kintel May 2013 Online Available www Openscad org 9 3D Systems May 2013 Online Available http www ennex com fabbers StL asp 10 3D systems May 2013 Online Available http printin3d com 3d printers 11 A Bowyer RepRap May 2013 Online Available
85. not the only one possible Indeed there are other ways with different advantages and disadvantages to approach the issue of commanding a robot with numeric values For example the first way to develop the program was using a single thread for the second activity This way we opened the connections in the main thread and any changes in a seekbar were treated as events which resulted in instantly 122 writing the seekbars values in the output buffer and then being sent to the robot This was a simple solution from the Android side but an ineffective one for the robot since values were sent with no separation from one another making it incapable of distinguish different numbers 34 36 40 gt 3 43 6 40 e Android Robot This resulted in an erratic movement There was also another problem we could not solve this from the Arduino side robot making it sample two cypher numbers because the range covered numbers from one to three cyphers This implementation was the fastest but resulted inefficient A solution for this problem came with the second implementation Instead of sending a value for every event launched by the seekbars class listeners we could only send a value when a seekbar stopped moving that is when users released their thumb from the screen assuming they use that finger This assured that values where sent isolated from one another making it impossible to create an overlapping in the
86. nts but often have problems with stability complexity and power consumption A legged robot is well suited for rough terrain since it is able to cross gaps climb steps and cross obstacles so it usually is the right choice when there are ground irregularities util power hp tati speed miles hour Figure 23 Power consumption of different locomotion mechanisms 33 As we can see in figure 23 compared to wheeled robots these are two orders of magnitude more inefficient on a hard flat surface since legged motors need more motors and thus more degrees of freedom than the first However the legged locomotion is more power efficient than wheeled when the ground is softer 42 Stability is also an important issue From 1 leg to n legs including 2 4 and 6 normally based on animal or insect movements static and dynamic stability is a complex engineering challenge certainly more difficult than the wheeled robots case Wheeled locomotion This is the most popular method for providing robot mobility It is normally more power efficient and requires a simpler mechanical approach less motors and it is stable most of the time There are robots with two wheels with a third stable point but it is more common to find 4 wheeled robots for better traction sometimes more 6 or more wheels Stability here is not a major problem but there are other issues worth mentioning The focus on research in wheeled robotics is on tractio
87. object socket getOutputStream Apart from opening a TCP channel as client with the Arduino server we relate the constantly changing values from the seekbars to the output buffer of the socket object that sends information to the server If we needed to implement a two way connection we would use also an InputStream object associated to the socket as well to receive information from the server This would be interesting if for example we were required to read 119 field data from sensors or third applications web services and use that incoming data in our main application As this is a prototype we should first focus on the main issues and build a robust application by debugging errors involved in this process Later on we could expand the functionality of the application as well as the robot public void InicioConexion View view if conectado Log Intentando iniciar conexion Log IP IP Log Puerto puerto try socket new Socket IP puerto Log Conectado con Arduino try Salida new PrintWriter socket getOutputStream true catch Exception e TODO Auto generated catch block Log error print socket try Thread sleep 40 catch InterruptedException e1 TODO Auto generated catch block el printStackTrace y conectado true catch UnknownHostException fallo Log No ha sido posible conectar UnknownHostException Log fallo getMessa
88. oint of the melted polymer Figure 41 3D printer building a wheel 40 60 3 3 Assembly The next and last step of the manufacturing process is the assembly of the pieces once they all have been printed However first and as mentioned before some pieces need their surfaces and edges to be smoothed in order to fit with the others When they are ready we put together the two servos with their ends in opposite sides and attach to them the front and rear pieces using two screws for each one of them After this we can plug the electronic board into the rear piece For the battery we use a sheet of Velcro placed under the servos This way we can attach and detach the battery easily and as many times needed In the next picture we can see the results so far Figure 42 Preassembled robot Prior to assembling the electronic board we have to solder the male headers in order to start working with the pins Next we assemble the rear part support the wheels and the Wi Fi board 61 The complete model After all the pieces are assembled together we can take a look at the final layout of the robot s design a 3D model of the complete robot in which one of the wheels has been removed for a better view Figure 43 Assembled complete robot Figure 44 Top view of the assembled robot 62 Chapter 4 Servomotors and servo hacking For the robot s wheels we have to choose a pair of servos that suit our needs
89. oject as it is worth the effort to work as 125 part of a bigger project to have an understanding of the different areas and how they connect between them Among all that is left to be developed we can start by mentioning a few inner projects that are already theoretically pre defined each one up to a certain point First for example we would need a group of computer engineers to build the server system it should be a robust system in charge of managing all data at all times 24 7 and it should be accurate in terms of response time If we consider Robot Devastation as a game latency times should always be reduced to a minimum which is a difficult task A typical situation that we could think of would be an encounter between two robots active at the same moment These two start with life points and have the ability to aim and shoot the opponent decreasing its life points All of this information would be managed from a server to which robots would constantly upgrade with their status This status at the same time would be instantly reported to the user operator Second from the electronics side apart from improving the current robot all its features are subject to redesigning for future versions someone could provide a future version with sensors to achieve field information transmissions Each robot would need a sensor to receive the shots from others and a shooting device as well Besides we could improve its performa
90. ons with a size that fits almost in any system I e T E a ES A HH 2 a ie P fi Siam nvr Pl ee f hi all tes a iiai ea I ES i EA i te E a ES EN MN A al ES Bi 4 z f a gt EN o AN meh re A hi ELA e Figure 11 Die of an 8 bit PIC EEPROM microcontroller by Microchip 21 Depending on the system requirements we can find processors from 4 bits for devices that can operate with small data sizes up to 64 bits microprocessors for the most demanding systems The first together with 8 bit processors can be found in digital calculators HP 48 and remote controls although nowadays it is becoming difficult to find 4 bits 24 processors 8 bit processors enable engineers to support a wide range of applications and functions including automotive motor control LCD drivers USB connectivity lighting applications and more A typical mid range automobile is estimated to have around 30 microcontrollers typically for window lift low end airbags pumps steering angle sensors cooling fans and valve throttle control This is the case for example of the 8 bit microcontroller family XC80o0 by Infineon 22 However in both industrial and automotive applications it is becoming more common to find 32 bit microcontrollers as its unit cost is similar to the previously mentioned processors but these can operate with bigger data sizes fig 12 Figure 12 Some common microcontroll
91. oprocessor in the middle and the I O pins on the sides The Arduino Fio is a microcontroller based on the ATmega328P running at 8 MHz and at 3 3V fig 56 It has 14 Digital inputs and outputs and 8 analog inputs an on board resonator a reset button and a socket for XBee modules XBee is a standard pin arrangement from DIGI for its RF and Bluetooth modules but it has been adopted by other companies so that we can find other maker s modules with different features all having the same pin arrangement Figure 54 ATmega328P 16 71 It has connections and a USB internal charging circuit for a lithium polymer battery Summary Table 4 Arduino FIO features Microcontroller Operating Voltage Input Voltage Input Voltage for Charge Digital I O Pins Analog Input Pins DC Current per I O Pin Flash Memory SRAM EEPROM Clock Speed Memory ATmega328P 3 3V 3 35 12 V S777 14 of which 6 provide PWM output 8 40 mA 32 KB 2 KB used by bootloader 2 KB 1 KB 8 MHz This microprocessor has 32 KB of flash memory for storing code of which 2 KB are for the bootloader It has 2 KB of SRAM and 1 KB of EEPROM Input and output All 14 pins can act as digital output or inputs with an internal pull up resistor of 20 30 kQ disconnected by default They operate at 3 3V and provide or receive a maximum of 40 mA Some pins have the next special functions 72 Serial RXI Do and TXO D1 Used to re
92. orming a coil This filament goes into the extruder and when it reaches the adequate 16 temperature the plastic melts and the printer can start building the layers The previously mentioned non professional printers are progressively entering the world of DIY do it yourself projects both in private and in academics environments Universities toy shops It is worth mentioning the longest running project in the desktop category called RepRap 11 which is a totally open source 3D printer whose full specifications are released under the GNU General Public License and capable of printing many of its own parts to create more machines Another good example of a 3D printer is the Airwolf 3D Prusa which is also widespread among the open source community In 201 and 2012 prices of these printers have decreased drastically as they used to cost around 20000 US 12 compared to the less than 1000 that cost now 2 2 Electronic hardware and programming Previous to the release of the first single chip microprocessor by Intel in 1971 there were during the 1960s computer processors built with hundreds of transistors and logic gates soldered connecting several electronic boards which resulted in a poor performing and substantial heat loss compared to the later integrated solutions These were the boards used for example in the Apollo space mission 13 during the late 6os and early 7os After this the integration of a CPU in a single
93. ould be prejudicial for critical real time applications Actually this last method has not proved to be 100 solid since the application sometimes crashes in some Android devices This could be probably because of the fact that Android versions behave differently and treat or manage threads and processes differently Another issue is that the Android virtual machine does not always behave correctly when working with multi threading applications 124 Chapter 7 Conclusions and future work Within the boundaries of this project and regarding its purposes in relation to manipulating low level wireless electronic modules as well as open source hardware and software both Arduino and Android we can assume that many of the initial goals have been accomplished resulting in an almost fully printable robot subject to teleoperation from any place in the world with an accessible Wi Fi network Nevertheless almost none of the fields developed in this project can be considered in a dead end state as this is only an initial approach to the yet theoretical system that is currently under construction Robot Devastation We are now expecting developers electronics or computers engineers to start digging into this project and pick an area that is yet to be built as the UC3M robotics society is always available with the support and tools necessary for it Although it may seem an arduous work at first we encourage them to join this pr
94. p com 22 Infiniteon XC800 May 2013 Online Available http www infineon com 23 Microchip Technology PIC May 2013 Online Available http www microchip com 24 Arduino May 2013 Online Available http arduino cc 25 June 2013 Online Available https www sparkfun com products 11460 26 June 2013 Online Available https www sparkfun com products 341 http sra solder com section php 139 1 arduino_compatible_solar_cells 27 MIT media Lab June 2013 Online Available http www processing org 28 DIGI DIGI s RF modules May 2013 Online Available http www digi com products zigbee rf modules 29 Roving Networks Roving Networks RN 171XV May 2013 Online Available http www rovingnetworks com products RN171XV 30 Micromo Micromo How to choose a DC motor May 2013 Online Available http www micromo com how to select a dc motor aspx 31 Wikipedia DC Motors May 2013 Online Available http en wikipedia org wiki DC_motor 32 Servodatabase com Servo database May 2013 Online Available 130 http www servodatabase com 33 S Bottcher May 2013 Online Available http www2 cs siu edu hexmoor classes CS404 S09 RobotLocomotion pdf 34 The magic moment Smartphones now half of all U S mobiles Venturebeat com May 2013 Online Available http venturebeat com 2012 03 29 the magic moment smartphones now ha
95. perability and functionality as this project is meant to serve as a starting point for the soon to come fully operational robots Along with simplicity comes the benefit of being able to reduce costs to a minimum task that has been successfully accomplished In the end on one side an inexpensive and almost fully printable robot has been designed and built and on the other side both the robot s software and the smartphone s software have been developed resulting in an android controlled robot vil viii Resumen Como parte de otro proyecto m s grande y ambicioso este proyecto se ha desarrollado para servir como prototipo tanto en la parte de comunicaciones como en la de aplicaci n para smartphone abriendo camino a muchas posibilidades de mejora y ampliaci n La idea principal y objetivo a largo plazo es desarrollar una plataforma online mediante la cual se pueda operar remotamente robots que interact en unos con otros por medio de internet Cualquier persona desde cualquier parte del mundo ser a capaz de controlar su robot que podr a estar a su vez en cualquier otra parte del mundo todo desde su tel fono m vil Una parte importante de este proyecto ser a comenzar construyendo un robot apto para ser controlado por medio de una red inal mbrica mediante est ndar Wi Fi por ejemplo a trav s de un smartphone o PC En este contexto se ha querido primar la funcionalidad y la operatividad antes que desarrollar e
96. pounds or carbon fiber Cast iron steel and aluminum are most used for arms and bases These robot parts are manufactured with CNC Computer numeric controlled equipment usually by other industrial robots fig 5 From the design to the manufacturing every step is computerized according to the automation demands in the industry Starting with the design we will discuss the options that we can find in the market 12 Figure 5 CNC machine If we focus entirely on the engineering side of designing leaving on a secondary level the artistic approach we come across several software options where we can find what best suits our projects needs although it is never really possible to separate these two sides of designing The two main concerns that arise when having to choose a certain program are budget and the complexity required We will take a look at this more deeply further in this part f ES S y nas m1 if p 273 na L Ta A i Ai i i d APN PL J G l y a ar O d 1 lo sn f yy K Fs o Once the eventual job of the robot is decided a design is created Most manulocturers have a basic machine design and modifications are added Roboh are assembled vung mory predate x at purchased components Figure 6 CAD CAM systems In practice it is most common to use CAD CAM solutions computer aided design and manufacturing fig 6 which are programs specialized in wo
97. pplications 44 Roaming and FTP Used for asset tracking fleet management and remote sensor applications The configuration is more complicated than the previous one and combines broadcast UDP wake timers and auto join The module can act as an FTP client streaming files to from FTP server useful in data logger applications and as an FIP server accepting multiple clients concurrently 85 The next image shows this configuration Gua LIA fy JA PS P s 7 G 192 168 0 2 A Hd Y 4 74 125 19 103 10 10 10 2 LE rn 10 10 10 4 10 10 10 3 101 11 2 15 10 10 10 1 135 201 25 15 Module Associates with AP Based on SSID Password required depending on security Multiple security modes Multiple AP with same SSID and or password s Each Wi Fi Device Must Have Unique IP Address Provided by DHCP server Gateway bridges multiple networks typically Internet with Intranet s Dynamic Name Service DNS Maps URL www google com to an IP Address 74 125 19 103 Figure 61 FTP client server configuration 44 HTML client and sensors In the next image we can see the architecture for this application Wa Host Web Server Application INN 4 Figure 62 HTML client configuration 44 86 With this configuration we can post data to a web server associating the module to an access point The image shows RN 370 modules but th
98. r the back part of the servos with holes for M2 screws and at the same time it works as a plug for the electronic board which fits tightly into the piece This is actually the only way of assembling the electronic board since it does not come prepared for bolts or any other way of fastening Figure 35 3D model of the rear part plug Rear part support This part is destined to serve as a third support for the rear weight of the robot aside from the wheels It also fits within the rear part plug using the same screws 55 Figure 36 Rear part support There is a modification of this part which has a marble destined to roll in any direction the wheels go However a more simple way is preferred in which this rear support simply slides The force of friction is insignificant since the robot weighs very little The wheels The wheels are designed so that the servos plugs fit into the wheels very tightly having for this purpose a hole similar to the plugs These wheels also have a decrease in the radius of their center so that we can place a rubber O ring to enhance the grip Figure 37 Top view of a wheel 56 In this design it has always been a priority to give the robot an easy maintenance and functionality so that it is not necessary to disassemble it for operations like changing or charging the battery reprogramming the board attaching or detaching the wheels and making any cable connection All of these pro
99. rase specified in the credentials file In order to make this work we need two FTDI cables The first powers the Arduino FIO and loads the program to the board using the standard TX and RX serial pins which also communicate with the Wi Fi module through Serial print The second cable only needs its yellow and orange wires to act as software RX and TX and will connect through another USB port to the defined pins by the SoftwareSerial object See figure 69 Indu Goyeuy Power softtwareSerial TX sottwareSerial RX Arduino Digital Input Output x Jl w I Lg Da Wi Fi Rn 171 RX TX vin GND Figure 67 Layout for serial communication Data flowing through this second cable will be showed in the serial monitor of the Arduino IDE For this purpose we could have a loop function as follows With this function any data vod loop f while Serial available coming through the Wi Fi int incomming Senal read module will be read by the FIO s serial Tesi prntinfincomming UART and written to the serial j monitor through the second TX and RX Software serial pins When the setup sketch is run the serial monitor shows the module s assigned IP with serialTest println Wifly IP If we telnet to that IP and to port 2000 any data written with the line of commands from Linux will be quickly showed in the serial monitor fig 70 TELNET e Figure 68
100. rate but compatible devices for the microcontroller and communicating module 69 The first choice must be the microcontroller As mentioned in the background part the best choice for a low budget starting project with no professional requirements would be a microcontroller from the Arduino family 5 1 Microcontroller Now depending on our project we should choose the adequate model that fit exactly with the robot s power size and I O requirements First we should know the minimum amount of I O pins that the robot needs so that there are enough digital and analog outputs for the servos and other controlled devices In order to provide connectivity the board should also allow for an external Wi Fi Bluetooth or RF module and they should be compatible Another factor to consider is the necessary computing power needed for receiving instructions computing the algorithm and commanding the servos at the same time with the minimum lag Any 32 bit microprocessor should be enough for this task For now we still have several boards that suit our needs most of them being more than enough for our needs but if we want the microcontroller to be as small as possible our choices narrow a lot For these reasons the FIO 43 model has been chosen which is an Arduino board intended for wireless applications fig 55 70 Figure 53 Arduino FIO In the previous picture we can see a top view of the board with the micr
101. represent the desired servo speed The algorithm then groups any incoming char data in separate strings to differentiate separate values and converts the strings into integer values with the atoi function Only after we have the data converted to an integer we can start developing the main algorithm which is in fact very simple excluding a few issues As we will receive information to move two separate servos but there is only one data channel Wi Fi board and only one buffer for the serial connection we have to transform the data so that the Arduino program knows which servo it is intended to To achieve this we send values from different ranges being each range associated to one servo From the smartphone s application software values are sent from two different special sliding buttons one for each servo Both values travel through different listeners but are already sent with different ranges as there is only one channel The next image shows the flow chart of the steps explained above It is a simplified flow of events that sum up the algorithm behind the robot 75 Variables initialization Begin communications Receive string and Convert to int Walt 10 ms Move Seva 2 Move Servo 1 Clean buffer Figure 55 Main Arduino block diagram Inside the receive string and convert to integer box there is also a sub routine in charge of doing that task The next image shows the flow chart for t
102. res nogmeer Senior Total 9900 133 EQUIPMENT COST of Duration Depreciation Attributable Description Cost use months period months cost _aDprimer 600 10 2602 Arduino FO 20 100 10 60 33 Oev as oo o f o oeo ses _Lipobatey 89 100 10 60 ras J ascseros 35 100 10 eo oss seofiools 20 100 10 60 os Total 199 90 A Amortization formula a x C XD for final cost Where A Number of months of use of the equipment B Depreciation period C Cost of the equipment D Percentage of use of the equipment And Indirect cost 0 2 x Labour Amortization 134 COST SUMMARY Description of total cost Total cost 135
103. ries folder in the sketchbook inside the Arduino folder sketchbook libraries This library comes with some example codes for Arduino Client Server FTP HTTP etc To use it in a sketch we have to write include lt WiFly h gt In order to start working with it we write the next setup function include lt SoftwareSenal h gt include lt WiFly h gt include lt SPI h gt include Gredentials h naranja amarillo del fidi SoftwareSenal senalTest 6 f void sefup f Seral begin 9600 senal lest begin 9600 senal Test onntln antes del begin WA4FIy setUart amp Senal VF ly beging se al Test prntinf despues del begin enal flush if WF ly jomissid passphrase true senal Test onniin no se ha conectado while 1 f Hang on failure j senal Test pnntf IP senal lest onntin WiFly ip 95 Within this initialization setup function we will use the WiFly begin function to enter in command mode and connect to an external server to get the time and date We should comment this part of the code in the WiFlyDevice cpp file With the different Serial begin functions we initialize the serial ports With the SoftwareSerial h library we enable different TX and RX pins for serial comm We also enable the UART to be able to communicate with the Wi Fi module serially With the join function we establish communication with the ssid and passph
104. rking with CNC machines In the same plant engineers design and 13 manufacture using integrated systems sometimes specially built for their needs Other times general software can be used for most of the designing needs in the industry First for example it is well known for its professional use the software called CATIA 2 computer aided three dimensional interactive application see fig 7 This software is fairly widespread among all areas of engineering that require 3D designing and it is a very powerful tool but has the disadvantage of being an expensive commercial software as well as having a level of complexity above the average for this task Apart from this software there are many other commercial CAD tools but they all share basically the same advantages and disadvantages mentioned AutoCAD 3 AC3D 4 LightWave 3D 5 etc Figure 7 CATIA design and rendering These are rather expensive options suitable for industrial purposes such as large scale manufacturing aeronautics etc There are on the other side inexpensive or free tools open source software destined for less demanding projects that are however sufficient for most of the small projects or prototyping applications 14 On the side of open source software tools we have less choice but still there are some options with different peculiarities We have on one hand interactive modelers such as Blender 6 or MeshLab 7 which allow for
105. st and domain ftp Sets the FTP host address and login information e Specifies the IP settings Supports optional and infrequently used parameters Sets the wireless interface settings such as SSID channel and security options Get commands These commands retrieve the stored configuration and display it They are basically the same commands as the set commands but take no parameters Instead they show the current configuration Status commands These commands display the interface status the IP status etc Action commands for scanning connecting disconnecting etc File I O commands to upgrade load and save configuration delete files etc 84 Some possible Wi Fi applications TCP connections and embedded applications We can connect from to module to from host using TCP In the next image we can see the typical applications for this module fig 62 FE 192 168 1 50 192 168 1 200 A W Listen on Port 2000 Listen on Port 5000 ZA TCP Connections Are Point to Point a Provide Reliable Guaranteed In Order Data Delivery Also Known As Sockets open 192 168 1 200 5000 _ _____ _ gt lt lt open 192 168 1 50 2000 WiFly Module Opens TCP Connection Remote Host Opens TCP Connection Sensing applications a Industrial controls Sending data to web server Home automation Data acquisition systems Universal remotes Fleet management Figure 60 Typical TCP a
106. t is highly attractive for small companies and third parties In 2012 the Apple s Store recorded 5782 million of revenues relatively high compared to other competitor s stores This could be attributed to having the largest number of applications or apps available as well as the highest download volume in 2010 Also only 28 of the apps in the Apple Store were free compared to the 57 in the Android Market 37 In the next image we can see how deep the smartphone share is in each market 20 30 40 50 Smartphone Shipment Share CQ3 09 Smartphone Share CQ3 06 Smartphone Share CQ3 09 Morgan Stanley Source Gate Mogan Starry Rasexrn 0 Figure 25 Smartphone share per region As we can see the leading market for smartphone sales is the Japanese market followed by the American market The special case of Japan can be explained by their early and massive use of mobile devices with more rotation than in other markets and always 3 or 4 years ahead In Japan almost all technological advances are in more widespread than in other countries and the smartphone market has never been an exception for 46 this Forecasts are optimistic about a complete penetration of smartphones for all mobile device users as we can see next by the end of 2014 an 80 of population is supposed to be carrying a smartphone Silicon Alley Insider AA Chart of the Day US Smartphone Penetration US Smartphone Penetration Forecast 100
107. tant to bear in mind that a constant current produces a constant torque regardless of speed and given a constant load constant torque the speed of a motor only depends on the voltage applied to it The maximum power product of torque and speed is produced at the operating point of half the no load speed together with half the stall torque although due to thermal considerations a DC motor will not normally operate at maximum power When supplying a constant voltage the speed and torque are inversely related so that the higher the torque that the motor is forced to develop the lower the speed will be Last for lower noise generation and better life characteristics the motor should be chosen with higher voltage ratings than the voltage supply and when using with gearing it should be selected for the minimum speed 30 Types of DC motors Brushed DC motor These are a classical example of DC motors The stator generates a permanent magnetic field that surrounds the rotor either with permanent magnets or electromagnetic windings whereas the rotor is made up with one or more windings The rotor receives current through a commutator and carbon brush assembly hence the term brushed fig 18 35 Figure 18 Two pole brushed DC motor With brushed DC motors on one hand it is simple to modify the speed of the motor by applying different voltages so in order to make it rotate faster one only has to increase the voltage On the other
108. te essential nowadays that for a kind of technology such as this to succeed there is a huge community behind it to support it as well as a vast source of information where developers can easily find the solution to their problems and at the same time contribute to that community to help others Figure 13 Arduino UNO The most used Arduino microcontroller 26 As we can see in the picture in the Arduino microcontrollers we have a typical layout where we can easily spot the microprocessor input output pins serial peripherals USB connector a button etc What makes this technology preferable over other options is the fact that every part of the Arduino family devices is open source what makes 1t more accessible and maintainable From users to companies everyone can contribute either writing new software such as libraries firmware or program codes or developing new electronic boards based on the Arduino configuration The original Arduino boards are manufactured by the Italian company Smart Projects and other typical Arduino branded boards have been designed by the American company SparkFun Electronics Some of the official boards e Arduino Extreme with USB interface and ATmega8 e Arduino Mini a miniature version using ATmegai68 e Arduino Nano even smaller with ATmega328 e Arduino Bluetooth with a Bluetooth interface e Arduino Mega with additional I O and memory Many other Arduino boards can be found in the m
109. the number of applications in each store for every of the last years Silicon Alley Insider AA Chart of the Day Number Of Apps Available At Smartphones Apps Stores 350K 350 000 E Jun 09 300 000 285K E Mar 10 250K Oct 10 250 000 E Mar 11 Dat ep ts 200 000 any Releases 150 000 100 000 50 000 Figure 28 Apps available per platform 48 This actually does not translate into sales hardware and software in the same relation as shown for number of applications offered per store In the next chart we can see how Apple s App Store is losing ground against Android which is its major competitor right now Before smartphones were ruling the technological panorama the most installed systems were from Nokia Symbian Microsoft Palm and Blackberry Rim Historically a Highly Dynamic Platform Market 100 90 80 70 50 RA 50 40 30 20 10 0 if JAN 2005 JAN 2006 JAN 2007 JAN 2008 JAN 2009 JAN 2010 JAN 2011 JAN 2012 f com S CO RE comScore Inc Propristary Source comScore MobiLens U S 18 Figure 29 Platform market development As mentioned before Apple s iPhone meant a breaking point in both the perception users have from a mobile OS and the performance and usability that companies give to their systems fig 31 New mobile devices allow for user friendly applications in all aspects possible from internet browsing web services camera applications etc T
110. the same time its competitor 6800 Later on in 1978 a 16 bit processor called the 8086 was released and it was the first of the x86 family which powers most modern PC type computers In the early 80s we started to see the first 32 bit 21 processors being one of the most important the Motorola MC68000 18 Along with this processor another 32 bit worth mentioning units are the AT amp T BELLMAC 32 A the first with 32 bit data paths buses and addresses Intel s iAPX 432 and the first ARM 1985 The next step were the 64 bit processors which we could find in the gos in several machines such as the Nintendo 64 gaming console however it was not until the early 2000s that this microprocessors targeted the PC market Today the PC market is majorly divided between AMD and Intel with an important share for both 32 bit and 64 bit architectures Microcontrollers Sometimes abbreviated uC or MCU microcontrollers are integrated circuits that can act as small computers used for embedded automatic controlled products or devices Microcontrollers contain a similar structure as found in regular computers integrating in a single circuit a processor core memory and programmable input and output peripherals The core is a microprocessor as described before but there are several features that make microcontrollers the preferred solution for most systems that require an automatic response and behavior The following parts are usually found in a
111. to incorporate them in their own projects These projects if published at the same time serve as guidance and support for others This cyclic contact is what nourishes the developer s community and in the end contributes to the Arduino project In fact as soon as a new piece of hardware that is subject to be incorporated to Arduino boards goes commercial documentation in the form of libraries code examples and troubleshooting instantly appears on specialized Arduino and DIY forums In order for users to make runnable cyclic executive programs in Arduino they only need to write two functions called setup and loop The First is executed only once for initializing settings and variables The loop function runs cyclically until the board powers off fig 17 Blink Arduino 1 0 File Edit Sketch Tools Help E Blin Turns on an LED on for one second then off for one second repe This example code 1s in the public domain Ej void setup ff initialize the digital pin as an output ff Pin 13 has an LED connected on most Arduino boards pinMode 13 OUTPUT void loop 1 digitalWrite 13 HIGH ff set the LED on delay 1000 f wait for a second digitalWrite 13 LOW f set the LED off delay 1000 f walt for a second Arduino Uno on dewttyACM1 Figure 17 Vlew of the Arduino development environment 24 31 All Arduino software tools are available for Windows Linux and Mac
112. wish Juan and his next students the best to carry on with this venture and I also hope the project reaches a good endpoint with a positive outcome for everyone involved As I have been working on this project I have also received a positive lift from my friends and especially my family always making sure I keep excited about moving forward Without their kind support I would not manage to focus as much as I need in my career In addition it has been a great experience to have spent all my student life with my childhood friend lvaro Mart nez who has been a great support from the first course to our attendance to the robotic association vi Abstract As a part of an early stage project it has been the goal of this project to serve as a prototype for such venture having set the paths to a wide range of new opportunities in the field of remote controlled robots interaction The initial and ongoing idea is to build a virtual environment for managing real robots states and field data and on the other side getting users to build their own robots with the capability of teleoperation This way robots may interact in the same location as users control them from any place in the world using internet and wireless networks for this purpose An important side of the project is to build an actual robot that is subject to wireless operation from a PC or a smartphone In this context a requirement of simplicity was set in order to focus on o

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