A PDA Enabled Wireless Interface for a Mobile Robot.pdf
Taken for abstract: The area of mobile networking and pervasive networking is indeed an area of active research now. The once independent requirements of ’staying-connected ‘ and ‘information-on-demand’ are now converging to a one-solution requirement.
The relatively inexpensive yet powerful handheld devices and accessories available today provoke the simple question of whether it is possible to provide efficient control over wireless links such as those available for the handhelds. Do the handhelds have enough processing power to support an acceptable service, and what would the power budget be for such an implementation? Are there ways of optimizing traffic over wireless packet networks? These are the questions responsible for proposing this project.
This project describes a wireless application that allows remote control of a robot. The application adopts an object-oriented philosophy in which every robot is a device represented by an object. The application runs in a PC with a web server. The interface is done using common Java GUI’s.
The interaction with the robot control system is done through specific hardware and PDA standard interface such as the serial port and by the LAN.
This project demonstrated the success of wireless control of a robot with the help of a PDA interface. Direct interface of the wireless control with the robot would be another interesting topic for future work.
System Specification used on this project:
- Cassiopeia E200: This PDA, the latest Casio Handheld available was used for the project. It is powered by a 206 MHz Intel StrongARM RISC processor with 64 MB RAM and a slot for CompactFlash (Type II) card.
- Wireless Network Card: Linksys WCF11- IEEE 802.11b(WLAN), Type II
- CompactFlash Standard card with 11 channels. It has a range of 30M at 11 Mbps.
- PocketPC 2002 OS: The Cassio handheld runs on PocketPC 2002. It supports Java programming and TCP/IP socket programming. Several other windows API have been ported to the PocketPC 2002 as well.
- Mini-Whegs: The Mini-Whegs robot prepared by the Bio-Robotics group at Case Western Reserve University was used as the basic platform for communications.
- Servomotor: This motor was used for steering purposes. It is a Cirrus CS-10bb motor with dimensions of 0.09 X 0.61 X 0.37 inches and weighing 0.19 oz.
- Drive Motor + Planetary Transmission: The drive motor was a Maxon RE 13 precious metal brushes motor with a 13mm diameter. It has a 1.2 Watt, 3.6 V Nominal Voltage, 3.82 mNm stall torque, 50mA no load current and 1950 mA starting current.
- Speed Controller: Combined 4 channel receiver and forward only speed controller RX-72 Hybrid was used.
- Control Board: The SV203B manufactured by Pontec was used as the control board for interfacing with the Cassiopeia E200. It comprises of the PIC 16C73B used for serial interface.
Contents:
- INTRODUCTION [ Basic Idea of the project ~ Objective and organization of the project ]
- PROPOSED SYSTEM ARCHITECTURE [ System Architecture ~ User: ~ Control Board: ~ System Specifications ~ Mini-Whegs Robot ~ How the Hardware Transfers Bytes ~ Transmitting: ~ Receiving: ~ Control Board ~ Working of the Servomotor ~ Control Board Commands ~ Command Description ~ Hardware Interfacing ~ Networking Basics ~ TCP (Transmission Control Protocol) ~ UDP (User Datagram Protocol) ~ Programming Sockets ~ Porting ~ The Product ~ Testing the connection ~ Implementing the Server ~ Programming the Server ~ Settings of the Serial Port ~ Baud rate ~ Parity ~ Stop Bit ~ Implementing the Client ~ Results and Conclusions ~ Suggested future Work ]
Download free A PDA Enabled Wireless Interface for a Mobile Robot.pdf (41 pages pdf file, 0.8 MB).
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