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Cellular Control for Mobile Robotics Project

Develop a cellular-based control system for Mobile Robotics & Sensor Bricks, incorporating hardware and software instrumentation, communication technology, and network testing.

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Cellular Control for Mobile Robotics Project

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  1. Cellular Control for Mobile Robotics – Final Presentation Allen Kemp Imaging, Robotics, & Intelligent Systems Laboratory The University of Tennessee December 1, 2005

  2. Project Goals • Create a cellular based control and monitoring system for the IRIS Lab’s Mobile Robotics units and Sensor Bricks • Work across a wide range of devices (PDA, PDA-phone, Laptops, Palmtops) • Offers enough bandwidth to support both the sending and receiving of command signals and multimedia streams • Software should fit within the JAUS/ORCA standard currently being implemented by the Mobile Robotics and Sensor Brick groups.

  3. Tasks for Semester • Task 1: ECE 574 – Hardware Instrumentation • Task: Restore Remote Rider System, Utilize for Project testing • Task 2: ECE 599 – Software Instrumentation • Task: Create PDA based remote control software and explore live video transmission to PDA • Task 3: ECE 671 – Communication Instrumentation • Task: Determine feasibility of utilizing Cellular Networks for data transmissions in mobile robotics control. • Task 4: ECE 501 – Pilot Report • Task: Document Project.

  4. Hardware Platform(Task 1)

  5. Task Goals • Recover the Remote Rider Platform • Determine extent of damage to the Segway and Remote Rider • Facilitate any needed repairs of both systems • If possible, make improvements to the Remote Rider to increase stability and performance • Test Repaired System

  6. Damage To Segway

  7. Damage Done to Robotics Platform • Power Supply for Onboard Computer Destroyed • Not Repairable • Replaced with PW-200-M Modular Supply • Internal Wiring pulled free, solder joints broken • Replaced broken switches • Repaired broken solder connections • Rerouted wiring • Stepper Motor Driver Damaged • Not Repairable • Replaced with higher quality stepper motor driver: SMD 102

  8. Improvements Made To Remote Rider • Added Improved Stepper Motor Driver • Eliminated the Need for One Battery • Increased Weight Displaced by Drive System • Replaced PCI Wireless Adapter with USB Adapter

  9. System Testing • Segway • Torture tested wiring • Plastic damaged taped up and vehicle driven extensively • Controlled “abrupt stops” performed to check stability of system. • Remote Rider • Each component of the system checked individually • Linear weight displacement system is not completely functioning yet, still need construction of daughter circuit

  10. Software Development(Task 2)

  11. Task Goals • Create Remote Control Software on PDA • Software should be compatible ORCA / JAUS architecture • Capable of controlling multiple mobile robotics platforms • Explore Video Transmission to PDA via software

  12. Remote Control Software Connection Dialog Digital Drive Dialog Analog Drive Dialog

  13. Video Display on PDA • Problematic due to limited bandwidth over wireless • Unable to implement true video feed streaming due to inherent latency issues. • Display achieved by rapidly updating a picture-box control in the GUI. • Latency exhibited by video varied from trial to trial • Capable of sustaining a 2 FPS rate with minor “hanging” • Double Edged problem: compression / quality / bandwidth • UDP is almost required due to timing issues with TCP

  14. Cellular Networking(Task 3)

  15. Task Goals • Survey Available Cellular Technologies • State of the Art in Cellular Networks • Equipment available to facilitate project goal • Identify Best Carrier / Equipment for Use in Project • Test Viability of Cellular Networking for Robotics control

  16. Available Technologies • Cellular Communications available in North America can be broken into two main technology types: • GSM (Cingular/ATT, T-Mobile, Virgin-Mobile) • Utilizes TDMA for voice and data transmission • Data Component is called GPRS, 3G is EDGE Network • CDMA (Verizon Wireless, Sprint Nextel, US Cellular) • Data Component is 1xRTT, 3G is EVDO Network • Currently, Verizon is the only service provider that offers cellular broadband service. • EVDO Network, capable of 400 – 700 kbps with 2.0 Mbps bursts • Broadband coverage available in 60 metropolitan areas (including Knoxville) and growing • GSM/GPRS high speed data solution is called EDGE network. Cingular is beginning to rollout their implementation

  17. Cellular Equipment • Initial system would be composed of 4 cellular units • Samsung i730 PDA • Cellular Broadband • Windows Mobile 2003 2nd Edition • Integrated Bluetooth and 802.11b/g • Verizon Wireless V620 • Cellular Broadband • 32bit PC-Card interface • Antenna able to be replaced with high gain unit • D-Link DI 725 Router • 4 Ethernet Ports • 802.11b/g Wireless • 2 USB ports for EVDO USB Adapter • PC Card Slot for EVDO Cellular Modem i730 V620 DI-725 (pictures courtesy of www.verizonwireless.com)

  18. Network Topology

  19. Network Topology

  20. Testing of Cellular Network • Downloaded 1 MB file via EVDO network utilizing i730 hardware from multiple locations in and around Knoxville • Outdoor Average Speed: 900 kb/s (9.10 s) • Indoor Average Speed: 400 kb/s (20.48 s) • Iris West Speed: 240 kb/s (34 s) • Sample Robotics Command Message: 7 bytes • Averaging a communications rate of 30 Hz, would require roughly 1.7 kb/s • Connected via Cellular Network to Robot Simulator to measure response times for commands issued remotely • In house testing conducted by using 802.11g and throttling bandwidth down to 1 Mbps

  21. Pilot Report(Task 4)

  22. Paper Status

  23. Goals Accomplished This Semester • Task 1: Hardware • Completed Repair and Testing of Segway • Completed Repair and Testing of Remote Rider components • Improved Remote Rider Design • Task 2: Software • Constructed PDA based Remote Control GUI • Successfully interfaced with SafeBot • Transferred live video stream to PDA over wireless network • Task 3: Communications • Completed survey of Cellular technologies available in US • Created Equipment and Services Recommendation for Project for presentation to sponsor / phone services • Completed limited testing with the hardware available • Task 4: Report • Completed Pilot Report detailing work done during project

  24. Future Work • Remote Rider • Complete circuitry for stepper motor driver • Create final version of hardware enclosure • Refine software for use with PDA control, and autonomous service • PDA Software • Implement JAUS/ORCA command interface (?) • Add custom controls for additional platforms and sensor bricks • Continue to explore problem of streaming video • Communications • Obtain hardware and service to complete implementation of the project design • Conduct thorough testing of full hardware setup

  25. Questions? Thank you for your Time and Attention. Are There any Questions?

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