i
PROTOTYPE MANEUVER ROBOT‟S PLATFORM VIA PERSONAL
DIGITAL ASSISTANCE (PDA) WITH BLUETOOTH PAN
TECHNOLOGY
MUHAMAD BASHA ABAS BIN BASRAH
This report is submitted in partial fulfilment of requirements for the award of
Bachelor of Electronic Engineering (Computer Engineering) with Honours
Faculty of Electronic and Computer Engineering
Universiti Teknikal Malaysia Melaka (UTeM)
April 2011
ii
MUHAMAD BASHA ABAS BIN BASRAH
UNIVERSTI TEKNIKAL MALAYSIA MELAKA
FAKULTI KEJURUTERAAN ELEKTRONIK DAN KEJURUTERAAN KOMPUTER
BORANG PENGESAHAN STATUS LAPORAN
PROJEK SARJANA MUDA II
Tajuk Projek :
PROTOTYPE MANEUVER ROBOT’S PLATFORM VIA PERSONAL
DIGITAL ASSISTANCE (PDA) WITH BLUETOOTH PAN
TECHNOLOGY
Sesi Pengajian : SESI 2010/2011
Saya ………………………………………………………………………………………………….. (HURUF BESAR) mengaku membenarkan Laporan Projek Sarjana Muda ini disimpan di Perpustakaan dengan syarat-syarat kegunaan seperti berikut:
1. Laporan adalah hakmilik Universiti Teknikal Malaysia Melaka.
2. Perpustakaan dibenarkan membuat salinan untuk tujuan pengajian sahaja.
3. Perpustakaan dibenarkan membuat salinan laporan ini sebagai bahan pertukaran antara
institusi pengajian tinggi.
4. Sila tandakan ( √ ) :
SULIT*
*(Mengandungi maklumat yang berdarjah keselamatan atau
kepentingan Malaysia seperti yang termaktub di dalam AKTA
RAHSIA RASMI 1972)
TERHAD**
**(Mengandungi maklumat terhad yang telah ditentukan oleh
organisasi/badan di mana penyelidikan dijalankan)
TIDAK TERHAD
Tandatangan Penulis:
Disahkan oleh:
___________________________________ ___________________________________
Alamat Tetap : NO. 26 LALUAN PER TIMUR 3,
TAMAN MEWAH,
31150 ULU KINTA, PERAK
Tarikh: ……………………….. Tarikh: ………………………..
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“I hereby declare that this report is the result of my own work except
for quotes as cited in the references.”
Signature: …………………………………
Author: Muhamad Basha Abas Bin Basrah
Date: ………………………………………
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“I hereby declare that I have read this report and in my opinion this
report is sufficient in terms of the scope and quality for the award of
Bachelor Degree of Electronic Engineering (Computer Engineering)
with Honours.”
Signature: …………………………………
Supervisor Name: En. Ridza Azri Bin Ramlee
Date: ………………………………………
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This project and research work is dedicated and thankful appreciation
to my beloved parents, sisters, supervisor also my lovely friends for their
support, encouragement and understandings.
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ACKNOWLEDGEMENT
Alhamdulillah. Firstly, I would express my highest appreciation to Allah
S.W.T the Almighty and Merciful for giving me strength and because of His Will; I
manage to complete my Final Year Project.
With this opportunity, I would like to acknowledge and extend my heartfelt
gratitude to my supervisor, En. Ridza Azri Ramlee for his guidance, support and
valuable advice throughout the progress of this project. It would have been difficult
to complete this project without enthusiastic support, insight and advice given by
him.
I would like to express my special thanks and a very down to earth and full
with sense of humours-great experience to the Faculty of Electronic Engineering
and Computer Engineering (FKEKK) on putting into practice the Final Year Project
as a compulsory chore for the final year students prior to complete their
course.
My appreciation also goes to my family who has been so supportive all these
years. Thanks for their encouragement, love and emotional supports that they had
given to me.
I also wish to extend heartfelt thanks to my friends Wan Afirah, Siti Dhamirah
Izzati, Mohd Amir Hazim, and my housemate members for their help and support to
completed my final year project. The memory we spent together will not I forget.
Once again, I want to take this opportunity to say thank you to them for their
advice and idea that help me completed my project. Thank you very much.
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ABSTRACT
In growing of modernisation era, nowadays the usage of wireless technology
in our daily life is widely used in various applications. Bluetooth PAN Technology
is the one of them where, the usage is widespread such as in mobile phone,
computer device such as keyboard, mouse and so on.
This technology is allowing the device to connect to other devices wirelessly
and in terms of portability, it very portable because almost every mobile phone on
the market is equipped with Bluetooth device.
Due to the advantages on this technology, this project will use Bluetooth as
the medium to communicate smartphone 'PDA' with robot platform. Operation and
the movement of this robot will be controlled by using PDA. Other than PDA, this
robot also can be controlled by using computer.
Various applications can be done on this platform for example as a security
observer robot, bomb squad robot, waiter robot in restaurant or hospital and so on.
But, scope of this project is to build a wheelchair for disabled people that can be
controlled remotely using Personal Digital Assistance, PDA.
With this remote controlled wheelchair, the disabled people not only can
control the movement of wheelchair, but also can control the electrical appliances at
home right on their fingertip. With this innovation, it can help this group have an
independent life without having to banking on support-from other people. Hereby, it
will be adding confidence and facilitate this group to serve their daily life with more
better.
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ABSTRAK
Dalam menyelusuri era modenisasi yang kian berkembang, penggunaan
teknologi tanpa wayar pada masa kini telah banyak digunakan di dalam aplikasi
dalam kehidupan seharian kita. Teknologi Bluetooth PAN adalah salah satu
daripadanya di mana, penggunaannya meluas seperti di telefon bimbit, peranti
computer seperti papan kekunci, tetikus dan sebagainya.
Teknologi ini membenarkan sesuatu peranti berhubung dengan peranti lain
dengan tanpa menggunakan wayar dan dari segi mobiliti, ia juga sangat mudah alih
kerana hamper setiap telefon bimbit dipasaran dilengkapi dengan peranti Bluetooth.
Disebabkan kelebihan-kelebihan yang ada pada teknologi ini, projek ini akan
menggunakan Bluetooth sebagai medium untuk menghubungkan telefon pintar
„PDA‟ dengan platform robot. Operasi dan pergerakan robot ini akan dikawal
dengan menggunakan PDA. Selain daripada PDA, robot ini juga boleh dikawal
dengan menggunakan komputer.
Pelbagai aplikasi yang boleh dilakukan atau ditambah pada platform robot ini
seperti robot pemantau keselamatan, robot pemusnah bom, robot pelayan di
restoran atau hospital dan sebagainya. Tetapi, skop untuk projek ini adalah
menghasilkan kerusi roda untuk golongan orang kurang upaya „OKU‟ yang boleh
dikawal secara kawalan jauh.
Dengan kerusi roda berkawalan jauh ini, pengguna bukan sahaja dapat
mengawal pergerakan kerusi roda itu sahaja, bahkan dapat mengawal peralatan
elektrik di rumah hanya di hujung jari. Ini dapat membantu golongan ini berdikari
tanpa perlu terlalu mengharapkan bantuan dari orang lain. Dengan ini, ia akan
menambahkan keyakinan dan memudahkan golongan ini untuk menjalani
kehidupan seharian mereka dengan lebih berkualiti.
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TABLE OF CONTENTS
CHAPTER TITLE PAGE
PROJECT TITLE
REPORT VERIFICATION STATUS FORM
DECLARATION
SUPERVISOR DECLARATION
DEDICATION
ACKNOWLEDGEMENT
ABSTRACT
ABSTRAK
TABLE OF CONTENTS
LIST OF TABLES
LIST OF FIGURES
LIST OF TERMS
LIST OF APPENDIXES
i
ii
iii
iv
v
vi
vii
viii
ix
xiii
xiv
xvi
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I INTRODUCTION
1.1
1.2
1.3
1.4
1.5
Project Overview
Project Objectives
Problem Statement
Project Scope
Thesis Outline
1
2
2
4
4
II LITERATURE REVIEW
x
2.1 Wheelchair 6
2.1.1 Introduction 6
2.1.2 Type of Wheelchair 7
2.1.2.1 Manually Powered 7
2.1.2.2 Motorized Wheelchair 8
2.1.2.2.1 Alternative
Wheelchair Control
9
2.2 Wireless Technology 12
2.2.1 Type of Wireless Technology 12
2.2.2 The Summary of Wi-Fi, Bluetooth,
and Zigbee
16
2.3 Camera 17
2.3.1 Type of Camera 17
2.3.1.1 Internet Protocol
Camera (IP Camera)
17
2.3.1.2 USB Camera 19
2.3.1.2.1 Mobiscope 20
2.3.1.3 Phone Camera 21
2.3.1.3.1 Mobiola Web Camera 21
2.4 Smartphone 22
2.5 Driving Technique 22
2.5.1 Chain and Belt Drive 23
2.5.2 Advantages of Drive Chain 24
2.6 DC Motor 24
2.6.1 Various of DC Motor 25
III METHODOLOGY
3.1 Project Title 26
3.2 Propose Project Title To The Supervisor 27
3.3 Project Analysis 27
3.3.1 Objectives 27
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3.3.2 Survey Material 27
3.3.3 Literature Review 27
3.3.4 Problem Statement 28
3.3.5 Design and Develop The
Platform
28
3.3.6 Program The Microcontroller 28
3.3.7 Troubleshooting 29
3.3.8 Final Presentation 29
3.4 Project Process Flow 30
3.4.1 PSM I Process Flow 30
3.4.2 PSM II Process Flow 31
3.5 Project Gantt Chart 32
3.6 Basic Operation 33
3.7 Operation Flowchart 34
3.7.1 Hardware 34
3.7.2 Software 35
3.8 Hardware Features 36
3.8.1 Microcontroller Board 36
3.8.1.1 The Schematic
Diagram
37
3.8.1.2 Microcontroller Pin
Assignment
38
3.8.2 Bluetooth Transceiver 40
3.8.3 Wireless Network Camera 41
3.8.4 Platform Structure 42
IV RESULT AND ANALYSIS
4.1 Prototype Appearance 45
4.2 The Interfaces Appearance 46
4.2.1 Interface for Windows Mobile
based
46
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4.2.2 Interface for Windows based 48
4.3 Network Camera Configurations 49
4.4 Microcontroller Circuit Output 54
4.5 Experiment and Analysis 55
4.5.1 Speed Measurement 55
4.5.2 Maximum Range Supported 56
4.5.3 Maximum Time Duration 58
V CONCLUSION AND RECOMMENDATION
5.1 CONCLUSION 59
5.2 RECOMMENDATIONS 60
REFERENCES
64
APPENDIX A 65
APPENDIX B 68
APPENDIX C 70
xiii
LIST OF TABLES
TABLE TITLE
PAGE
2.1 Wireless protocols IEEE 802.11 A B G N comparison 13
2.2 Standard Bluetooth supported range on each class 14
2.3 Characteristics of Zigbee, Wi-Fi and Bluetooth. 16
2.4 Possibility advantages and disadvantages of IP
Camera
18
3.1 Project Gantt chart 32
3.2 Pins connection descriptions 38
3.3 I/O Terminal JP9 39
3.4 I/O Terminal JP10 39
3.5 Power Terminal JP14 39
3.6 PWM Terminal (TBPWM) 39
3.7 PIC Pin assignment 39
3.8 SENA Parani-SD1000 Bluetooth Serial Adapter
Features
40
3.9 Panasonic BL-C131 Network camera features 41
4.1 Data of the speed measurement experiment 56
4.2 Speed of the wheelchair on different surface 56
4.3 Data from maximum range supported result 57
4.4 Calculation to calculate the duration of battery life 58
xiv
LIST OF FIGURES
FIGURE TITLE
PAGE
1.1 HTC P3600i with Samsung 500MHz Processor and
Windows Mobile 6.0
2
1.2 A, Normal Wheelchair and B, Motorized Wheelchair 3
2.1 Manually Powered Wheelchair 8
2.2 Hoveround Medical Scooters & Medical Wheelchairs 9
2.3 Sip-n-puff 10
2.4 Head array controller, from Adaptive Switch Lab. Inc. 10
2.5 Chin control device, from MEYRA 11
2.6 Tongue touch keypad, from new Abilities System Inc. 12
2.7 Applications of Wi-Fi Technology 14
2.8 Applications of Bluetooth Technology 15
2.9 Zigbee Wireless Technology commonly used as smart
monitoring system
16
2.10 Panasonic IP Camera, can access by wireless and wired
network
18
2.11 USB Camera is low cost 19
2.12 Mobiscope Desktop Interface with computer number
40067257
20
2.13 Mobiscope Mobile Interface. On left, enter the
information for the target computer, on right, is the real
time video view from the phone.
20
2.14 Phone camera video also can be transfer to the
computer via Bluetooth
21
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2.15 Mobiola Web Camera interface on a computer 22
2.16 A) Chain Drive B) Belt Drive 23
3.1 Basic operation of Wheelchair Prototype 33
3.2 Wired/Wireless PS2 Interface Card Robot Controller 36
3.3 PS2 Interface Board Schematic (Model: AD_PS2_INT
V1)
37
3.4 PIC16F877A pin diagram 38
3.5 Panasonic BL-C131 wireless network camera 41
3.6 A) Grinder B) Jigsaw C) Hand-Drill 43
3.7 A) Before Assemble B) After Assemble 44
4.1 Prototype of Maneuver Robot‟s Platform via Personal
Digital Assistance with Bluetooth PAN Technology
45
4.2 Multiple angle side viewing 46
4.3 HTC P3600i 47
4.4 The interface of PDA program 47
4.5 Windows based program running on Windows 7 laptop 48
4.6 Network Camera Program 49
4.7 Windows Security Alert 50
4.8 Accessing the camera 50
4.9 Enter any username and password for initialization 51
4.10 Authentication to accessing the camera 51
4.11 Wireless enabled 51
4.12 SSID is set similar to the SSID from the access point. 52
4.13 Static IP address configuration button 52
4.14 IP Address configuration 53
4.15 Live video monitoring 53
4.16 Input output of Microcontroller board 54
4.17 Cement, Field (Grass), and Road (Tar) 55
4.18 Location of the robot. The measuring will take from
this starting point.
57
4.19 A) Location where the communication failed (horn
cannot triggered) B) Measuring the distance
57
4.20 Power Window Specification 58
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LIST OF TERMS
CCTV - Closed Circuit Television
COM - Communication (COM port)
DC - Direct Current
EPW - Electric Powered Wheelchair
IP - Internet Protocol
LAN - Local Area Network
MIG - Gas Metal Arc Welding
OKU - „Orang Kurang Upaya’ / Disabled people
OS - Operating System
PAN - Personal Area Network
PAN - Personal Area Network
PC - Personal Computer
PCB - Printed Circuit Board
PDA - Personal Digital Assistance
RF - Radio Frequency
SSID - Service Set Identifier
SSID - Service Set Identifier
TIG - Gas Tungsten Arc Welding
TTK - Tongue Touch Keypad
USB - Universal Serial Bus
VB.NET - Visual Basic.NET
Wi-Fi - Wireless Fidelity
WLAN - Wireless LAN
xvii
LIST OF APPENDIXES
APPENDIX TITLE
PAGE
A Developing Process Picture 65
B The Variety Picture of Maneuver Robot Platform 68
C Seminar II Poster 70
1
CHAPTER I
INTRODUCTION
1.1 Project Overview
Nowadays wireless technology is so important in our daily life to make
human life better and simpler. Bluetooth PAN Technology is the one of them where,
the usage of this technology become popular and useful to many application such as
Bluetooth headset where we remove the wire of headset and transfer the audio in
wireless.
Almost every cell phone that we use nowadays is equipped with Bluetooth
device and every day we not miss to bring this phone in the pocket because it was
become a part of our daily life. In order to make our life is simpler; we need
something that can do more in just one device.
Due to this idea, this project will use Personal Digital Assistance, PDA as an
input to control the wheelchair and other home appliances. Operation and the
movement of this robot will be controlled by using PDA and it also can be controlled
by using computer.
Visual Basic.NET, VB.NET software is used in this project as an interface in
PDA/PC. Then the user input from this interface will be transmitted in wireless using
Bluetooth and the wheelchair will be act as a receiver. PIC microcontroller is used in
this project as a brain of the wheelchair. It will control the motor operation and other
devices such as horn and etc. IP camera also it equipped on this wheelchair. With this
camera, this wheelchair can be monitor trough the PDA/PC directly.
2
Figure 1.1: HTC P3600i with Samsung 500MHz Processor and Windows Mobile 6.0
1.2 Project Objectives
The main objectives of conducting this project included:
i. To design a user friendly controller system via PDA/Smartphone for the
maneuver robot‟s platform.
ii. To design a robot platform that can be used for many purposes.
iii. Help human life be more convenient.
iv. To use Bluetooth PAN Technology as a wireless connection medium.
1.3 Problem Statement
Disabled people especially paralyzed on their leg, as we know they have a
difficulty on their movement. For example, they have a difficulty when they want to
walk, move to other place, stand and any task that they need to use their leg. Because
of these issues, wheelchair has been invented in order to facilitate this people.
On available market, there are two type of wheelchair that commonly we will
get. First, normal wheelchair that use human power for the movement and second is
motorized wheelchair. The conventional motorized wheelchair used electrical power
to power up the motor for the wheelchair movement and it used joystick that placed
on a wheelchair as a input to control the direction of the wheelchair movement.
3
Figure 1.2: A, Normal Wheelchair and B, Motorized Wheelchair
This wheelchair already helps a lot of disable people in terms of facilitate for
their movement. However, this wheelchair has some limitations.
The issues are:
Conventional motorized wheelchair cannot be control remotely.
This people still needs others people help. Example:
o To keep the wheelchair when not in use because it cannot be
remotely control.
o To control another home electrical appliance, lamp, fan and etc.
using switch on the wheelchair.
High cost for only one function where only can control the wheelchair‟s
movements.
By investing this project, it will cost a benefit to this group such as:
It can be control remotely either using PDA/PC.
Will help this group to having a less banking on support-from other
people with the PDA that can control the wheelchair and others
electrical appliance.
Cost effectively for two function where can control the movement of
wheelchair and other electrical appliance using PDA/PC.
A
4
1.4 Project Scope
The scope of the project is focuses on the following aspects:
1) System Operability:
This wheelchair will help the disabled people that paralyzed on their leg
only.
The wheelchair will operate within Bluetooth supported range.
PDA/Laptop will help the disabled people to controlling the wheelchair
and household appliance.
2) System Functionality:
The wheelchair is controlled using PDA/PC via Bluetooth.
The live video of from IP Camera can be viewed using PDA/PC.
PDA/PC will control the operation of the wheelchair such as the basic
movement and controlling other devices.
The mechanical part of wheelchair can support maximum load at least one
person (below 50kg).
1.5 Thesis Outlines
This thesis is represented by five chapters. The following is the outline of this
prototype project which will cover all the matter that should be discussed in
developing of this project.
Chapter I give out the information of the introduction to this project. It is
including the project overview, project objectives to achieve from this project, the
problem statement, and scope of the project.
Chapter II contains literature review. It describes about the research and
information about the project. Every fact and information, which found through the
journal or other references, will be compared and the better methods have been
chosen for the project. It will explain the techniques used in gathering the
information, the theory and the case study of previous projects. The literature review
5
will produce a work concept to show the connection between the project with theory
and concept.
Chapter III is about project methodology. It will explain the implementation
and solution in doing this project. It consist the overall system and the structure
needed in the system. Factors that were weighed out in selecting the methods and the
advantages are also pointed out.
Chapter IV presents the result of this project. This chapter also includes the
analysis of this project. This chapter will discuss the result accordingly to the
objective stated earlier in this project.
Chapter V, is the final chapter which summaries the research findings. This
chapter also identifies problems and obstacles throughout this research. Some
suggestions for future work is discussed which might be useful for further
development and improvement to this prototype.
6
CHAPTER II
LITERATURE REVIEW
In order to develop this project, literature review about previous wheelchair,
wireless technology, type of camera, smartphone, DC motor, and gearing method
need to be done first. This chapter will describe all knowledge that link to this
project which is as a reference before develop this project. Literature review can be
an article, journal, statement, research and the previous thesis done by others. Below
show a few literature review referred before develop this project.
2.1 Wheelchair
2.1.1 Introduction
A wheelchair is a chair with wheels, designed to be a replacement for
walking. The device comes in variations where it is propelled by motors or by the
seated occupant turning the rear wheels by hand. Often there are handles behind the
seat for someone else to do the pushing. Wheelchairs are used by people for whom
walking is difficult or impossible due to illness (physiological or physical), injury, or
disability. People with both sitting and walking disability often need to use a
wheelbench. [1]
The earliest record of wheelchairs dates back to the 6th century, as an
inscription found on a stone slate in China. Later dates relate to Europeans using this
7
technology during the German Renaissance. The invalid carriage or Bath Chair
seems to date from around 1760. [2]
Harry Jennings and his disabled friend Herbert Everest, both mechanical
engineers, invented the first lightweight, steel, collapsible wheelchair [3] in 1933.
Mr Everest had broken his back in a mining accident. The two saw the business
potential of the invention and went on to become the first mass-manufacturers of
wheelchairs: Everest and Jennings. Their "x-brace" design is still in common use,
albeit with updated materials and other improvements. [1]
2.1.2 Type of Wheelchair
A basic manual wheelchair incorporates a seat, foot rests, handles at the back
and four wheels: two castor wheels at the front and two large wheels at the back.
Other varieties of wheelchair are often variations on this basic design, but can be
highly customised for the user's needs. Such customisations may encompass the seat
dimensions, height, seat angle (also called seat dump or squeeze), footrests, leg rests,
front caster outriggers, adjustable backrests and controls. [1]
2.1.2.1 Manually Powered
Manual wheelchairs are those that require human power to move them. Many
manual wheelchairs can be folded for storage or placement into a vehicle, although
modern wheelchairs are just as likely to be rigid framed. [1]
Wheelchairs are propelled by the occupant, usually by turning the large rear
wheels, from 20-26 inches in average diameter, and resembling bicycle wheels. The
user moves the chair by pushing on the hand rims, which are made of circular tubing
attached to the outside of the large wheels. The hand rims have a diameter that is
slightly less than that of the rear wheels. [1]