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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)
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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
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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
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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
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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
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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.
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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.
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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.
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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 xvii
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
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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
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2.2 Wireless Technology 12
2.2.1 Type of Wireless Technology 12 2.2.2 The Summary of Wi-Fi, Bluetooth,
and Zigbee
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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
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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
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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
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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
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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
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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
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LIST OF FIGURES
FIGURE TITLE PAGE
1.1 HTC P3600i with Samsung 500MHz Processor and Windows Mobile 6.0
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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
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2.10 Panasonic IP Camera, can access by wireless and wired network
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2.11 USB Camera is low cost 19
2.12 Mobiscope Desktop Interface with computer number 40067257
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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.
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2.14 Phone camera video also can be transfer to the computer via Bluetooth
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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)
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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
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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.
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4.19 A) Location where the communication failed (horn cannot triggered) B) Measuring the distance
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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
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LIST OF APPENDIXES
APPENDIX TITLE PAGE
A Developing Process Picture 65
B The Variety Picture of Maneuver Robot Platform 68
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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.
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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.
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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.
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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.
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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.
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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]
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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]
