Software Solution For Modular & Self Independent Networked Robot
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18-12-2010, 04:13 PM

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This article is presented by:
Abhijeet Singh Kalsi
Shivam Sharma

Software Solution For Modular & Self Independent Networked Robot

Getting Familiar with ROBOTS
>In the past humans only fantasized about robots, today, many types of robots are a reality.
For example, there are
i. Industrial robots
ii. Toy robots
iii. Space exploration robots
iv. Robots used in the medical field
v. Robots used in agriculture and
vi. Humanoid robots being created for
providing services in household,
for e.g. as caregivers for the elderly and the handicapped.
Networked Robot

> A Networked robot refers to a system where many intelligent devices are connected to a communication network such as Internet or LAN.
> These robots operate together in coordination or cooperatively with sensors, embedded computers and human users.

> Cooperation is achieved when more than one entity is working towards a common goal and coordination implies a relationship between the communicating entities to ensure- efficiency, better throughput, and lesser time for completion of the task.

Technology Issues

How is it different from a traditional robot...???
Need for a networked robot.???

a.) Internet improves drastically the way of receiving and sending the data among applications.

b.) With the introduction of internet
and its use in robotics field, robot developers found their work complexity reduced.

c.) Robots can now perform activities that are well beyond the capabilities of a single robot by interacting with each other or a human controller wirelessly using TCP/IP protocol

d.) Eg:- Surgeries performed by a group of robots by communicating with each other.
a.) Devices can now exchange information between each other as long as they are connected to the internet..

b.) Improved efficiency.

c.) Can react to the information sensed by other robots at a remote location.

d.) It supports the robot with fault-tolerance system in robot design and hence prevent robot failures.

e.) Components with distinct similarities are bound together making the whole system stronger than the sum of parts.

Hardware Design

The system is designed in such a manner to make it as modular as possible. The concept of modularity is very useful as it :
1. Improves flexibility
2. Provides scope for future extensions
3. Provides the ability to replace the parts according to the needs of the modules

The System is divided into following 3 modules:-

(i) Main Module : It involves the robot's body and a main processor which is the central controlling unit and is also responsible for storing, manipulating and processing the data. A PC main board is deployed rather than embedded system as it provides flexibility and capability to be programmed using any available software package.

(ii) Data Processing Module : It consists of software responsible for acquiring, manipulating and processing the data from different sensors. As an example, the software to process the temperature data is different from other sensors such as humidity sensors and so on. We can freely use any programming language such as C, Java, Perl and many more to develop those software.

(iii) Data acquisition modules : Also called a hardware modules has multiple hardware related to data acquisition, measurement and control system.
Concepts Applied

Navigation and Turning Geometrics :
Navigation is the ability of a mobile system to catch up its actual position and to determine how to reach the next destination based on the present position.
Algorithm used here: - Dead Reckoning

It measures the distances on: -
a.) Straight Line Movement
For straight line distance is counted by
counting the no. of wheel rotations using an opt coupler attached on each wheel. Knowing the wheel diameter and the degree of each transition level are important. For the fig. shown opt coupler calculates distance using: -


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