Design and Implementation of Coordinated Multipurpose Robotic System with RF and Light Communication Channels.

(A paper entirely based on study, research and experiments.) Team Leader: Sakyasingha Mahabatra (SKR Engg College, Anna University) Jakkamahes (SKR Engg College, Anna University) Barath Sankararaman (Saveetha Engg College, Anna University)

Email: [email protected] 52/11,3rd Cross Street, Balaji Nagar, Ekkattuthangal, Chennai 600097. Ph: 9444408672 Abstract: There are many engineering challenges involved in traveling to the Moon and in particular there is strong need in advanced robotics. Robot will be needed in space for inspace assembly and maintenance surface in-space exploration and human assistance. Robots must be able to function in unknown unstructured and dynamic environments. Mars is a cold, dry planet with extreme temperatures and a thin atmosphere.The terrain is rough and often untraversable. Other materials, such as ore grade metals, petroleum minerals, if they exist, need to be discovered. We are in need for a multipurpose robotic module that would explore Mars. We are also in need of multiple robotic modules which would coordinate among each other and explore Mars. All these robots have been fixed with local sensors, so they can only identify objects closer to them. These robots have to communicate between each other during the task This paper develops a control logic that will enable multipurpose robotic systems to navigate and coordinate with other robotic modules. We are currently working on various communication and navigational set up. We have also come up with an idea of Light Communication in case of multiple robotic systems. The idea behind this paper is experimented with three robotic modules. There might some abnormal conditions such as breakdown of down of the autonomous robotic modules. In that case, we have built a manually controlled robotic rescuer module which helps the other robotic systems to recover from the abnormalities.

In other words this paper is based on five categories ! ! ! ! ! Lead robotic System(Multipurpose) RF Robotic Communication module Light chaser robot (Formation control) Rescuer Robot Mission Completion Robot

Lead Robot (Multipurpose)(Testing Piece on Earth) This paper proposes a new idea that will enable multipurpose mobile robotic systems to perform multiple tasks in a domestic environment, such as i)monitoring a local environment ii) detecting unusual situations such as trespasses, bombs, fire, gas leakage using a multiple sensor system. iii) Object Recognition and Navigation Object Recognition and Navigation for mobile robots has been one of the major problems in the research of Artificial Intelligence. Without this ability, the possibilities for robots to carry out useful tasks (as mentioned above) remain limited. The Robot has to have a better efficiency in understanding the environment. We have developed a simple multipurpose robot with a highly reliable GaAs IR Sensor for sensing and an algorithm for navigation along with reverse gear facility. We have tested our multipurpose robot in performing the above mentioned tasks with satisfactory results and are currently researching for improving the reliability and scope of the robot in real life situations. The lead robot is multipurpose in nature. The Lead Robot (RF Module) will be assisted by the follower robot. The RF Module a PIC16c77 with a RTD-AM transceiver module from Abacom. There were a lot of disadvantages in the RF module when were tying to establish a communication between the Lead Robotic System and Follower Robotic System such as receiver end failures and bursty communication problems. So to overcome the disadvantages of RF Communication, We built a Light Chaser Robotic system which would take part in the formation approach. We could efficiently make a formation among the robotic systems with light. The robot will turn towards the brightest light and move forward chasing or following it. It has two motors (left & right) in order to make the turns; on top two light sensors (photodiodes) separated by a PC board in order to simulate "a nose". This nose is particularly important because it will provide a shadow thus preventing both sensors from being illuminated when a side light is present (the motor on the non-illuminated sensor side will turn on thus aiming the robot towards the light). When the light is right in front of the sensors, there will be no shadow and both sensors will be equally illuminated, i.e.: both motors will be running and the robot will move forward. The main robot board was an old kit; it had two IR pairs of sensors (emitter-receptor) to read a rotating cardboard circle painted black and white in two circumferences. This sequence of black and white sectors programmed the robot to make turns, move forward, stop, etc. This part of the circuit was removed and a new circuit was designed and put in place. The creature has been equipped with speech and voice detection circuits. These robotic modules have been tested with various experiments on earth. We are trying to develop a control logic using a tool called Petri Net Kernel, which would help us to analyse the behavior of Coordinated Multipurpose robotic systems with RF and Light Communication channels.

Objectives of the Research: " Reliable control logic using C Interface. " Multi Robot Coordination with RF Modules " Experiments with two cheap and simple robots. " Visualize and check the state of each robot " Control Logic with short range sensor information. " 2D Stimulation Using Stimulation Softwares. " Reverse Gear Facilities. " Metal Detection, Gas Leakage Detection " Highly Sensitive Circuit Breaking " Active Guidance for the Blind. " Victim Detection during disasters. " Object Avoidance and Path Indentification " AC and DC Facilities " Fire/Heat Sensing Mechanism " Light Chasing Coordination " Rescuer Robot System Architechture: Lead Robot: Lead Robot (Multipurpose)

It has a microcontroller AT89C51 and two stepping motors. The AT89C51 is a lowpower, high-performance CMOS 8-bit microcomputer with 4K bytes of Flash programmable and erasable read only memory (PEROM). The device is manufactured using Atmels high-density nonvolatile memory technology and is compatible with the industry-standard MCS-51 instruction set and pinout. The on-chip Flash allows the program memory to be reprogrammed in-system or by a conventional nonvolatile memory programmer. By combining a versatile 8-bit CPU with Flash on a monolithic

chip, the Atmel AT89C51 is a powerful microcomputer which provides a highlyflexible and cost-effective solution to many embedded control applications.

The 555 monolithic timing circuit is a highly stable controller capable of producing accurate time delays, or oscillation. In the time delay mode of operation, the time is precisely controlled by one external resistor and capacitor. For a stable operation as an oscillator, the free running frequency and the duty cycle are both accurately controlled with two external resistors and one capacitor. The circuit may be triggered and reset on falling waveforms, and the output structure can source or sink up to 200mA. GaAs-IR-Lumineszenzdiode - GaAs Infrared Emitter is used. Some of the features of this IR Emitter i) GaAs infrared emitting diode, fabricated in a liquid phase epitaxy process ii)High reliability iii)High pulse handling capability iv) Available in groups. It has been used for Photointerrupting. The MC78XX/LM78XX/MC78XXA series of three terminal positive regulators are available in the TO-220/D-PAK package and with several fixed output voltages, making them useful in a wide range of applications. Each type employs internal current limiting, thermal shut down and safe operating area protection, making it essentially indestructible. If adequate heat sinking is provided, they can deliver over 1A output current. Although designed primarily as fixed voltage regulators, these devices can be used with external components to obtain adjustable voltages and currents. The TSOP17.. series are miniaturized receivers for infrared remote control systems. PIN diode and preamplifier are assembled on lead frame, the epoxy package is designed as IR filter.The demodulated output signal can directly be decoded by a microprocessor. TSOP17.. is the standard IR remote control receiver series, supporting all major transmission codes. Ideally suited for interfacing between low-level logic circuitry and multiple peripheral power loads, the Series ULN20xxA/L high-voltage, high-current Darlington arrays feature continuous load current ratings to 500 mA for each of the seven drivers. At an appropriate duty cycle depending on ambient temperature and number of drivers turned ON simultaneously, typical power loads totaling over 230 W (350 mA x 7,95 V) can be controlled. Typical loads include relays, solenoids, stepping motors, magnetic print hammers, multiplexed LED and incandescent displays, and heaters. All devices feature open-collector outputs with integral clamp diodes. The ULN2003A/L and ULN2023A/L have series input resistors selected for operation directly with 5 V TTL or CMOS. These devices will handle numerous interface needs particularly those beyond the capabilities of standard logic buffers. The Specifications for the Metal Detector: power supply ............................. 4.5 V; DC consumption .......................15 mA; Indication ...................................sound , LCD Display Modes ........................................static or dynamic; Discrimination.............................ferro/non-ferro Specifications for Fire Sensor: In this fire alarm circuit, a thermistor works as the heat sensor. When temperature increases, its resistance decreases, and vice versa. At normal temperature, the resistance of the thermistor (TH1) is approximately 10 kilo-ohms, which reduces to a few ohms

as the temperature increases beyond 100C. The circuit uses readily available components and can be easily constructed on any general-purpose PCB Specification for the CCTV Camera: Wireless code transaction can transmit and Receive pictures through wall with high resolution up to 100 meteres. Power Supply: 9 12 V DC Distance: Wireless Transmission (100 Meteres)\ Basic Mechanical Design: Top View: Fig 1: Fig 1 shows the basic working model.

Fig2: The design of the Lower Portion:

The above block shows the basic mechanical design of the multipurpose robot along with the basic components. The CCD Camera, Guide Cane and the Squirting Components are detachable. They are to be attached during need. The differentially steered robot is similar to the differential gears used in automobiles in that both the wheels can have different rates of rotations, but unlike the differential gearing system, a differentially steered system will have both the wheels powered. Differential wheeled robots are used extensively in robotics, since their motion is easy

to program and can be well controlled. The dimensions of the Robot are 31 * 21 cms. Some mechanical considerations such as caster angles have been taken in to account while designing the robot. Provisions have been given for extension of the tasks done by the robot. A chamber has been designed for holding the batteries. It runs on AC and DC supplies.

Follower Robot 1: System Architecture: System Architechture Follower Robot 1(With RF Module) : It has microchip pic 16c77. and two stepping motors. The robotic module has a transceiver module AM-RTD from abacom for serial data communication. The robot can estimate its moved distance and direction from the initial position using encoders. Note that only relative distance and direction from a particular point can be recognized

System Architechture Follower Robot: 2 (Light Chaser)

Our Light Chaser robot requires an internal locomotor System driven by two electric motors that draws its energy from a rechargeable battery. It is completed by three wheels out of which two wheels are driven by the electric motor and the third one acts as a differential wheel that helps the robot to turn 360 degrees. It consists of two light sensitive cells consisting of light dependent resistors that provide the electronic creature with directional light sensing behavior. The two eyes are fitted with LDRs placed at adequate distance from each other. If the light impinges laterally , then one of the two LDRs is subjected to less light than the other, the result is that the motors electronics circuitry executes a change of course which lasts until the light impinges and from the front and both LDRs are subjected to same amount of light. The Rescuer Robot:

The rescuer robot consists of four DC motors operated by relays which act as a switch. The voltage regulator I used to provide 6V to the relay. The motors are supplied 12V from a DC Source. The robot is manually operated using a remote (RF). The Robotic module can push upto 10Kgs and lift upto 1Kg. Functional Analysis: Lead Robot: Obstacle Avoidance and Navigation: We have used a IC 555 timer (Astable Multivibrator) for modulating the IR LED to produce IR at frequency of 38 KHz. When an obstacle is detected by any one of the IR Sensors, the IR reflected from the surface of the obstacle is received by the IR receiver (capacity of receiving IR up to 38 KHz). It gives a pulse to microcontroller (AT89C51). The algorithm has been written for the following behavior of the robot. When it detects an obstacle in the right, the left motor stops and the right motor continues to rotate, so the it turns towards the left. When the obstacle is detected in the left, the robot moves towards the right using the same principal (Tangential Turning Principle). In case of obstacle in both the sides, the move continues to move forward. In case of an obstacle on all the three sides, the robot gets back (Reverse Gear Facility) and searches in all directions and finds a path to move. Metal Detection and Gas Leakage Detection.

The goal of our robot is for it to be able to detect land mines. Obviously, some sort of sensor must be incorporated into the system that is able to find land mines. We chose to initially use a simple metal detector as a mine detecting device. The metal detector used on our robots utilizes a fairly simple design. The main component of the metal detector is the induction coil. When a metal object comes neat to the coil, it's inductance is affected. This is turn alters the oscillation frequency of the circuitry. The alteration can be detected, and act as a "stop" command for the robot. Heat detectors use a set of temperature-sensitive resistors called thermistors that decrease in resistance as the temperature rises. One thermistor is sealed and protected from the surrounding temperature while the other is exposed. A sharp increase in temperature reduces the resistance in the exposed thermistor, which allows a large current to activate the detector's alarm. This 230Vac mains powered gas leakage sensor will detect propane, butane (LPG) and natural gas. An onboard buzzer and LED warn when gas is present. It uses a PIC microcontroller and high quality sensor. It forms a part of the multiple sensor system. Environment Monotoring: The CCD photosites accomplish their task of sensing incoming light through the photoelectric effect, which is a characterization of the action of certain materials to release an electron when hit with a photon of light. The electrons emitted within the CCD are fenced within nonconductive boundaries, so that they remain within the area of the photon strike. As long as light is allowed to impinge on a photosite, electrons will accumulate in that pixel. When the source of light is extinguished (e.g., the shutter is closed), simple electronic circuitry and a microprocessor or computer are used to unload the CCD array, count the electrons in each pixel, and process the resulting data into an image on a video monitor or other output media. So victims can be identified during disasters and the output media is made available to the rescuers. Commercial Applications and Marketability of Our Multipurpose Robot: Due to its is multifunctional capabilities, it is highly useful to the present society. Automatic fire detection systems, when combined with other elements of an emergency response and evacuation plan, can significantly reduce property damage, personal injuries, and loss of life from fire in the workplace. Their main function is to quickly identify a developing fire and alert building occupants and emergency response personnel before extensive damage occurs. Automatic fire detection systems do this by using electronic sensors to detect the smoke, heat, or flames from a fire and providing an early warning. Applications: Lead Robotic System (Multipurpose) Reverse Gear Facilities. Metal Detection, Gas Leakage Detection Highly Sensitive Circuit Breaking Environment Monitoring. Object Avoidance and Path Identification Heat/Flame Detection

Alarming System Follower 1 :( RF Module) Formation Approach using RF ID Follower 2: (Light Chaser Module) Formation Approach and Coordination using Light Follower 3: (Rescue Robot) Rescue Operations under abnormal conditions Being an autonomous vehicle, the above tasks are impossible without object avoidance and navigations techniques. We have developed an alogorithm to increase the efficiency in understanding the environment with sharp sensors. We have tested out robot in performing the above mentioned task and the results were satisfactory. We are working on mechanical considerations such as differential steering, angle of camber, etc., we are currently working on improving its scope for real life situations. Formation Control: In this paper, only inaccurate sensor information is available for coordinating the formation of multiple mobile robots. Local sensor information means that all the robots have only local sensors that cannot accurately measure absolute distances and directions of objects. That is, all the sensors have limitation on the range and uncertainty in the values. It is possible to recognize types of the detected object by using the frequency of the light as robot ID. Each robot has a unique fixed sensor frequency. If a robot receives its own frequency, it recognizes the object is static. If a robot receives a frequency of another robot, it can recognize the ID of the detected robot. The surfaces of all robots are covered withblack tapes to prevent reflection of light. Therefore, a robot cannot receive its own frequency reflected by another robot. Computational Modeling of Coordinated Robotic Systems: A main goal of computational robotics is to automatically synthesize robot motions to achieve a given task. This course discusses geometric and algorithmic issues that arise in such an endeavour. Examples of a few sub-problems that need to be addressed are: how can a robot plan its own collision-free motions? How does it grasp a given object? How does one account for uncertainty? The course employs a broad range of tools from computational geometry, mechanics and control theory. The behavior is plotted with Petri Net Models.

Behavior of Robotic Systems:

. Conclusion: Being an autonomous vehicle, the above tasks are impossible without object avoidance and navigations techniques. We have developed an algorithm to increase the efficiency in understanding the environment with sharp sensors. We have tested out robot in performing the above mentioned task and the results were satisfactory and we could satisfy all our objectives to a greater extent. We are working on considerations such as differential steering, angle of camber, etc., we are currently working on improving its scope for real life situations. The multi - robot coordination has proved to be quite successful. We have overcome the disadvantages of RF Communication with a new concept of using light to establish a communication between multiple robotic modules in a domestic environment. We have also verified the performance of the Rescuer Robot. Note: We conducted real time experiments and have taken videos during our research. Most of our objectives have been satisfied. I have attached the photos of the Lead and the other two follower robotic systems, if needed I shall send the videos. Im looking forward to present my ideas along with the working model during the event. All the three working models shall be available during presentation at IIT Bombay. References:
Formation Approach for Mobile Robots with Inaccurate Sensor Information , Gunhee Kim*, Doo Yong Lee**, and Kyungno Lee** Victim detection with Infrared Camera in a "Rescue Robot" Saeed Moradi, Electrical Engineering Department, Sharif University of Technology. Value-Based Communication Preservation for Mobile Robot Teams Matthew Powers and Tucker Balch # # # # # Kim,Gunhee KIST Formation approach of Mobile Robots., CMU Robotics. [1] D. J. Stilwell and J. S. Bay, Toward the development of a material transport system using swarms of ant-like robots, Proc. of IEEE International Conf. on Robotics and Automation, Minneapolis, Minnesota, USA, May 2-6, pp. 766-771, 1993. [2] T. Balch and R. C. Arkin, Behavior-based formation control for multirobot teams, IEEE Trans. on Robotics and Automation, vol. 14. no. 6., pp. 926-939, 1998. [3] H. Yamaguchi, Adaptive formation control for distributed autonomous mobile robot groups, Proc. of IEEE International Conf. on Robotics and Automation, Albuquerque, New Mexico, USA, Apr. 20-25, pp. 2300-2305, 1997. [4] L. E. Parker, Designing control laws for cooperative agent teams, Proc. of IEEE International Conf. on Robotics and Automation, Minneapolis, Minnesota, USA, May 2-6, pp. 582-587, 1993.

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[5] J. P. Desai, V. Kumar, and J. P. Ostrowski, Controlling formations of multiple mobile robots, Proc. of the IEEE International Conf. on Robotics and Automation, Leuven, Belgium, May 16-20, pp. 2864-2869, 1998. [6] I. Suzuki and M. Yamashita, Distributed anonymous mobile robots : formation of geometric patterns, SIAM Journal on Computing, vol. 28. no. 4., pp. 1347-1363, 1999. (7) DESAI AND VIJAY KUMAR ICCAS2001 International Conference on Control, Automation and System.

Proceedings of the IEEE International Conference on Robotics and Automation, Albuquerque, NM, Apr. 21-27, 1997, pp. 1283-1288 The Guide Cane A Computerized Travel Aid for the Active Guidance of Blind Pedestrians by Johann Borenstein and Iwan Ulrich, University of Michigan.

Design and Implementation of Coordinated Multipurpose Robotic System with RF and Light Communication Channels.
Lead Robot:

Follower Robot 2: RF Module and Follower Robot 3: Rescuer Module

Follower Robot: Light Chase 3 (Coordination Model)

Experimental Verification: Experiment 1: Performance of Multipurpose Robotic Module Metal/Flux Detection Flame/Heat Detecttion Reverse Gear Facility, Obstacle Avoidance and Navigation. Environment Monitoring. Emergency Alarm/Buzzing Experiment 2: Behavior of Robotic Systems in a unstructured environment. Wall Following, Edge Detection Experiment 3: Formation with RF Communication Module. Experiment 4: Formation with Light (360 Degree) Experiment 5: Formation using light channels when Lead Robot is static. Experiment 6: The performance of Light Chaser Robot under various intensities of Light Experiment 7: The performance of the Rescue Robot