2011 International Conference on Pattern Analysis and Intelligent Robotics 28-29 June 2011, Putrajaya, Malaysia
Data Transferring Technique for Mobile Robot Controller via Mobile Technology Saliyah Kahar#1, Riza Sulaiman#2, Anton Satria Prabuwono#3,Mohd Fahmi Mohamad Amran#4, Suziyanti Marjudi#5 Fakulti
Teknologi dan Sains Maklumat Universiti Kebangsaan Malaysia, 43600 Bangi, Selangor 1
[email protected] 2
[email protected] 3
[email protected] 4
[email protected] 5
[email protected] Abstract— Wireless communication technology is one of the most popular and important communications at this moment. The field of robotics includes various sectors such as factory sector, manufacturing and security. These papers describe research and investigation on mobile technologies usage such as 3G for mobile robot controller. Prototype development to be done to determine the capability of technology used to control a mobile robot by using specific commands by using a specific programming language. Then, research about the techniques use for transferring data from mobile devices using mobile technology for the mobile robot will be done. The results of this research are expected to provide benefits to consumers and mobile device manufacturers to optimize the usability of mobile devices owned or produced. Keywords— Mobile Robot, Mobile Robot Controller, Mobile Technology, Wireless Communication, Data Transferring Technique.
I. INTRODUCTION Mobile robot is presented with a situation or form depending on the area of application usage. Numerous robotics institutes and universities are focusing on intelligent mobile robot systems [1-5]. Robots can drive, walk, swim or fly. An appropriate sensor is required to design a mobile robot and know how to control it. Therefore, various mechanisms used to control this mobile robot. As in [6], with the advancement of wireless communication technology in mobile robots, there is a great possibility that we shall have a cell-phone controlling a robot maid, wheel chair or an autonomous robot car. Regardless of the method used either by using technology 1G, 2G or 3G owned by mobile device or Web page. A more detailed study is needed to diversify the mobile robot controller mechanisms, particularly for industries that use mobile robots to improve the business such as manufacturing and security. Mobile robot controllers are rather complex systems that have to deal in real time with a number of tasks in order to allow the robot to operate autonomously. These tasks include motion control, sensing, planning, navigation, etc[7]. By using the latest technology, mobile robot can be controlled anytime and anywhere.
Mobile devices such as mobile phones can be used as a device to control robots. It was chosen because it supports some features of wireless data communications technology as in [8]. By using mobile devices and GSM or UMTS, the same device can use Bluetooth or wireless LAN when it is close to the device to be controlled. But for long distances this method cannot be used. Therefore, the 3G technology will be used by the mobile device to control the movement of the mobile robot. The 3G technology was chosen as the mobile robot controller because this technology allows users to use the advantages of multimedia features and offers Internet access at speeds up to 2 megabits per second (2Mbps) as in [9]. It is a wireless telecommunications network technology that allows video, audio, and data delivered faster through a broadband wireless network of mobile phones to personal computers, including laptops. As in [10], applications created include performance-based wireless web, email, as well as video conferencing and multimedia services that blend voice and data streams.. Therefore, a prototype mobile robot control in real-time systems can be developed using the video call to facilitate the user to see the movement of the robot. Thus, the user can control the mobile robot from a distance, no matter the time and where the user is. Among other reasons is the rapid use of the service of mobile technology in Malaysia. This is based on information obtained from the official website of the Ministry of Energy, Green Technology and Water [11]. The penetration rate of mobile services in Malaysia is expected to increase from year to year. Mobile service subscribers have increased ten-fold within a decade of just 2.7 million subscribers in 1999 to 26.1 million by the end of 2009. In the fourth quarter of 2008, cellular penetration rate for every 100 people is at the level of 96.8% and the number of subscribers of wireless broadband technologies (3G, HSDPA, WiMAX, Wi-Fi and others) is 410,400 customers. In line with Malaysia's market is more mature, Business Monitor International predicts moderate growth for the mobile market in Malaysia with an estimated 27 million subscribers by the end of 2011 and the penetration rate of 97%. For 3G mobile customers, Malaysia is targeting a total of more than 5 million subscribers in the period between
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2008 to 2012 (source: MCMC Industry Performance Report 2007). Besides that, the data transfer technique used also involved in the mobile robot and mobile technologies are used in the development of this prototype. It will take into account the transfer of data from mobile devices using 3G technology to the mobile robot. This investigation also includes the protocols used during the data transfer to the mobile robot. The prototype will also be developed using programming languages such as C, C++, Java ME and the latest programming languages. Therefore, the correct approach should be made to realize development and subsequently, a prototype. Detailed study can be conducted to verify the proposed data transfer technique. This paper is organized as follows. In Section II, we look into Literature Review. In Section III, we discuss about research methodology. In section IV, discussion and lastly, we conclude this paper in Section V. II. LITERATURE REVIEW There are many solutions that have been created and being developed in projects around the world related to the control of the wireless mobile robot. With wireless communications, mobile robots can be connected to other mobile robots or to the personal computer. Thus, the mobile robot can be controlled via a wireless computer or with a multiagent formed in the robot system. However, there are some limitations. One limitation is that only one-way communication and half-duplex only. Further applications are not developed real-time applications as in [6]. A. Mobile Robot Controller Currently the field of robotics has changed so dramatically. At once before, the robot is very important applications in specific areas such as manufacturing and manufacturing. However, currently, robot usage in the field of services and entertainment was increasing. This fact has been reviewed in advance by the researchers such as existing mobile robot controller using the Fuzzy Logic [12], Neural Network [13], Web [14], Bluetooth [6] and Wireless [15]. Mobile robots have been introduced which have the ability to achieve, maintain, and go through carefully environmental effects of the disaster and destruction done by humans. Some client-server system used to control robot motion via the World Wide Web [16]. Manipulation of this robot is based on real-time control of a user through the Internet as broadband connectivity. Web servers are used to provide the operator with the customer application using TCP/IP to connect to the server. Sensors and video cameras are used to provide feedback to the customer. As in [17], the performance analysis of end-to-end Mobile Tele-Echography Using an Ultra-Light Robot (OTELO), via the communication network of 3G technology has been done. Various network protocols are used primarily for sending data in the form of audio and video. Among the transport protocol in the form of audio and video data are as User Datagram Protocol (UDP), Transmission Control
Protocol (TCP), Real-Time Protocol (RTP) and Real-Time Transport Control Protocol (RTCP). UDP is usually used as a transport protocol for a particular video channel. RTP is a standard Internet protocol that is designed to provide the function of end-to-end transportation to support real-time applications. RTPC is combined with the RTP control protocol. It is designed to provide QoS feedback to the RTP session entries in the application. However, the protocols RTP /UDP/IP applied in the system. Protocol UDP/IP protocol used to transmit data to the robot in two ways. Figure 1 shows OTELO Mobile Robotic System connectivity using 3G technology.
Fig 1- OTELO Mobile Robotic System
. According to [18] on these studies, research on mobile robot systems using fuzzy control has been done. It also proposes a network of sensors that allow the robot to detect its surrounding circumstances. Robot with structured intelligence system being developed will allow the robot to make decisions and actions that come from four different level in parallel. In addition, the robot can generate movement through the interaction with the environment and at the same time acquiring the skills of learning. To create a structured intelligence on the robot, the Fuzzy System (FS), Neural Network (NN) and Evolutionary Computing (EC) applied. In general, the neural network used for learning and fuzzy logic is used to represent knowledge. Figure 2 shows combination in the synthesis of NN, FS, and EC.
Evolving NNs NNs Learning Capability
Neuro Fuzzy, Fuzzy Neuro
Evolving Fuzzy Neural Networks
EC Optimizing Capability Self-tuning Fuzzy System
FS Representing Capability Fig-2 Synthesis of NN, FS and EC
As in [6], the control of mobile robots using Bluetooth technology has been done. Most wireless technologies such as Bluetooth and IrDA standard provide the ability to strengthen
the local wireless network. Bluetooth is a radio frequency cable with a shorter route to replace technology that has not licensed 2.4GHz broadband in the scientific industry. Typically, Bluetooth devices have a range of about 10 meters and it can support both voice and data communications with broadband 1 Mb per second. Because of these advantages of Bluetooth, such as low cost, low power and can be pointed to different directions, parts of Bluetooth has been integrated into various types of mobile devices like mobile phones, PDAs and other wireless set. Researchers from In-Stat / MDR and Frost & Sullivan has estimated the use of Bluetooth will be sold more than 200 million units in 2001 and will increase to 1 billion in 2006 (Reuters, 2002). Therefore, the present use of Bluetooth also expanded the use of technology in this mobile robot control. B. Mobile Communication Review of technology for mobile devices has also been carried out starting from the 1G (first generation) until 3G (third generation) as in [19]. 1G wireless communications network is used for analogue voice services with speeds up to 2.4 kbps. In this 1G, Frequency Division Multiple Access (FDMA) is used as an analogue frequency modulated using a mobile radio system frequency band 824MHz - 894MHz. 2G is based on digital technologies such as Time Division Multiple Access (TDMA) and Code Division Multiple Access (CDMA ). In this generation of Global Systems for Mobile Communications (GSM) is a popular wireless technology, a combination of FDMA and TDMA. 2G + will use the technology of High Speed Circuit-Switched Data (HSCSD), General Packet Radio Service (GPRS) and Enhanced Data Rates for Global Evolution (EDGE). 3G wireless technologies is the concentration of various 2G wireless telecommunications systems into a single global system that includes certain components and satellites. One of the most important aspects of 3G wireless technology is the ability to unify existing cellular standards such as CDMA, GSM, and TDMA on the one umbrella. Telecommunication network or a line of 3G is faster than the previous range of technologies such as GSM, GPRS and EDGE technology, better known as 1G and 2G. This factor allows it to do various things that cannot be done by the previous technology generation. For example, a video call, only 3G technologies that allows callers to make video calls that can view video images of friends and chat with as in [10]. But, the caller and call recipient must have a 3G phone and subscribe to 3G services from existing telecommunications companies. According to [20], apart from that, this 3G technology also incorporates other media of communication such as wireless communications and global internet. Figure 3 shows 3G Network.
Fig 3- 3G Network
In [21], the communication protocols used for this implementation have been investigated. This implementation has the OBEX communication protocol that supports the operations of "GET" and "PUT" to facilitate the conversion of binary objects between devices. Most of the data transfer between devices Bluetooth is based on OBEX protocol in which the sender will send a file with the file name, file size and description of the file. Therefore, the recipient will know more clearly about the details of data files received. Figure 4 shows the system architecture used for developing the implementation.
Fig 4- System Architecture
Review the documentation has also been done involving the 3G technology in Malaysia. Resources have also been obtained from Telekom Malaysia's website (established since 1944 with the name of the Department of Telecommunications Malaya) which is the largest integrated telecommunications solutions provider in Malaysia and also one of the leading communications company in Asia [22]. Celcom (Malaysia) Berhad (Celcom), TM's mobile subsidiary is the leading mobile communications provider in Malaysia. Celcom has made a name in the market through innovation, which has enhanced its industry-standard benchmarks and to provide services and products in the country. Celcom is the first mobile operator in Malaysia to launch 3G services commercially. The result of its partnership with Vodafone, Celcom has launched a data card connector Mobile Broadband Vodafone 3G (HSDPA) and Blackberry by Vodafone to expand its product offerings to enhance the number of subscribers. C. Programming Language The study on the programming language used to develop prototypes has also been conducted. Among the programming language that is considered as the programming language are C / C + +, Visual Basic and Java ME. This is
because Java as a programming language that supports most existing mobile device as in [14]. As in [23], the study was conducted to determine the control system used to control a robot that is equipped with wireless cameras and web cameras to monitor the environment. Mobile phones use for making joint applications with Binary Runtime Environment for Wireless (BREW). In this system, real-time image information, the robot's movements have been fully exploited. Features available on BREW, allowing development of applications using programming languages like C/C++ can be implemented quickly, using communication protocol TCP / IP. Figure 5 shows the BREW interface.
Fig 5- BREW Interface
Based on [24], the Android platform can be applied to embedded systems such as robot control systems. In embedded systems operated via the Android platform, developers should create applications by using Java language provided by Android SDK or native C/C++ languages. D. Data Transferring Study on existing data transfer technique whether the data transfer technique for mobile robot or data transfer techniques for mobile devices has also been done. Among the data transfer technique is being studied as Oriented Data Transfer Service [25], The Distributed Parallel Storage System and GridFTP [26] and Black-Bus [27]
Technology, Universiti Kebangsaan Malaysia has done. The study was carried out with respect to the movement of mobile robot capabilities and review the programming language used for the movement and control of the mobile robot. WiRobot X80 is equipped with cameras, speakers, and wheeled devices are able to interact with the environment. Mobile robot is equipped with Wi-Fi technology and can be controlled at a certain distance. Control of the robot is not limited to the movement of the robot but the user can see the environment directly in the form of audio and video through an existing application. The programming language used is the programming language C + + and Visual Basic Programming. Preliminary studies should be conducted to identify a suitable controller for mobile robot by using the method or manner of existing regulations and that will be investigated. The study on the techniques of transfer of existing data will also be investigated whether the technique of transferring data to the robot and the technique of data transfer with portable devices using the existing mobile technologies such as Bluetooth, Infra Red and others. Therefore, identification of appropriate technologies for the control of mobile robots needs to be done in this phase. Phase 2: Design and development of prototype Prototype development can be done in several stages. In the early stage of prototype development, ability and the user reaction was measured using the scenarios and user manual. In the next stage, the user will interact with the simulation and the prototype is more complete than the scenario and the user. This situation is repeated until the builders are satisfied with the design of the prototype. Design and development of mobile robot controller using the proposed mobile technology will use the instructions will be sent from mobile devices to the mobile robot. The mobile robots will be doing the movement based on the instructions received. Figure 6 show the proposed prototype will be developed.
III. RESEARCH METHODOLOGY The main goal of this research is to produce a data transfer technique for mobile robots using mobile devices. The first objective is to identify new technologies for mobile robot control. The second objective is to propose techniques and algorithms for data transfer from mobile devices to the mobile robot by using mobile technology. While the third objective is the development of prototypes for mobile robot control using mobile devices to verify the objectivity of the first and second are achieved. The development of this research is divided into several sections. Methodology use for prototype development is waterfall model. Phase 1: Preliminary In this preliminary study, observation, documentation review and interviews have been conducted so far. Observations and detailed studies of existing mobile robot, WiRobot X80[28], at the Faculty of Information Science and
Fig 6: Proposed Prototype
Figure 7 show the Framework Layered Architecture. It can be divided into three layers; the user layer, the communication layer, and the action layer. The user layer is for the user interface. The user can monitor a mobile robot with the status information and the visual information from a mobile phone. The communication layer is to communicate to
a mobile robot status. The action layer has a robot system. The robot system connects with the server system and shares all information. USER LAYER
COMMUNICATION LAYER
ACTION LAYER
MOBILE PHONE APPLICATION SYSTEM
GENERIC APPLICATION INTERFACE
ROBOT SYSTEM
Video call
Mobile Robot ON
Mobile Robot turned ON?
Fig 7: Framework Layered Architecture
Phase 3: Testing Once fully developed prototype, the testing will be done. In this phase, identification of appropriate mobile robot controller is very important that the use of mobile technology devices such as mobile phones. This test is very important to evaluate the effectiveness of these devices to control movement of the mobile robot. Here also will be tested whether the data transfer techniques used from the mobile device to the robot can be implemented successfully. Also the algorithm used to control the movement of the robot.
This research would propose mobile robot control techniques using these mobile devices will make it easier for users to control mobile robot remotely using a mobile device anytime and anywhere. Expected results from this research will produce an algorithm for the instructions sent to the mobile robot, data transferring technique that will be sent from mobile device to a mobile robot and new technology to be adapted between mobile devices with mobile robot. Figure 8 show the flow chart for the system will be developed. The mobile phone application system controls the actuator part of the robot system. If the video call fails to ON the mobile robot, the application cannot be used. To solve this problem, make sure the mobile robot can properly function. In this research, Dr Robot will be used. This mobile robot includes forward facing CMOS camera with a wireless connection to the server. Through video call, user can see the mobile robot environment by using mobile phone. User heard the voice instruction for mobile robot movement. After that, users choose the code such as 0,1,2,3 etc for movement mobile robot. So, data by this code transfer from mobile phone to mobile robot. At this level, generic application interface in communication layer is very important. This layer plays the role of a bridge between mobile phone and mobile robot. Data transfer and transition is the core process. A user can control the mobile robot movement and connect to generic application interface by using mobile phone.
End video call
Yes Images displayed Mobile Robot environment Voice Instruction Menu for navigation of Mobile Robot
Phase 4: Analyse and Evaluation Competencies developed from this project will be evaluated and analysed. These include decisions made during the evaluation of the development of prototypes that have been developed. The results of these studies are expected to provide information or facts that are useful for the development in the future. IV. DISCUSSION
No
Choose instruction
Mobile robot navigate based on the choices made
No
End video call?
Yes
Fig. 8 Flow Chart
The Mobile Robot Controller system by using Mobile Technology architecture is shown in Figure 9.
Fig. 9 System Architecture
In detail, it can divide to three layers; the user layer, communication layer and action layer. The user layer is for user interface including remote control. The user can monitor
the mobile robot movement with the visual information from the residential gateway. The communication layer is to communicate between mobile phone and mobile robot. In this layer the server system is the residential gateway and connects to mobile phone in the user layer. It manages most of mobile robot status information and sends it to mobile phone. Storage system stores all the status information of the mobile robot. The action layer has a robot system. It always connects with communication layer and shares all information. The robot actuator is for physical processes such as controlling the motor and camera. It gets command from intelligent functional engine and sends new information to the generic application interface. It has its own controller and algorithms.
[8]
[9]
[10]
[11] [12]
[13]
V. CONCLUSION [14]
Mobile robot control system using mobile technology is developed further in order to control one of the existing mobile robots. So it adds another option for users to control mobile robots as well as optimizing the use of portable devices such as mobile phones in their possession. It will also facilitate the industry to control the robot using the mobile device and provide opportunities for alternative communications service providers use existing mobile devices. ACKNOWLEDGMENT The authors acknowledge contribution from research University Grant UKM-GUP-TMK-07-01-035, Universiti Kebangsaan Malaysia, Bangi, Selangor, Malaysia.
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