2014 International Conference on Electronics and Communication System
(ICECS -2014)
Remote Access of FPGA Robot via Internet #
Dhanabal R
\ Bh.S.R.Phanindra Varma #2, Bharathi v*3,
#iAssistant Professor (Senior Grade), VLSI division, SENSE, VIT University, #2student, MTech, VLSI Design, SENSE, VIT University, *3
Assistant Professor, GGR College of Engineering, Vel/ore, Tamil Nadu, India
[email protected],
[email protected],
[email protected]
Abstract-For making aware of the new environment one
III.
should go there and tell us what is happening, but life is precious so robots are used instead to make aware of new places. The main theme of this paper is to develop an FPGA based robot which can be controlled remotely by using internet. The robot direction
is
controlled
by
using
Bluetooth
module.
The
transmitter is android mobile. By using the blue term software in android mobile one transmits the signal to the Bluetooth module fixed in the robot. This mobile which controls the robot through Bluetooth has limited range. So mobile is placed inside the robot and it will be controlled via the internet from another android platform or Pc. Camera in the mobile can be used to visually control the robot directions even from far places. Text to speech
LITERATURE REVIEW AND PROBLEMS
No Robot exists with all the features of internet controlled along with video streaming, hands for collecting samples and which can talk with people in front of it until now. There are application specific robots which just streams video or which sends only speech from one place to another. In internet controlled
robot
GPRS
module
is
used
to
receive
the
commands and live stream the video to the server [2, 3]. To make the robot talk again one has to interface a text to speech converter at the receiver side. This method needs a complex circuitry and huge lines of code. Through GPRS module only
converter at the robot is used to communicate with the people
limited
near the robot. GPS in the android mobile can also track the
streaming a camera need to be interfaced again which sends
number
of
tasks
is
implemented.
To
get
video
robot from the internet itself. So this can be used as robot which
data through the same GPRS [4]. No extra applications can be
makes aware of new places whole over the world collecting
implemented here. To get the infonnation of where the robot is
information and communicating with the people there.
The
again a GPS receiver has to be interfaced to it [5].
FPGA
VIT
robot
is
remotely
accessed
successfully
from
University.
IV.
Keywords- Android platform, GPS, Remote access. I.
M
INTRODUCTION
�THODOLOGY
Controlling a robot using Bluetooth from a mobile is easy and also implemented widely. Controlling a robot along with a video streaming through internet needs GPRS module and web cam which makes the circuit and program complex [6, 7] and
AN cannot enter into every situation such as what is
also to speak one needs another text to speech converter. For
happening in the Taj hotel during terrorist attacks,
overcoming all these a mobile is placed on the robot and that
entering into strange places. For making aware of this kind of
mobile is controlled from another mobile or PC through
environment robots are used instead of man. While wandering
internet. Thus the robot is indirectly controlled through internet
in the new environment one needs some help like taking photographs and collecting samples of sand etc. For all such kind of things this remote accessing ofFPGA robot via internet
[8]. PC I Android plarfoml
is useful. Initially, a humanoid robot is planned to be designed. This robot has to work in all environments around the world without the actual involvement of human. For this purpose the robot is designed in such a way that it can be controlled
Robot section
through internet [1]. One can easily control the robot by knowing its unique username and password. This paper gives the detail description of literature survey, problems in the previous models, methodology to overcome those problems, experiment results and finally ends with conclusion. Fig. 1.
II.
OBJECTIVE
The main aim of the paper is to control the robot from whole over the world. One of the sources which are available whole over the world is internet. Controlling the robot includes moving in any direction, speaking with the people in front of the robot and doing small things like collecting photographs and samples. By this one can use this robot as a servant by sending where ever he wants and can communicate with the people there easily.
Block diagram of Remote access of fpga robot via internet
Android has so many applications with that one who is controlling the robot [9] can view what is going in front of the robot and can also use the text to speech converter in the mobile for speaking to the people in front of the robot. It can also show the present position of the robot in the world map exactly with accuracy nearby 7-10mts using GPS module present in the mobile itself This method has good flexibility because of huge range of applications available in the android. Any of these applications can be downloaded from google play
2014 International Conference on Electronics and Communication System
(ICECS -2014)
store and can be used by controlling the android mobile from any other android mobile or PC itself. So this method is more flexible than implementing extra hardware every time when one needs an extra application to be implemented. Figure 2 shows the program flow in the FPGA board.
Waiting for recei,ing command
No
Fig. 3.
Snapshots of the robot.
Now detailed description of every step, at frrst blue term [10] is installed in mobile phone which is placed at the robot so as to send data serially to Bluetooth module interfaced with the
Enabling specified pin for a period of
time based on the receiyed command
FPGA board. Blue term software gives the facility of scanning and selecting the receiving module as shown in figure 4.
On Fig. 2.
Program flow.
V.
RESULTS AND SIGNIFICANCE OF WORK
The ultimate aim is to make the system portable and flexible. From the block diagram shown in figure 1 android mobile at the robot is controlled using any remote access software. Remote access software used here is team viewer. Mobile. It sends bluetooth signals to the bluetooth module interfaced to the FPGA board. Based on the code in the FPGA board motors are activated for the respective commands received. robot is totally made of D.C motors so that the programming is easy and torque is high. The robot is made to
Fig. 4.
Blueterm screenshots.
stand on three wheels, which includes a free wheel. Robot has head lights, so that it can be controlled even in darkness.
To selected module data can be sending by using the key
Totally the hands are made of hoist mechanism and simple D.C
board in the mobile. Bluetooth module is a simple 4 pin chip
motors. These hands are useful to pick small objects for
which can be easily interfaced. It has LED's to indicate status
collecting and placing them at some other place. Snap shots of
also. Receiver and transmitter pins are connected to the UART
the robot are shown in figure 3.
of FPGA board along with power supply. FPGA board is programmed
[11]
such
that
for
every
specific
character
received it has to give output through some GPIO pin which is connected to the driver which drives the motor. Extra software's to be installed in the mobile at the robot are team viewer, transparent screen and robot voice. Team viewer is remote access software which can remotely control any software platform from any PC [12, 13]. Screen of the Department of SENSE,VII University,Veilore,India,e-mail:
[email protected]. Department of SENSE,VIT University,Veilore,India,e-mail:
system which is being controlled appears in the PC and from PC itself the system can be controlled directly via internet [14].
[email protected].
2
2014 International Conference on Electronics and Communication System
(ICECS -2014)
Flow Summary Successful - Sat Dec 07 20:05:23 2013 10.0 Build 262 08/18/2010 SP1 SJ Web Edition set set Cydone II EP2C2OF484C7 Final Yes 98 /18,752 « 1%) 98 / 18,752 ( < 1%) 65/18,752 ( < 1%) 65 23/ 315(7%)
Flow Status Quartus II Version Revision Name Top�evel Entity Name Fam�y Device TlITling Models .. Met timing requirements 8. Total logic elements Total combinational functions Dedicated logic registers Total registers Total pins Total virtual pins Total memory bits . Embedded Multiplier 9-bit elements Total PlLs
o
0/ 239,616(0%) 0/ 52(0%) 0/ 4(0%)
, . Type
tsu i
Slack
Required Tme
Actual Time
NA
None
3.810ns
2
Worst-case
Worst-case teo
NA
3
Worst-case
NA
None
-1.191ns
NA
None
1]9,18MHz .period - 5.581ns
1
ttl Clock Se "'J 'elk'
4
None
12.676 ns
PowerPlay Power Analyzer Sumnlary
Fig. 5.
PowerPlay Power Analyzer Status Quarrus II Version Revision Name Top�evel Entity Name Family Device Power Models Total Thermal Power Dissipation Core Dynamic Thermal Power Dissipation Core Static Thermal Power Dissipation I/O Thermal Power Dissipation
Transparent screen screenshots.
Transparent
screen
is
application
which
continuously
streams the camera view in the background even if we are operating on any other application. This is installed to get the view in front of the robot continuously. Screen shots of transparent screen are shown in figure 5. Robot voice is a text
Fig. 7.
Successful - Sat Dec 07 20:54:15 2013 10.0 Build 262 08/18/2010 SP 1 SJ Web Edition set set Cydone II EP2C2OF484C7 Final 69.38 mW O.OO mW 47.35 mW ll.03 mW
Synthesis report Timing analysis and Power analysis screenshots.
to speech converter which talks as a robot by using this text which is typed in the mobile is spoken by it. By making the mobile registered in android device manager we can track the robot by using mobile GPS as shown in figure 6. o
o
::: .
...
'!.
Methodology used here has vast difference in the efficiency remotely. Area of implemented logic on the FPGA board is negligible when compared to the total size of logical elements in it in this method, so it consumes less power when it is
lMIlIx "" U ..... ,_-,,, __ 1___ 4_
-'
Comparision with Literature review
when compared to all other methods controlling the robot
AndroId DevIce Manager MaomaxA116
B.
working. Speed of this video streaming is very high similar to a
=.
skype application.
& �-
_-= 4
-. "
_ :.::-...:;. _.:= �-
.:..
-
GPS antenna
Fig. 8.
3G/GPR5 antenna
microSD socket
Circuit complexity and size comparision of embedded circuit and
android mobile. Image courtesy of http://www.generationrobots.com
Figure 8 shows embedded circuit is complex with all GPS, Fig. 6.
GPRS,
Online GPS Tracking.
attached
Camera,
Speaker,
externally.
This
Microphone whole
and
complex
Loud circuit
speaker can
be
replaced by a small android mobile which is having all these features internally. So the power consumption while using
A. Synthesis and Analysis Synthesis report, Timing analysis and Power analysis for the FPGA device EP2C20F484C7 of Cyclone II family are shown in figure 7. Logic elements used are 98 and registers used are 65 all these are
