2015 International Symposium on Web of Things and Big Data (WoTBD 2015), 18-20 October 2015, Manama, Bahrain
ROBODEM Remote Monitoring System Using Web/Mobile Applications Tasneem M. Yousif, Aysha K. Alharam Department of Computer Engineering University of Bahrain Manama, Bahrain [Tasneemyousif & Ayshaalharam @hotmail.com]
Abstract— This paper presents a remote monitoring system using website and mobile application for detecting explosive gases. The ROBODEM (ROBOt Detection Explosive Materials) system aims to develop a remotely controlled explosive gas detection system The main handled by a LEGO Mindstrom NXT robot. controller has been designed using arduino uno microcontroller. This robot comes with an IP camera for live video streaming, Gas detection system using MQ6 and MQ5 sensors, as well as GPS receiver for live tracking. This robot can be controlled either indoor using Bluetooth or outdoor using the Internet. The system provides information regarding ROBODEM such as sensors results, current location of the robot, current time and date. This system produces an alarm and a popup window appears in the website if there is leakage of explosive gases. ROBODEM has a live tracking of the robot's path that shown in Google map. The prototype has been tested experimentally and the results are analyzed and discussed. Keywords – LEGO; arduino; GPS; Tracking; ROBODEM
I. INTRODUCTION Explosive materials are too dangerous for human beings and environment, people may die and buildings may be damaged because of these explosions [1]. They can cause toxic gases, which have very bad effects on our universe. Explosive and toxic gases are too dangerous especially for companies that have critical work in oil and gases, and also those power stations who need to ensure that their surrounding area is safe before doing their critical job. Also, there are some areas for oil exploration that should be safe and no explosive gases should be there. Moreover, the leak of poisonous gases which endanger homes could for a large extent cause death to many innocent people and children [2]. Therefore explosive gases which are part of these materials should have our attentions. ROBODEM is an explosive Gas detection system using a remotely controlled robot, live video streaming camera on the robot, finding the exact location of the robot and the results of the sensing elements produced a powerful system for detecting the percentage of the explosive gases in the environment of detection. The system consists of six underlying technologies: LEGO Mindstrom NXT robot, GPS, GSM/GPRS, Bluetooth shield, IP camera and gas sensors. GPS device is responsible for determination of robot position coordinates: longitude and latitude [3].The GPS module also provides us with the tracked robot based on the exact time and date [4]. A tracking device controller processes these co-ordinates from GPS and produces a location point on the digital maps. The GPRS shield provides users with a way
Wael Elmedany, Abeer A. Al khalaf, Zainab Fardan Department of Computer Engineering University of Bahrain Manama, Bahrain
[email protected] to use the network of GSM cell phone to be able to transmit data to or from a remote location. The GPRS[5] module is responsible for sending the exact commands for controlling the robot from the server to the NXT brick /LEGO Brain, receiving the location data from GPS Module and the sensing data from the sensors to the server again. For live video streaming and monitoring the movement of the robot an IP camera is used [6]. There is smart Detecting system by using gas sensors such as MQ6 and MQ5 sensors [7]. The objective of this research which is a technological robot device that can be moved and remotely controlled systems through a smart phone or web based application in any location where a human cannot reach which can be used to detect explosive materials and sense any gas leakage which could harm a human life. So, this robot would protect society from physical and human losses. Also ROBODEM system provides early warning of hazardous conditions; it provides time for intervention and correction which is an opportunity for evacuation and notification from re-entry in that area where the danger gas is leak. ROBODEM is designed by using different technologies represented in smart mobile application and website that can be easily used by individuals or companies. ROBODEM system can be further implemented in RC Cars and RC Helicopter with camera to protect the environment. In this paper, ROBODEM architecture is presented in section two. In section three the hardware implementation will be presented. Finally a conclusion and future work is presented in section 4. II. SYSTEM ARCHITECTUR The networked system architecture for relaying data between the robot and the monitoring Server is illustrated in Figure 1. This system will detect only a part of explosive materials which are gases. The gas detection system will be placed on a LEGO robot with an IP camera for live video streaming, GPS for location detection and a Bluetooth shield with GPRS shield for outdoor controlling. This system will follow these steps in order to detect the explosive gases. First, the LEGO robot will be controlled either indoor using the mobile application or outdoor using the website. If the user decided to control the robot outdoor, the Bluetooth shield has to connect to the LEGO brick first before the controlling. After setting the Bluetooth connection between the Bluetooth shield and the NXT brick, the user has to click on any of the five buttons in the controlling page in the website to either move the robot or stop its movements. When the user clicks on one
2015 International Symposium on Web of Things and Big Data (WoTBD 2015), 18-20 October 2015, Manama, Bahrain of the buttons, a controlling command will be send from the web server to the GPRS then to the Bluetooth shield through the Arduino to tell the robot what the user wants it to do. Second, to know the exact location of the robot, the GPS has to send the longitude and the latitude values to the Arduino and then to the GPRS. Next, the GPRS has to send these values to the web server over the network. Third, When the gas sensors and the temperature sensor measured the quantity of gases in the area and the temperature, the values will be send to the Arduino and then to the GPRS. The GPRS then will send them to the web server over the network again. Finally, the values will be appeared on the website.
Figure1: The ROBODEM Architecture
A. LEGO Mindstroms NXT LEGO mindstrom kits have programmable brick, number of plastic building elements, motors and sensors. Number of motors, sensors and plastic building elements are differ between the LEGO Mindstrom generations and versions. Each LEGO robot must have one or more NXT intelligent brick [8]. The NXT brick is the brain of the robot. It controls the overall system of it. The brick has a processor and RAM. One of the most important hardware components of this design is the LEGO Mindstrom NXT robotic. It is the base of this design because of two reasons. First, it carries and protects all other hardware components. Second, the system can be used in any place with the help of the LEGO robotic. It can be used in small and narrow places. Also, it can be used in places that humans can't reach them. In addition, it can be used in dangerous places. LEGO robotic system characterized by the small size, easiness of controlling, smooth movement, protection against collisions, detection of explosive gases, and location detection. Ultrasonic sensor is one of the most important and useful sensors that comes with the LEGO Mindstrom NXT generation. It enables the robot to see and recognize objects, avoid obstacles, measure distances, and detect movement [9]. B. Arduino UNO R3 One of the most commonly used microcontroller boards is the Arduino. It is open source hardware, flexible and easy to use. It can sense the environment by taking the inputs from set of sensors and switches. It can affect its surrounding
environment by controlling motors, lights and other physical outputs. Arduino UNO R3 is the third and the latest version of Arduino UNO boards. It is the main operational unit of the system and it is compatible with different shields like GPS, GPRS, and Bluetooth. This board is portable and it is designed with dual inline package ATmega328 AVR microcontroller. The size of its RAM is 2 KB and its clock speed is 16 MHZ [10]. The operating voltage of it is 5 volt DC and the input voltage is between 7 and 12 volt DC. The maximum current of each pin is 40 mA. C. The GPS Location Module A GPS receiver can calculate the location (latitude and longitude) by recording the time for the signal transmitted by the GPS satellite accurately. Each satellite sends messages continuously. These messages contain the time of the transmitting and the location of the satellite at the time of message transmission. Also, they are used by the receiver to measure the transmit time of the messages for calculating the distance to each satellite. These satellite positions and distances are used to calculate the location of the receiver [11]. GPS shield attached with GPS module has been used and connected to Arduino. D. GPRS (General Packet Radio Services) shield GPRS shield V2.0 is one of many GPRS shields that are compatible with the Arduino. By adding this shield to the Arduino you can send SMS , dial a phone number or send data to a server simply by using the AT commands( “AT” means attention )[12] . GPRS shield V2.0 has some important features. The first one is the GSM/GPRS module SIM900 with the low power consumption. Second is the supporting of TCP and UDP protocols and third is the feature of selecting between hardware serial port and software serial port [13]. E. Bluetooth shield seeedstudio Bluetooth shield is one of the compatible shields with Arduino. It has an integrated serial Bluetooth module [14]. It is used for achieving clear serial communications wirelessly. This shield has on board antenna. Also; it has two grove connectors analog and digital. In addition, it has UART data input (BTRX) and output (BT-TX) of the Bluetooth modules .The UART interface of this shield is TTL level. This shield works on different baud rates such as 9600, 19200, 38400, 57600, 115200, 230400 and 460800.The communication accuracy of it is up to 10 meters without barriers. F. Gas sensors Two gas sensors have been used which are MQ5 and MQ6 for detect explosive gases. The gas sensor is a device which detects the presence of many types of gases in specific area. It is used as a part of a security system. MQ series is very popular to use with the Arduino .They has a small heater with an electro-chemical sensor [14]. They are sensitive for specific range of gasses. Also, they are used at room temperature and outdoors. MQ5 sensor can detect either natural gas or town gases [15]. MQ-5 sensor has two advantages. First, it is very cheap. Second, it can be used in so many applications such as
2015 International Symposium on Web of Thhings and Big Data (WoTBD 2015), 18-20 October 20015, Manama, Bahrain "Domestic gas leakage detector, Industrial Combustible gas detector and Portable gas detector". MQ6 iss a semiconductor gas sensor that detects the gas leakage in a specific s area. [16]. this type of gas sensor has sensitivity to LPG, L propane and butane. It has also low sensitivity to ciggarette smoke and alcohol [17]. MQ-6 gas sensor has good futurre which is the fast response time. III. HARDWARE IMPLANTATIION
D. Connecting the Bluetooth shhield with the GPRS shield The shield is connected byy plugging the Bluetooth shield onto the GPRS shield. Pins D5 and D6 of the GPRS shield and the Arduino are used as softw ware serial ports. These pins are connected with the Bluetooth shhield pins (5 and 6) respectively for communicating with the hardware h serial ports (D0 and D1).Figure 4 shows how the Bluetooth B shield is added to the system.
The design is consists of six hardware components. c These components are the LEGO Mindstrom NX XT structure, the system of Arduino and GPRS, outdoor coontrolling system, tracking, live video streaming and smart detecting system. A. LEGO Mindstrom NXT structure The Educational LEGO Mindstrom NX XT kit is used to build the base of the system. Almost 40plaastic elements, one NXT brick, one Ultrasonic sensor and three motors m are used to build the LEGO Mindstrom NXT robotic shown s in figure 2. The IP camera is placed in the middle of the robot from the top to be the eye of the robot that sees all placces surrounding it. The other hardware components are placed onn the robot. B. The basis of the system (Arduino Uno andd GPRS) The goal of this research is based on thhe transmission of the data coming from many sides which are GPS, sensors to a web server over the internet. To achieve this t goal a GPRS shield is needed with SIM Card conneected to a good microcontroller. Arduino Uno R3 is chosen because b of several reasons illustrated [10] such as, it is an open source, s easy to use as it is easy to learn its software and it is coompatible with the shields that are used. Arduino Uno board is chosen especially because it has suitable cost and it has suitablle size and enough number of ports to be used for the rest hardw ware components of the design. C. Connecting GPRS shield with Arduino Unno R3 The GPRS shield is providing users withh a way to use the network of GSM cell phone to be able to transmit t data to or from a remote location first VIVA SIM Cardd has been inserted into the SIM card holder of the GPRS shiield [18]. Second, stacking the GPRS shield onto the Arduinoo and inserting the pins properly and carefully so that the hardw ware serial pins (0 and 1) of the GPRS are plugged in pins (D D0 and D1) of the Arduino respectively. D0 will be used as Rxx (receiver) of the hardware serial while D1 will be used as Tx (transmitter). ( Also, pins (7 and 8) of the software serial of the GP PRS shield will be plugged in (D7) and (D8) of the Arduino reespectively, where D7 is used as Rx of the software serial and D8 D as Tx. Besides that, D9 is used for powering the SIM900.Fiigure 3 shows how the GPRS is connected on the Arduino from both b sides.
Figure2: Shape of LEG GO MindStrom NXT Robotic
Figure 3: Connecting the GP PRS Shield over the Arduino
Figure 4: Adding the Bluetooth shield to the system
E. The way of controlling systeem working To control the brick of the LEGO robot through Bluetooth channel, the communication prrotocol that is special for LEGO Mindstrom NXT is needed too be used. Figure 5 shows the architecture of the protocol telegram. t Byte 0 contains the telegram type. There are three types t of telegrams which are the direct command telegram, reeply telegram and the system command telegram. For the purpose of this design, only the direct command and the replly command are used. Table1 shows some important commaands with their types. The other bytes are consisting of the com mmand itself and the reply based on the telegram type. Directt commands have limited size which is 64 bytes including the t byte of the telegram type. There are additional two bytess which are not included in the size limit and they should be located in front of the Bluetooth message. These two bytes shouuld contain the number of bytes in the message.
Figure 5: The General Architecturee of the Bluetooth Protocol of LEGO Mindstrrom NXT
2015 International Symposium on Web of Thhings and Big Data (WoTBD 2015), 18-20 October 20015, Manama, Bahrain TABLE 1: THE IMPORTANT COMMANDS WITH THEIR T TYPES The command 0x00 0x01 0x02 0x80
considered as a dangers concentration level and a buzzer that connected to the system will bee working at that case.
The type Direct command telegram, response required System command telegram, response required Reply telegram
Figure7: Connecting the Gas Sensor in the System
Direct command telegram, no responsee required
F. Connecting the GPS shield with the system m The position of the SparkFun GPS shieldd will be at the top of our system. Simply the GPS is plugged onto o the Bluetooth shield and the pins is inserted properly .The reason for adding the GPS shield at the top is that pin 2 annd pin 3 from the Arduino are used only for setting the serial mode m for the GPRS. So that's why we cannot use them for settinng the GPS serial mode .To solve this problem we need to flexx two pins from the GPS shield which are pin 2 and pin 3 to be out of the connection and plug two other pins instead of o the pleated GPS pins, then pin (2) is connected with pin 9 of the t GPS shield and pin (3) with pin 10 for setting the software serial mode of the GPS. Figure 6 shows the connection of the GPS G shield with our system.
IV. CON NCLUSION One of the most importantt remotely controlled systems is the explosive materials detectiion system especially for areas that are dangerous for hum mans and makes humans' life susceptible to fatality or death. The potential energy stored in an explosive material may be chemical c energy , nuclear energy and gases energy. Explosives gases g are choose to be focused in this research. As a result this syystem used to Design robot that detect explosive material, and show s the power of the explosive material and the damage thatt can be done. The robot can infiltrate areas not accessible or o reachable by humans, and can be controlled through android mobile application or website. Moreover, it has live video streeaming and live tracking system. Furthermore, having a webbsite and an android mobile application for this system madde it easy, useful and suitable at any time and in any situation. REFER RENCES [1]
Figure 6: Connecting the GPS Shield onto the Bluetooth B shied
G. Hardware part for MQ6 sensor: MQ6 sensor has a shield to be used with w Arduino. This shield has all the circuits needed to use this sensor. The shield has only 3 pins ( Vcc, GND, and Vout) to be b connected with Arduino. The Vcc pin is connected to +5V in Arduino. This is the voltage needed to be connected with the heater of the sensor. The GND pin is connected to GND inn the Arduino as a Ground pin. The Vout pin is connected to A00 (the analog input of Arduino) [18]. Connecting this sensor in the proposed system is on the top of the GPS shield as it iss shown in figure7. The sensor gives a reading of around 100 mv m in clean air and then the output voltage is increased due to thhe increasing of the consternation of gases. The sensor produced current and then it needs a load resistance to measure the voltaage on that resistor which will indicate the concentration of the gas. g This resistance is variable resistance that will be adjusted according to level of contestation of the LPG gas for 1000 PPM [22]. This sensor needs to be calibrating, so the calibration equuation can be used to consider the percentage of the gas in the aiir and consider the level of concentration of that gas. The concentration level after a basic testing is equal to 750 mv from m the MQ sensor
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