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Final Year Project Report
The Waiter Robot With Wireless Ordering System B.S. Electronic Engineering, Batch 2007 Internal Adviser Engr. Muhammad Rafay Khan Lecturer Electronic Engineering Deppt. SSUET, KARACHI Submitted by Malik Usama Waheed Ahsan Parwez Saghir Ahmed Huzaifa Saifuddin Muhammad Dawood Qamer Sajid Gul Amber Khan
External Adviser Mr. Abrash Parwez Master’s Student Engg Management Stanford University 2007-EE-128 2007-EE-134 2007-EE-139 2007-EE-158 2007-EE-159 2007-EE-168
DEPARTMENT OF ELECTRONIC ENGINEERING Sir Syed University Of Engineering & Technology University Road, Karachi-75300 January, 2011 Sir Syed University Of Engineering & Technology
PREFACE The creation of intelligent robots is surely one of the most exciting and challenging goals of Artificial Intelligence. A robot is, first of all, nothing but an inanimate machine with motors and sensors. In order to bring life to it, the machine needs to be programmed so as to make active use of its hardware components. This turns a machine into an autonomous robot. Since about the mid-nineties of the past century, robot programming has made impressive progress. State-of-the-art robots are able to orient themselves and move around freely in indoor environments or negotiate difficult outdoor terrains, they can use stereo vision to recognize objects, and they are capable of simple object manipulation with the help of artificial extremities. At a time where robots perform these tasks more and more reliably, we are ready to pursue the next big step, which is to turn autonomous machines into reasoning robots. A reasoning robot exhibits higher cognitive capabilities like following complex and long-term strategies, making rational decisions on a high level, drawing logical conclusions from sensor information acquired over time, devising suitable plans, and reacting sensibly in unexpected situations. All of these capabilities are characteristics of human-like intelligence and ultimately distinguish truly intelligent robots from mere autonomous machines. Our interest in robots leaned more toward the popular concept of robots as humanlike friends and servants. We did not have the funds to build a computer-controlled robot that is why we used microcontrollers. To increase the effectiveness and efficiencies of restaurants we have worked on Digitized Menu cards that will be installed on tables, that will eliminate any Queuing at the counter. Our theme is to create an organized environment that will facilitate all group ages. This thesis provides an in-depth look into “THE WAITER ROBOT WITH WIRELESS ORDRING SYSTEM“, providing complete knowledge of the project that describes the devices used in the formation and those associated with it. The text also elaborates the terminologies and factors related to the project.
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Chapter 1: This chapter gives introduction about the types of service robots and the scope of robotics in different fields. Chapter 2: This chapter further gives background of the robotics and describe the types in more detail. Chapter 3: Provides indept knowledge about the RF module and wireless Communication. Chapter 4: This chapter describes the design phase and entire methodology of our project. Chapter 5: This chapter describes the hardware design of entire project. Chapter 6: Chapter includes description of components used in the project and how they were used. Chapter 7: Gives details about the softwares and their development process. Chapter 8: This chapter contains the flowcharts and the schematics of the project. Chapter 9: Conclusion and Future Enhancements are listed in this chapter. Appendices: Appendix A contains time and cost analysis and Appendix B contains datasheets of major components.
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ACKNOWLEDGEMENTS First and foremost we are thankful to Almighty Allah, through His guidance we have reach this point in our lives. We are grateful to our parents who provided us with all the resources and luxuries, and ed us in every possible way during the duration of this project. We are deeply indebted to Mr. Muhammad Rafay Khan (Lecturer, Electronics Dept), our internal advisor, who offered his valuable time whenever we needed. His full encouragement and even more cooperation was always with us, during the completion of this project. Finally yet importantly, we acknowledge the efforts of our teachers who have been our source of inspiration throughout the university years and have shared their knowledge and skills with us. We are also deeply indebted to Mr. Abrash Pervaiz, our external advisor, who provided his valuable knowledge about the PIC micro-controller and its interfacing and programming. We are also grateful to Mr. Sohail Memon who provided his expertise about the mechanical design of robot.
SIR SYED UNIVERSITY OF ENGINEERING & TECHNOLOGY
Sir Syed University Of Engineering & Technology
University Road, Karachi-75300, Pakistan Tel: 4988000-2,4982393, Fax: (92-21) 4982393 http://www.ssuet.edu.pk
The Faculty of Electronic Engineering
Project Approval Project Title
The Waiter Robot With Wireless Ordering System
Internal Advisor
Engr. Muhammad Rafay Khan
External Advisor
Mr. Abrash Parwez
Academic Year
2007-2010
Group : Malik Usama Waheed
2007-EE-128
Ahsan Parwez
2007-EE-134
Saghir Ahmed
2007-EE-139
Huzaifa Saifuddin
2007-EE-158
Muhammad Dawood Qamer
2007-EE-159
Sajid Gul Amber Khan
2007-EE-168
The Department of Electronic Engineering Sir Syed University of Engineering & Technology has approved this Final Year Project. The project is submitted in partial fulfillment of the requirement for the degree of Bachelor of science in Electronic Engineering. Approval Committee:
Engr. Muhammd Rafay Khan Internal Advisor
Mr. Abrash Parwez External Advisor
Mr. Muhammad Sharif FYP Committee Incharge
Mr. Bilal Alvi Chairman EE Department
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Synopsis
Through technical advances we humans have automated vast areas of our working lives. Apart from industrial and communication fields, fields like that of gardening, cleaning and cooking are also being automated, that are intelligent and can operate as per requirement with minimum of human interference.
Through our knowledge and observations we are deg a Robot based on PIC18 that can deliver food items inside a restaurant; our prototype will exhibit some level of intelligence as it navigates through the restaurant. This prototype will take orders\input wirelessly by the use of RF modules for reception and transmission.
Each table will be implanted\installed with our custom designed module containing PIC18 and RF transmitter and input buttons for selection, resetting and transmitting along with a LCD display for displaying information of selected items.
The inputs are processed by PIC18 and data is delivered to RF transmitter. The RF transmitter from the table directs the information to the Counter RF receiver where data is decoded by max232 IC and delivered through the serial port to a computer that has a GUI (designed in Visual Studio 2008-2010) along with a database based on SQL Management Server 2008.
The Robot receives its codes and orders from the Counter in the same way using RF transmitter receiver pair. When “send order” button is pressed in the GUI the codes are transmitted through a RF transmitter installed on the counter, the Robot receives the orders and acts accordingly. In its way to the table or back from table to the Counter the Robot may encounter an obstacle, to detect obstacles of any kind we have installed Ultrasonic sensors that will detect the obstructions, the Robot will stop and sound an alarm\beep.
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TABLE OF CONTENTS Preface………………………………………………………………………….….(ii) Acknowledgment………………………………………………………………….(iv) Certificate…………………………………….…………………………………....(v) Synopsis………………………………………………………..………..………..(vi)
Chapter 1 Introduction 1.1 Introduction…………………………………………………………...2 1.2 Service Droids and Robots………………………………………...…2 1.3 Types of Service Robots.................................................................3 1.4 Problem Statement..........................................................................3 1.5 Scope Of Robotics..........................................................................4 1.6 Conclusion………………………………………………………….…4
Chapter 2 Background Of Robotics 2.1 History...........................................................................................6 2.2 Types Of Robot……………………………………………………....6 2.2.1 Rectangular Robot……………………….……………..…..6 2.2.2 Cylindrical Robot…………………………..……………....6 2.2.3 Spherical Arm Robot………………...…….……..………..6 2.3 Selection Compliance Assembly Robot………………….…...…….7 2.3.1 Articulated Robot…………………………….…………….7 2.3.2 Mobile Robots…………….…………………….…….……7 2.3.3 Rolling Robots………………..………………………….…7
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2.3.4 Walking Robots……………………………….....………….8 2.3.5 Stationary Robots………………………..……….…….…...8 2.3.6 Autonomous Robots…………….………….....…………….8 2.3.7 Remote-Control Robots………………………………..……9 2.4 Beam Robots…………………...………………….………..…….........9 2.4.1 Biology……………………………………………...….……..9 2.4.2 Electronics………………….…………………….…….……10 2.4.3Aesthetics……………..……………….…………..……...…..10
2.4.4 Mechanics…………………….……………….…….………10 2.4.5 Robots As Waiters……………..………..……...……………10 2.5 Conclusion……………………………………………………………..11
Chapter 3 RF Module And Wireless Communication 3.1 Wireless Communication……………………………………...………13 3.2 Modes Of Wireless Communication…………………...…...…………13 3.3 RF…………………………………………………..…….…………..…13 3.3.1 The RF Advantage………….…………………………...…....14 3.4 RF In Warehouses And Distribution Centers……………….…………15 3.4.1 Shipping And Receiving……..……………………….……..…15 3.4.2 Internal Transport……………………………………...….……15 3.4.3 Stock And Location Management………………….….……..16 3.4.4 Order Picking………………………………………..…………16 3.4.5 Stock Control…………………………………..………………16
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3.4.6 Stock Replenishment………………………....…….….…,……17 3.5 RF Purchasing Considerations…….………………………..……..……17 3.6 Conclusion………………………………………………,,……………..17
Chapter 4 Methodology And Procedure 4.1 Introduction…………………………………………………………….19 4.1.1 Design Phase……………………………..…………...………19 4.1.2 Implementation Phase………………………………...………20 4.1.3 Testing Phase…………………………………………...……..20 4.2 Conclusion……………………………….………………………...……20
Chapter 5 Hardware Design 5.1 Introduction………………………………………...……….….………22 5.2 Structural Design……………………………………………….………22 5.3 Mechanical Consideration………..…………….………..…….….……23 5.4 Material Selection……………………………………………...….……23 5.5 Conclusion…………………..………………………………..….……..23
Chapter 6 Electronic Components 6.1 PIC Microcontroller………………………………….………...….……25 6.1.1 Use in Project……….………………………………...………24 6.2 Transistor…………………………..……………………………………26 6.2.1 Use in Project………..………………………………..………26 6.3 7805 Regulators………………………….……….…...……..…………26 6.3.1 Features………………………….…………..………..………27
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6.3.2 Use in Project………..………………………………..………27 6.4 Push Button…………….………….………………….….………………28 6.4.1 Use in Project…………..………………………………………28 6.5 16 X 2 Character LCD…………...………………….……………...……28 6.5.1 Use in Project…………..………………………………………28 6.6 Ultrasonic Sensors………………………………………..…………....…29 6.6.1 Use in Project…………………………………………………..29 6.7 Relay…………………………………………………..…………………29 6.7.1 Operating Principles………………………..…….…….………29 6.7.2 Use in Project……………………………...…………………...30 6.8 Dry Cell Battery Rechargeable………………….…..…………..……….30 6.8.1 Use in Project………………………………...………………...30 6.9 Buzzer And crystal…………………………………..………..…………31 6.9.1 Use in Project…………………………………...……………...31 6.10 RF Transmitter And Receiver…………………………………..………31 6.10.1 Use in Project……………………………………….…….…..32 6.11 RS 232……………………………………….………………..………..32 6.11.1 Use in Project…………………………………….…….…….32 6.12 Dc Gear Motor……………………………………………...….....……33 6.12.1 Use in Project…………………………………………..…….33 6.13 U-Shape Sensor……………………………………………….….…….33 6.13.1 Use in Project…………………………………………..…….33 6.14 MAX232 IC.…………………………………………………...………34
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6.14.1 Use in Project……………………………………………..….34 6.15 Conclusion………………………………………………………..…….34
Chapter 7 Software Description 7.1 Software………………………………………………………...………..36 7.2 List Of Software Used……….………………………..…………………36 7.2.1 PIC Simulator And Compiler…….……………………....…….36 7.2.1.1 Pic18 Simulator IDE Main Features….…….….…….36 7.2.1.2 Pic18 Burner……………………………..….………..38 7.2.2 Visual Studio 2010…………………..……...……….……..…..38 7.2.2.1 Software Screenshots………………………...………38 7.3 Conclusion……………………………………………..……..…..43
Chapter 8 Flowcharts And Circuits 8.1 Power Supply…………………………...………………………………..45 8.2 Motor Driving…………………………………………………...…….…46 8.3 PIC18 General Circuit…………………….……………………….….….46 8.4 Main Robot Circuit………………………………………………………47 8.5 Table Circuit………………………………………………..…………….48 8.6 PIC16 General Circuit……………………………………..……………..48 8.7 Ultra Sonic Circuit…………………………………………..……………49 8.8 LEDs Flashing Circuit………..…………………………….…………….49 8.9 Counter Circuit……………………………………………….…………..50 8.10 Flow Chart Of The System…………………………...…………………51 8.10.1 Description Of The Process………………….…………...…...52 Sir Syed University Of Engineering & Technology
Chapter 9 Conclusion And Future Enhancement 9.1 Project Review…………………………………..…...…………………..54 9.2 Future Enhancements And Considerations………………………..…….54 9.2.1 Adding Cameras (Sense Of Sight)…………….…………..…..54 9.2.2 Multi-Purpose Single Robot…………………………….……..55 9.2.3 GPS Navigational Aid Robot…………………………...….….55 9.2.4 Ability To Respond To Verbal Commands……………...…….55 9.2.5 Medical Robots……………………………………...…………55 REFERENCES APPENDIX A (Time and Cost analysis) (Application of the project) (Cost of the project) APPENDIX B (Data sheets of all major components)
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LIST OF FIGURES Figure 1.1
Scope Of Robotics
04
Figure 2.1
Mars Explorer
07
Figure 2.2
Guidance Robot
07
Figure 2.3
Spider Robot
08
Figure 2.4
Robotic Arm
08
Figure 2.5
Robotic Nurse
08
Figure 2.6
Mining Robot
09
Figure 2.7
Beam Robot
09
Figure 2.8
Waiter Robot
10
Figure 6.1
PIC 18
25
Figure 6.2
NPN Transistor
26
Figure 6.3
Regulator
27
Figure 6.4
Push Button
28
Figure 6.5
16x2 LCD
28
Figure 6.6
Ultra Sonic Sensor
29
Figure 6.7
Relay
29
Figure 6.8
Battery
30
Figure 6.9
Buzzer & Crystal
31
Figure 6.10
RF Transmitter
31
Figure 6.11
RF Receiver
31
Figure 6.12
Serial Port
32
Figure 6.13
DC Motor
33
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Figure 6.14
U-Shaped Sensor
33
Figure 7.1
Visual Studio 2010
38
Figure 7.2
Main Order Form
40
Figure 7.3
Main Order Form Updated
41
Figure 7.4
Order Details
41
Figure 7.5
Order Details Updated
42
Figure 7.6
Database Without Data
42
Figure 7.7
Database With Data
43
Figure 7.8
Database Form
43
Figure 8.1
9V and 12V Batteries
45
Figure 8.2
Motor Driver Circuit
45
Figure 8.3
PIC18 Initializing Circuit
46
Figure 8.4
Main Robot Circuit
47
Figure 8.5
U-Shape Sensor
47
Figure 8.6
RF Input Circuit
47
Figure 8.7
Main Table Circuit
48
Figure 8.8
PIC16 General Circuit
48 Figure 8.9
Ultrasonic Sensor
49
Figure 8.10
LED Flashing Circuit
49
Figure 8.11
Counter Circuit
50
Figure 8.12
System Flow Chart
51
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INTRODUCTION
1.1 INTRODUCTION:
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“What is a robot?” The word robot comes from the Czech word Robota, which means obligatory work or servitude. The word robot was first used in a Czech play called R.U.R.(Rossum’s Universal Robots) by Karl Capek. Robotics is the science and technology of robots and their designs, manufacture and their applications. Robotics comprises of not only the mechanical structure but also the electronics and software in order to function according to the desired input. Now a day’s Robotics has become a very vast and broad field and robots are distinguished in various categories according to their structure and functions they perform. Robot is defined as a mechanical design that is capable of performing human tasks or behaving in a human-like manner. Building a robot requires expertise and complex programming. It’s about building systems and putting together motors, solenoids, and wires, among other important components. There are a number of subsystems that must be designed to fit together into an appropriate package suitable for carrying out the robot’s task. Wireless Ordering System reduces the flow of work, simplifies the complex orders, receives accurate orders, provides pleasant environment & speedy service, prevents monetary loss, & increases customer reliability in ordering. Moreover, it's also an integrated system that automatically controls business by connecting to POS system at the counter. 1.2 SERVICE OF DROIDS AND ROBOTS: Service robots have no strict internationally accepted definition, which, among other things, delimits them from other types of equipment, in particular the manipulating industrial robot. IFR, however, have adopted a preliminary definition: A service robot is a robot which operates semi- or fully autonomously to perform services useful to the well-being of humans and equipment, excluding manufacturing operations. With this definition, manipulating industrial robots could also be regarded as service robots, provided they are installed in non-manufacturing operations. Service robots may or may not be equipped with an arm structure as is the industrial robot. Often, but not always, the service robots are mobile. In some cases, service robots consist of a mobile platform on which one or several arms are attached and controlled in the same mode as the arms of the industrial robot.[1] Sir Syed University Of Engineering & Technology
1.3 TYPES OF SERVICE ROBOTS: a- Industrial Robots. b- Mobile Robots. c- Agricultural Robots. d- Service Robots. e- Social Robots. f- Entertainment Robots. g- Tele robots. 1.4 PROBLEM STATEMENT: Today in this modern world era many jobs are undesirable by skilled workers such as sewerage cleaners, toll collectors at the highways, high tension wire repairman, crime scene decontaminators, and even butlers and waiters at the fast food restaurants. Many developed countries of the world depend on cheap unskilled labor from other 3 rd world countries to provide the manpower to do these jobs while the population of that country do the skilled jobs. In order to fill the gap and eliminate the need of manpower from other countries many specialized robots have been built to perform the tasks that humans normally don’t prefer to do. Being a waiter at a restaurant is also one kind of job that humans don’t prefer to do, at least the skilled labor doesn’t want to do, that is why we have set out our goal to build a robot and an entire system a model and a prototype for such tasks. Our design will greatly reduce the reliance on manpower and unskilled labor that sometimes become a nuisance.[2]
1.5 SCOPE OF ROBOTICS:
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1.6 CONCLUSION: This chapter was the introduction to robotics .in which robot was briefly discussed and also its application and also the advantages for using the robot were briefly explained.
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BACKGROUND OF ROBOTICS
2.1 HISTORY: Stories of artificial helpers and companions and attempts to create them have a long history. In 1837, the story of the Golem of Prague, a humanoid artificial intelligence activated by inscribing Hebrew letters on its forehead, based on Jewish folklore, was created by Jewish German writer Berthold Auerbach for his novel Spinoza. In 1921,
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Czech writer Karel Čapek introduced the word "robot" in his play R.U.R. (Rossum's Universal Robots). The word "robot" comes from the word "robota", meaning, in Czech, "forced labour, drudgery". In 1927, the Maschinenmensch (“machinehuman”), a ganoids humanoid robot, also called "Parody", "Futura", "Robotics", or the "Maria impersonator" (played by German actress Brigitte Helm), the first and perhaps the most memorable depiction of a robot ever to appear on film, was depicted in Fritz Lang's film Metropolis.[3] 2.2 TYPES OF ROBOT: 2.2.1 RECTANGULAR ROBOT
Rectangular arms are sometimes called "Cartesian" because the arm´s axes can be described by using the X, Y, and Z coordinate system. It is claimed that the Cartesian design will produce the most accurate movements. 2.2.2 CYLINDRICAL ROBOT
A cylindrical arm also has three degrees of freedom, but it moves linearly only along the Y and Z-axes. Its third degree of freedom is the rotation at its base around the two axes. The work envelope is in the shape of a cylinder. 2.2.3 SPHERICAL ARM ROBOT
The spherical arm, also known as polar coordinate robot arm, has one sliding motion and two rotational, around the vertical post and around a shoulder t. The spherical arm's work envelope is a partial sphere, which has various length radii.
2.3 SELECTION COMPLIANCE ASSEMBLY ROBOT: The SCARA (Selection Compliance Assembly Robot Arm) is also known as a horizontal articulated arm robot. Some SCARA robots rotate about all three axes, and some have sliding motion along one axis in combination with rotation about another. 2.3.1 ARTICULATED ROBOT
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The last and most used design is the ted-arm., also known as an articulated robot arm. The arm has a trunk, shoulder, upper arm, forearm, and wrist. All ts in the arm can rotate, creating six degrees of freedom. Three are the X, Y, and Z-axes. The other three are pitch, yaw, and roll. Pitch is when you move your wrist up and down. Yaw is when you move your hand left and right. Rotate your entire forearm, this motion is called roll. 2.3.2 MOBILE ROBOTS
Mobile robots are able to move, usually they perform task such as search areas. A prime example is the Mars Explorer, specifically designed to roam the mars surface. Mobile robots are a great help to such collapsed building for survivors Mobile robots are used for task where people cannot go. Either because it is too dangerous for people to reach the area that needs to be searched.
2.3.3 ROLLING ROBOTS
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Rolling robots have wheels to move around. These are the type of robots that can quickly and easily search move around. However they are only useful in flat areas, rocky terrains give them a hard time. Flat terrains are their territory. 2.3.4 WALKING ROBOTS
Robots on legs are usually brought in when the terrain is rocky and difficult to enter with wheels.
Robots have a hard time shifting balance and keep them from
tumbling. That’s why most robots with have at least 4 of them, usually they have 6 legs or more. 2.3.5 STATIONARY ROBOTS
Robots are not only used to explore areas or imitate a human being. Most robots perform repeating tasks without ever moving an inch. Most robots are ‘working’ in industry settings.
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2.3.6 AUTONOMOUS ROBOTS
Autonomous robots are self
ing
or
in
other
words
self
contained. In a way they rely on their own ‘brains’. Autonomous robots run a program that give them the opportunity to decide on the action to perform depending on their surroundings. At times these robots even learn new behavior. They start out with a short routine and adapt this routine to be more successful at the task they perform. The most successful routine will be repeated as such their behavior is shaped. Autonomous robots can learn to walk or avoid obstacles they find in their way. Think about a six legged robot, at first the legs move ad random, after a little while the robot adjust its program and performs a pattern which enables it to move in a direction. 2.3.7 REMOTE-CONTROL ROBOTS
An autonomous robot is despite its autonomous not a very clever or intelligent unit. The memory and brain capacity is usually limited, an autonomous robot can be compared to an insect in that respect. In case a robot needs to perform more complicated yet undetermined tasks an autonomous robot is not the right choice. Complicated tasks are still best performed by human beings with real brainpower. A person can guide a robot by remote control. A person can perform difficult and usually dangerous tasks without being at the spot where the tasks are performed.To detonate a bomb it is safer to send the robot to the danger area.
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2.4 BEAM ROBOTS:
BEAM is short for Biology, Electronics, Aesthetics and Mechanics. BEAM robots are made by hobbyists. BEAM robots can be simple and very suitable for starters. 2.4.1 BIOLOGY
Robots are often modeled after nature. A lot of BEAM robots look remarkably like insects. Insects are easy to build in mechanical form. Not just the mechanics are in inspiration also the limited behavior can easily be programmed in a limited amount of memory and processing power. 2.4.2 ELECTRONICS
Like all robots they also contain electronics. Without electronic circuits the engines cannot be controlled. Lots of Beam Robots also use solar power as their main source of energy. 2.4.3 AESTHETICS
A BEAM Robot should look nice and attractive. BEAM robots have no printed circuits with some parts but an appealing and original appearance. 2.4.4 MECHANICS
In contrast with expensive big robots BEAM robots are cheap, simple, built out of recycled material and running on solar energy. 2.4.5 ROBOTS AS WAITERS
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As we can see that the use of
robots is widespread they are
also being used as butlers and waiters around the world to do basic jobs such as waiters, and interestingly enough robots perform the job effectively, they are very handy too except for their need to be recharged at regular intervals. [3] 2.5 CONCLUSION:
In this chapter we have discussed that why robot was introduced and what was the history behind it. Also the general structure and working principle of robot has been discussed briefly and also the major types of robots have been discussed in this chapter which will give an idea that how robots have been used in different areas to perform different task.
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RF AND WIRELESS COMMUNICATION
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3.1 WIRELESS COMMUNICATION:
Wireless communication is the transfer of information over a distance without the use of enhanced electrical conductors or "wires". The distances involved may be short (a few meters as in television remote control) or long (thousands or millions of kilometers for radio communications). When the context is clear, the term is often shortened to "wireless". Wireless communication is generally considered to be a branch of telecommunications. [4] 3.2 MODES OF WIRELESS COMMUNICATION:
radio frequency communication,
microwave communication, for example long-range line-of-sight via highly directional antennas, or short-range communication, or
infrared (IR) short-range communication, for example from remote controls or via Infrared Data Association (IrDA).
3.3 RF: RF is the wireless transmission of data by digital radio signals at a particular frequency. It maintains a two-way, online radio connection between a mobile terminal and the host computer. The mobile terminal, which can be portable, even worn by the worker, or mounted on a forklift truck, collects and displays data at the point of activity. The host computer can be a PC, a minicomputer or a much larger mainframe. The end result is a seamless flow of information to and from the host, allowing workers to go wherever they need to go to get their job done without fear of being out of touch with the data they need. RFDC improves the timeliness of information, and therefore the value of information, especially in time-sensitive operating environments like cross-dock, make-to-order manufacturing and just-in-time replenishment. RF itself has become synonymous with wireless and high-frequency signals, describing anything from AM radio between 535 kHz and 1605 kHz to computer local area networks (LANs) at 2.4 GHz. However, RF has traditionally defined frequencies from a few kHz to roughly 1 GHz. If one considers microwave
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frequencies as RF, this range extends to 300 GHz. The following two tables outline the various nomenclatures for the frequency bands. The third table outlines some of the applications at each of the various frequency bands. RF measurement methodology can generally be divided into three major categories: spectral analysis, vector analysis, and network analysis. Spectrum analyzers, which provide basic measurement capabilities, are the most popular type of RF instrument in many general-purpose applications. Specifically, using a spectrum analyzer you can view power-vs-frequency information, and can sometimes demodulate analog formats, such as amplitude modulation (AM), frequency modulation (FM), and phase modulation (PM). Vector instruments include vector or real-time signal analyzers and generators.
These
instruments
analyze
and
generate
broadband
waveforms, and capture time, frequency, phase, and power information from signals of interest. These instruments are much more powerful than spectrum analyzers and offer excellent modulation control and signal analysis. Network analyzers, on the other hand, are typically used for making
S-parameter
measurements
and
other
characterization
measurements on RF or high-frequency components. Network analyzers are instruments that correlate both the generation and analysis on multiple
channels but at a much higher price than spectrum analyzers and vector signal generators/analyzers.[8] 3.3.1 THE RF ADVANTAGE
The advantages of a RF communication system are many. Start with the simple fact that if it is wireless, you don't have to lay cable all over your facility. Cable is expensive, less flexible than RF coverage and is prone to damage. For new facilities, implementing a wireless infrastructure may be more cost effective than running cable through industrial environments, especially if the space configuration may change to different storage space allocation or flexible manufacturing stations. Accessibility is a key benefit. If workers are within range of the system and they always should be if a proper site survey is performed (as explained on page 8) they are always in touch with their data. This advantage cannot be overstated. To always have your data literally at your fingertips whenever needed means there is no break in
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productivity and no empty or “deadhead” trips to a stationary terminal, docking station or dispatch location to receive pick or putaway instructions. Critical decisions can be made and action taken immediately at the point of activity. Less wasted time means you can do significantly more, faster, without adding additional employees. Would that make a difference in your business? Other general advantages of real-time RF communication include a significant improvement in order accuracy (>99%), the elimination of paperwork, replacement of time-consuming batch processing by rapid real-time data processing, prompt response times and improved service levels. Complementing a real-time data collection system with automated data entry by bar code scanning or another automatic data collection technology improves the accuracy of information and eliminates the need for redundant data entry, which provides another set of time- and cost-saving advantages. Many points in the supply chain can realize important advantages of accurate, realtime data that RF provides. Here are some examples of RF applied to a few common environments. 3.4 RF IN WAREHOUSES AND DISTRIBUTION CENTERS: 3.4.1 SHIPPING AND RECEIVING
When goods arrive at receiving, the bar code on the pallet is scanned and the data is sent to the host computer. At virtually the same moment, the quantity of goods received can be compared with the quantity ordered to immediately determine if there is any disparity. If goods received are different from the order, or are damaged, immediate action can be the warehouse, production department or shipping/staging area. Whether outgoing goods are cross-docked or simply transported from storage and loaded onto the truck, shipments can be directed efficiently to trucks and confirmed via the RF system. Invoices, advanced ship notices (ASNs) and other necessary forms and reports can be initiated the moment truck doors are closed.[9] 3.4.2 INTERNAL TRANSPORT
Goods don't sit when instructions are sent wirelessly direct to the mobile terminal. Forklift truck operators no longer have to go somewhere specific to get their instructions; rather, the instructions come to them, saving time, eliminating deadhead
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trips and making more productive use of personnel and materials. Also, a RF system allows stock retrieval and replenishment to be combined, dramatically reducing the number of movements involved in the internal transport of material and the number of empty runs. 3.4.3 STOCK AND LOCATION MANAGEMENT
The moment palletized goods are put away, forklift operators can use their computer to notify the host system of their location and that they are ready for another job. This allows warehouse space and workers' time to be used in a more efficient manner. s typically report significant gains in the number of picks or putaways processed per hour after implementing RF-directed operations. 3.4.4 ORDER PICKING
RF s all possible order picking principles: individual selection, batch selection or splits between articles and packaging. Picking information is received by the terminal, and inquiries and transaction/activity data are sent from the terminal to the host, all in real time. Once the order is picked, a forklift truck operator can then be given delivery instructions from a warehouse management system (WMS) via RF. Providing real-time updates of picking activity and order status enables the WMS to continually recalculate the most efficient pick/putaway routes and order assignments. 3.4.5 STOCK CONTROL
Using RF for stock control offers huge savings in time and money. Because all events are recorded in real time, the computer is continually aware of the current inventory. This high level of monitoring essentially makes separate cycle counting unnecessary. Many companies reduce the number of formal inventory counts they conduct each year, and in some cases eliminate them altogether, because the RF system provides accurate, real-time inventory information. Depending on the order picking method, RF offers a range of possibilities for speedy verification of previous activities/transactions. For example, after a certain number of transactions, the remaining stock at the pick-up location can be counted for extra verification. If the physical stock is not the same as the istrative stock, those mistakes can be rectified before the goods are moved or shipped. Sir Syed University Of Engineering & Technology
3.4.6 STOCK REPLENISHMENT
Each time stock is removed, the transaction is recorded by the mobile terminal and sent to the host. When stock reaches minimum, preset levels, the system can be set to alert a supervisor or automatically generate a replenishment request. When bulk stock reaches order level, a purchase order is automatically created and an order placed. Reordering is instantaneous; stocks can be kept low.
3.5 RF PURCHASING CONSIDERATIONS: A wireless system is a serious investment. It's important to consider all factors before making your decision. Following is a brief guide to the major topics and purchasing considerations that must be evaluated before committing to a system, including site planning, wireless technology options and standards, and an overview of the computers and input technologies commonly used in industrial radio frequency network applications. 3.6 CONCLUSION: This chapter is based on wireless communication which describes the principle of communication wirelessly and the history and purpose for introducing this way of communication .its types and its applications are also discussed in this chapter.
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The Waiter Robot With Wireless Ordering System B.S. Electronic Engineering, Batch 2007 Internal Adviser Engr. Muhammad Rafay Khan Lecturer Electronic Engineering Deppt. SSUET, KARACHI Submitted by Malik Usama Waheed Ahsan Parwez Saghir Ahmed Huzaifa Saifuddin Muhammad Dawood Qamer Sajid Gul Amber Khan
External Adviser Mr. Abrash Parwez Master’s Student Engg Management Stanford University 2007-EE-128 2007-EE-134 2007-EE-139 2007-EE-158 2007-EE-159 2007-EE-168
DEPARTMENT OF ELECTRONIC ENGINEERING Sir Syed University Of Engineering & Technology University Road, Karachi-75300 January, 2011 Sir Syed University Of Engineering & Technology
PREFACE The creation of intelligent robots is surely one of the most exciting and challenging goals of Artificial Intelligence. A robot is, first of all, nothing but an inanimate machine with motors and sensors. In order to bring life to it, the machine needs to be programmed so as to make active use of its hardware components. This turns a machine into an autonomous robot. Since about the mid-nineties of the past century, robot programming has made impressive progress. State-of-the-art robots are able to orient themselves and move around freely in indoor environments or negotiate difficult outdoor terrains, they can use stereo vision to recognize objects, and they are capable of simple object manipulation with the help of artificial extremities. At a time where robots perform these tasks more and more reliably, we are ready to pursue the next big step, which is to turn autonomous machines into reasoning robots. A reasoning robot exhibits higher cognitive capabilities like following complex and long-term strategies, making rational decisions on a high level, drawing logical conclusions from sensor information acquired over time, devising suitable plans, and reacting sensibly in unexpected situations. All of these capabilities are characteristics of human-like intelligence and ultimately distinguish truly intelligent robots from mere autonomous machines. Our interest in robots leaned more toward the popular concept of robots as humanlike friends and servants. We did not have the funds to build a computer-controlled robot that is why we used microcontrollers. To increase the effectiveness and efficiencies of restaurants we have worked on Digitized Menu cards that will be installed on tables, that will eliminate any Queuing at the counter. Our theme is to create an organized environment that will facilitate all group ages. This thesis provides an in-depth look into “THE WAITER ROBOT WITH WIRELESS ORDRING SYSTEM“, providing complete knowledge of the project that describes the devices used in the formation and those associated with it. The text also elaborates the terminologies and factors related to the project.
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Chapter 1: This chapter gives introduction about the types of service robots and the scope of robotics in different fields. Chapter 2: This chapter further gives background of the robotics and describe the types in more detail. Chapter 3: Provides indept knowledge about the RF module and wireless Communication. Chapter 4: This chapter describes the design phase and entire methodology of our project. Chapter 5: This chapter describes the hardware design of entire project. Chapter 6: Chapter includes description of components used in the project and how they were used. Chapter 7: Gives details about the softwares and their development process. Chapter 8: This chapter contains the flowcharts and the schematics of the project. Chapter 9: Conclusion and Future Enhancements are listed in this chapter. Appendices: Appendix A contains time and cost analysis and Appendix B contains datasheets of major components.
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ACKNOWLEDGEMENTS First and foremost we are thankful to Almighty Allah, through His guidance we have reach this point in our lives. We are grateful to our parents who provided us with all the resources and luxuries, and ed us in every possible way during the duration of this project. We are deeply indebted to Mr. Muhammad Rafay Khan (Lecturer, Electronics Dept), our internal advisor, who offered his valuable time whenever we needed. His full encouragement and even more cooperation was always with us, during the completion of this project. Finally yet importantly, we acknowledge the efforts of our teachers who have been our source of inspiration throughout the university years and have shared their knowledge and skills with us. We are also deeply indebted to Mr. Abrash Pervaiz, our external advisor, who provided his valuable knowledge about the PIC micro-controller and its interfacing and programming. We are also grateful to Mr. Sohail Memon who provided his expertise about the mechanical design of robot.
SIR SYED UNIVERSITY OF ENGINEERING & TECHNOLOGY
Sir Syed University Of Engineering & Technology
University Road, Karachi-75300, Pakistan Tel: 4988000-2,4982393, Fax: (92-21) 4982393 http://www.ssuet.edu.pk
The Faculty of Electronic Engineering
Project Approval Project Title
The Waiter Robot With Wireless Ordering System
Internal Advisor
Engr. Muhammad Rafay Khan
External Advisor
Mr. Abrash Parwez
Academic Year
2007-2010
Group : Malik Usama Waheed
2007-EE-128
Ahsan Parwez
2007-EE-134
Saghir Ahmed
2007-EE-139
Huzaifa Saifuddin
2007-EE-158
Muhammad Dawood Qamer
2007-EE-159
Sajid Gul Amber Khan
2007-EE-168
The Department of Electronic Engineering Sir Syed University of Engineering & Technology has approved this Final Year Project. The project is submitted in partial fulfillment of the requirement for the degree of Bachelor of science in Electronic Engineering. Approval Committee:
Engr. Muhammd Rafay Khan Internal Advisor
Mr. Abrash Parwez External Advisor
Mr. Muhammad Sharif FYP Committee Incharge
Mr. Bilal Alvi Chairman EE Department
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Synopsis
Through technical advances we humans have automated vast areas of our working lives. Apart from industrial and communication fields, fields like that of gardening, cleaning and cooking are also being automated, that are intelligent and can operate as per requirement with minimum of human interference.
Through our knowledge and observations we are deg a Robot based on PIC18 that can deliver food items inside a restaurant; our prototype will exhibit some level of intelligence as it navigates through the restaurant. This prototype will take orders\input wirelessly by the use of RF modules for reception and transmission.
Each table will be implanted\installed with our custom designed module containing PIC18 and RF transmitter and input buttons for selection, resetting and transmitting along with a LCD display for displaying information of selected items.
The inputs are processed by PIC18 and data is delivered to RF transmitter. The RF transmitter from the table directs the information to the Counter RF receiver where data is decoded by max232 IC and delivered through the serial port to a computer that has a GUI (designed in Visual Studio 2008-2010) along with a database based on SQL Management Server 2008.
The Robot receives its codes and orders from the Counter in the same way using RF transmitter receiver pair. When “send order” button is pressed in the GUI the codes are transmitted through a RF transmitter installed on the counter, the Robot receives the orders and acts accordingly. In its way to the table or back from table to the Counter the Robot may encounter an obstacle, to detect obstacles of any kind we have installed Ultrasonic sensors that will detect the obstructions, the Robot will stop and sound an alarm\beep.
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TABLE OF CONTENTS Preface………………………………………………………………………….….(ii) Acknowledgment………………………………………………………………….(iv) Certificate…………………………………….…………………………………....(v) Synopsis………………………………………………………..………..………..(vi)
Chapter 1 Introduction 1.1 Introduction…………………………………………………………...2 1.2 Service Droids and Robots………………………………………...…2 1.3 Types of Service Robots.................................................................3 1.4 Problem Statement..........................................................................3 1.5 Scope Of Robotics..........................................................................4 1.6 Conclusion………………………………………………………….…4
Chapter 2 Background Of Robotics 2.1 History...........................................................................................6 2.2 Types Of Robot……………………………………………………....6 2.2.1 Rectangular Robot……………………….……………..…..6 2.2.2 Cylindrical Robot…………………………..……………....6 2.2.3 Spherical Arm Robot………………...…….……..………..6 2.3 Selection Compliance Assembly Robot………………….…...…….7 2.3.1 Articulated Robot…………………………….…………….7 2.3.2 Mobile Robots…………….…………………….…….……7 2.3.3 Rolling Robots………………..………………………….…7
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2.3.4 Walking Robots……………………………….....………….8 2.3.5 Stationary Robots………………………..……….…….…...8 2.3.6 Autonomous Robots…………….………….....…………….8 2.3.7 Remote-Control Robots………………………………..……9 2.4 Beam Robots…………………...………………….………..…….........9 2.4.1 Biology……………………………………………...….……..9 2.4.2 Electronics………………….…………………….…….……10 2.4.3Aesthetics……………..……………….…………..……...…..10
2.4.4 Mechanics…………………….……………….…….………10 2.4.5 Robots As Waiters……………..………..……...……………10 2.5 Conclusion……………………………………………………………..11
Chapter 3 RF Module And Wireless Communication 3.1 Wireless Communication……………………………………...………13 3.2 Modes Of Wireless Communication…………………...…...…………13 3.3 RF…………………………………………………..…….…………..…13 3.3.1 The RF Advantage………….…………………………...…....14 3.4 RF In Warehouses And Distribution Centers……………….…………15 3.4.1 Shipping And Receiving……..……………………….……..…15 3.4.2 Internal Transport……………………………………...….……15 3.4.3 Stock And Location Management………………….….……..16 3.4.4 Order Picking………………………………………..…………16 3.4.5 Stock Control…………………………………..………………16
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3.4.6 Stock Replenishment………………………....…….….…,……17 3.5 RF Purchasing Considerations…….………………………..……..……17 3.6 Conclusion………………………………………………,,……………..17
Chapter 4 Methodology And Procedure 4.1 Introduction…………………………………………………………….19 4.1.1 Design Phase……………………………..…………...………19 4.1.2 Implementation Phase………………………………...………20 4.1.3 Testing Phase…………………………………………...……..20 4.2 Conclusion……………………………….………………………...……20
Chapter 5 Hardware Design 5.1 Introduction………………………………………...……….….………22 5.2 Structural Design……………………………………………….………22 5.3 Mechanical Consideration………..…………….………..…….….……23 5.4 Material Selection……………………………………………...….……23 5.5 Conclusion…………………..………………………………..….……..23
Chapter 6 Electronic Components 6.1 PIC Microcontroller………………………………….………...….……25 6.1.1 Use in Project……….………………………………...………24 6.2 Transistor…………………………..……………………………………26 6.2.1 Use in Project………..………………………………..………26 6.3 7805 Regulators………………………….……….…...……..…………26 6.3.1 Features………………………….…………..………..………27
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6.3.2 Use in Project………..………………………………..………27 6.4 Push Button…………….………….………………….….………………28 6.4.1 Use in Project…………..………………………………………28 6.5 16 X 2 Character LCD…………...………………….……………...……28 6.5.1 Use in Project…………..………………………………………28 6.6 Ultrasonic Sensors………………………………………..…………....…29 6.6.1 Use in Project…………………………………………………..29 6.7 Relay…………………………………………………..…………………29 6.7.1 Operating Principles………………………..…….…….………29 6.7.2 Use in Project……………………………...…………………...30 6.8 Dry Cell Battery Rechargeable………………….…..…………..……….30 6.8.1 Use in Project………………………………...………………...30 6.9 Buzzer And crystal…………………………………..………..…………31 6.9.1 Use in Project…………………………………...……………...31 6.10 RF Transmitter And Receiver…………………………………..………31 6.10.1 Use in Project……………………………………….…….…..32 6.11 RS 232……………………………………….………………..………..32 6.11.1 Use in Project…………………………………….…….…….32 6.12 Dc Gear Motor……………………………………………...….....……33 6.12.1 Use in Project…………………………………………..…….33 6.13 U-Shape Sensor……………………………………………….….…….33 6.13.1 Use in Project…………………………………………..…….33 6.14 MAX232 IC.…………………………………………………...………34
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6.14.1 Use in Project……………………………………………..….34 6.15 Conclusion………………………………………………………..…….34
Chapter 7 Software Description 7.1 Software………………………………………………………...………..36 7.2 List Of Software Used……….………………………..…………………36 7.2.1 PIC Simulator And Compiler…….……………………....…….36 7.2.1.1 Pic18 Simulator IDE Main Features….…….….…….36 7.2.1.2 Pic18 Burner……………………………..….………..38 7.2.2 Visual Studio 2010…………………..……...……….……..…..38 7.2.2.1 Software Screenshots………………………...………38 7.3 Conclusion……………………………………………..……..…..43
Chapter 8 Flowcharts And Circuits 8.1 Power Supply…………………………...………………………………..45 8.2 Motor Driving…………………………………………………...…….…46 8.3 PIC18 General Circuit…………………….……………………….….….46 8.4 Main Robot Circuit………………………………………………………47 8.5 Table Circuit………………………………………………..…………….48 8.6 PIC16 General Circuit……………………………………..……………..48 8.7 Ultra Sonic Circuit…………………………………………..……………49 8.8 LEDs Flashing Circuit………..…………………………….…………….49 8.9 Counter Circuit……………………………………………….…………..50 8.10 Flow Chart Of The System…………………………...…………………51 8.10.1 Description Of The Process………………….…………...…...52 Sir Syed University Of Engineering & Technology
Chapter 9 Conclusion And Future Enhancement 9.1 Project Review…………………………………..…...…………………..54 9.2 Future Enhancements And Considerations………………………..…….54 9.2.1 Adding Cameras (Sense Of Sight)…………….…………..…..54 9.2.2 Multi-Purpose Single Robot…………………………….……..55 9.2.3 GPS Navigational Aid Robot…………………………...….….55 9.2.4 Ability To Respond To Verbal Commands……………...…….55 9.2.5 Medical Robots……………………………………...…………55 REFERENCES APPENDIX A (Time and Cost analysis) (Application of the project) (Cost of the project) APPENDIX B (Data sheets of all major components)
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LIST OF FIGURES Figure 1.1
Scope Of Robotics
04
Figure 2.1
Mars Explorer
07
Figure 2.2
Guidance Robot
07
Figure 2.3
Spider Robot
08
Figure 2.4
Robotic Arm
08
Figure 2.5
Robotic Nurse
08
Figure 2.6
Mining Robot
09
Figure 2.7
Beam Robot
09
Figure 2.8
Waiter Robot
10
Figure 6.1
PIC 18
25
Figure 6.2
NPN Transistor
26
Figure 6.3
Regulator
27
Figure 6.4
Push Button
28
Figure 6.5
16x2 LCD
28
Figure 6.6
Ultra Sonic Sensor
29
Figure 6.7
Relay
29
Figure 6.8
Battery
30
Figure 6.9
Buzzer & Crystal
31
Figure 6.10
RF Transmitter
31
Figure 6.11
RF Receiver
31
Figure 6.12
Serial Port
32
Figure 6.13
DC Motor
33
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Figure 6.14
U-Shaped Sensor
33
Figure 7.1
Visual Studio 2010
38
Figure 7.2
Main Order Form
40
Figure 7.3
Main Order Form Updated
41
Figure 7.4
Order Details
41
Figure 7.5
Order Details Updated
42
Figure 7.6
Database Without Data
42
Figure 7.7
Database With Data
43
Figure 7.8
Database Form
43
Figure 8.1
9V and 12V Batteries
45
Figure 8.2
Motor Driver Circuit
45
Figure 8.3
PIC18 Initializing Circuit
46
Figure 8.4
Main Robot Circuit
47
Figure 8.5
U-Shape Sensor
47
Figure 8.6
RF Input Circuit
47
Figure 8.7
Main Table Circuit
48
Figure 8.8
PIC16 General Circuit
48 Figure 8.9
Ultrasonic Sensor
49
Figure 8.10
LED Flashing Circuit
49
Figure 8.11
Counter Circuit
50
Figure 8.12
System Flow Chart
51
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INTRODUCTION
1.1 INTRODUCTION:
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“What is a robot?” The word robot comes from the Czech word Robota, which means obligatory work or servitude. The word robot was first used in a Czech play called R.U.R.(Rossum’s Universal Robots) by Karl Capek. Robotics is the science and technology of robots and their designs, manufacture and their applications. Robotics comprises of not only the mechanical structure but also the electronics and software in order to function according to the desired input. Now a day’s Robotics has become a very vast and broad field and robots are distinguished in various categories according to their structure and functions they perform. Robot is defined as a mechanical design that is capable of performing human tasks or behaving in a human-like manner. Building a robot requires expertise and complex programming. It’s about building systems and putting together motors, solenoids, and wires, among other important components. There are a number of subsystems that must be designed to fit together into an appropriate package suitable for carrying out the robot’s task. Wireless Ordering System reduces the flow of work, simplifies the complex orders, receives accurate orders, provides pleasant environment & speedy service, prevents monetary loss, & increases customer reliability in ordering. Moreover, it's also an integrated system that automatically controls business by connecting to POS system at the counter. 1.2 SERVICE OF DROIDS AND ROBOTS: Service robots have no strict internationally accepted definition, which, among other things, delimits them from other types of equipment, in particular the manipulating industrial robot. IFR, however, have adopted a preliminary definition: A service robot is a robot which operates semi- or fully autonomously to perform services useful to the well-being of humans and equipment, excluding manufacturing operations. With this definition, manipulating industrial robots could also be regarded as service robots, provided they are installed in non-manufacturing operations. Service robots may or may not be equipped with an arm structure as is the industrial robot. Often, but not always, the service robots are mobile. In some cases, service robots consist of a mobile platform on which one or several arms are attached and controlled in the same mode as the arms of the industrial robot.[1] Sir Syed University Of Engineering & Technology
1.3 TYPES OF SERVICE ROBOTS: a- Industrial Robots. b- Mobile Robots. c- Agricultural Robots. d- Service Robots. e- Social Robots. f- Entertainment Robots. g- Tele robots. 1.4 PROBLEM STATEMENT: Today in this modern world era many jobs are undesirable by skilled workers such as sewerage cleaners, toll collectors at the highways, high tension wire repairman, crime scene decontaminators, and even butlers and waiters at the fast food restaurants. Many developed countries of the world depend on cheap unskilled labor from other 3 rd world countries to provide the manpower to do these jobs while the population of that country do the skilled jobs. In order to fill the gap and eliminate the need of manpower from other countries many specialized robots have been built to perform the tasks that humans normally don’t prefer to do. Being a waiter at a restaurant is also one kind of job that humans don’t prefer to do, at least the skilled labor doesn’t want to do, that is why we have set out our goal to build a robot and an entire system a model and a prototype for such tasks. Our design will greatly reduce the reliance on manpower and unskilled labor that sometimes become a nuisance.[2]
1.5 SCOPE OF ROBOTICS:
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1.6 CONCLUSION: This chapter was the introduction to robotics .in which robot was briefly discussed and also its application and also the advantages for using the robot were briefly explained.
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BACKGROUND OF ROBOTICS
2.1 HISTORY: Stories of artificial helpers and companions and attempts to create them have a long history. In 1837, the story of the Golem of Prague, a humanoid artificial intelligence activated by inscribing Hebrew letters on its forehead, based on Jewish folklore, was created by Jewish German writer Berthold Auerbach for his novel Spinoza. In 1921,
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Czech writer Karel Čapek introduced the word "robot" in his play R.U.R. (Rossum's Universal Robots). The word "robot" comes from the word "robota", meaning, in Czech, "forced labour, drudgery". In 1927, the Maschinenmensch (“machinehuman”), a ganoids humanoid robot, also called "Parody", "Futura", "Robotics", or the "Maria impersonator" (played by German actress Brigitte Helm), the first and perhaps the most memorable depiction of a robot ever to appear on film, was depicted in Fritz Lang's film Metropolis.[3] 2.2 TYPES OF ROBOT: 2.2.1 RECTANGULAR ROBOT
Rectangular arms are sometimes called "Cartesian" because the arm´s axes can be described by using the X, Y, and Z coordinate system. It is claimed that the Cartesian design will produce the most accurate movements. 2.2.2 CYLINDRICAL ROBOT
A cylindrical arm also has three degrees of freedom, but it moves linearly only along the Y and Z-axes. Its third degree of freedom is the rotation at its base around the two axes. The work envelope is in the shape of a cylinder. 2.2.3 SPHERICAL ARM ROBOT
The spherical arm, also known as polar coordinate robot arm, has one sliding motion and two rotational, around the vertical post and around a shoulder t. The spherical arm's work envelope is a partial sphere, which has various length radii.
2.3 SELECTION COMPLIANCE ASSEMBLY ROBOT: The SCARA (Selection Compliance Assembly Robot Arm) is also known as a horizontal articulated arm robot. Some SCARA robots rotate about all three axes, and some have sliding motion along one axis in combination with rotation about another. 2.3.1 ARTICULATED ROBOT
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The last and most used design is the ted-arm., also known as an articulated robot arm. The arm has a trunk, shoulder, upper arm, forearm, and wrist. All ts in the arm can rotate, creating six degrees of freedom. Three are the X, Y, and Z-axes. The other three are pitch, yaw, and roll. Pitch is when you move your wrist up and down. Yaw is when you move your hand left and right. Rotate your entire forearm, this motion is called roll. 2.3.2 MOBILE ROBOTS
Mobile robots are able to move, usually they perform task such as search areas. A prime example is the Mars Explorer, specifically designed to roam the mars surface. Mobile robots are a great help to such collapsed building for survivors Mobile robots are used for task where people cannot go. Either because it is too dangerous for people to reach the area that needs to be searched.
2.3.3 ROLLING ROBOTS
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Rolling robots have wheels to move around. These are the type of robots that can quickly and easily search move around. However they are only useful in flat areas, rocky terrains give them a hard time. Flat terrains are their territory. 2.3.4 WALKING ROBOTS
Robots on legs are usually brought in when the terrain is rocky and difficult to enter with wheels.
Robots have a hard time shifting balance and keep them from
tumbling. That’s why most robots with have at least 4 of them, usually they have 6 legs or more. 2.3.5 STATIONARY ROBOTS
Robots are not only used to explore areas or imitate a human being. Most robots perform repeating tasks without ever moving an inch. Most robots are ‘working’ in industry settings.
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2.3.6 AUTONOMOUS ROBOTS
Autonomous robots are self
ing
or
in
other
words
self
contained. In a way they rely on their own ‘brains’. Autonomous robots run a program that give them the opportunity to decide on the action to perform depending on their surroundings. At times these robots even learn new behavior. They start out with a short routine and adapt this routine to be more successful at the task they perform. The most successful routine will be repeated as such their behavior is shaped. Autonomous robots can learn to walk or avoid obstacles they find in their way. Think about a six legged robot, at first the legs move ad random, after a little while the robot adjust its program and performs a pattern which enables it to move in a direction. 2.3.7 REMOTE-CONTROL ROBOTS
An autonomous robot is despite its autonomous not a very clever or intelligent unit. The memory and brain capacity is usually limited, an autonomous robot can be compared to an insect in that respect. In case a robot needs to perform more complicated yet undetermined tasks an autonomous robot is not the right choice. Complicated tasks are still best performed by human beings with real brainpower. A person can guide a robot by remote control. A person can perform difficult and usually dangerous tasks without being at the spot where the tasks are performed.To detonate a bomb it is safer to send the robot to the danger area.
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2.4 BEAM ROBOTS:
BEAM is short for Biology, Electronics, Aesthetics and Mechanics. BEAM robots are made by hobbyists. BEAM robots can be simple and very suitable for starters. 2.4.1 BIOLOGY
Robots are often modeled after nature. A lot of BEAM robots look remarkably like insects. Insects are easy to build in mechanical form. Not just the mechanics are in inspiration also the limited behavior can easily be programmed in a limited amount of memory and processing power. 2.4.2 ELECTRONICS
Like all robots they also contain electronics. Without electronic circuits the engines cannot be controlled. Lots of Beam Robots also use solar power as their main source of energy. 2.4.3 AESTHETICS
A BEAM Robot should look nice and attractive. BEAM robots have no printed circuits with some parts but an appealing and original appearance. 2.4.4 MECHANICS
In contrast with expensive big robots BEAM robots are cheap, simple, built out of recycled material and running on solar energy. 2.4.5 ROBOTS AS WAITERS
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As we can see that the use of
robots is widespread they are
also being used as butlers and waiters around the world to do basic jobs such as waiters, and interestingly enough robots perform the job effectively, they are very handy too except for their need to be recharged at regular intervals. [3] 2.5 CONCLUSION:
In this chapter we have discussed that why robot was introduced and what was the history behind it. Also the general structure and working principle of robot has been discussed briefly and also the major types of robots have been discussed in this chapter which will give an idea that how robots have been used in different areas to perform different task.
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RF AND WIRELESS COMMUNICATION
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3.1 WIRELESS COMMUNICATION:
Wireless communication is the transfer of information over a distance without the use of enhanced electrical conductors or "wires". The distances involved may be short (a few meters as in television remote control) or long (thousands or millions of kilometers for radio communications). When the context is clear, the term is often shortened to "wireless". Wireless communication is generally considered to be a branch of telecommunications. [4] 3.2 MODES OF WIRELESS COMMUNICATION:
radio frequency communication,
microwave communication, for example long-range line-of-sight via highly directional antennas, or short-range communication, or
infrared (IR) short-range communication, for example from remote controls or via Infrared Data Association (IrDA).
3.3 RF: RF is the wireless transmission of data by digital radio signals at a particular frequency. It maintains a two-way, online radio connection between a mobile terminal and the host computer. The mobile terminal, which can be portable, even worn by the worker, or mounted on a forklift truck, collects and displays data at the point of activity. The host computer can be a PC, a minicomputer or a much larger mainframe. The end result is a seamless flow of information to and from the host, allowing workers to go wherever they need to go to get their job done without fear of being out of touch with the data they need. RFDC improves the timeliness of information, and therefore the value of information, especially in time-sensitive operating environments like cross-dock, make-to-order manufacturing and just-in-time replenishment. RF itself has become synonymous with wireless and high-frequency signals, describing anything from AM radio between 535 kHz and 1605 kHz to computer local area networks (LANs) at 2.4 GHz. However, RF has traditionally defined frequencies from a few kHz to roughly 1 GHz. If one considers microwave
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frequencies as RF, this range extends to 300 GHz. The following two tables outline the various nomenclatures for the frequency bands. The third table outlines some of the applications at each of the various frequency bands. RF measurement methodology can generally be divided into three major categories: spectral analysis, vector analysis, and network analysis. Spectrum analyzers, which provide basic measurement capabilities, are the most popular type of RF instrument in many general-purpose applications. Specifically, using a spectrum analyzer you can view power-vs-frequency information, and can sometimes demodulate analog formats, such as amplitude modulation (AM), frequency modulation (FM), and phase modulation (PM). Vector instruments include vector or real-time signal analyzers and generators.
These
instruments
analyze
and
generate
broadband
waveforms, and capture time, frequency, phase, and power information from signals of interest. These instruments are much more powerful than spectrum analyzers and offer excellent modulation control and signal analysis. Network analyzers, on the other hand, are typically used for making
S-parameter
measurements
and
other
characterization
measurements on RF or high-frequency components. Network analyzers are instruments that correlate both the generation and analysis on multiple
channels but at a much higher price than spectrum analyzers and vector signal generators/analyzers.[8] 3.3.1 THE RF ADVANTAGE
The advantages of a RF communication system are many. Start with the simple fact that if it is wireless, you don't have to lay cable all over your facility. Cable is expensive, less flexible than RF coverage and is prone to damage. For new facilities, implementing a wireless infrastructure may be more cost effective than running cable through industrial environments, especially if the space configuration may change to different storage space allocation or flexible manufacturing stations. Accessibility is a key benefit. If workers are within range of the system and they always should be if a proper site survey is performed (as explained on page 8) they are always in touch with their data. This advantage cannot be overstated. To always have your data literally at your fingertips whenever needed means there is no break in
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productivity and no empty or “deadhead” trips to a stationary terminal, docking station or dispatch location to receive pick or putaway instructions. Critical decisions can be made and action taken immediately at the point of activity. Less wasted time means you can do significantly more, faster, without adding additional employees. Would that make a difference in your business? Other general advantages of real-time RF communication include a significant improvement in order accuracy (>99%), the elimination of paperwork, replacement of time-consuming batch processing by rapid real-time data processing, prompt response times and improved service levels. Complementing a real-time data collection system with automated data entry by bar code scanning or another automatic data collection technology improves the accuracy of information and eliminates the need for redundant data entry, which provides another set of time- and cost-saving advantages. Many points in the supply chain can realize important advantages of accurate, realtime data that RF provides. Here are some examples of RF applied to a few common environments. 3.4 RF IN WAREHOUSES AND DISTRIBUTION CENTERS: 3.4.1 SHIPPING AND RECEIVING
When goods arrive at receiving, the bar code on the pallet is scanned and the data is sent to the host computer. At virtually the same moment, the quantity of goods received can be compared with the quantity ordered to immediately determine if there is any disparity. If goods received are different from the order, or are damaged, immediate action can be the warehouse, production department or shipping/staging area. Whether outgoing goods are cross-docked or simply transported from storage and loaded onto the truck, shipments can be directed efficiently to trucks and confirmed via the RF system. Invoices, advanced ship notices (ASNs) and other necessary forms and reports can be initiated the moment truck doors are closed.[9] 3.4.2 INTERNAL TRANSPORT
Goods don't sit when instructions are sent wirelessly direct to the mobile terminal. Forklift truck operators no longer have to go somewhere specific to get their instructions; rather, the instructions come to them, saving time, eliminating deadhead
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trips and making more productive use of personnel and materials. Also, a RF system allows stock retrieval and replenishment to be combined, dramatically reducing the number of movements involved in the internal transport of material and the number of empty runs. 3.4.3 STOCK AND LOCATION MANAGEMENT
The moment palletized goods are put away, forklift operators can use their computer to notify the host system of their location and that they are ready for another job. This allows warehouse space and workers' time to be used in a more efficient manner. s typically report significant gains in the number of picks or putaways processed per hour after implementing RF-directed operations. 3.4.4 ORDER PICKING
RF s all possible order picking principles: individual selection, batch selection or splits between articles and packaging. Picking information is received by the terminal, and inquiries and transaction/activity data are sent from the terminal to the host, all in real time. Once the order is picked, a forklift truck operator can then be given delivery instructions from a warehouse management system (WMS) via RF. Providing real-time updates of picking activity and order status enables the WMS to continually recalculate the most efficient pick/putaway routes and order assignments. 3.4.5 STOCK CONTROL
Using RF for stock control offers huge savings in time and money. Because all events are recorded in real time, the computer is continually aware of the current inventory. This high level of monitoring essentially makes separate cycle counting unnecessary. Many companies reduce the number of formal inventory counts they conduct each year, and in some cases eliminate them altogether, because the RF system provides accurate, real-time inventory information. Depending on the order picking method, RF offers a range of possibilities for speedy verification of previous activities/transactions. For example, after a certain number of transactions, the remaining stock at the pick-up location can be counted for extra verification. If the physical stock is not the same as the istrative stock, those mistakes can be rectified before the goods are moved or shipped. Sir Syed University Of Engineering & Technology
3.4.6 STOCK REPLENISHMENT
Each time stock is removed, the transaction is recorded by the mobile terminal and sent to the host. When stock reaches minimum, preset levels, the system can be set to alert a supervisor or automatically generate a replenishment request. When bulk stock reaches order level, a purchase order is automatically created and an order placed. Reordering is instantaneous; stocks can be kept low.
3.5 RF PURCHASING CONSIDERATIONS: A wireless system is a serious investment. It's important to consider all factors before making your decision. Following is a brief guide to the major topics and purchasing considerations that must be evaluated before committing to a system, including site planning, wireless technology options and standards, and an overview of the computers and input technologies commonly used in industrial radio frequency network applications. 3.6 CONCLUSION: This chapter is based on wireless communication which describes the principle of communication wirelessly and the history and purpose for introducing this way of communication .its types and its applications are also discussed in this chapter.
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