i

PROTOTYPE MANEUVER ROBOT‟S PLATFORM VIA PERSONAL

DIGITAL ASSISTANCE (PDA) WITH BLUETOOTH PAN

TECHNOLOGY

MUHAMAD BASHA ABAS BIN BASRAH

This report is submitted in partial fulfilment of requirements for the award of

Bachelor of Electronic Engineering (Computer Engineering) with Honours

Faculty of Electronic and Computer Engineering

Universiti Teknikal Malaysia Melaka (UTeM)

April 2011

ii

MUHAMAD BASHA ABAS BIN BASRAH

UNIVERSTI TEKNIKAL MALAYSIA MELAKA

FAKULTI KEJURUTERAAN ELEKTRONIK DAN KEJURUTERAAN KOMPUTER

BORANG PENGESAHAN STATUS LAPORAN

PROJEK SARJANA MUDA II

Tajuk Projek :

PROTOTYPE MANEUVER ROBOT’S PLATFORM VIA PERSONAL

DIGITAL ASSISTANCE (PDA) WITH BLUETOOTH PAN

TECHNOLOGY

Sesi Pengajian : SESI 2010/2011

Saya ………………………………………………………………………………………………….. (HURUF BESAR) mengaku membenarkan Laporan Projek Sarjana Muda ini disimpan di Perpustakaan dengan syarat-syarat kegunaan seperti berikut:

1. Laporan adalah hakmilik Universiti Teknikal Malaysia Melaka.

2. Perpustakaan dibenarkan membuat salinan untuk tujuan pengajian sahaja.

3. Perpustakaan dibenarkan membuat salinan laporan ini sebagai bahan pertukaran antara

institusi pengajian tinggi.

4. Sila tandakan ( √ ) :

SULIT*

*(Mengandungi maklumat yang berdarjah keselamatan atau

kepentingan Malaysia seperti yang termaktub di dalam AKTA

RAHSIA RASMI 1972)

TERHAD**

**(Mengandungi maklumat terhad yang telah ditentukan oleh

organisasi/badan di mana penyelidikan dijalankan)

TIDAK TERHAD

Tandatangan Penulis:

Disahkan oleh:

___________________________________ ___________________________________

Alamat Tetap : NO. 26 LALUAN PER TIMUR 3,

TAMAN MEWAH,

31150 ULU KINTA, PERAK

Tarikh: ……………………….. Tarikh: ………………………..

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“I hereby declare that this report is the result of my own work except

for quotes as cited in the references.”

Signature: …………………………………

Author: Muhamad Basha Abas Bin Basrah

Date: ………………………………………

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“I hereby declare that I have read this report and in my opinion this

report is sufficient in terms of the scope and quality for the award of

Bachelor Degree of Electronic Engineering (Computer Engineering)

with Honours.”

Signature: …………………………………

Supervisor Name: En. Ridza Azri Bin Ramlee

Date: ………………………………………

v

This project and research work is dedicated and thankful appreciation

to my beloved parents, sisters, supervisor also my lovely friends for their

support, encouragement and understandings.

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ACKNOWLEDGEMENT

Alhamdulillah. Firstly, I would express my highest appreciation to Allah

S.W.T the Almighty and Merciful for giving me strength and because of His Will; I

manage to complete my Final Year Project.

With this opportunity, I would like to acknowledge and extend my heartfelt

gratitude to my supervisor, En. Ridza Azri Ramlee for his guidance, support and

valuable advice throughout the progress of this project. It would have been difficult

to complete this project without enthusiastic support, insight and advice given by

him.

I would like to express my special thanks and a very down to earth and full

with sense of humours-great experience to the Faculty of Electronic Engineering

and Computer Engineering (FKEKK) on putting into practice the Final Year Project

as a compulsory chore for the final year students prior to complete their

course.

My appreciation also goes to my family who has been so supportive all these

years. Thanks for their encouragement, love and emotional supports that they had

given to me.

I also wish to extend heartfelt thanks to my friends Wan Afirah, Siti Dhamirah

Izzati, Mohd Amir Hazim, and my housemate members for their help and support to

completed my final year project. The memory we spent together will not I forget.

Once again, I want to take this opportunity to say thank you to them for their

advice and idea that help me completed my project. Thank you very much.

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ABSTRACT

In growing of modernisation era, nowadays the usage of wireless technology

in our daily life is widely used in various applications. Bluetooth PAN Technology

is the one of them where, the usage is widespread such as in mobile phone,

computer device such as keyboard, mouse and so on.

This technology is allowing the device to connect to other devices wirelessly

and in terms of portability, it very portable because almost every mobile phone on

the market is equipped with Bluetooth device.

Due to the advantages on this technology, this project will use Bluetooth as

the medium to communicate smartphone 'PDA' with robot platform. Operation and

the movement of this robot will be controlled by using PDA. Other than PDA, this

robot also can be controlled by using computer.

Various applications can be done on this platform for example as a security

observer robot, bomb squad robot, waiter robot in restaurant or hospital and so on.

But, scope of this project is to build a wheelchair for disabled people that can be

controlled remotely using Personal Digital Assistance, PDA.

With this remote controlled wheelchair, the disabled people not only can

control the movement of wheelchair, but also can control the electrical appliances at

home right on their fingertip. With this innovation, it can help this group have an

independent life without having to banking on support-from other people. Hereby, it

will be adding confidence and facilitate this group to serve their daily life with more

better.

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ABSTRAK

Dalam menyelusuri era modenisasi yang kian berkembang, penggunaan

teknologi tanpa wayar pada masa kini telah banyak digunakan di dalam aplikasi

dalam kehidupan seharian kita. Teknologi Bluetooth PAN adalah salah satu

daripadanya di mana, penggunaannya meluas seperti di telefon bimbit, peranti

computer seperti papan kekunci, tetikus dan sebagainya.

Teknologi ini membenarkan sesuatu peranti berhubung dengan peranti lain

dengan tanpa menggunakan wayar dan dari segi mobiliti, ia juga sangat mudah alih

kerana hamper setiap telefon bimbit dipasaran dilengkapi dengan peranti Bluetooth.

Disebabkan kelebihan-kelebihan yang ada pada teknologi ini, projek ini akan

menggunakan Bluetooth sebagai medium untuk menghubungkan telefon pintar

„PDA‟ dengan platform robot. Operasi dan pergerakan robot ini akan dikawal

dengan menggunakan PDA. Selain daripada PDA, robot ini juga boleh dikawal

dengan menggunakan komputer.

Pelbagai aplikasi yang boleh dilakukan atau ditambah pada platform robot ini

seperti robot pemantau keselamatan, robot pemusnah bom, robot pelayan di

restoran atau hospital dan sebagainya. Tetapi, skop untuk projek ini adalah

menghasilkan kerusi roda untuk golongan orang kurang upaya „OKU‟ yang boleh

dikawal secara kawalan jauh.

Dengan kerusi roda berkawalan jauh ini, pengguna bukan sahaja dapat

mengawal pergerakan kerusi roda itu sahaja, bahkan dapat mengawal peralatan

elektrik di rumah hanya di hujung jari. Ini dapat membantu golongan ini berdikari

tanpa perlu terlalu mengharapkan bantuan dari orang lain. Dengan ini, ia akan

menambahkan keyakinan dan memudahkan golongan ini untuk menjalani

kehidupan seharian mereka dengan lebih berkualiti.

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TABLE OF CONTENTS

CHAPTER TITLE PAGE

PROJECT TITLE

REPORT VERIFICATION STATUS FORM

DECLARATION

SUPERVISOR DECLARATION

DEDICATION

ACKNOWLEDGEMENT

ABSTRACT

ABSTRAK

TABLE OF CONTENTS

LIST OF TABLES

LIST OF FIGURES

LIST OF TERMS

LIST OF APPENDIXES

i

ii

iii

iv

v

vi

vii

viii

ix

xiii

xiv

xvi

xvii

I INTRODUCTION

1.1

1.2

1.3

1.4

1.5

Project Overview

Project Objectives

Problem Statement

Project Scope

Thesis Outline

1

2

2

4

4

II LITERATURE REVIEW

x

2.1 Wheelchair 6

2.1.1 Introduction 6

2.1.2 Type of Wheelchair 7

2.1.2.1 Manually Powered 7

2.1.2.2 Motorized Wheelchair 8

2.1.2.2.1 Alternative

Wheelchair Control

9

2.2 Wireless Technology 12

2.2.1 Type of Wireless Technology 12

2.2.2 The Summary of Wi-Fi, Bluetooth,

and Zigbee

16

2.3 Camera 17

2.3.1 Type of Camera 17

2.3.1.1 Internet Protocol

Camera (IP Camera)

17

2.3.1.2 USB Camera 19

2.3.1.2.1 Mobiscope 20

2.3.1.3 Phone Camera 21

2.3.1.3.1 Mobiola Web Camera 21

2.4 Smartphone 22

2.5 Driving Technique 22

2.5.1 Chain and Belt Drive 23

2.5.2 Advantages of Drive Chain 24

2.6 DC Motor 24

2.6.1 Various of DC Motor 25

III METHODOLOGY

3.1 Project Title 26

3.2 Propose Project Title To The Supervisor 27

3.3 Project Analysis 27

3.3.1 Objectives 27

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3.3.2 Survey Material 27

3.3.3 Literature Review 27

3.3.4 Problem Statement 28

3.3.5 Design and Develop The

Platform

28

3.3.6 Program The Microcontroller 28

3.3.7 Troubleshooting 29

3.3.8 Final Presentation 29

3.4 Project Process Flow 30

3.4.1 PSM I Process Flow 30

3.4.2 PSM II Process Flow 31

3.5 Project Gantt Chart 32

3.6 Basic Operation 33

3.7 Operation Flowchart 34

3.7.1 Hardware 34

3.7.2 Software 35

3.8 Hardware Features 36

3.8.1 Microcontroller Board 36

3.8.1.1 The Schematic

Diagram

37

3.8.1.2 Microcontroller Pin

Assignment

38

3.8.2 Bluetooth Transceiver 40

3.8.3 Wireless Network Camera 41

3.8.4 Platform Structure 42

IV RESULT AND ANALYSIS

4.1 Prototype Appearance 45

4.2 The Interfaces Appearance 46

4.2.1 Interface for Windows Mobile

based

46

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4.2.2 Interface for Windows based 48

4.3 Network Camera Configurations 49

4.4 Microcontroller Circuit Output 54

4.5 Experiment and Analysis 55

4.5.1 Speed Measurement 55

4.5.2 Maximum Range Supported 56

4.5.3 Maximum Time Duration 58

V CONCLUSION AND RECOMMENDATION

5.1 CONCLUSION 59

5.2 RECOMMENDATIONS 60

REFERENCES

64

APPENDIX A 65

APPENDIX B 68

APPENDIX C 70

xiii

LIST OF TABLES

TABLE TITLE

PAGE

2.1 Wireless protocols IEEE 802.11 A B G N comparison 13

2.2 Standard Bluetooth supported range on each class 14

2.3 Characteristics of Zigbee, Wi-Fi and Bluetooth. 16

2.4 Possibility advantages and disadvantages of IP

Camera

18

3.1 Project Gantt chart 32

3.2 Pins connection descriptions 38

3.3 I/O Terminal JP9 39

3.4 I/O Terminal JP10 39

3.5 Power Terminal JP14 39

3.6 PWM Terminal (TBPWM) 39

3.7 PIC Pin assignment 39

3.8 SENA Parani-SD1000 Bluetooth Serial Adapter

Features

40

3.9 Panasonic BL-C131 Network camera features 41

4.1 Data of the speed measurement experiment 56

4.2 Speed of the wheelchair on different surface 56

4.3 Data from maximum range supported result 57

4.4 Calculation to calculate the duration of battery life 58

xiv

LIST OF FIGURES

FIGURE TITLE

PAGE

1.1 HTC P3600i with Samsung 500MHz Processor and

Windows Mobile 6.0

2

1.2 A, Normal Wheelchair and B, Motorized Wheelchair 3

2.1 Manually Powered Wheelchair 8

2.2 Hoveround Medical Scooters & Medical Wheelchairs 9

2.3 Sip-n-puff 10

2.4 Head array controller, from Adaptive Switch Lab. Inc. 10

2.5 Chin control device, from MEYRA 11

2.6 Tongue touch keypad, from new Abilities System Inc. 12

2.7 Applications of Wi-Fi Technology 14

2.8 Applications of Bluetooth Technology 15

2.9 Zigbee Wireless Technology commonly used as smart

monitoring system

16

2.10 Panasonic IP Camera, can access by wireless and wired

network

18

2.11 USB Camera is low cost 19

2.12 Mobiscope Desktop Interface with computer number

40067257

20

2.13 Mobiscope Mobile Interface. On left, enter the

information for the target computer, on right, is the real

time video view from the phone.

20

2.14 Phone camera video also can be transfer to the

computer via Bluetooth

21

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2.15 Mobiola Web Camera interface on a computer 22

2.16 A) Chain Drive B) Belt Drive 23

3.1 Basic operation of Wheelchair Prototype 33

3.2 Wired/Wireless PS2 Interface Card Robot Controller 36

3.3 PS2 Interface Board Schematic (Model: AD_PS2_INT

V1)

37

3.4 PIC16F877A pin diagram 38

3.5 Panasonic BL-C131 wireless network camera 41

3.6 A) Grinder B) Jigsaw C) Hand-Drill 43

3.7 A) Before Assemble B) After Assemble 44

4.1 Prototype of Maneuver Robot‟s Platform via Personal

Digital Assistance with Bluetooth PAN Technology

45

4.2 Multiple angle side viewing 46

4.3 HTC P3600i 47

4.4 The interface of PDA program 47

4.5 Windows based program running on Windows 7 laptop 48

4.6 Network Camera Program 49

4.7 Windows Security Alert 50

4.8 Accessing the camera 50

4.9 Enter any username and password for initialization 51

4.10 Authentication to accessing the camera 51

4.11 Wireless enabled 51

4.12 SSID is set similar to the SSID from the access point. 52

4.13 Static IP address configuration button 52

4.14 IP Address configuration 53

4.15 Live video monitoring 53

4.16 Input output of Microcontroller board 54

4.17 Cement, Field (Grass), and Road (Tar) 55

4.18 Location of the robot. The measuring will take from

this starting point.

57

4.19 A) Location where the communication failed (horn

cannot triggered) B) Measuring the distance

57

4.20 Power Window Specification 58

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LIST OF TERMS

CCTV - Closed Circuit Television

COM - Communication (COM port)

DC - Direct Current

EPW - Electric Powered Wheelchair

IP - Internet Protocol

LAN - Local Area Network

MIG - Gas Metal Arc Welding

OKU - „Orang Kurang Upaya’ / Disabled people

OS - Operating System

PAN - Personal Area Network

PAN - Personal Area Network

PC - Personal Computer

PCB - Printed Circuit Board

PDA - Personal Digital Assistance

RF - Radio Frequency

SSID - Service Set Identifier

SSID - Service Set Identifier

TIG - Gas Tungsten Arc Welding

TTK - Tongue Touch Keypad

USB - Universal Serial Bus

VB.NET - Visual Basic.NET

Wi-Fi - Wireless Fidelity

WLAN - Wireless LAN

xvii

LIST OF APPENDIXES

APPENDIX TITLE

PAGE

A Developing Process Picture 65

B The Variety Picture of Maneuver Robot Platform 68

C Seminar II Poster 70

1

CHAPTER I

INTRODUCTION

1.1 Project Overview

Nowadays wireless technology is so important in our daily life to make

human life better and simpler. Bluetooth PAN Technology is the one of them where,

the usage of this technology become popular and useful to many application such as

Bluetooth headset where we remove the wire of headset and transfer the audio in

wireless.

Almost every cell phone that we use nowadays is equipped with Bluetooth

device and every day we not miss to bring this phone in the pocket because it was

become a part of our daily life. In order to make our life is simpler; we need

something that can do more in just one device.

Due to this idea, this project will use Personal Digital Assistance, PDA as an

input to control the wheelchair and other home appliances. Operation and the

movement of this robot will be controlled by using PDA and it also can be controlled

by using computer.

Visual Basic.NET, VB.NET software is used in this project as an interface in

PDA/PC. Then the user input from this interface will be transmitted in wireless using

Bluetooth and the wheelchair will be act as a receiver. PIC microcontroller is used in

this project as a brain of the wheelchair. It will control the motor operation and other

devices such as horn and etc. IP camera also it equipped on this wheelchair. With this

camera, this wheelchair can be monitor trough the PDA/PC directly.

2

Figure 1.1: HTC P3600i with Samsung 500MHz Processor and Windows Mobile 6.0

1.2 Project Objectives

The main objectives of conducting this project included:

i. To design a user friendly controller system via PDA/Smartphone for the

maneuver robot‟s platform.

ii. To design a robot platform that can be used for many purposes.

iii. Help human life be more convenient.

iv. To use Bluetooth PAN Technology as a wireless connection medium.

1.3 Problem Statement

Disabled people especially paralyzed on their leg, as we know they have a

difficulty on their movement. For example, they have a difficulty when they want to

walk, move to other place, stand and any task that they need to use their leg. Because

of these issues, wheelchair has been invented in order to facilitate this people.

On available market, there are two type of wheelchair that commonly we will

get. First, normal wheelchair that use human power for the movement and second is

motorized wheelchair. The conventional motorized wheelchair used electrical power

to power up the motor for the wheelchair movement and it used joystick that placed

on a wheelchair as a input to control the direction of the wheelchair movement.

3

Figure 1.2: A, Normal Wheelchair and B, Motorized Wheelchair

This wheelchair already helps a lot of disable people in terms of facilitate for

their movement. However, this wheelchair has some limitations.

The issues are:

Conventional motorized wheelchair cannot be control remotely.

This people still needs others people help. Example:

o To keep the wheelchair when not in use because it cannot be

remotely control.

o To control another home electrical appliance, lamp, fan and etc.

using switch on the wheelchair.

High cost for only one function where only can control the wheelchair‟s

movements.

By investing this project, it will cost a benefit to this group such as:

It can be control remotely either using PDA/PC.

Will help this group to having a less banking on support-from other

people with the PDA that can control the wheelchair and others

electrical appliance.

Cost effectively for two function where can control the movement of

wheelchair and other electrical appliance using PDA/PC.

A

4

1.4 Project Scope

The scope of the project is focuses on the following aspects:

1) System Operability:

This wheelchair will help the disabled people that paralyzed on their leg

only.

The wheelchair will operate within Bluetooth supported range.

PDA/Laptop will help the disabled people to controlling the wheelchair

and household appliance.

2) System Functionality:

The wheelchair is controlled using PDA/PC via Bluetooth.

The live video of from IP Camera can be viewed using PDA/PC.

PDA/PC will control the operation of the wheelchair such as the basic

movement and controlling other devices.

The mechanical part of wheelchair can support maximum load at least one

person (below 50kg).

1.5 Thesis Outlines

This thesis is represented by five chapters. The following is the outline of this

prototype project which will cover all the matter that should be discussed in

developing of this project.

Chapter I give out the information of the introduction to this project. It is

including the project overview, project objectives to achieve from this project, the

problem statement, and scope of the project.

Chapter II contains literature review. It describes about the research and

information about the project. Every fact and information, which found through the

journal or other references, will be compared and the better methods have been

chosen for the project. It will explain the techniques used in gathering the

information, the theory and the case study of previous projects. The literature review

5

will produce a work concept to show the connection between the project with theory

and concept.

Chapter III is about project methodology. It will explain the implementation

and solution in doing this project. It consist the overall system and the structure

needed in the system. Factors that were weighed out in selecting the methods and the

advantages are also pointed out.

Chapter IV presents the result of this project. This chapter also includes the

analysis of this project. This chapter will discuss the result accordingly to the

objective stated earlier in this project.

Chapter V, is the final chapter which summaries the research findings. This

chapter also identifies problems and obstacles throughout this research. Some

suggestions for future work is discussed which might be useful for further

development and improvement to this prototype.

6

CHAPTER II

LITERATURE REVIEW

In order to develop this project, literature review about previous wheelchair,

wireless technology, type of camera, smartphone, DC motor, and gearing method

need to be done first. This chapter will describe all knowledge that link to this

project which is as a reference before develop this project. Literature review can be

an article, journal, statement, research and the previous thesis done by others. Below

show a few literature review referred before develop this project.

2.1 Wheelchair

2.1.1 Introduction

A wheelchair is a chair with wheels, designed to be a replacement for

walking. The device comes in variations where it is propelled by motors or by the

seated occupant turning the rear wheels by hand. Often there are handles behind the

seat for someone else to do the pushing. Wheelchairs are used by people for whom

walking is difficult or impossible due to illness (physiological or physical), injury, or

disability. People with both sitting and walking disability often need to use a

wheelbench. [1]

The earliest record of wheelchairs dates back to the 6th century, as an

inscription found on a stone slate in China. Later dates relate to Europeans using this

7

technology during the German Renaissance. The invalid carriage or Bath Chair

seems to date from around 1760. [2]

Harry Jennings and his disabled friend Herbert Everest, both mechanical

engineers, invented the first lightweight, steel, collapsible wheelchair [3] in 1933.

Mr Everest had broken his back in a mining accident. The two saw the business

potential of the invention and went on to become the first mass-manufacturers of

wheelchairs: Everest and Jennings. Their "x-brace" design is still in common use,

albeit with updated materials and other improvements. [1]

2.1.2 Type of Wheelchair

A basic manual wheelchair incorporates a seat, foot rests, handles at the back

and four wheels: two castor wheels at the front and two large wheels at the back.

Other varieties of wheelchair are often variations on this basic design, but can be

highly customised for the user's needs. Such customisations may encompass the seat

dimensions, height, seat angle (also called seat dump or squeeze), footrests, leg rests,

front caster outriggers, adjustable backrests and controls. [1]

2.1.2.1 Manually Powered

Manual wheelchairs are those that require human power to move them. Many

manual wheelchairs can be folded for storage or placement into a vehicle, although

modern wheelchairs are just as likely to be rigid framed. [1]

Wheelchairs are propelled by the occupant, usually by turning the large rear

wheels, from 20-26 inches in average diameter, and resembling bicycle wheels. The

user moves the chair by pushing on the hand rims, which are made of circular tubing

attached to the outside of the large wheels. The hand rims have a diameter that is

slightly less than that of the rear wheels. [1]