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TAMU CSCE 483 - pda-proposal

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CPSC 483: Senior DesignProject ProposalWireless Robot Control with a Personal Digital AssistantTa-Chang ChaoQuang DangMatt DeanBrady WiedFebruary 5, 2003TAMU Computer Science – Bluetooth PDA Proposal – Rev 2/7/20032Table of ContentsSummary................................................................................................................... 3Introduction .............................................................................................................. 4Key Terms ................................................................................................................ 5Project Tasks............................................................................................................. 6Design Justification................................................................................................. 10Bluetooth vs. 802.11............................................................................................ 10Pocket PC vs. Palm ............................................................................................. 12Project Schedule...................................................................................................... 13Budget .................................................................................................................... 15Societal, Safety and Environmental Analysis........................................................... 15Team Qualifications................................................................................................ 18TAMU Computer Science – Bluetooth PDA Proposal – Rev 2/7/20033SummaryThis proposal details the project plan for ‘Wireless Robot Control with aPDA.’ This will allow a user with a handheld PDA to control a robot and provide aframework for developing useful applications for this technology. The interface willallow the user to control the vehicle with a number of basic motor primitives, and alsoreceive information from sensors on-board the vehicle. Our design will be able tooperate in high radio frequency environments where wireless Ethernet designs maynot operate properly, and Bluetooth technology is our communications choicebecause of its frequency hopping capability. Bluetooth also uses much less powerthan the wireless Ethernet counterpart and provides cost effective adapters for boththe robot and the handheld device. Due to its fast processor and memory, our projectuses the Compaq iPaq, with the Pocket PC operating system, for the handheld device.As previously mentioned, our design will provide a framework/API that can be usedto build different applications with the functionality that we implement. Ourparticular project will demonstrate a mapping and navigation application.TAMU Computer Science – Bluetooth PDA Proposal – Rev 2/7/20034IntroductionRemote control of robots is something that is increasingly utilized in researchand production environments. Many wireless controls exist already, such as RF orIEEE 802.11, but these solutions sometimes have difficulty in noisy radioenvironments, can be costly, and are not very energy efficient. A better solution isneeded that will allow use with a short range PDA in such an environment. Severalproblems could be solved by this approach. One example would be to allowcorrective distance measuring between the robot’s concept of its location and theactual position. This could be used to map some given territory. The solution mustincorporate several features, including a mechanism to shut down the robot whencommunication is lost, a sophisticated information display on the PDA device, and anopen source software development kit that could be used to develop furtherapplications for this solution. The ability to produce a well-documented API for thePDA device will be crucial to the success of the project, and for others to build onwhat we have learned. We are not concerned with long-range robot communication,nor is this solution targeted to application capabilities that are beyond the resources aPDA can provide. The niche of this particular solution is for a cost effective robot thatcan perform these duties without much user education required.Our information has been obtained from a variety of sources, including robotvendor web sites, Bluetooth specification books, Pocket PC websites, and interfacemodule websites. In the following sections, we outline our solutions for solving thegiven problem, design constraints, alternative solutions, budget concerns, scheduling,and environmental/safety concerns.TAMU Computer Science – Bluetooth PDA Proposal – Rev 2/7/20035Key TermsARIA (ActivMedia Robotics Interface Application):An object-oriented API designed to communicate with ActivMedia robots.Bluetooth:A wireless communications protocol originally developed by Ericsson. TheBluetooth Special Interest Group (SIG) now controls the Bluetooth standard.While the standard is relatively new on the market, it has gained industryacceptance. Many companies have Bluetooth projects in the works.Piconet:A group of Bluetooth devices joined together in a short-range network. Eachpiconet is synchronized with each other’s timing and frequency hoppingsequence.Protocol stack:A layered set of functional units that will implement the Bluetooth protocol.Each layer in the stack has specific duties and responsibilities.RFCOMM:One of the layers of the Bluetooth protocol stack that provides RS-232 serialcable emulation.TAMU Computer Science – Bluetooth PDA Proposal – Rev 2/7/20036Project TasksThe process of creating an interface between a PDA and a mobile robot usingBluetooth technology requires several distinct tasks which are outlined below, in noparticular order.Task 1: Interface the robot to a personal computer using a direct serialconnection to provide a test-bed for programming the operation andmonitoring of the robot.Task 2: Program the robot to interact with a map of a building, providingfeedback indicating where it thinks that it is currently located in relation to themap.Task 3: Program the PDA so that it is able to interact with the robot.Task 4: Develop a user interface for the PDA to control and monitor therobot.Task 5: Define a format for creating, viewing, and interacting with maps onthe PDA.Task 6: Link the PDA to the robot using Bluetooth communication devices.Task 7: Implement safety features for the robot.Task 1: Interface the robot to a personal computer using a direct serial connection


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