A proposal for RF controlled Robot

Abstract:
In this project we propose a way to perform robotic self-recognition in static and quasi-static
environments, RF (radio frequency) is a process during which the robot is controlled by the
human and can perform many tasks. For example, how much would the robot move? Such
information can be hard-coded into the robot's code, but it can also be discovered
automatically, camera can be used when the robot or the environment are unknown a priori or
change. Examples are when new wheels or a completely new robot is used, or when obstacles
are added to the environment. Instead of re-programming, the user can let the robot "play"
and discover how to change its situation. In this way only, the RF controlled should be
repeated, while the high-level planning strategy can remain the same.

We want to make this project to be used in defence services as they face a whole range of
complex challenges in its defence modernisation aspirations, which are aimed at containing
the threats that it perceives to be having severe implications for its national security. Looking
into the current capacities of India’s defence industry, it is not hard to say that many
observers remain dismissive of the same and have proposed a number of reforms aimed at
bolstering India’s defence production capabilities thereby achieving self-reliance in building
such capabilities, and streamlining India’s defence procurement procedures for lesser
procedural delays in acquiring advanced weapons system.

Our team has worked in the project:

1. UG Intern fellowship in Bulgaria at University of Sofia on
i) Extraction of the geometrical characteristics of craters detected on mars.
ii) Smart Robo using raspberry pi
2. e-Yantra Robotics Competition (e-YRC) offered by the IIT Bombay (2017-18) on
Fruits/vegetables collector robot.

have the knowledge of:

1. Python
2. C/C++
3. Open CV (Image Processing)
4. MATLAB/Scilab
5. AVR Microcontroller
6. Robot Simulator Simulation V-REP

Hardware used
1. AVR
2. Raspberry pi
3. Arduino

Technical Proposal:
Programming robots that move in environments not known a priori usually is a non-trivial
task. A domain expert may be the only source of knowledge about the environment and the
task to be performed by a robot, because the semantics of the domain are not evident from a
robot's perspective. To achieve a goal, not only the input from the sensors should be analysed
and a plan of actions produced, but the results of each action in the environment of the robot
must also be known. The knowledge about the effect of each action is commonly extracted by

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the domain expert based on the physical characteristics of the robot and the environment,
which are then hard coded into the plan. The problem with this approach is that if the robot or
the environment changes, the program should be changed too. Examples of change in a robot
include different or new actuators, or a different design. An example of a change in
environment would be a new room layout, or obstacles being added, removed, or moved
around. After a change, the same commands as before the change may not result in the same
outcome.

This project will serve as an apparatus that is capable of picking up and moving objects,
possibly on an assembly line. The problem that exists is the risk of injury to workers who
work with dangerous equipment. Replacing workers in these dangerous situations will
eliminate injuries and workers compensation claims, and improve performance efficiency.
The service it will provide will be picking up an object, and orienting it correctly, and placing
it in a decided location, either a stationary machine or onto a conveyer belt.

The proposed mechatronic system for our robotic spider will involve a low form and low
weight mechanical frame that encompasses a low power embedded digital control system.
Low power, weight, and form are prerequisites to a battery-powered spider with the ability to
walk on vertical surfaces while supporting its own weight. The electronic components,
integrated circuits (IC), and drive actuators that make up the control system of the robot will
have to meet these same specifications. The control system will be designed and built onto a
multi-layer printed circuit board (PCB), while the mechanical frame, legs, motor joints, and
PCB chassis, will be built through rapid prototyping material. To minimize the number of
components on the PCB, a Field-Programmable Gate Array (FPGA) can be utilized to
implement a system-on-chip directly on the PCB. An alternative to the FPGA design is to
build the control system from an array of microcontroller ICs. The trade-off here is that
microcontrollers will most likely increase weight and form of the system but will make
design considerable simpler. Because of time and resource constraints this option may end up
more feasible, although it reduces the number of future enhancements. Both of these two
options will be considered, and the final choice

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