#1 🔍 GATHERING PERTINENT INFORMATION. - m-division-2018-2019/Team-10 GitHub Wiki
INTRODUCTION.
GESTURE BASED ROBOTICS deals with robots which involve human-machine interaction - where a robot is controlled through gestures which are essentially hand movements.
The robot takes inputs from the user's hand gestures and performs tasks accordingly. This process undergoes in the following manner:
- The user just needs to wear a gesture recognizing device which contains a sensor which is an accelerometer.
- The sensor will record the pattern of the gesture and will actuate the connected system to perform the task programmed for that particular gesture.
- The robot and the gesture device are connected through wireless means which are radio waves.
- The wireless communication enables the user to interact with the robot in a more friendly manner by providing the user more freedom to perform any type of physical action.
- Thus, such gesture based interfaces can not only substitute the devices featuring conventional interfaces but can also be utilized to incorporate their functionality in various practical life applications.
APPLICATIONS OF GESTURE BASED ROBOTICS IN REAL LIFE.
IN MILITARY [1]:
The requirement for gesture controlled robots are on ascent for military purposes, which are termed as UNMANNED GROUND VEHICLES (UGVs). These robots are utilized to enhance the combat potential of a warrior in open territory. From the past few years, extensive research is being performed in various parts of the world to develop robots for military purposes. The gesture enabled features helps the soldiers in war zones to remotely control the robots using wireless modems. Ultimately, the robots will be controlled by physical gestures which are tracked by the IMU. This thus helps in preserving human resources and also as an advantage facilitates to act more effectively and efficiently thus giving out more productive results.
Fig. 1 - Gesture Controlled Robot for military applications.
| SERIAL NO. | ELECTRICAL COMPONENTS | MECHANICAL COMPONENTS | WORKING PRINCIPLE IDENTIFIED | LINKS |
|---|---|---|---|---|
| 01. | ARDUINO MICROCONTROLLER. | ----- | It's a microcontroller board based on the ATmega328. It has 20 digital input/output pins (of which 6 can be used as PWM outputs and 6 can be used as analog inputs), a 16 MHz resonator, a USB connection, a power jack, an in-circuit system programming (ICSP) header, and a reset button. | https://www.pololu.com/product/2191 [2] |
| 02. | INERTIAL MEASUREMENT UNIT. | ----- | It's an electronic device that measures and reports a body's specific force, angular rate and sometimes the magnetic field surrounding the body, using a combination of accelerometers and gyroscopes, sometimes also magnetometers. | https://en.wikipedia.org/wiki/Inertial_measurement_unit [3] |
| 03. | ZIGBEE RADIO MODEM. | ----- | ZigBee is an IEE 802.15.4-based specification for a suite of high-level communication protocols used to create PANs with small, low-power digital radios, such as for home automation, medical device data collection, and other low-power, low-bandwidth needs, designed for small scale projects which needs wireless connection. Hence, ZigBee is a low-power, low data rate, and close proximity (i.e., Personal Area) wireless ad hoc network. | https://en.wikipedia.org/wiki/Zigbee#Device_types_and_operating_modes [4] |
| 04. | 78XX ICS. | ----- | It is a family of self-contained fixed linear voltage regulator integrated circuits. It is commonly used in electronic circuits requiring a regulated power supply due to their ease-of-use and low cost. | https://www.instructables.com/id/78xx-Regulators-Ics/ [5] |
| 05. | ELECTROMAGNETIC COMPASS | ----- | It is a compass that determines directions using the principle of EMI, with the Earth's magnetic field acting as the induction field for an electric generator. The electrical output of the generator varies depending on its orientation w.r.t the Earth's magnetic field. This variation in the generated voltage is measured allowing it to determine direction. | https://en.wikipedia.org/wiki/Earth_inductor_compass [6] |
| 06. | MODULE GPS RECEIVER SYSTEM. | ----- | It's is a satellite based radio navigation system owned by the US govt. operated by the US Air Force. It is a global navigation satellite system that provides geolocation and time information to a GPS receiver anywhere on the Earth where there is an unobstructed line of sight to four or more GPS satellites. | https://en.wikipedia.org/wiki/Global_Positioning_System [7] |
| 07. | H-BRIDGE. | ----- | It is an electronic circuit that switches the polarity of the voltage applied to a load. | https://en.wikipedia.org/wiki/H_bridge [8] |
| 08. | LITHIUM POLYMER BATTERY. | ----- | It is the compact and rechargeable power source which will run the entire system. | https://en.wikipedia.org/wiki/Lithium-ion_battery [9] |
| 09. | FTDI CHIP. | ----- | This implements the USB protocol stack. The responsibility of this hardware is to tell your PC what it is (using some identification information) such that the computer can load the right driver for it, and also to manage the data transactions with the PC. | https://electronics.stackexchange.com/questions/14344/how-does-an-ftdi-chip-work [10] |
| 10. | WEBCAM. | ----- | It is a video camera that feeds or streams its image in real time to or through a computer network. | https://en.wikipedia.org/wiki/Webcam [11] |
| 11. | 2X RELAY BOARD IR SENSORS. | ----- | It is an electronic device, that emits infrared radiation in order to sense some aspects of the surrounding. It can measure the heat of an object as well as detects the motion. | https://www.elprocus.com/infrared-ir-sensor-circuit-and-working/ [12] |
| 12. | ----- | SERVO MOTOR. | It is a rotary actuator or linear actuator that allows precise control of angular or linear position, velocity and acceleration. It consists of a suitable motor coupled to a sensor for position feedback. | https://en.wikipedia.org/wiki/Servomotor [13] |
| 13. | ----- | DC MOTOR. | It is a rotary electrical machine that converts DC electrical energy into mechanical energy. | https://en.wikipedia.org/wiki/DC_motor [14] |
IN REMOTE CONTROLLERS:
Gesture recognition uses variety of different systems in order to process the detection, tracking and recognition of the gesture. To date, the most effective way for HCI (Human-Computer Interaction) is dependent on intermediate device - remote control, teach pendant or computer mouse, data glove and many others. The use of human gesture as an input to a computer system has the advantages in terms of it's flexibility and ease of access. Here is a proposed gesture based control system for effective HCI interface based on coordinate features. The focus is on using the proposed coordinate features to correctly classify a number of human gestures corresponding to specific functions. The system was setup based on Kinect 360 and LabView interfaces to control 4 specific functions based on 4 human gestures using coordinate features. The feasibility and performance of the system was examined in terms of its accuracy, operational distance and lighting condition. The experimental results show that the proposed coordinate features could be used for GESTURE BASED REMOTE CONTROL.
Fig. 2: Gesture based TV remote control.
| SERIAL NO. | ELECTRICAL COMPONENTS | MECHANICAL COMPONENTS | WORKING PRINCIPLE IDENTIFIED | LINKS |
|---|---|---|---|---|
| 01. | RASPBERRY Pi 1 MODEL A+. | ----- | The Raspberry Pi is a credit card-sized computer with an ARM processor that can run Linux. It has 512 MB of RAM, an HDMI output, audio output, RCA composite video output (through the 3.5mm jack), one USB port, and 0.1"-spaced pins that provides access to general purpose input and output (GPIO). The Raspberry Pi requires a microSD card with an operating system on it (not included). | https://robokits.co.in/raspberry-pi/raspberry-pi-1-model-a-quad-core-64-bit-dual-band-wi-fi-ble-4 [15] |
| 02. | Skywriter HAT. | ----- | Skywriter HAT uses electrical near-field 3D sensing to generate positional data and detect common gestures like flicks and taps. | https://thepihut.com/products/skywriter-hat [16] |
| 03. | IR RECEIVER (GENERIC). | ----- | It is an electronic device, that emits infrared radiation in order to sense some aspects of the surroundings. It can measure the heat of an object as well as detects the motion. | https://www.elprocus.com/infrared-ir-sensor-circuit-and-working/ [17] |
| 04. | GENERAL PURPOSE n-p-n TRANSISTOR. | ----- | NPN is one of the two types of bipolar transistors, consisting of a layer of P-doped semiconductor (the "base") between two N-doped layers. A small current entering the base is amplified to produce a large collector and emitter current. | https://en.wikipedia.org/wiki/Bipolar_junction_transistor [18] |
| 05. | 10K Ω RESISTOR. | ----- | A resistor is a passive two-terminal electrical component that implements electrical resistance as a circuit element. In electronic circuits, resistors are used to reduce current flow, adjust signal levels, to divide voltages, bias active elements, and terminate transmission lines, among other uses. | https://en.wikipedia.org/wiki/Resistor [19] |
| 06. | 47.5 Ω RESISTOR. | ----- | A resistor is a passive two-terminal electrical component that implements electrical resistance as a circuit element. In electronic circuits, resistors are used to reduce current flow, adjust signal levels, to divide voltages, bias active elements, and terminate transmission lines, among other uses. | https://en.wikipedia.org/wiki/Resistor [20] |
IN LOCKS:
Fig. 3: Gesture controlled lock.
| SERIAL NO. | ELECTRICAL COMPONENTS | MECHANICAL COMPONENTS | WORKING PRINCIPLE IDENTIFIED | LINKS |
|---|---|---|---|---|
| 01. | SparkFun APDS-9960. | ----- | It is a small breakout board with a built in APDS-9960 sensor that offers ambient light and color measuring, proximity detection, and touchless gesture sensing. | https://www.sparkfun.com/products/12787 [21] |
| 02. | Arduino UNO / Genuino UNO. | ----- | It's a microcontroller board based on the ATmega328. It has 20 digital input/output pins (of which 6 can be used as PWM outputs and 6 can be used as analog inputs), a 16 MHz resonator, a USB connection, a power jack, an in-circuit system programming (ICSP) header, and a reset button. | https://www.pololu.com/product/2191 [22] |
| 03. | RGB DIFFUSED COMMON CATHODE. | ----- | One LED for 3 status indicators or pulse width modulate all 3 and produce mixed colours. | https://www.sparkfun.com/products/9264 [23] |
| 04. | STANDARD LCD (16x2 - WHITE ON BLUE). | ----- | It is a basic 16 character by 2 line alphanumeric dot matrix LCD which utilizes the extremely common HD44780 parallel interface chipset. | https://www.rhydolabz.com/displays-c-88/16x2-character-lcd-stn-white-on-blue-p-246.html?gclid=EAIaIQobChMIzb-amPSr4AIV1SMrCh2IxgnWEAYYAiABEgJUDPD_BwE&zenid=1e2oe4sh0lt01qgt4atnrr42t1 [24] |
| 05. | JUMPER WIRES (GENERIC). | - | These are wires that have connector pins at each end, allowing them to be used to connect two points to each other without soldering. | http://blog.sparkfuneducation.com/what-is-jumper-wire [25] |
| 06. | 10K Ω RESISTOR. | ----- | A resistor is a passive two-terminal electrical component that implements electrical resistance as a circuit element. In electronic circuits, resistors are used to reduce current flow, adjust signal levels, to divide voltages, bias active elements, and terminate transmission lines, among other uses. | https://en.wikipedia.org/wiki/Resistor [26] |
| 07. | 47.5 Ω RESISTOR. | ----- | A resistor is a passive two-terminal electrical component that implements electrical resistance as a circuit element. In electronic circuits, resistors are used to reduce current flow, adjust signal levels, to divide voltages, bias active elements, and terminate transmission lines, among other uses. | https://en.wikipedia.org/wiki/Resistor [27] |
IN AGRICULTURE:
The goals and objectives of the project is to provide service to farmers by reducing their effort, time consumption and boosting the crop yield using available technologies with some innovation. The project aims at developing gestural interface to control the flying robot to reduce the human effort of using hand held remotes to control the flying robot. The aim of the project is to overcome many of the problems existing in the field of agriculture using gesture interfaced flying robot and motivating farmers to do agriculture which contributes to the economic growth not only at national level but also at global level, increase food production, increase exports of food products at global scale and supports in growth of sectors dependent on agriculture.
https://youtu.be/y-Xkcr064h0 https://www.youtube.com/watch?v=kRxLP5BdPQI
| SERIAL NO. | ELECTRICAL COMPONENTS | MECHANICAL COMPONENTS | WORKING PRINCIPLE IDENTIFIED | LINKS |
|---|---|---|---|---|
| 01. | MICRO CONTROLLER. | ----- | It's a small computer on a single integrated circuit. It contains one or more CPUs (processor cores) along with memory and programmable input/output peripherals. It's used in automatically controlled products and devices. | https://en.wikipedia.org/wiki/Microcontroller [28] |
| 02. | SENSOR. | ----- | It's a device, module, or subsystem whose purpose is to detect events or changes in its environment and send the information to other electronics, frequently a computer processor. | https://en.wikipedia.org/wiki/Sensor [29] |
| 03. | BLUETOOTH MODULE. | ----- | It's an easy to use Bluetooth SPP(Serial Port Protocol) module, designed for transparent wireless serial connection setup. | https://www.itead.cc/wiki/Serial_Port_Bluetooth_Module_(Master/Slave)_:_HC-05 [30] |
| 04. | FLIGHT CONTROLLER BOARD. | ----- | It's a circuit board with sensors that detects orientation changes of the air-borne drone. It also receives user commands, and controls the motors in order to keep the drone in the air. | https://oscarliang.com/best-flight-controller-quad-hex-copter/ [31] |
| 05. | GPS MODULE. | ----- | It's a device that is capable of receiving information from GPS satellites and then to calculate the device's geographical position. | https://en.wikipedia.org/wiki/GPS_navigation_device [32] |
| 06. | POWER MODULE. | ----- | A power module or power electronic module provides the physical containment for several power components, usually power semiconductor devices. | https://en.wikipedia.org/wiki/Power_module [33] |
| 07. | TELEMETRY. | ----- | It's an automated communications process by which measurements and other data are collected at remote or inaccessible points and transmitted to receiving equipment for monitoring. | https://en.wikipedia.org/wiki/Telemetry [34] |
| 08. | ELECTRONIC SPEED CONTROL. | ----- | It's an electronic circuit that controls and regulates the speed of an electric motor. It may also provide reversing of motor and dynamic braking. | https://en.wikipedia.org/wiki/Electronic_speed_control [35] |
| 09. | ----- | BLDC MOTOR. | It's a synchronous motor powered by DC electricity via an inverter or switching power supply which produces an AC electric current to drive each phase of the motor via a closed loop controller. The controller provides pulses of current to the motor windings that control the speed and torque of the motor. It's also known as electronically commutated motors (ECMs, EC motors), or synchronous DC motors. | https://en.wikipedia.org/wiki/Brushless_DC_electric_motor [36] |
| 10. | ----- | PROPELLER. | It's a type of fan that transmits power by conventional rotational motion into thrust. | https://en.wikipedia.org/wiki/Propeller [37] |
| 11. | BATTERY. | ----- | It's a device consisting of one or more electrochemical cells with external connections provided to power devices. | https://en.wikipedia.org/wiki/Electric_battery [38] |
| 12. | TRANSCEIVER. | ----- | It's a device comprising both a transmitter and a receiver that are combined and share common circuitry or a single housing. | https://en.wikipedia.org/wiki/Transceiver [39] |
| 13. | POWER DISTRIBUTION BOARD. | ----- | It's a component of an electricity supply system that divides an electrical power feed into subsidiary circuits, while providing a protective fuse or circuit breaker for each circuit in a common enclosure. | https://en.wikipedia.org/wiki/Distribution_board [40] |
CITATIONS:
[01]: Publication - GESTURE BASED ROBOTICS FOR MILITARY PURPOSE (Report by Dept. Of ECE, Rajiv Gandhi Institute of Technology, Bangalore, India.)
[02]: Pololu - Arduino UNO.
[03]: Wikipedia - Inertial Measurement Unit.
[04]: Wikipedia - Zigbee (Device types and Operating Modes.)
[05]: Instructables - 78XX Regulators ICS.
[06]: Wikipedia - Earth Inductor Compass.
[07]: Wikipedia - Global Positioning System.
[08]: Wikipedia - H - Bridge.
[09]: Wikipedia - Lithium - ion Battery.
[10]: StackExchange - How does an FTDI chip work?
[11]: Wikipedia - Webcam.
[12]: Elprocus - Infrared (IR) Sensor - Circuit and Working.
[13]: Wikipedia - Servomotor.
[14]: Wikipedia - DC Motor.
[15]: Robokits - Raspberry Pi - 1 Model A+.
[16]: The Pi Hut - Skywriter HAT.
[17]: Elprocus - Infrared (IR) Sensor - Circuit and Working.
[18]: Wikipedia - Bipolar Junction Transistor.
[19]: Wikipedia - Resistor.
[20]: Wikipedia - Resistor.
[21]: SparkFun - RGB and Gesture Sensor - APDS-9960.
[22]: Pololu - Arduino UNO.
[23]: SparkFun - LED - RGB Diffused Common Cathode.
[24]: RhydoLABZ - 16x2 Character LCD STN - White on Blue.
[25]: SparkFun Education - What is Jumper Wire?.
[26]: Wikipedia - Resistor.
[27]: Wikipedia - Resistor.
[28]: Wikipedia - Microcontroller.
[29]: Wikipedia - Sensor.
[30]: iTEAD - Serial Port Bluetooth Module (Master/Slave) : HC-05.
[31]: Oscarliang - Flight Controller.
[32]: Wikipedia - GPS Navigation Device.
[33]: Wikipedia - Power Module.
[34]: Wikipedia - Telemetry.
[35]: Wikipedia - Electronic Speed Control.
[36]: Wikipedia - Brushless DC Electric Motor.
[37]: Wikipedia - Propeller.
[38]: Wikipedia - Electric Battery.
[39]: Wikipedia - Transceiver.
[40]: Wikipedia - Distribution Board.