pick and place arm movement control by android

 A Te Term Paper Report on

Pick And Place Arm and Robot Movement Control By Using Android

Thesis submitted in partial fulfillment of the requirement for the aard of the degree of

Bachelor of Technology !B"Tech# in

 $lectronics and Communication $ngineering

Under the guidance of

Sri K.Sambasiva Rao Associate Professor 

Submitted by

R.N.Sudheer Y.Sudheer

S.Sainath U.Naga Raju

Department of Electronics and Communication Engineering

Bapatla Engineering College (Autonomous) (Afliated to Acharya Nagarjuna University)

BAPATLA-522 11! A"P! #$D#A

Department of Electronics and Communication Engineering

Bapatla Engineering College (Autonomous) (Afliated to Acharya Nagarjuna University)

C$RT%&%CAT$

This is to certify that the project

entited

 Pick And Place “ 

 Arm and Robot Movement Control By Using Android ”  ”  is the bonafide

!or"

of

R.N.Sudheer

#Y$%A&'()*+,

S.Sainath#Y$%A&'(((+,

Y.Sudheer#Y$%A&'(*$+,U.Naga Raju#Y$%A&'+, submitted in partia fufiment of  the re-uirements for the a!ard of the degree of acheor of Technoogy !B"Tech# in &ectr &ectroni onics cs and 'o 'omm mmuni unicat cation ion &ngin &nginee eerin ringg

!$C$#

 by Acharya Acharya Nagarjuna

University during the academic year %/$(0%/$1.

2uide3

4ead of the 5epartment3

Sri K.Sambasiva Rao

5r. . 'handra 6ohan

Associate Professor 5epartment of &'& apata &ngineering 'oege apata

Professor   5epartment of &'& apata &ngineering 'oege apata

Acknoledgements

7t is !ith the immense peasure and heartfet gratitude, 7 e8press my sincere than"s to '"(ambasiva Rao sir) Associate Professor for Professor  for his

usefu suggestions, continuous

guidance, guidance, and mora support support for the progress of of my !or" . !e !oud fee great to than" our beoved *R" B"Chandra Mohan sir)4ead of the 5epartment ,&ectronics9 'ommunication &ngineering,apata &ngineering 'oege, for Providing us amenities to compete this Project :or" 

   

R.N.Sudheer  S.Sainath Y.Sudheer  U. Naga Raju

Contents i ii

+ist of o f Tables Tables +ist of &igures Abstract  ,"%ntroduction

$.$.Robotics $.$.$ 4istory of Robots $.$.% Robot Architecture $.$.) 'omponents of Robot $.% Android

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-"+iterature Revie   %ntroduction

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 ." Robot and Application *esign

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Conclusions Conclusio ns and &uture (cope

;.$ 'oncusions ;.% =uture Scope References

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Abstract

This This term term pa pape perr tit tited ed BP7' BP7'K K AN5 PA' PA'& & AR6 AN5 AN5 R@@ R@@T T '@NTR@ US7N2 AN5R@75C AN5R@75C combines the "no!edge of eectronics and programming. The objective of this project is to design and buid a compact, usabe and cheaper pic" and pace robot for educationa purpose using Arduino as the contro system to contro a the activities. Android app ap pic icat atio ionn is used used as an inte interf rfac acee to co cont ntro ro the the pic" pic" an andd pac pace, e, movements movements of bot. A camera is paced paced on the robot for surveiance surveiance and guiding the operator.

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Chapter ,

%ntroduction ,", R/B/T%C( Robot is an integra part in automating the fe8ibe manufacturing system that is great greatyy in deman demandd these these day dayss .Robot .Robotics ics is the branch branch of engin enginee eerin ringg scien science ce 9 Techno chnoogy ogy reate reatedd to robots robots,, and and their their desig design, n, manuf manufac actur ture, e, app appic icati ation, on, and structura disposition. Robotics is reated to eectronics, mechanics, and soft!are. Robotics research today is focused on deveoping systems that e8hibit moduarity, fe8ibiity, fe8ibiity, redundancy, redundancy, faut0toerance, a genera and e8tensibe soft!are environment and seamess connectivity to other machines, some researchers focus on competey automating a manufacturing process or a tas", by providing sensor based inteigence to the robot arm, !hie others try to soidify the anaytica foundations on !hich many of the basic concepts in robotics are buit.   7n this highy deveoping society time and man po!er are critica constrains for  competion of tas" in arge scaes. The automation is paying important roe to save human efforts in most of the reguar and fre-uenty carried !or"s. @ne of the major  and most commony performed !or"s is pic"ing and pacing of jobs from source to destination.   Present day industry is increasingy turning to!ards computer0based automation mainy due to the need for increased productivity and deivery of end products !ith uniform -uaity. The infe8ibiity and generay high cost of hard0automation systems, systems, !hich have been used for automated manufacturing tas"s in the past, have ed to a  broad based interest in the use of robots capabe of performing a variety of  manufacturing functions in a fe8ibe environment and at o!er costs. The use of  7ndustria Robots characteriEes some of contemporary trends in automation of the manuf manufac acturi turing ng proce process ss.. 4o! 4o!eve ever, r, presen presentt day indust industria ria robots robots aso aso e8h e8hibi ibitt a monoithic mechanica structure and cosed0system soft!are architecture. They are concentrated concentrated on simpe repetitive tas"s, !hich tend not to re-uire high precision. The pic" and pace robot is a microcontroer based mechatronic system that detects the object, pic"s that object from source ocation and paces at desired ocation. 7n $ APATA &N27N&&R7N2 '@&2&,APATA

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miitary appications this robot is used for omb 5efusa. 7n this paper !e emphasiEe an methodoogy for buiding an robot !hich monitors the !arfied and at utimatey defuse the bomb.

,",", 0istory of Robots1 *ate

(ignificance

Robot 2ame

5escriptions of more than $// machines =irst and automata, incuding a fire engine, a century !ind organ, a coin0operated machine, and A.5. and a steam0po!ered engine, in Pneumatica earier  and Automata by 4eron of Ae8andria

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'reated eary humanoid automata,  programmabe automaton automaton band

%nventor

'tesi sibi bius us,, Phio of   y E a ntium, 4eron of Ae8andria, and others Robot band, hand0!ashing automaton

A 0> aE ar ar i

, automated moving peacoc"s 6echanica 5esigns fo for a humanoid ro robot eonardo da Dinci "night 6echanica duc" that !as abe to eat, fap >ac-ues de 5igesting 5uc"  its !ings, and e8crete Daucanson  Ni"oa Tesa demonstrates demonstrates first radio0 Teeautomation  Ni"oa Tesa controed vesse. =irst fictiona automatons caed FrobotsF RossumGs Kare 'ape"  appear in the pay R.U.R. Universa Robots : e stin g house 4umanoid robot e8hibited at the $?)? and &ectric &e"tra $?;/ : o r d G s  s =airs ' o r po ra tion Simpe robots e8hibiting bioogica :iiam 2rey &sie and &mer   behaviors :ater  =irst commercia robot, from the Unimation company founded by 2 eorge Unim a te 2eorge 5evo 5evo an  and >oseph &ngeberger,  based on 5evoGs patents =irst rst insta taed industri tria robot. Unim a te 2eorge 5evo =irs t paetiEing robot PaetiEer  = uji Yuso"i Ko g y o

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=ir st st indust r ia  r obot !ith obot !ith si8 eectromechanicay driven a8es Programmabe universa manipuation arm, a Unimation product

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,","- Robot Architecture1

Automation as a technoogy is concerned !ith the use of mechanica, eectrica, eectronic and computer0based contro systems to repace human beings !ith machines, not ony for physica !or" but aso for the inteigent information processing. 7ndustria automation, !hich started in the eighteenth century as fi8ed automation has transformed into fe8ibe and programmabe automation in the ast $( or %/ years. 'omputer numericay controed machine toos, transfer and assemby ines are some e8ampes in this category. ,",". Components /f Robot13

&ig ,", Components of Robot ," (TRUCTUR$

The structure of a robot is usuay mosty mechani ca ca and can be cae caedd a "i ne ma titic chain. The chain is formed of in"s, actuators, and joints !hich can ao! one or more d more degrees of freedom.  6ost contemporary robots use open seria chains in !hich each each in" conn connects ects the one before to the one after it. These These robots are caed seria robots and often resembe the human arm. Robots used as manipuators have an end effector mounted on the ast in". This end effector can be anything from a ! e ding device to a mechanica mechanica  hand used to manipuate the environment.

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At present mosty #ead0acid+ b #ead0acid+  batteries are are used, but potentia po!er sources coud be3 H

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Pneumatic #compressed gases+ 4ydrauics #compressed i-uids = y!hee energy storage @rganic garbage #through anaerobic digestion+ Sti untested energy sources #e.g. Nu #e.g.  Nucear =usion reac usion reac to r s+

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." ACTUAT%/2

Actuators are i"e the Fmus c e sF of a robot, the  parts !hich convert stored energy into movement. y far the most popuar actuators are eectric motors that spin a !hee !hee or gear, gear, and inear inear actuators actuators that contro contro indus i ndustria tria robots in factors. factors. ut there are some recent advances advances in aternativ aternativee types of  actua actuato tors rs,, po!e po!ere redd by eec eectr tric icity ity,, chem chemic ica as, s, or  compressed air. 5" T/UC0

&ig ,". Actuators

'urrent robotic and prosthetic hands receive far ess tactie information than the human hand. Recent research has deveoped a tactie sensor array that mimics the mechanica  properties and touch receptors of human fingertips. The sensor array is constructed as a rigid core surrounded by conductive fuid contained by an eastomeric s"in. &ectrodes are mounted on the surface of the rigid core and are connected to an impedance0measuring device !ithin the core. :hen the artificia s"in touches an object the fuid path around the eectrodes is deformed, producing impedance changes that map the forces received from theobject. 6" 7%(%/2

'omputer vision is  the science and technoogy of machines that see. As a scientific discipine, computer vision is concerned !ith the theory behind artificia systems that

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e8tract information from images. The image data can ta"e many forms, such as video se-uences and vie!s from cameras. 7n most practica computer vision appications, the computers are pre0programmed to sove a particuar tas", but methods based on earning are no! becoming increasingy common. 'omputer vision systems rey on image sensors !hich detect eectromagnetic radiation !hich is typicay in the form of either visibe ight or  infra0red ight.  The sensors are designed using soid0state physics. The The process  process by !hich ight propagates and refects off surfaces is e8pained using opti c s. Sophisticated s. Sophisticated image sensors even re-uire -uantum m ec ec hani cs  to provide a compete understanding of the image formation process. 8"

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Robots !hich must !or" in the rea !ord re-uire some !ay to manipuate objectsI  pic" up, modify, destroy, or other!ise have an effect. Thus the GhandsG of a robot are often referred to as end effectors,  !hie the !hie the arm is referred to as a manipuator. 6ost robot arms have repaceabe effectors, each ao!ing them to perform some sma range of tas"s. Some have a fi8ed manipuator !hich cannot be repaced, !hie a fe! have one very genera purpose manipuator, for e8ampe a humanoid hand. ,

Mechanica ical 9ripper pers3

@ne of the most common effectors is the gripper. 7n its simpest manifestation it consists of just t!o fingers !hich can open and cose to  pic" up and et go of a range of sma objects. =ingers can for e8ampe be made of a chain !ith a meta !ire run trough it.

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Pic" and pace robots for eectronic components and for  arge objects i"e car !indscreens, !i often use very simpe vacuum grippers. These are very simpe astrictive devices, but can hod very ver y arge oads provided the  pretension surface surface is smooth enough to ensure suction.

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,"-", Architecture of Android1

&ig ,"5 A2*R/%* Architecture Architecture

Android @S architecture is divided into ; ayers 3 $. inu8 Kerne ayer %. ibraries 9 Android Runtime ). Appication frame!or" ; ;. Appications ,"-"- +inu: 'ernel layer 3

This is the heart of the Android @S. This ayer contains a the o! eve device drivers for  the the vario various us hard hard!a !are re comp compon onen ents ts of an Andro ndroid id devi device ce.. 7t prov provid ides es the the fo foo! o!in ingg functi functiona onait ities ies in the An Andro droid id syste system304 m304ard ard!ar !aree Ab Abstr strac actio tionn ,6emo ,6emory ry 6anage 6anageme ment nt Programs ,Security Settings ,Po!er 6anagement 6anagement Soft!are @ther 4ard!are 5rivers #5rivers are programs that contro hard!are devices.+30 Support for  Shared ibraries, Net!or" stac". < APATA &N27N&&R7N2 '@&2&,APATA

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,"-". +ibraries ; Android Android Runtime1 +ibraries3

ibraries ibraries carry a set set of of instruc instructions tions to guide guide the device device in in handi handing ng different different types of data. This ayer contains a the code that provides the main features of an Android @S. =or e8ampe, the SJite ibrary provides database support so that an appication can use it for data storage. The :ebKit :ebKit ibrary provides functionaities for !eb bro!sing. (urface Manager 3

7t is used for compositing !indo! manager !ith off0screen buffering. @ff0screen buffering means you can not directy dra! into the screen, but your dra!ings go to the off0screen buffer. There it is combined !ith other dra!ings and form the fina screen the user !i see. This off screen buffer is the reason behind the transparency of !indo!s. (<+ite3SJite is the database engine used in 4eb'it3 7t is

android for data storage purposes

the bro!ser engine used to dispay 4T6 content content

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At the same ayer as the ibraries, the Android runtime provides a set of core ibraries that enabe deveopers to !rite Android apps using the >ava programming anguage. The Android Android runtime aso incudes the 5avi" virtua machine, !hich enabes every Android appication to run in its o!n process, !ith its o!n instance of the 5avi" virtua machine #Android appic app icati ations ons are compi compied ed into into the 5avi" 5avi" e8ecu e8ecutab tabes es+. +. 5avi" 5avi" is a specia speciaiE iEed ed virtua virtua machine designed specificay for Android and optimiEed for battery0po!ered mobie devices !ith imited memory and 'PU. ,"-"5"Application frameork layer 3

&8poses the various capabiities of the Android @S to appication deveopers so that they can ma"e use of them in their appications. @ur app appic icati ations ons direc directy ty intera interact ct !ith !ith these these boc"s boc"s of the An Andro droid id archit architect ecture ure.. These These  programs manage the basic functions of phone i"e resource management, management, voice ca management etc. * APATA &N27N&&R7N2 '@&2&,APATA

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7mportant boc"s in this ayer are3 Activity Manager3 6anages the

activity ife cyce of appications. To understand the Activity Activity

component in Android Content Providers3 6anage the data sharing Telephony Manager 3

bet!een appications.

6anages a voice cas. :e use teephony manager if !e !ant to

access voice cas in our appication. +ocation Manager3 ocation management, using 2PS or ce to!er Resource Manager 3 6anage the various types of

resources !e use in our Appication.

,"-"6"Applications +ayer 3

At this top ayer, you !i find appications that ship !ith the Android device #such as Phone, 'ontacts, ro!ser, etc.+, as !e as appications that you do!noad and insta from the Androi And roidd 6ar"e 6ar"et. t. Any appicat appication ionss that that you you !rite !rite are ocated ocated at this this ayer ayer..

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appications are3 $.S6S cient app %.5iaer ).:eb bro!ser ;. 'ontact manager (.2ooge 6aps 1. 2aery

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- +iterature Revie

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The Arduino Uno is a microcontroer board based on the ATmega)%*. 7t has $; digita inputoutput pins #of !hich 1 can be used as P:6 outputs+, 1 anaog inputs, a $1 64E crysta osciator, a US connection, a po!er jac", an 7'SP header, and a reset button. 7t contains everything needed to support the microcontroerI simpy connect it to a computer  !ith a US cabe or po!er it !ith a A'0to05' adapter or battery to get started. The Uno differs from a preceding boards in that it does not use the =T57 US0to0seria driver chip. 7nstead, it features the Atmega*U% Atmega*U% programmed as a US0to0seria converter. FUnoF means one in 7taian and is named to mar" the upcoming reease of Arduino $./. The Uno and version $./ !i be the reference versions of Arduno, moving for!ard. The Uno is the atest in a series of US Arduino boards, and the reference mode for the Arduino  patformI for a comparison comparison !ith previous versions. versions.

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Poer

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The Arduino Uno can be po!ered using a US connection or !ith an e8terna po!er suppy. The po!er source is seected automaticay. &8terna#non0US+ po!er can come either from A'0to05' adapter or battery. The adapter can be connected by pugging a %.$mm center0  positive pug into the boardLs boardLs po!er jac". eads eads from a battery can be inserted inserted in the 2nd and Din pin headers of the P@:&R connector. The board can operate on an e8terna suppy of 1 to %/ vots. 7f suppied !ith ess than
The input votage to the Arduino board !hen itGs using an e8terna po!er source #as opposed to ( vots from the US connection or other reguated po!er source+. You You can suppy votage through this pin, or, if suppying votage via the po!er jac", access it through this pin. 671 671

The reguated po!er suppy used to po!er the microcontroer and other components on the  board. This can come either from f rom D7N via an on0board reguator, or be suppied by US or  another reguated (D suppy. .7.1

A ).) vot suppy generated by the on0board reguator. 6a8imum current dra! is (/ mA. 92*1

2round pins.

The Atmega)%* Atmega)%* has )% K of fash memory for storing code #of !hich /.( K is used for the  bootoader+I 7t has aso % K of SRA6 and $ K of &&PR@6 #!hich can be read and !ritten !ith the &&PR@6 ibrary. %nput And /utput 3

&ach of the $; digita pins on the Uno can be used as an input or output, using pin6ode#+, digita:rite#+, and digitaRead#+ functions. -","- 9rippers

A gripper is a device !hich enabes the hoding of an object to be manipuated. The easier  !ay to describe a gripper is to thin" of the human hand. >ust i"e a hand, a gripper enabes hoding, tightening, handing and reeasing of an object. A gripper is just one component of  an automated system. A gripper can be attached to a robot or it can be part of a fi8ed automation system. 6any styes and siEes of grippers e8ist so that the correct mode can be $) APATA &N27N&&R7N2 '@&2&,APATA

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/peratingPrincipal1

'ompressed air is suppied to the cyinder of the gripper body forcing the piston up and do!n, !hich through a mechanica in"age, forces the gripper ja!s open and cosed. There are ) primary motions of the gripper ja!sI parae, anguar and togge. These operating  principas refer to the motion of the gripper ja!s in reation to the gripper body body.. Parallel 9ripper1

The gripper ja!s move in a parae motion in reation r eation to the gripper body. Used Used in a majority of app appic icati ations ons,, para parae e grippe grippers rs are typic typicay ay more more accura accurate te than than other other stye stye grippe grippers. rs.

Angular 9ripper1

The gripper ja!s are opened and cosed around a centra pivot point, moving in a s!eeping or  arcing motion. Anguar grippers are often used !hen imited space is avaiabe or !hen the  ja!s need to move up and out of the !ay. !ay. Togge Togge 2ripper The pivot point ja! movement movement acts as an over0center togge oc", providing a high grip force to !eight ratio. This mechanism !i remain oc"ed even if air pressure is ost. *ifferences Beteen A -3>a And .3>a 9ripper1 -3>a 9ripper1

The most popuar stye of gripper, a % >a! grippers #anguar, parae and togge+ provide % mounting ocations for the fingers that come in contact !ith the part to be grasped. The ja!s move in a synchronous motion opening and cosing to!ard the centra a8is of the gripper   body .3>a 9ripper1

A more speciaiEed stye of gripper, a ) >a! grippers #parae and togge+ provide ) mounting ocations for the fingers that come in contact !ith the part to be grasped. The ja!s move in a synchronous motion opening and cosing to!ard the centra a8is of the gripper   body.  body. ) >a!s provide more contact !ith the part to be grasped and more accurate centering than % ja! modes. %nternal 7s $:ternal 9ripping1

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2rippers are used in t!o different hoding options, &8terna and 7nterna. The option used is dete determ rmin ined ed by the the geom geomet etry ry of the the part part to be gras graspe ped, d, the the proc proces esss to be perfo perform rmed ed,, orientation of the parts to be grasped and the physica space avaiabe. &8terna3 &8terna gripping is the most common !ay to hod parts. The cosing force of the gripper is used to hod the part. 7nterna3 7nterna gripping is used !hen the part geometry !i ao! and !hen the process to  be performed need access to the outside surface of the part grasped. The opening force of the gripper is used to hod the part. T//+%29?&%29$R *$(%92 C/2(%*$RAT%/2(1

'ustom gripper tooingfingers are needed for each appication. =ingers are used to actuay ma"e contact !ith the part to be grasped. 'arefu consideration !hen designing these fingers can greaty reduced the siEe and grip force of the gripper needed for the appication. The encompassing or retention finger shape is preferred because it increases stabiity and aso reduces the necessary grip force. 4o!ever, the additiona ja! trave re-uired to encompass or  retain the part must be ta"en into consideration.

&igure -"-"9ripper

-",". (tepper Motor1

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'ustom 'ustom grippe gripperr tooin tooingg steppe stepperr motor motor is an eectr eectrome omecha chanic nica a dev device ice !hich !hich con conver verts ts eectrica puses into discrete mechanica movements. The shaft or spinde of a stepper motor  rotates rotates in discrete discrete step increments increments !hen eectrica eectrica command command puses puses are appied to it in the  proper se-uence. se-uence. The motors rotation has severa direct reationships reationships to these appied appied input to these these appied appied input input puses. puses. The se-uenc se-uencee of the appied appied puses puses is directy directy reated reated to the direction reated to the fre-uency of the input puses and the ength of rotation is directy reated to the number of input input puses appied. appied. -",".", The rotor1

The rotor itsef is mad madee from t!o discs, a itte i"e gear gears, s, one of !hic !hichh is a magnetic magnetic north  poe and the other is a south poe .:hen !e put the t!o discs bac" to bac", !e get north and south poe teeth aternating around the edge. 7f you find that hard to picture, imagine your eft hand is a magnetic north poe and is coored red, !hie your right hand is a magnetic south  poe and coored bue. 7f you put one hand on top of the other so the fingers of one hand aternate !ith the fingers of the other, then oo" do!n, youG see aternating north and south  poe FteethF #the fingers+ around the edge. ThatGs effectivey !hat !e have in the rotor of a stepper motor. -","."- The (tator

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Around the edge of the rotor, !e have the stator3 in this e8ampe, four eectromagnets that can be s!itched on and off individuay. 2eneray the eectromagnets in a stepper  motor !or" in pairs, !ith each opposing pair of magnets s!itching on together to ma"e a north poe at the same time, foo!ed by the magnets at right anges, !hich aso !or" together. 7 prefer to dra! it a sighty different !ay, !hich 7 thin" is simper and easier to understand. &8acty !hat s!itches on !hen depends on ho! many rotor teeth #steps+ there are and ho! many eectromagnet cois surround them3 the geometry and aignment of a stepper motor has to be just right to ma"e the rotor  turn.

&ig -"5 4orking of Motor

The right ee eectr ctroma omagne gnett is ene energ rgiEe iEedd and become becomess a no north rth po poe e #re #red+ d+ and the ef eftt eectromagnet becomes a south poe #bue+. This pus the rotor around by one step so a  bue tooth on the rotor snaps to!ard the right r ight eectromagnet and a red tooth snaps to!ard the eft eectromagnet. $.  No! the bottom eectromagnet eectromagnet becomes a north poe, poe, the top magnet becomes becomes a south

 poe, and the t!o horiEonta horiEonta magnets are s!itched s!itched off. Again, Again, the teeth of the rotor are  pued around by one step. $< APATA &N27N&&R7N2 '@&2&,APATA

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%. The vertica magnets are no! s!itched off and the horiEonta magnets are s!itched on

again, but !ith the opposite poarity #pattern of magnetism+ that they had before. The teeth of the rotor advance by one more step. ). =inay, the vertica magnets are s!itched on again, in the opposite poarity to before,

and the horiEonta magnets are s!itched off. The rotor mores around one more step. The !hoe cyce then repeats.

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-","5 R& >ammer1

The omb >ammer or 7&5#7mproved &8posive 5evice+ >ammer can neutraiEe  prevent deady crimina acts such as radio controed 'ar ombs, roadside bombs, ambush by remote 7&5 attac"s, assassinations, and remote controed terrorist events. A Radio =re-uency #R=+ >ammer is a device used to disrupt or prevent communication via a  broadcasted R= signa. R= >ammer can be directiona i.e., focus energy !here the user intends to jam, directing R= >amming signas on areas of concern. The effective range of a jammer is dependent upon the strength of its po!er source and the immediate physica environment #his or !as !hich may boc" the jamming signa+.

&ig -"6 R& >ammer

o!er po!ered jammers have a ca0boc" range of about )/ feet !hie higher po!er units can create a ceuar signa0free Eone about the siEe of a footba fied. >amming1

Through the transmission of a high po!er signa on the same fre-uency of a ce phone, the  jamming device creates a competing signa that coides !ith, and, in effect, cances out the ceuar signa. 'e phones, !hich are designed to increase po!er in the case of o! eves of  interference, react to this interference.  >ammer components 3

The components !hich can be ocated in every jammer incude3

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Antenna3

 The antenna transmits the jammers interrupting signa. 'ertain jammers contain an interna antenna !hie others have e8terna antennas !hich give the user a onger range to broadcast the signa and more contro over fre-uency tuning. 7oltage3controlled oscillator 3

The osciator is responsibe for generating the competing radio signa. Tuning Tu ning circuit3

7n those units the enabe user0specified fre-uency tuning, the tuning circuit contros the  broadcast fre-uency fre-uency of the circuit by sending sending a specific specific votage to the osciator. osciator. 2oise generator 3

The noise generator, !hich is part of the tuning circuit, actuay creates randomiEed eectric output !ithin a specific fre-uency range !hich is used to disrupt a 7&5 net!or" signa. R& amplification !gain stage# 3

This ampifier contros the eve of po!er to the tuning circuit. 7t is responsibe for boosting the po!er as necessary to jam signas. Poer (upply3

Smaer jamming devices may use batteries !hie arger and more po!er0intensive devices can be pugged into a standard outet or connected through the eectrica system of a vehice R& @ammers are used1 • • •

6ainy used to disrupt the communications of criminas and terrorists. 7n drug raids, jammers can be used to prevent outside communication. R= jammers to prevent the use of ce0phone activated bombs in sub!ays, airports, and the routes of presidentia motorcades. %/

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:or"ing :o r"ing votage3 )D 0 $%D fo ma8. po!er use $%D :or"ing :o r"ing current3 current 3 ma8 ess than ;/mA ma8 , and min ?mA Resonance mode3 #SA:+ 6oduation mode3 ASK  :or"ing :o r"ing fre-uency3 &ve )$(64E @r ;))64E Transmission Transmission po!er3 %(m: #)$(64E at $%D+ =re-uency error3 M$(/"4E #ma8+ Deocity De ocity 3 ess than $/Kbps So this modue !i transmit up to ?/m in open area .

R& Receiver 3

:or"ing votage3 (./D5' M/.(D :or"ing current3(.(mA ma8 :or"ing method3 @@KASK  :or"ing fre-uency3 )$(64E0;)).?%64E and!idth3 %64E Sensitivity3 e8ce O$//dm #(/+ Transmitting Transmitting veocity3 Q?.1Kbps #at )$(64E and 0?(dm+  the use of an optiona antenna !i increase the effectiveness of your !ireess communication. -","6 Bluetooth Module1

A uetooth modue is used for interfacing the Arduino Robot !ith the Android Smartphone !ireessy. !ireessy. 4ere !e are using uetooth 6odue %./. (pecifications of Bluetooth Module -" 3 •

This is a fuy -uaified uetooth version of D%./M&5R 

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&nhanced 5ata Rate for both )6bps and %6bps moduation modes %$

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&asy to use and a ).) D is re-uired for its !or"ing

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Provide a fu speed of uetooth connection !ith Scatternet and Piconet Support

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UART,US, P'6 interface

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o! po!er operation

Motor *river3

  =or controing the eectrica motors used in the Arduino Robot, a motor driver 7' 0 %?)5 Push0Pu =our 'hanne 5river 7'0 is used. (tepper motors1

The 5' motors are used for the movement of the Arduino Robot according to the input given  by the user. user. uetooth is a !ireess protoco utiiEing short0range communications technoogy faciitating data transmission over short distances from fi8ed andor mobie devices, creating !ireess  persona area net!or"s #PANs+. #PANs+. The intent behind the deveopment of uetooth !as the creation of a singe digita !ireess protoco, capabe of connecting mutipe devices and overcoming issues arising from synchroniEation of these devices. uetooth uses a very robust radio technoogy caed fre-uency hopping spread spectrum. 7t chops up the data being sent and transmits chun"s of it on up to <( different fre-uencies. 7n its basic mode, the moduation is 2aussian fre-uency shift "eying #2=SK+. 7t can achieve a gross data rate of $ 6bs. uetooth provides a !ay to connect and e8change information bet!een devices such as mobie phones, teephones, aptops, persona computers, printers, 2PS receivers, digita cameras, and video game consoes over a secure, gobay unicensed 7ndustria, Scientific, and and 6edi 6edica ca #7S6 #7S6++ %.; %.; 24 24EE shor short0r t0ran ange ge radi radioo frefre-ue uenc ncyy band band!i !idt dth. h. The The ue ueto toot othh specifications are deveoped and icensed by the uetooth Specia 7nterest 2roup #S72+. The ueto uetooth oth S72 con consis sists ts of compan companies ies in the areas areas of teeco teecomm mmuni unicat cation ion,, comput computing ing,, net!or"ing, and consumer eectronics. uetooth is a standard and communications protoco primariy designed for o! po!er  consumption, !ith a short range #po!er0cass0dependent3 $ meter, $/ meters, $// meters+  based on o!0cost transceiver microchips in each device. uetooth enabes these devices to comm commun unic icat atee !ith !ith each each othe otherr !h !hen en they they are are in rang range. e. The The devi device cess use use a radi radioo communications system, system, so they do not have to be in ine of sight of each other, and can even  be in other rooms, as ong as the received transmission is po!erfu enough. uetooth device

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cass indicates the type of device and the supported services of !hich the information is transmitted during the discovery process.

Class

Ma:imum Permitted Poer Range m4!dBm# !appro:imate#

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Table Table -". Bluetooth *ata Range Bluetooth devices1

uetooth e8ists in many products, such as teephones, printers, modems and headsets. The technoogy is usefu !hen transferring information bet!een t!o or more devices that are near  each other in o!0band!idth situations. uetooth is commony used to transfer sound data %) APATA &N27N&&R7N2 '@&2&,APATA

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!ith !ith teeph teephone oness #i.e. #i.e. !ith !ith a ueto uetooth oth headse headset+ t+ or byte byte data data !ith !ith han hand0h d0hed ed comput computers ers #transferring fies+. uetooth protocos simpify the discovery and setup of services bet!een devices. uetooth devices can advertise a of the services they provide. This ma"es using services easier   because more of the security, security, net!or" address and permission configuration can be automated than !ith many other net!or" types. /perating system support1

Appe has supported uetooth since 6ac @S  v$/.% !hich !as reeased in %//%. =or  6icrosoft patforms, :indo!s P Service Pac" % and ater reeases have native support for  uetooth. inu8 has t!o popuar uetooth stac"s, ue and Affi8. The ue stac" is incuded !ith most inu8 "ernes and it !as originay deveoped by Juacomm. The Affi8 stac" !as deveoped by No"ia. =reeS5 features uetooth support since its (./ reease.  NetS5 features uetooth support since its ;./ reease. 7ts uetooth stac" has been ported to @penS5 as !e.  Mobile Phone requirements requirements

A mobie phone that is uetooth enabed is abe to pair !ith many devices. To ensure the  broadest support of feature functionaity together !ith egacy device support. The @6TP foru forum m has has rece recent nty y pub pubis ishe hedd a reco recomm mmen enda dati tion onss pape paper, r, enti entit ted ed F Fu uet etoo ooth th oca oca 'onnectivityF, 'onnectivityF, see e8terna in"s beo! to do!noad this paper. This pubication recommends t!o casses, asic and Advanced, !ith re-uirements that cover  imaging, printing, stereo audio and in car usage. 0igh3speed Bluetooth1

@n %* 6arch %//1, the uetooth Specia 7nterest 2roup announced its seection of the :i6edia Aiance 6uti0and @rthogona =re-uency 5ivision 6utipe8ing #60@=56+ version of U: for integration !ith current uetooth !ireess !ir eess technoogy. technoogy. U: integr integrati ation on !i !i create create a versio versionn of ueto uetooth oth !iree !ireess ss techno technoog ogyy !ith !ith a high0 high0 speedhigh0data0rate option. This ne! version of uetooth technoogy !i meet the high0 %; APATA &N27N&&R7N2 '@&2&,APATA

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speed demands of synchroniEing and transferring arge amounts of data, as !e as enabing high0-uaity video and audio appications for portabe devices, muti0media projectors and teevision sets, and !ireess D@7P. At the same time, uetooth technoogy !i continue catering to the needs of very o! po!er  appications such as mouse, "eyboards, and mono headsets, enabing devices to seect the most appropriate physica radio for the appication re-uirements, thereby offering the best of   both !ords. Communication and connection1

A master uetooth device can communicate communicate !ith up to seven devices. This net!or" group of  up to eight devices is caed a piconet. A piconet is an ad0hoc computer net!or", using uetooth technoogy protocos to ao! one master device to interconnect !ith up to seven active devices. Up to %(( further devices can  be inactive, or par"ed, par"ed, !hich the master master device can bring into active status status at any time. At any given time, data can be transferred bet!een the master and one other device, ho!ever, the devices can s!itch roes and the save can become the master at any time. The master  s!itch s!itches es rapid rapidyy from from one dev device ice to ano anothe therr in a round0 round0rob robin in fashio fashion. n. #Simu #Simuta taneo neous us transmission from the master to mutipe other devices is possibe, but not used much.+ uetooth specification ao!s connecting t!o or more piconets together to form a scatternet, !ith some devices acting as a bridge by simutaneousy paying the master roe and the save roe in one piconet. 6any US uetooth adapters are avaiabe, some of !hich aso incude an 7r5A adapter. @der #pre0%//)+ #pre0%//)+ uetooth uetooth adapters adapters,, ho!e ho!ever ver,, have imited services, services, offering ony the uetooth &numerator and a ess0po!erfu uetooth Radio incarnation. Such devices can in" computers !ith uetooth, but they do not offer much in the !ay of services that modern adapters do. (etting up connections1

Any uetooth device !i transmit the foo!ing information on demand3

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5evice name.

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5evice cass.

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ist of services.

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Techn chnica ica inform informati ation, on, for e8am e8ampe pe,, dev device ice featur features, es, manuf manufac acture turer, r, ueto uetooth oth specification used, coc" offset.

Any device may perform an in-uiry to find f ind other devices to connect to, and any device can be configured to respond to such in-uiries. 4o!ever, if the device trying to connect "no!s the address of the device, it a!ays responds to direct connection re-uests and transmits the information sho!n in the ist above if re-uested. Use of device services may re-uire pairing or acceptance by its o!ner, but the connection itsef can be initiated by any device and hed unti it goes out of range. Some devices can be connected to ony one device at a time, and connec con nectin tingg to them them preve prevents nts them them from con connec nectin tingg to other other devic devices es and app appear earing ing in in-uiries unti they disconnect from the other device. &very device has a uni-ue ;*0bit address. 4o!ever these addresses are generay not sho!n in in-uiries. 7nstead, friendy uetooth names are used, !hich can be set by the user. This name appears !hen another user scans for devices and in ists of paired devices. 6ost phones have the uetooth name set to the manufacturer and mode of the phone by defaut. 6ost phones and aptops sho! ony the uetooth names and specia programs that are re-uired to get additiona information about remote devices. This can be confusing as, for  e8ampe, there coud be severa phones in range r ange named T1$/. Pairing1

Pairs of devices may estabish a trusted reationship by earning #by user input+ a shared secret "no!n as a  passkey. A device that !ants to communicate ony !ith a trusted device can cryptographicay authenticate the identity of the other device. Trusted devices may aso encrypt the data that they e8change over the air!aves so that no one can isten in. The encryption can, ho!ever, be turned off, and pass"eys are stored on the device fie system, not on the uetooth chip itsef. Since the uetooth address is permanent, a pairing is preserved, even if the uetooth name is changed. Pairs can be deeted at any time by either device. 5evices generay re-uire pairing or prompt the o!ner before they ao! a remote device to

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use any or most of their services. Some devices, such as mobie phones, usuay accept @& business cards and notes !ithout any pairing or prompts. 'ertain printers and access points ao! any device to use its services by defaut, much i"e unsecure unsecuredd :i0=i :i0=i net!or"s. net!or"s. Pairing Pairing agorithms agorithms are sometime sometimess manufact manufacturer0 urer0spec specific ific for  transmitters and receivers used in appications such as music and entertainment. uetooth %.$ has an optiona Ftouch0to0pairF feature based on N='. y simpy bringing t!o devices into cose range #around $/cm+, pairing can securey ta"e pace !ithout entering a  pass"ey or manua manua configuration. configuration. Air interface1

The protoco operates in the icense0free 7S6 band at %.;0%.;*)( 24E. To avoid interfering !ith other protocos that use the %.;( 24E band, the uetooth protoco divides the band into
+ist of applications1 •

:ire :ireess ess con contro tro of and and commu communic nicati ation on bet!ee bet!eenn a mobie mobie pho phone ne and a hands hands0fre 0freee headset. This !as one of the eariest appications to become popuar.

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:ireess net!or"ing bet!een P's in a confined space and !here itte band!idth is re-uired.

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:ireess communications !ith P' input and output devices, the most common being the mouse, "eyboard and printer.

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Transfer of fies bet!een devices !ith @&.

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Transfer of contact detais, caendar appointments, and reminders bet!een devices !ith @&.

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Repacement of traditiona !ired seria communications in test e-uipment, 2PS receivers, medica e-uipment, bar code scanners, and traffic contro devices.

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=or contros !here infrared !as traditionay used.

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Sending sma advertisements from uetooth enabed advertising hoardings to other, discoverabe, uetooth devices.

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T!o seventh0generation game consoes, NintendoGs :ii and SonyGs PayStation ) use uetooth for their respective !ireess controers.

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5ia0up internet access on persona computer or P5A using a data0capabe mobie phone as a modem.

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-"- (oftare -"-",Android *evelopment environment $clipse

7n computer computer programmi programming ng,, $clipse is an integrated integrated deveopm deveopment ent environme environment nt #7 #75& 5&+. +. 7t contains a base !or"space and !or"space and an e8tensibe pug0in e8tensibe  pug0in system  system for customiEing the environment. :ritten mosty in >ava, >ava, &cipse can be used to deveop appications.  &cipse is used to deveop appications in other  programming anguages3 anguages3 Ada Ada,, AAP, AAP, ', 'M M, '@@, '@@, =ortran, =ortran, 4as"e, 4as"e, >avaScript, >avaScript, asso, asso, ua, ua, Natura,  Natura, Per, Per, P4P, P4P, Proog, Proog, Python. Python . Android 5eveopment Toos #A5T+ is a pugin for the &cipse 75& that is designed to give you a po!erfu, integrated environment in !hich to buid Android appications. A5T e8tends the capabiities of &cipse to et you -uic"y set up ne! Android projects, create an appication U7, add pac"ages based on the Android =rame!or" AP7#Appication program interface+, debug your appications using the Android S5K toos, and even e8port signed #or  unsigned+ .ap" fies in order to distribute your appication. 5eveoping in &cipse !ith A5T is highy recommended and is the fastest !ay to get started. :ith the guided project setup it provides, as !e as toos integration, custom 6 editors, andd de an debu bugg ou outp tput ut pa pane ne,, A5T gi give vess you an in incr cred edib ibe e bo boos ostt in de deve veo opi ping ng And ndro roid id appications.

&ig -"8 $clipse -"-"- Arduino $nvironment

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Programming Programming of Ardiuno1

The Arduino 7ntegrated 5eveopment &nvironment 0 or Arduino Soft!are #75&+ 0 contains a te8t editor for !riting code, a message area, a te8t consoe, a toobar !ith buttons for  common functions and a series of menus. 7t connects to the Arduino and 2enuino hard!are to upoad programs and communicate !ith them. 4riting (ketches1

Programs Programs !ritten using using Arduino Arduino Soft!are #75&+ are caed s"etches. s"etches. These s"etches s"etches are !ritten in the te8t editor and are saved !ith the fie e8tension .ino. The editor has features for  cuttingpasting and for searchingrepacing te8t. The message area gives feedbac" !hie saving and e8porting and aso dispays errors. The consoe dispays te8t output by the Arduino Soft!are #75&+, incuding compete error messages and other information. The  bottom righthand corner of the !indo! dispays the configured board and seria port. The toobar buttons ao! you to verify and upoad programs, create, open, and save s"etches, and open the seria monitor.  Note3 Dersions of the Arduino Soft!are #75&+ prior to $./ saved s"etches !ith the e8tension .pde. 7t is possibe to open these fies !ith version $./, you !i be prompted to save the s"etch !ith the .ino e8tension on save.

Derify 'hec"s your code for errors compiing it. Upoad 'ompies your code and upoads it to the configured board.  Note3 7f you are using an e8terna programmer !ith your board, you can hod do!n the FshiftF "ey on your computer !hen using this icon. The te8t !i change to FUpoad using ProgrammerF  Ne! 'reates a ne! s"etch. @pen Presents a menu of a the s"etches in your s"etchboo". 'ic"ing one !i open it !ithin the current !indo! over!riting its content.  Note3 due to a bug in >ava, this menu doesnGt scroI if you need to open a s"etch ate in the ist, use the =ie  S"etchboo" menu instead. instead. )/ APATA &N27N&&R7N2 '@&2&,APATA

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Save Saves your s"etch. Seria 6onitor @pens the seria monitor.

Additiona commands are found !ithin the five menus3 =ie, &dit, S"etch, Toos, Toos, 4ep. The menus are conte8t sensitive, !hich means ony those items reevant to the !or" currenty  being carried out are are avaiabe. &ile •

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 Ne! 'reates a ne! instance of the editor, !ith the bare minimum structure of a s"etch aready in pace. @pen Ao!s to oad a s"etch fie bro!sing through the computer drives and foders. @pen Recent Provides a short ist of the most recent s"etches, ready to be opened. S"etchboo" Sho!s the current s"etches !ithin the s"etchboo" foder structureI cic"ing on any name opens the corresponding s"etch in a ne! editor instance. &8ampes Any e8ampe provided by the Arduino Soft!are #75&+ or ibrary sho!s up in this menu item. A the e8ampes are structured in a tree that ao!s easy access by topic or ibrary. 'ose 'oses the instance of the Arduino Soft!are from !hich it is cic"ed. Save Saves the s"etch !ith the current name. 7f the fie hasnGt been named before, a name !i be provided in a FSave as..F !indo!. Save as.. . Ao!s to save the current s"etch !ith a different name. Page Setup 7t sho!s the Page Setup !indo! for printing. Print Sends the current s"etch to the printer according to the settings defined in Page Setup. Preferences @pens the Preferences !indo! !here some settings of the 75& may be customiEed, as the anguage of the 75& interface. Juit 'oses a 75& !indo!s. The same s"etches open !hen Juit !as chosen !i be automaticay reopened the ne8t time you start the 75&.

$dit

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UndoRedo 2oes bac" of one or more steps you did !hie editingI !hen you go bac", you may go for!ard !ith Redo. 'ut Removes the seected te8t from the editor and paces it into the cipboard. 'opy 5upicates the seected te8t in the editor and paces it into the cipboard. 'opy for =orum 'opies the code of your s"etch to the cipboard in a form suitabe for posting to the forum, compete !ith synta8 cooring. 'opy as 4T6 'opies the code of your s"etch to the cipboard as 4T6, suitabe for embedding in !eb pages. Paste Puts the contents of the cipboard at the cursor position, in the editor. Seect A Seects and highights the !hoe content of the editor. 'ommentUncomment Puts or removes the  comment mar"er at the beginning of each seected ine. 7ncrease5ecrease 7ncrease5ecrease 7ndent Adds or subtracts a space at the beginning of each seected ine, moving the te8t one space on the right or eiminating a space at the beginning. =ind @pens the =ind and Repace !indo! !here you can specify te8t to search inside the current s"etch according to severa options. =ind Ne8t 4ighights the ne8t occurrence 0 if any 0 of the string specified as the search item in the =ind !indo!, reative to the cursor position.

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 Find Previous

4ighights the previous occurrence 0 if any 0 of the string specified as the search item in the =ind !indo! reative to the cursor position. (ketch •

Derify'ompie 'hec"s your s"etch for errors compiing itI it !i report memory usage for code and variabes in the consoe area.

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Upoad 'ompies and oads the binary fie onto the configured board through the configured Port.

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Upoad Using Programmer3 This !i over!rite the bootoader on the boardI you !i need to use Toos V urn ootoader to restore it and be abe to Upoad to US seria port again. 4o!ever, it ao!s you to use the fu capacity of the =ash memory for your s"etch. )%

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&8port 'ompied inary3 Saves a .he8 fie that may be "ept as archive or sent to the board using other toos.

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Sho! S"etch =oder 3 @pens the current s"etch foder.

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7ncude ibrary3 Adds a ibrary to your s"etch by inserting Wincude statements at the start of your  code. =or more detais, see ibraries beo!. Additionay, Additionay, from this menu item you can access the ibrary 6anager and import ne! ibraries from .Eip fies.

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Add =ie...3 Adds a source fie to the s"etch #it !i be copied from its current ocation+. The ne! fie appears in a ne! tab in the s"etch !indo!. =ies can be removed from the s"etch using the tab menu accessibe cic"ing on the sma triange icon beo! the seria monitor one on the right side o the toobar.

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Auto =ormat This formats your code nicey3 i.e. indents it so that opening and cosing cury braces ine up, and that the statements inside cury braces are indented more.

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Archive S"etch Archives a copy of the current s"etch in .Eip format. The archive is paced in the same directory as the s"etch.

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=i8 &ncoding 9 Reoad =i8es possibe discrepancies bet!een the editor char map encoding and other operating systems char maps.

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Seria 6onitor @pens the seria monitor !indo! and initiates the e8change of data !ith any connected board on the currenty seected Port. This usuay resets the board, if the  board supports Reset Reset over seria port port opening. ))

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oard Seect the board that youGre using.

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Port This menu contains a the seria devices #rea or virtua+ on your machine. 7t shoud automaticay refresh every time you open the top0eve toos menu.

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Programmer =or seecting a har!are programmer !hen programming a board or chip and not using the onboard US0seria connection. Normay you !onGt need this, but if youGre  burning a boot0oader boot0oader to a ne! microcontroer, microcontroer, you you !i use this.

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urn ootoader The items in this menu ao! you to burn a boot oader onto the microcontroer on an Arduino board. This is not re-uired r e-uired for norma use of an Arduino or 2enuino board  but is usefu if you you purchase a ne! ne! ATm ATmega ega microcontroer microcontroer #!hich normay come !ithout a bootoader+. &nsure that youGve seected the correct board from the Boards menu before burning the bootoader on the target board.

0elp

4ere you find easy access to a number of documents that come !ith the Arduino Soft!are #75&+. You You have access to 2etting Started, Reference, this guide to the 75& and other documents ocay, ocay, !ithout an internet connection. The documents documents are a oca copy of the onine ones and may in" bac" to our onine !ebsite. •

 Find in Reference

This is the ony interactive function of the 4ep menu3 it directy seects the reevant  page in the oca oca copy of the Reference Reference for the function or command under under the cursor. cursor. (ketchbook 

The Arduino Arduino Soft!are #75&+ uses the concept of a s"etchboo"3 a standard pace to store your  programs #or s"etches+. s"etches+. The s"etches s"etches in your your s"etchboo" can be opened from the &ile  (ketchbook  menu  menu or from the /pen button on the toobar. The first time you run the Arduino soft!are, it !i automaticay create a directory for your s"etchboo". You You can vie! or change the ocation of the s"etchboo" ocation from !ith the Preferences diaog. Beginning ith version ,") files are saved ith a "ino file e:tension" Previous versions use the "pde e:tension" Dou may still open "pde named files in version ," and later) the softare ill automatically rename the e:tension to "ino .

Tabs) Multiple &iles) and Compilation

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Ao!s you to manage s"etches !ith more than one fie #each of !hich appears in its o!n tab+. These can be norma Arduino code fies #no visibe e8tension+, ' fies #.c e8tension+, 'M M fies #.cpp+, or header fies #.h+. Uploading

efore upoading your s"etch, you need to seect the correct items from fr om the Toos V oard and Toos V Port menus. The boards are described beo!. @n the 6ac, the seria port is  probaby something something i"e devtty.usbmod devtty.usbmodem%;$ em%;$ #for an Uno or 6ega%(1/ 6ega%(1/ or eonardo+ eonardo+ or  ?devtty.usbseria0$$ devtty.usbseria0$$ #for a 5uemianove or earier US board+, or devtty.USA$?J:$b devtty.USA$?J:$b$P$.$ $P$.$ #for a seria board connected !ith a Keyspan US0to0Seria adapter+. @n :indo!s, :indo!s, itGs probaby or '@6% #for a seria board+ or '@6;, '@6(, '@6<, or higher #for a US board+ 0 to find out, you oo" for f or US seria device in the ports section of the :indo!s 5evice 6anager. 6anager. @n inu8, it shoud be devttyA'68 , devttyUS8 or simiar. @nce youGve youGve seected the correct seria port and board, press the upoad button in the toobar or seect the Upoad item from the =ie menu. 'urrent Arduino Arduino boards !i reset automaticay and begin the upoad. :ith oder boards #pre05iecimia+ that ac" auto0reset, youG need to press the reset button on the board just before starting the upoad. @n most  boards, youG youG see the R and T T &5s bin" as the s"etch is upoaded. upoaded. The Arduino Soft!are #75&+ !i dispay a message !hen the upoad is compete, or sho! an error. :hen you upoad a s"etch, youGre using the Arduino bootoader, bootoader, a sma program that has  been oaded on on to the microcontroer microcontroer on your board. 7t ao!s you to upoad code code !ithout using any additiona hard!are. The bootoader is active for a fe! seconds !hen the board resetsI then it starts !hichever s"etch !as most recenty upoaded to the microcontroer. microcontroer. The  bootoader !i bin" the on0board #pin $)+ &5 &5 !hen it starts #i.e. !hen !hen the board resets+. resets+. +ibraries

ibraries provide e8tra functionaity for use in s"etches, e.g. !or"ing !ith hard!are or manipuating data. To To use a ibrary in a s"etch, seect it from the S"etch V 7mport ibrary menu. This !i insert one or more Wincude statements at the top of the s"etch and compie the ibrary !ith your s"etch. ecause ibraries are upoaded to the board !ith your s"etch, they increase the amount of space it i t ta"es up. 7f a s"etch no onger needs a ibrary, ibrary, simpy deete its Wincude statements from the top of your code. There is a ist of ibraries in the reference. Some ibraries are incuded !ith the Arduino soft!are. @thers can be do!noaded from a variety of sources or through the ibrary 6anager. Starting !ith version $./.( of the 75&, you do can import a ibrary from a Eip fie and use it in an open s"etch. Third3Party 0ardare

Support for third0party hard!are can be added to the hard!are directory of your s"etchboo" directory. directory. Patforms instaed there may incude board definitions #!hich appear in the board menu+, core ibraries, bootoaders, and programmer definitions. To insta, create the hard!are directory, directory, then unEip the third0party patform into its o!n sub0directory. #5onGt use FarduinoF as the sub0directory name or youG override the buit0in Arduino patform.+ To uninsta, simpy deete its directory. )( APATA &N27N&&R7N2 '@&2&,APATA

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(erial Monitor

5ispays seria data being sent from the Arduino or 2enuino board #US or seria board+. To send data to the board, enter te8t and cic" on the FsendF button or press enter. 'hoose the  baud rate from the drop0do!n drop0do!n that matches matches the rate passed passed to Seria.begin in your your s"etch.  Note that on :indo!s, :indo!s, 6ac or inu8, the Arduino or 2enuino 2enuino board !i reset reset #rerun your s"etch e8ecution to the beginning+ !hen you connect !ith the seria monitor. You can aso ta" to the board from Processing, =ash, 6a86SP, etc . Preferences

Some preferences can be set in the preferences diaog #found under the Arduino menu on the 6ac, or =ie on :indo!s :indo!s and inu8+. The rest can be found in the preferences fie, !hose ocation is sho!n in the preference diaog. +anguage (upport

&ig -"E +anguage Preference of Arduino

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."Robot and Application *esign .", Robot *esign %ntroduction1

7n this modern environment everybody uses smart phones !hich are a part of their day0 to0day ife. They use a their daiy uses i"e ne!spaper reading, socia net!or"ing, home automation contro, vehice security, security, heath maintenance etc in the form of appications !hich can be easiy instaed in their hand hed smart phones. This project approached pic" and pace arm and robot controed using android smart phones . 4ence a dedicated appication is created to contro an embedded robotic hard!are. &mbedded hard!are is deveoped on Arduino and to be controed by an Android  patform smart phone. phone. Arduino Arduino is to receive the the AT AT commands from the smart phone and ta"es the ease of use. ).$.Robot 5esign

 .","- Robot Movement *esign1

The purpose of the robot contro program is to have the freedom to transate the robot in any direction, and rotate to given anges. ecause the robot has omni directiona !hees and amost has a radia symmetric body, fe! rotationa adjustments need to be programmed. )< APATA &N27N&&R7N2 '@&2&,APATA

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7nstead a creative method of coordinating the four omni directiona !hees shoud be impemented !ith appropriate considerations for a B"ic"ingC mechanism on the BfrontC of the robot.

Input Robot Data (x, y, theta)

Destination (x, y)

Processes  Assume Unblocked Path to Location

$utput

Calculate Anle to Destination

"ranslate to Destination

Check i! "heta is in  Anle Rane

#ick

Packae Data !or  "ransmission

Decompose %o&ements %o&ements into %otor Commands "ransmit Commands to Robots

&ig .", /perations during Robot Movement %nterface1

After processing the image a ocation for the robot shoud be avaiabe in 8,y coordinates. Additionay, Additionay, using rudimentary strategy functions, the BbehaviorC part of the program shoud give a vague idea of !here the robot needs to be reocated to. Using these t!o parameters as input, the movement is merey a Bstraight ineC path to the destination. asic movement agorithms assume strategy is responsibe for coision avoidance and for the destination for  each robot. =oo!ing the main programLs evauation for movement, the instructions need to be transated into simpe motor commands and sent out to the robots using some sort of communication  parser. Abstraction1

&ach robot is assumed to be a member an array. array. :ith this in mind, every robot has an array of  ; motors. An individua motor can be decomposed decomposed into a singe data structure of for!ard and reverse #binary+, and it is the coection of these states mutipied across the ; motors that gives the robot more degrees of freedom. y manipuating the data in the structure, the motor  arrays can be output as pac"ages and the uni-ue combination of direction and speed for each motor motor can can dictat dictatee the robotL robotLss movem movement ents. s. Ad Addit dition iona ayy, becaus becausee the robots robots hav havee omni omni

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directiona

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they

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Robots Robot (')

Robot ()

Robot (n)

%otors %otor (')

%otor ()

%otor ()

%otor (*)

Control (')

#icker

 

Control ()

Direction (+orard - Re&erse) Re&erse)

Direction (+orard - Re&erse) Re&erse)

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&ig ."- Movement Controlling (tructure %mplementation

The easiest method of programming the transations is to manuay set each to a function. 4o!ever, this method is rather useess in a program !ith * distinct functions. 7nstead 7  propose eementary vector decomposition decomposition for movement. 7f each motor pair is assigned a direction based on itLs ocation on the robot, then by using the t!o pairs as the B8C and ByC component of the vector, the resutant can be dra!n to the given destination. )? APATA &N27N&&R7N2 '@&2&,APATA

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.",". Arm Movement

&ig .". Arm Movement

The term robot comes from the 'Eech !ord robota, generay transated as Fforced abor.F This describes describes the majority majority of robots robots fairy !e. 6ost robots in the !ord are designed designed for  heavy, repetitive manufacturing !or". They hande tas"s that are difficut, dangerous or   boring to human beings. beings. The most common manufacturing robot is the robotic arm. A typica robotic arm is made up of seven meta segments, joined by si8 joints. The computer contros the robot by rotating indi indivi vidu dua a step step moto motors rs conn connec ecte tedd to each each join jointt #som #somee arg arger er arms arms use use hydr hydrau auic icss or   pneumatics+. Uni"e ordinary motors, step motors move in e8act increments This ao!s the computer to move the arm very precisey, repeating e8acty the same movement over and over again. The robot uses motion sensors to ma"e sure it moves just the right amount.

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&ig ."5 Pick and Place /peration

An industria robot !ith si8 joints cosey resembes a human arm 00 it has the e-uivaent of a shouder, an ebo! and a !rist. Typicay, the shouder is mounted to a stationary base structure rather than to a movabe body. This type of robot has si8 degrees of freedom, meaning it can pivot in si8 different !ays. A human arm, by comparison, has seven degrees of freedom. Your Yo ur armGs job is to move your hand from pace to pace. Simiary, Simiary, the robotic armGs job is to move an end effector effector from from pace to pace. pace. You You can outfit robotic arms !ith a sorts of end effect effectors ors,, !hich !hich are suite suitedd to a partic particua uarr app appic icati ation. on. @ne commo commonn end effector effector is a simpified version of the hand, !hich can grasp and carry different objects. Robotic hands often have buit0in pressure sensors that te the computer ho! hard the robot is gripping a  particuar object. This "eeps the robot from dropping or brea"ing !hatever itGs carrying. @ther end effectors incude bo!torches, dris and spray painters. 7ndustria robots are designed to do e8acty the same thing, in a controed environment, over  and over again. =or e8ampe, a robot might t!ist the caps onto peanut butter jars coming do!n an assemby assemby ine. To teach a robot robot ho! to do its job, the programmer programmer guides guides the arm through the motions using a handhed controer. The robot stores the e8act se-uence of  movements in its memory, and does it again and again every time a ne! unit comes do!n the assemby ine.

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6ost industria robots !or" in auto assemby ines, putting cars together. Robots can do a ot of this !or" more efficienty than human beings because they are so precise. They a!ays dri in the e8acty the same pace, and they a!ays tighten bots !ith the same amount of  force, no matter ho! many hours theyGve been !or"ing. 6anufacturing robots are aso very important in the computer industry. 7t ta"es an incrediby precise hand to put together a tiny microchip. *egree /f &reedom 3

The number of 5@= that a manipuator possesses is the number of independent position variabes that !oud have to be specified in order to ocate a parts of the mechanismI it refers to the number of different !ays in !hich a robot arm can move in the particuar  direction. 7n the case of typica industria robots, because a manipuator is usuay an open "inematic chain, and because each joint position is usuay defined !ith a singe variabe, the number of   joints e-uas the number number of degrees of freedom. :e can use the arm to get the idea of degrees of freedom. Keeping the arm straight, moving it from from shoud shouder er,, !e can can move move in three three !ay !ays. s. Up0and Up0and0do 0do!n !n moveme movement nt is cae caedd pitch. pitch. 6ovement to the right and eft is caed ya!. y rotating the !hoe arm as scre!driver is caed ro. The shouder has three degrees of freedom. They are pitch, ya! and ro. 6oving the arm from the ebo! ony, hoding the shouder in same position constanty. The ebo! joint has the e-uivaent of pitch in shouder joint, thus the ebo! has one degree of  freedom. No! moving the !rist straight and motion ess, !e can bend the !rist and up and do!n, side to side and it can aso t!ist a itte. The o!er arm has the same three degrees of  freedom. Thus the robot has totay seven degrees of freedom. Three degrees of freedom are sufficient to bring the end of a robot arm to any point !ithin its !or"space, or !or" enveope in three dimensions.

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Algorithm for *esigning Arm1

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&ig ."6 Algorithm of Robot

."5 $quipment of R& >ammer3

$. 'onnect the modue in the foo!ing manner Dcc pin connects to Arduino (D 2N5 to Arduino 2N5 and 5ATA to Arduino Pin $% %.The button connects to Arduino pin % and needs to be earthed ). The antenna needs to be sodered onto the modue. The antenna is )(cm ong and sodered into an antenna sot in the transmitter modue. ;. The antenna is to be straight if possibe. The transmitter can be po!ered by any votage#Dcc+ bet!een $.(D and $%D. The higher the votage , the stronger the R= signa becomes. >ust ma"e sure not to e8ceed $%D because if you do the transmitter !i brea", !hich is bad. The data that the microcontroer !i be sending !i go into the pin abeed F5ata 7nF . ;; APATA &N27N&&R7N2 '@&2&,APATA

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&ig ."8 Arduino Uno connected to R& >ammer

&ig ."E &requency Response of >ammer

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."- Application *evelopment for Robot ."-", Programming Arduino for Robot (tepper +ibrary &unctions1

Stepper#steps, pin$, pin%+ Stepper#steps, pin$, pin%, pin), pin;+ 5escription3 This function creates a ne! instance of the Stepper cass that represents a particuar stepper motor attached to your Arduino board. board. Use it at the t he top of your s"etch, above setup#+ and oop#+. The number of parameters depends on ho! youGve !ired your motor 0 either using t!o or four pins of the Arduino board. Parameters1

steps3 the number of steps in one revoution of your motor. 7f your motor gives the number of degrees per step, divide that number into )1/ to get the number of steps #e.g. )1/  ).1 gives $// steps+. #int+  pin$, pin%3 t!o pins that are attached to the motor #int+  pin), pin;3 optiona optiona the ast t!o pins attached attached to the motor, motor, if itGs connected connected to four pins #int+ Returns3 A ne! ne! instance of the Stepper motor cass. &8ampe3 Stepper myStepper X Stepper#$//, (, 1+I set(peed!rpms#

5escription3 Sets the motor speed in rotations per minute #RP6s+. This function doesnGt ma"e the motor turn, just sets the speed at !hich it !i !hen you ca step#+. Parameters3 rpms3 the speed at !hich the motor shoud turn in rotations r otations per minute 0 a positive number #long + Returns3 None step!steps#

5escription Turns the motor a specific number of steps, at a speed determined by the most recent ca to setSpeed#+. This function is boc"ingI that is, it !i !ait unti the motor has finished moving to pass contro to the ne8t ine in your s"etch. =or e8ampe, if you set the speed to, say, $ ;1 APATA &N27N&&R7N2 '@&2&,APATA

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RP6 and caed step#$//+ on a $//0step motor, this function !oud ta"e a fu minute to run. =or better contro, "eep the speed high and ony go a fe! steps !ith each ca to step#+. Parameters3 steps3 the number of steps to turn the motor 0 positive to turn one direction, negative to turn the other # int + Returns3 None

fig ."F Arduino to stepper motor (ketch

."-"-*evelopment of "apk file

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*onloading and %nstalling the Android Android (*'

ThereLs no cost to do!noad do!noad or use the AP7, and 2ooge 2ooge doesnLt doesnLt re-uire your appication to  pass a revie! to distribute your  nished programs on the 2ooge Pay Store. Athough the 2ooge Pay Store re-uires a sma one0time fee to pubish appications, if you chose not to distribute via the 2ooge Pay Store, you can do so at no cost. You can do!noad the atest version of the S5K starter pac"age for your chosen deveopment patform from the Android deveopment home page at http3deveoper.android.c http3deveoper.android.comsd"inde8.htm. omsd"inde8.htm. To get started, simpy chec" the bo8es corresponding to the ne!est frame!or" S5K and the atest version of the toos, compatibiitysupport ibrary, documentation, and sampe code.

&ig ."G %nstalling Android (*' 

."8"- *eveloping ith $clipse1

&cipse is a particuary popuar open0source 75& for >ava deveopment. 7tLs avaiabe for  do!noad for each of the deveopment patforms supported by Android #:indo!s, 6ac @S, and inu8+ from the &cipse foundation #!!!.ecipse.orgdo!noa #!!!.ecipse.orgdo!noads+. ds+. ."8". Creating a 2e Android Android Pro@ect1

 To create a ne! Android project using the Android Ne! Project :iEard, do the foo!ing3 $. Seect =ie Z Ne! Z Project.  %. Seect Seect the Android Project appication appication type from the Android foder, and cic" Ne8t. ;* APATA &N27N&&R7N2 '@&2&,APATA

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 ). 7n the !iEard that appears, enter the detais for your ne! project, the Project Name is the name of your project e. You can aso seect the ocation your project shoud be saved.

&ig .", Creating a Pro@ect in Android

;. Seect the buid target for your appication. The buid target is the version of the Android frame!or" S5K that you pan to deveop !ith. 7n addition to the open sourced Android S5K  ibraries avaiabe as part of each patform reease, 2ooge offers a set of proprietary AP7s that offer additiona ibraries #such as 6aps+. 7f you !ant to use these 2ooge0speci c AP7s, you must seect the 2ooge AP7s pac"age corresponding to the patform reease you !ant to target. (. The Appication Name is the friendy name for your appicationI the Pac"age Name species its >ava pac"ageI the 'reate Activity option ets you specify the name of a cass that !i be your initia ActivityI and setting the 6inimum S5K ets you specify the minimum version of the S5K that your appication !i run on.

&ig .",, Adding information in $clipse

1. :hen youLve entered the detais, cic" =inish. 7f you seected 'reate Activity, the A5T  pug0in !i create a ne! project that incudes a cass that e8tends Activity. Activity. Rather than being compete competeyy empty, empty, the defaut defaut tempate tempate impement impementss 4eo :ord. :ord. efore efore modifyin modifyingg the  project, ta"e this opportunity opportunity to con gure gure aunch con gurations for running and and debugging. ;? APATA &N27N&&R7N2 '@&2&,APATA

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."8"5 Creating an Android Android 7irtual *evice

AD5s are used to simuate the hard!are and soft!are con gurations of different Android devices, ao!ing you test your appications on a variety of hard!are patforms. There are no  prebuit AD AD5s in the Android S5K, so !ithout a physica device, you need to create at east one before you can run and debug your appications. $. Seect :indo! Z AD5 6anager #or  seect the AD5 6anager icon on the &cipse toobar+.  %. Seect the Ne!... button. The resuting 'reate ne! Android Dirtua 5evice #AD5+ diaog ao!s you to congure a name, a target buid of Android, an S5 card capacity, and device s"in. ). 'reate a ne! AD5 caed B6y[AD5C that targets Android ;./.), incudes a $16 S5 'ard, and uses the 2aa8y Ne8us s"in. 'ic" 'reate AD AD5 and your ne! AD AD5 !i be created and ready to use.

."8"6 Running and *ebugging Dour Android Application1

 YouLve  YouLve created your  rst project and created the run and debug con gurations for it. efore ma"ing any changes, test your instaation and con gurations by running and debugging the 4eo :ord project. =rom the Run menu, seect Run or 5ebug to aunch the most recenty seected con guration, or seect Run 'on gurations\ or 5ebug 'on gurations\ to seect a specic con guration. 7f youLre using the A5T pug0in, running or debugging your  appication does the foo!ing3 ] 'ompies the current project and converts it to an Android e8ecutabe #.de8+ ] Pac"ages the e8ecutabe and your projectLs resources into an Android  pac"age #.ap"+ ] Starts the virtua device #if youLve targeted one and itLs not aready running+ ] 7nstas your appication onto the target device ] Starts your appication 7f youLr youLree deb debugg ugging ing,, the &cip &cipse se debug debugge gerr !i !i then then be attac attached hed,, ao!i ao!ing ng you you to set  brea"points and debug your your code.

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&ig .",- Android $mulator

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Chapter 5 Conclusions and &uture (cope 5", Conclusion

This project gives !or"ing of Robot using Android technoogy technoogy for Pic" and pace operations 7mpementation of jammer to boc" R= communication in !arfied and have capabiity to transmit ive video. @ur project mosty usefu for defense operations i"e bomb diffusion. &ven though bomb is detected it is not easy to defuse by staying nearby. @ur project is very usefu in such that it can defuse the bomb by staying at safe distance. This system can further  be deveoped by enhancing the the performance and and by adding more more features.

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5"- &uture (cope

There are many unsoved probems and fundamenta chaenges for robotics. At very high eve manipuation and physica interaction !ith the rea !ord is difficut. The robot movement can be controed even if it is out of sight by using Dideo Stream and 'amera Robot. After fe! modifications of pic" and pace mechanism !e can improve the robot for bomb diffusion purpose hence !ithout putting human ife in danger !e can fight against terrorism. @ur robots can hande dangerous chemicas in chemica ab or in nucear  reactor abs. :ith modifications this robot can hep physicay chaenged peope.

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References1 ," Yoshimi, T.I 7!ata, N.I 6iEu"a!a, 6.I Ando, Y., FPic"ing up operation of thin objects by

robot arm !ith t!o0fingered parae soft gripper,F in Advanced Robotics and its Socia 7mpacts #ARS@+, %/$% 7&&& :or"shop on , vo., no., pp.<0$%, %$0%) 6ay %/$% -" van

5eden, S.I :higham, A., FA buetooth0based buetooth0based architecture for android communication

!ith an articuated robot,F in 'oaboration Technoogies Technoogies and Systems #'TS+, %/$% 7nternationa 'onference on , vo., no., pp.$/;0$/*, %$0%( 6ay %/$% ." SbncheE, A.>.I 6artineE, >.6., FRobot0arm pic" and pace behavior programming system

using visua perception,F in Pattern Recognition, %///. Proceedings. $(th 7nternationa 'onference on , vo.;, no., pp.(/<0($/ vo.;, %/// 5.Professiona Android^ Android^

; Appication Appication 5eveopment by Reto 6eier Pubished by >ohn

:iey 9 Sons, 7nc. 45

Arduino 3 ArduinoBoardUno 0https1??"arduino"cc?en?Main?arduinoBoardUno

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