Monitoring and Controlling of Mobile Harvesting Robot Through Wireless LAN

This research project presents a modification of a mobile harvesting robot for communication of human operator with the machine through wireless LAN networking. The adopted harvesting strategy relies on an operator to guide the vehicle through viewing real time video of the workspace to locate th...

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Main Author:	Lim, Yu Jian
Format:	Thesis
Language:	English
Published:	2004
Subjects:	Mobile robota - Case studies Wireless Local Area Networks
Online Access:	http://psasir.upm.edu.my/id/eprint/5915/1/FK_2004_31%20IR.pdf
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id	my-upm-ir.5915
record_format	uketd_dc
spelling	my-upm-ir.59152022-02-07T07:08:14Z Monitoring and Controlling of Mobile Harvesting Robot Through Wireless LAN 2004-04 Lim, Yu Jian This research project presents a modification of a mobile harvesting robot for communication of human operator with the machine through wireless LAN networking. The adopted harvesting strategy relies on an operator to guide the vehicle through viewing real time video of the workspace to locate the fruit, while the robotic system plans the cutting sequence and makes the approximation for detaching of the fruit. This new strategy will reduce the overall cutting cycle by avoiding the time taken for detection and location of the fruit. A software program was developed using Visual Basic for the operator to monitor and control the mobile harvesting movement remotely. Java Applet has been integrated into this software to continuously transmit the images from the CMOS web camera to the human operator in real time. The operator communicates with the robot server through a pair of radio Ethernet devices. The location of fruit and position of the mobile robotic can be easily retrieved and sent over the wireless TCPIIP protocol. This research has defined the X-axis as the horizontal axis of the target, Y-axis as the distance of target from the mobile harvester and the Z-axis as the vertical axis of the target. All the X, Y and Z - axis coordinates of the targeted h i t can be determined by the triangulation computation method using the video base positioning technique. To move the mobile harvesting robot to the X, Y and Z coordinates of the target, modification has been done including the attachment of few sensors to the mobile harvesting robot. The input signal to the robot controller commands it to move and stop the robot at the X, Y and Z coordinates precisely. Mobile robota - Case studies Wireless Local Area Networks 2004-04 Thesis http://psasir.upm.edu.my/id/eprint/5915/ http://psasir.upm.edu.my/id/eprint/5915/1/FK_2004_31%20IR.pdf text en public masters Universiti Putra Malaysia Mobile robota - Case studies Wireless Local Area Networks Engineering Wan Ismail, Wan Ishak
institution	Universiti Putra Malaysia
collection	PSAS Institutional Repository
language	English
advisor	Wan Ismail, Wan Ishak
topic	Mobile robota - Case studies Wireless Local Area Networks
spellingShingle	Mobile robota - Case studies Wireless Local Area Networks Lim, Yu Jian Monitoring and Controlling of Mobile Harvesting Robot Through Wireless LAN
description	This research project presents a modification of a mobile harvesting robot for communication of human operator with the machine through wireless LAN networking. The adopted harvesting strategy relies on an operator to guide the vehicle through viewing real time video of the workspace to locate the fruit, while the robotic system plans the cutting sequence and makes the approximation for detaching of the fruit. This new strategy will reduce the overall cutting cycle by avoiding the time taken for detection and location of the fruit. A software program was developed using Visual Basic for the operator to monitor and control the mobile harvesting movement remotely. Java Applet has been integrated into this software to continuously transmit the images from the CMOS web camera to the human operator in real time. The operator communicates with the robot server through a pair of radio Ethernet devices. The location of fruit and position of the mobile robotic can be easily retrieved and sent over the wireless TCPIIP protocol. This research has defined the X-axis as the horizontal axis of the target, Y-axis as the distance of target from the mobile harvester and the Z-axis as the vertical axis of the target. All the X, Y and Z - axis coordinates of the targeted h i t can be determined by the triangulation computation method using the video base positioning technique. To move the mobile harvesting robot to the X, Y and Z coordinates of the target, modification has been done including the attachment of few sensors to the mobile harvesting robot. The input signal to the robot controller commands it to move and stop the robot at the X, Y and Z coordinates precisely.
format	Thesis
qualification_level	Master's degree
author	Lim, Yu Jian
author_facet	Lim, Yu Jian
author_sort	Lim, Yu Jian
title	Monitoring and Controlling of Mobile Harvesting Robot Through Wireless LAN
title_short	Monitoring and Controlling of Mobile Harvesting Robot Through Wireless LAN
title_full	Monitoring and Controlling of Mobile Harvesting Robot Through Wireless LAN
title_fullStr	Monitoring and Controlling of Mobile Harvesting Robot Through Wireless LAN
title_full_unstemmed	Monitoring and Controlling of Mobile Harvesting Robot Through Wireless LAN
title_sort	monitoring and controlling of mobile harvesting robot through wireless lan
granting_institution	Universiti Putra Malaysia
granting_department	Engineering
publishDate	2004
url	http://psasir.upm.edu.my/id/eprint/5915/1/FK_2004_31%20IR.pdf
_version_	1747810508669452288

Monitoring and Controlling of Mobile Harvesting Robot Through Wireless LAN

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