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GREETING DROID

CHAPTER-1 INTRODUCTION

USHA RAMA COLLEGE OF ENGINEERING AND TECHONOLOGY

Dept. of CSE

GREETING DROID

Chapter 1 –Introduction 1.1 Introduction Since ages, asking for directions makes people socializable and also inconvenient sometimes, the olden way to overcome this is to place some direction boards in some places, which gives the travelers a convenience and assurance of direction and as the time passes, gps and google maps came into existence and gave user a whole new experience of travelling, which takes the destination point and the user location to direct him to destination. The google algorithm also generates a best and shortest path to travel, but where as coming to the indoor positioning like for getting the directions in places like headquarters, campus or airports railway stations etc. and this again drags people back to the initial stages. The evolution of robotics, which gives a solution for this problem, in general case A person assists the user or the user himself has to find the destination, in order to reduce the human interaction and inconvenience and promoting the terms of automation the greeting droid can be used, the robot is a automation which calculates the shortest route to accompany people to the destination. The greeting droid receives the visitors as it watches the surroundings with its eye(camera) and grabs the attention of the visitor with its greeting and it asks for the visitor details for the id card generation and personal storage and then generates a path that is to be covered to take visitor the tour.

1.2 Robotics Robotics is an interdisciplinary branch of engineering and science that includes mechanical engineering, electronic engineering, information engineering, computer science, and others. Robotics deals with the design, construction, USHA RAMA COLLEGE OF ENGINEERING AND TECHONOLOGY

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operation, and use of robots, as well as computer systems for their control, sensory feedback, and information processing. The concept of creating machines that can operate autonomously dates back to classical times, but research into the functionality and potential uses of robots did not grow substantially until the 20th century. Throughout history, it has been frequently assumed by various scholars, inventors, engineers, and technicians that robots will one day be able to mimic human behavior and manage tasks in a human-like fashion. Today, robotics is a rapidly growing field, as technological advances continue; researching, designing, and building new robots serve various practical purposes, whether domestically, commercially, or militarily. Many robots are built to do jobs that are hazardous to people such as defusing bombs, finding survivors in unstable ruins, and exploring mines and shipwrecks. Robotics is also used in STEM (science, technology, engineering, and mathematics) as a teaching aid.

1.3 Path Planning Path planning (also known as the navigation problem) is a term used in robotics for the process of breaking down a desired movement task into discrete motions that satisfy movement constraints and possibly optimize some aspect of the movement.

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In our case, consider navigating a mobile robot inside a building to a distant waypoint. It should execute this task while avoiding walls and not falling down stairs. A motion planning algorithm would take a description of these tasks as input, and produce the speed and turning commands sent to the robot's wheels. Motion planning algorithms might address robots with a larger number of joints (e.g., industrial manipulators), more complex tasks (e.g. manipulation of objects), different constraints (e.g., a car that can only drive forward), and uncertainty (e.g. imperfect models of the environment or robot).

The path planning that are used for the greeting droid are  

Static path Line follower

The static path is a path planning technique used for the paths that are clear and wide, the static planning takes the input in the form of distance to be covered and then generates a static route based on the AO* algorithm. The line follower is another path planning technique which gives more accuracy, the main reason to implement this technique is to improve the accuracy and the make the robot follow a given route which decreases the rate of failures to the least.

1.4 AO* algorithm A* is a computer algorithm that is widely used in pathfinding and graph traversal, which is the process of finding a path between multiple points, called "nodes". It enjoys widespread use due to its performance and accuracy. However, in practical travel-routing systems, it is generally outperformed by algorithms which can pre-process the graph to attain better performance, although other work has found A* to be superior to other approaches. A* algorithm can not search AND - OR graphs efficiently

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The AO* is a upgrade to the A* algorithm which can handle both the AND & OR graphs to generate the desired path, In AO* algorithm, the procedure is similar but there are and constraints traversing specific paths. If you are traversing those paths, cost of all the paths originating from the preceding node are added till that level, where you find the goal state irrespective of whether they take you to the goal state or not.

1.5 Conclusion Based on the discussions in the chapter, the greeting droid using the processor can roll around with the help of the Coordinates (algorithm). The upcoming units explains the end to end process of the total descriptions.

USHA RAMA COLLEGE OF ENGINEERING AND TECHONOLOGY

Dept. of CSE

GREETING DROID

USHA RAMA COLLEGE OF ENGINEERING AND TECHONOLOGY

Dept. of CSE

GREETING DROID

CHAPTER-2 Literature Review

2. Literature Review 2.1 A Robotic Wayfinding System for the Visually Impaired We present an emerging indoor assisted navigation system for the visually impaired. The core of the system is a mobile robotic base with a sensor suite mounted on it. The sensor suite consists of an RFID reader and a laser range finder. Small passive RFID sensors are manually inserted in the environment. We describe how the system was deployed in two indoor environments and evaluated by visually impaired participants in a series of pilot experiments. USHA RAMA COLLEGE OF ENGINEERING AND TECHONOLOGY

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We have built and deployed a prototype of a robotic guide for the visually impaired. Its name is RG, which stands for “robotic guide.” Our basic research objective is to alleviate localization and navigation problems of purely autonomous approaches by incrementing environments with inexpensive and reliable sensors that can be placed in and out of environments without disrupting any indigenous activities. Effectively, the environment becomes a distributed tracking and guidance system (Kulyukin & Blair2003; Kulyukin, Gharpure, & De Graw 2004) that consists of stationary nodes, e.g., sensors and computers, and mobile nodes, e.g., robotic guides.

Published by: Vladimir Kulyukin* Chaitanya, Gharpure Pradnya Sute Nathan De Graw John Nicholson

Additional requirements are: 1) that the instrumentation be fast, e.g., two to three hours, and require only commercial off-the-shelf (COTS) hardware components; 2) that sensors be inexpensive, reliable, easy to maintain (no external power supply), and provide accurate localization; 3) that all computation run onboard the robot; and 4) that human-robot interaction be both reliable and intuitive from the perspective of the visually impaired users. The first two requirements make the systems that satisfy them replicable, maintainable, and robust. The third requirement eliminates the necessity of running substantial off-board computation to keep the robot operational. In emergency situations, e.g., computer security breaches, power failures, and fires, off-board computers are likely to become dysfunctional and paralyze the robot if it depends on them. The fourth requirement explicitly considers the needs of the target population.

2.2 ROBOTIC DEVICES This disclosure describes a robotic device helpfull in the construction of prosthetic or artificial body parts. A wrist is described that will allow full motion of a human-like wrist with various numbers of fingers. It is comprised of a ball and socket joint where the ball is cut into parallel segments, each segment being attached to one finger. Attached to each segment are two cables to control up-down motion and attached to the entire ball are two cables to control back-forth motion. The socket portion, attached to the arm, contains guides for the tendons at four equally spaced points; top, bottom, right side, and left side. When tendons pull the ball right or left, all segments of the ball move together, but when the tendons pull the ball up or down, only the segment of the ball attached to the tendon that is pulled move, and each finger is attached to one segment of the wrist, allowing independent movement of the fingers up and down, but non-independent movement of the fingers right and left

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Published by: David A. Walters

2.3 Human-Robot Interaction in a Robotic Guide for the Visually Impaired We present an assisted indoor navigation system for the visually impaired. The system consists of a mobile robotic guide and small sensors embedded in the environment. We describe the hardware and software components of the system and discuss several aspects of human-robot interaction that we observed in the initial stages of a pilot study with several visually impaired participants. Published by: Vladimir Kulyukin ∗ Chaitanya Gharpure Nathan De Graw Most of the research and development(R&D) has focused on removing structural barriers to universal access, e.g., retrofitting vehicles for wheelchair access, building ramps and bus lifts, improving wheelchair controls, and providing access to various devices through specialized interfaces, e.g., sip and puff, haptic, and Braille. For the 11.4 million visually impaired people in the United States(LaPlante & Carlson 2000), this R&D has done little to remove the main functional barrier: the inability to navigate. This inability denies the visually impaired equal access to many private and public buildings, limits their use of public transportation, and makes the visually impaired a group with one of the highest unemployment rates (74%)(LaPlante& Carlson USHA RAMA COLLEGE OF ENGINEERING AND TECHONOLOGY

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2000). Thus, there is a clear need for systems that improve the wayfinding abilities of the visually impaired, especially in unfamiliar indoor environments, where conventional aids, such as white canes and guide dogs, are of limited use.

Robot-assisted navigation can help the visually impaired overcome these limitations. First, the amount of body gear carried by the user is significantly minimized, because most of it can be mounted on the robot and powered from onboard batteries. Consequently, the navigation-related physical load is significantly reduced. Second, the user can interact with the robot in ways unimaginable with guide dogs and white canes, i.e., speech, wearable keyboard, audio, etc. These interaction modes make the user feel more at ease and reduce her navigation-related cognitive load. Third, the robot can interact with other people in the environment, e.g., ask them to yield or receive instructions. Fourth, robotic guides can carry useful payloads, e.g., suitcases and grocery bags. Finally, the user can use robotic guides in conjunction with her conventional navigation aids.

2.4 RFID in Robot-Assisted Indoor Navigation for the Visually Impaired We describe how Radio Frequency Identification (RFID) can be used in robot-assisted indoor navigation for the visually impaired. We present a robotic guide for the visually impaired that was deployed and tested both with and without visually impaired participants in two indoor environments. We describe how we modified the standard potential fields algorithms to achieve navigation at moderate walking speeds and to avoid oscillation in narrow spaces. The experiments illustrate that passive RFID tags deployed in the environment can act as reliable stimuli that trigger local navigation behaviors to achieve global navigation objectives. Published by: Vladimir Kulyukin, Chaitanya Gharpure John Nicholson, Sachin Pavithran What environments are suitable for robotic guides? There is little need for such guides in familiar environments where conventional navigation aids are adequate. For example, a guide dog typically picks a route after three to five trials. While there is a great need for assisted navigation outdoors, the robotic solutions, due to severe sensor challenges, have so far been inadequate for the job and have not compared favorably to guide dogs[4]. Therefore, we believe that unfamiliar indoor environments that are dynamic and complex, e.g., airports and conference

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GREETING DROID

centers, are a perfect niche for robotic guides. Guide dogs and white canes are of limited use in such environments, because they do not have any environment-specific topological knowledge and, consequently, cannot help their users find paths to useful destinations.

2.5 Intelligent Robotic Walker Design This paper aims to present the current development of an intelligent robotic walker. This machine is designed as a walking aid for the visually impaired. The machine is equipped with different sensors to navigate its motion in the indoor environment such as hospitals, hotels, airports, and museums. The user drives the walker while the two front wheels have the ability to steer in order to avoid obstacles and to seek the target. The control system interacts continuously with the user via voice commands. A self-autonomy goal seeker is developed using fuzzy logic. A discrete logic navigator is used to avoid obstacles in the work space. The indoor environment is described using a 2D road map. The hardware architecture is designed using a hierarchical approach. It is currently under development using microcontrollers. In the paper, the system design and preliminary simulation results are presented. Published by: W. GHARIEB

The visually impaired people are increased to 230 millions in the world according to the last report of the international health society. The annual rate of increasing is expected to be 7 millions per year. How to help this population sector to make their daily life more ease is an important question. The use of assistive technology could be one of possible solutions. The most successful and widely used walking aid for visually USHA RAMA COLLEGE OF ENGINEERING AND TECHONOLOGY

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impaired people is the white cane. It is used to detect obstacles on the ground, uneven surfaces, holes, steps, and puddles. The white cane is inexpensive, and is so lightweight and small that can be folded and tucked away in a pocket. However, users must train to use it over than 100 hours and it is not intelligent to guide the use to his target in autonomous manner.

The sequential system development approach is adopted as shown in figure (1). This model consists of a sequence of processes from user requirements (quality, performance), through system requirements (technical specifications), architectural design, and component development to the testing cycle of integration, installation and operations. At each process boundary, a review or a test allows progress to be monitored and a commitment made to the next stage [13]. These boundaries act as quality milestones, controlling the gradual transformation from a high risk idea into a complete product.

The system design for an intelligent walker machine to assist the visually impaired is presented. Different requirements are discussed and integrated with the performance goals. The architectural design for hardware modules is emphasized. The goal seeking module is tested via simulation using a 2D map. A simple path planning is developed using a linked list via points table. A PD fuzzy logic controller is developed to achieve the goal seeking objective. The preliminary simulation results for goal seeking module are encouraged us to continue our development. A virtual reality module will be added to the simulation in order to demonstrate the maneuverability of the walker machine in a real time environment.

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Chapter-3 System Requirements

3. System Requirements 3.1 Software Requirements 

Opencv- OpenCV (Open Source Computer Vision Library) is released under a BSD license and hence it’s free for both academic and commercial use. It has C++, Python and Java interfaces and supports Windows, Linux, Mac OS, iOS and Android. OpenCV was designed for computational efficiency and with a strong focus on real-time applications. Step to install:

Step 1: Update packages Step 2: Install OS libraries Step 3: Install Python libraries Step 4: Download OpenCV and OpenCV_contrib Step 4.1: Download opencv from Github Step 4.2: Download opencv_contrib from Github Step 5: Compile and install OpenCV with contrib modules Step 5.1:AND Create a build directory USHA RAMA COLLEGE OF ENGINEERING TECHONOLOGY Dept. of CSE Step 5.2: Run CMake

GREETING DROID

 PYQT5- Qt is set of cross-platform C++ libraries that implement high-level APIs for accessing many aspects of modern desktop and mobile systems. These include location and positioning services, multimedia, NFC and Bluetooth connectivity, a Chromium based web browser, as well as traditional UI development.PyQt5 is a comprehensive set of Python bindings for Qtv5. Installation steps: pip3 install --user pyqt5 sudo apt-get install python3-pyqt5 sudo apt-get install pyqt5-dev-tools sudo apt-get install qttools5-dev-tools



Firebase- Firebase is essentially a real time database. The data appears as JSON files and allows real time changes to occur on the connected client side. When you build cross-platform apps using iOS, Android, JavaScript SDKs, your clients end up getting all the data that was updated. Installation steps: Install Foundation: Install Foundation:

1. 2. 3. 4. 5.

Install Foundation command line in npm using npm install -g foundation-cli Install directory Foundation line npm using npm install -g new. Go 1. to ~/Github (or command the directory forinyour projects) and run foundation foundation-cli Choose "A site" as the installation 2. Go to ~/Github directory (or the directory for your projects) and Enter your site name and choose ZURB Template run foundation new. Change directory ~/Github/your-web-site 3. Choose "A site" as the installation

Install Firebase 4. Enter your site name and choose ZURB Template 5. Change directory ~/Github/your-web-site

1. Install firebase command line using npm install -g firebase-tools 2. RunInstall firebase init and enter your-web-site name. Firebase 3. Run npm start, and it will populate the dist folder with your site. 1. Install firebase command line using npm install -g firebase-tools 2. Run firebase init and enter your-web-site name. Dept. of CSE

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4. 5. 6. 7.

Choose dist as your main directory for Firebase. Install a local server using npm install -g serve. Run serve dist to indicate that you're referring to the Foundation compiled site. Try to access Firebase in your localhost. For example, localhost:3000.

Deployment

1. Run firebase deploy 2. Run firebase open to open your site automatically.

3.2 Hardware Requirements We strongly recommend a raspberry pi with the newest version. 

Processor: Raspberry pi3 1 GHz; recommended to have two raspberry pi’s to reduce load on each processor by sharing.



Hard Drive: Minimum 32 GB memory card; Recommended 64 GB or more



Memory (RAM): Minimum 1 GB; Recommended 2 GB or above



Sound card speakers/Bluetooth speakers



Webcam



7-Inch LCD display for UI representation.



Keyboard.



Thermal Printer 58mm.



Johnson motors for wheels.



Line Follower sensors.



Ultra-sonic sensors to avoid collisions.

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GREETING DROID

Chapter-4 USHA RAMA COLLEGE OF ENGINEERING AND TECHONOLOGY

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Implementation

4. Implementation 4.1 Gifplay The droid stays in a static position and displays a static gif until a visitor arrives in the area. import cv2 cv2 import import numpy as np as np import numpy import time,os import time,os # Create a VideoiCapture object and read from input # Create a VideoCapture object and file read from input file # If the camera, instead of the video0fileinstead name # the Ifinput theis input is pass the0 camera, pass of the video file name cap = cv2.VideoCapture('source.gif') cap = cv2.VideoCapture('source.gif') # Check if camera opened successfully # Check if camera opened successfully (cap.isOpened()== False): if if (cap.isOpened()== False): print("Error video stream or file") print("Error opening opening video stream or file") frame_counter=0; frame_counter=0; # Read video is completed # Read until until video is completed while(cap.isOpened()): while(cap.isOpened()): if( os.stat("comd.txt").st_size > 0 ): if( os.stat("comd.txt").st_size > 0 ): f=open("comd.txt","w") f=open("comd.txt","w") f.write(""); f.write(""); f.close() f.close() breakbreak # Capture frame-by-frame # Capture frame-by-frame time.sleep(0.2) time.sleep(0.2) = cap.read() ret, ret, frame =frame cap.read() if retif==ret True:== True: frame_counter=frame_counter+1; frame_counter=frame_counter+1; # Display the resulting frame # Display the resulting frame #cv2.resize(frame,(300,500)) #cv2.resize(frame,(300,500)) cv2.namedWindow("Frame",cv2.WND_PROP_FULLSCREEN) cv2.namedWindow("Frame",cv2.WND_PROP_FULLSCREEN) cv2.setWindowProperty("Frame",cv2.WND_PROP_FULLSCREEN,cv2.WINDOW_FULLSCREEN) cv2.imshow('Frame',frame) USHA RAMA COLLEGE OF ENGINEERING AND TECHONOLOGY

if cv2.waitKey(25) & 0xFF == ord('q'):

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GREETING DROID cv2.setWindowProperty("Frame",cv2.WND_PROP_FULLSCREEN,cv2.WINDOW_FULLSCREEN) cv2.imshow('Frame',frame) if cv2.waitKey(25) & 0xFF == ord('q'): break if frame_counter == 7: frame_counter = 0 cap = cv2.VideoCapture("source.gif") # Break the loop else: cap.set(1,1) break # When everything done, release the video capture object cap.release() # Closes all the frames cv2.destroyAllWindows()

From the above program, we have imported the opencv and desired packages in order to capture the person identified. The gif image of robotic appearance will be played until a person is identified.

4.2 Id Generator Whenever the visitor gives the details in the UI the droid generates ID to the visitor and prints it using a thermal printer. from PIL import Image, ImageDraw, ImageFont from PIL import Image, ImageDraw, ImageFont import os import os while(1): while(1):if( os.stat("details.txt").st_size > 0 ): if( os.stat("details.txt").st_size > 0 ): f=open("details.txt","r") f=open("details.txt","r") message=f.read() message=f.read() f.close() f.close() f=open("details.txt","w") f=open("details.txt","w") f.write("") f.write("") f.close() f.close() break break img=Image.open("white.jpg") img=Image.open("white.jpg") width, height = img.size width, height = img.size img.resize((350,280)).save("white2.jpg") img.resize((350,280)).save("white2.jpg") img=Image.open("new.jpg") img=Image.open("new.jpg") width, height = img.size width, height = img.size img.resize((350,180)).save("trail.jpg") img.resize((350,180)).save("trail.jpg") image = Image.open('white2.jpg') image = Image.open('white2.jpg') draw = ImageDraw.Draw(image) draw = ImageDraw.Draw(image) img1 = Image.open('white.jpg', 'r').convert("RGBA") img1 'r').convert("RGBA") img= Image.open('white.jpg', = Image.open('trail.jpg','r').convert("RGBA") img = Image.open('trail.jpg','r').convert("RGBA") image.paste(img,(0,0),img) ##img1.show() USHA RAMA COLLEGE OF ENGINEERING AND TECHONOLOGY

font = ImageFont.truetype('Roboto-Bold.ttf', size=30)

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GREETING DROID image.paste(img,(0,0),img) ##img1.show() font = ImageFont.truetype('Roboto-Bold.ttf', size=30) (x, y) = (0, 200) #message = "Happy Birthday!" color = 'rgb(0, 0, 0)' # black color draw.text((x, y), message, fill=color, font=font) image.save('greeting_card.jpg') #imiage.show() os.system("lpr -o portrait -o fit-to-page -P Printer greeting_card.jpg")

4.3 Destination At the time of ID card generation, the processor parallely generates the route to the destination by passing through the layers of the AO* algorithm. def show_entry_fields(): if(e3.get() == "principal" or e3.get()=="director"): cap = cv2.VideoCapture(0) file1 = open("details.txt","w"); file1.write(str("Name: " + e1.get()) + "\n" + "Phone: " +str(e2.get())) file1.close() while(True): font = cv2.FONT_HERSHEY_SIMPLEX ret,frame = cap.read() id="saran" img=frame cv2.putText(img,'Click Y to for your image',(20,50), font, 1.3,(0,255,0),2,cv2.LINE_AA) cv2.imshow('img1',img) if (cv2.waitKey(1) & 0xFF == ord('y')): #save on pressing 'y' cv2.imwrite('new.jpg',frame) cv2.imshow('frame1',frame); f21=open("buf.txt","w") f21.write(e3.get()); f21.close(); f212=open("comd.txt","w") f212.write(""); f212.close(); f=open("buf1.txt","w") f.write("Hello") f.close() cv2.destroyAllWindows() app.bind('<Escape>', lambda e: tk.Frame.destroy(app)) USHA RAMA COLLEGE OF ENGINEERING AND TECHONOLOGY

tk.Frame.destroy(app)

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From the above table of program, the details from the visitor are added to the internal files using serialization and parsing the information given to decide the destination.

4.4 Movement The movement of the droid is done by a loop that always checks whether the droid gets the right inputs and signals and follows the commands accordingly import RPi.GPIO as IO import time,os from pygame import mixer IO.setwarnings(False) IO.setmode(IO.BOARD) IO.setup(16,IO.IN) #GPIO 2 -> Left IR out IO.setup(18,IO.IN) #GPIO 3 -> Right IR out IO.setup(36,IO.OUT) #GPIO 14 -> Motor 1 terminal B IO.setup(32,IO.OUT) #GPIO 4 -> Motor 1 terminal A IO.setup(38,IO.OUT) #GPIO 17 -> Motor Left terminal A IO.setup(36,IO.OUT) #GPIO 14 -> Motor 1 terminal B IO.setup(40,IO.OUT) #GPIO 18 -> Motor Left terminal B IO.setup(38,IO.OUT) #GPIO 17 -> Motor Left terminal A IO.setup(5,IO.OUT) #Left Motor Enabler IO.setup(40,IO.OUT) #GPIO 18 -> Motor Left terminal B IO.setup(7,IO.OUT) #Right Motor Enabler IO.setup(5,IO.OUT) #Left Motor Enabler IO.setup(7,IO.OUT) #Right Motor Enabler IO.output(5,IO.HIGH) IO.output(7,IO.HIGH) IO.output(5,IO.HIGH) IO.output(7,IO.HIGH) location="" stri="principal" location="" while(1): stri="principal" if( os.stat("buf.txt").st_size > 0 ): while(1): f=open("buf.txt","r") if( os.stat("buf.txt").st_size > 0 ): stri=f.read() f=open("buf.txt","r") f.close() stri=f.read() f=open("buf.txt","w") f.close() f.write("") f=open("buf.txt","w") f.close() f.write("") break f.close() break junctionCross=0

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def selectRouting(stri):

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GREETING DROID junctionCross=0 def selectRouting(stri): global junctionCross; if("principal" in stri): junctionCross=2; else: junctionCross=4;

def burst(): IO.output(32,True) #1A+ IO.output(36,False) #1BIO.output(38,True) #2A+ IO.output(40,False) #2Btime.sleep(0.8) IO.output(32,False) #1A+ IO.output(36,False) #1BIO.output(38,False) #2A+ IO.output(40,False) #2B-

def linefollow(junctionCross): while 1: if(junctionCross==0): break;

if(IO.input(16)==True and IO.input(18)==True): #both while print("Moving Forward") IO.output(32,True) #1A+ IO.output(36,False) #1BIO.output(38,True) #2A+ IO.output(40,False) #2Belif(IO.input(16)==False and IO.input(18)==True): #turn right print("Moving Right") print("------------------------") IO.output(32,True) #1A+ IO.output(36,True) #1BIO.output(38,True) #2A+ IO.output(40,False) #2B-

0

elif(IO.input(16)==True and IO.input(18)==False): #turn left print("Moving Left") IO.output(32,True) #1A+ IO.output(36,False) #1BIO.output(38,True) #2A+ IO.output(40,True) #2Belse: #stay still print("Stopped at black line") IO.output(32,True) #1A+ IO.output(36,True) #1BIO.output(38,True) #2A+ IO.output(40,True) #2BjunctionCross=junctionCross-1; burst(); linefollow(junctionCross);

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def startMoving():

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The above table of program, we had imported the packages like Rpi.Gpio for the gpio pin communication and pygame mixer for the audio generator.

4.5 Motor Operations

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The motors used are the Johnson motors which works on the electric supply from the battery so we use a driver for supply of electricity and also for operating the electric flow, the electric can be operated which results in the manipulative operation of the motors. import RPi.GPIO as GPIO import time def init(): GPIO.setmode(GPIO.BOARD) GPIO.setup(29,GPIO.OUT) GPIO.setup(31,GPIO.OUT) GPIO.setup(33,GPIO.OUT) GPIO.setup(37,GPIO.OUT) GPIO.output(29,GPIO.HIGH) def motor1(): init() print('forward') GPIO.output(33,GPIO.HIGH) GPIO.output(31,GPIO.LOW) time.sleep(1) stop() def motor2(): init() print('reverse') GPIO.output(33,GPIO.LOW) GPIO.output(31,GPIO.HIGH) time.sleep(1) stop() def servo(): init() print('hand shake') pwm=GPIO.PWM(37,50) pwm.start(5) i=1 while i<=3: pwm.ChangeDutyCycle(7) time.sleep(0.5) pwm.ChangeDutyCycle(10) i=i+1 pwm.ChangeDutyCycle(7) time.sleep(0.2) stop() def stop(): init() GPIO.output(33,GPIO.HIGH) GPIO.output(31,GPIO.HIGH) time.sleep(0.2) GPIO.cleanup() while(1): if( os.stat("buf1.txt").st_size > 0 ): f=open("buf1.txt","w") f.write("") f.close() break motor1() time.sleep(1.5) servo() time.sleep(1.5) motor2()

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4.6 Cleanup To avoid any miscomputation errors and mistakes or buffer errors for power shortage the cleanup code is used which always refresh all the drivers pins and registers and keeps it clean and ready to listen the commands sent. import RPi.GPIO as IO IO.setwarnings(False) IO.setmode(IO.BOARD) IO.setup(3,IO.OUT) #GPIO 4 -> Motor 1 terminal A IO.setup(5,IO.OUT) #GPIO 17 -> Motor Left terminal A ##IO.setup(6,IO.OUT) #GPIO 18 -> Motor Left terminal B IO.setup(7,IO.OUT) #Left Motor Enabler ######IO.setup(8,IO.OUT) #Right Motor Enabler ##IO.setup(9,IO.OUT) #GPIO 2 -> Left IR out ##IO.setup(10,IO.OUT) #GPIO 3 -> Right IR out IO.setup(11,IO.OUT) #GPIO 4 -> Motor 1 terminal A IO.setup(12,IO.OUT) #GPIO 14 -> Motor 1 terminal B IO.setup(13,IO.OUT) #GPIO 17 -> Motor Left terminal A ##IO.setup(14,IO.OUT) #GPIO 18 -> Motor Left terminal B IO.setup(15,IO.OUT) #Left Motor Enabler IO.setup(16,IO.OUT) #Right Motor Enabler ##IO.setup(17,IO.OUT) #GPIO 2 -> Left IR out IO.setup(18,IO.OUT) #GPIO 3 -> Right IR out IO.setup(19,IO.OUT) #GPIO 4 -> Motor 1 terminal A ##IO.setup(20,IO.OUT) #GPIO 14 -> Motor 1 terminal B IO.setup(21,IO.OUT) #GPIO 17 -> Motor Left terminal A IO.setup(22,IO.OUT) #GPIO 18 -> Motor Left terminal B IO.setup(23,IO.OUT) #Left Motor Enabler IO.setup(24,IO.OUT) #Right Motor Enabler ##IO.setup(25,IO.OUT) #GPIO 2 -> Left IR out IO.setup(26,IO.OUT) #GPIO 3 -> Right IR out ##IO.setup(27,IO.OUT) #GPIO 4 -> Motor 1 terminal A ##IO.setup(28,IO.OUT) #GPIO 14 -> Motor 1 terminal B IO.setup(29,IO.OUT) #GPIO 17 -> Motor Left terminal A ##IO.setup(30,IO.OUT) #GPIO 18 -> Motor Left terminal B IO.setup(31,IO.OUT) #Left Motor Enabler IO.setup(32,IO.OUT) #Right Motor Enabler IO.setup(33,IO.OUT) #GPIO 2 -> Left IR out ##IO.setup(34,IO.OUT) #GPIO 3 -> Right IR out IO.setup(35,IO.OUT) #GPIO 4 -> Motor 1 terminal A IO.setup(36,IO.OUT) #GPIO 14 -> Motor 1 terminal B IO.setup(37,IO.OUT) #GPIO 17 -> Motor Left terminal A IO.setup(38,IO.OUT) #GPIO 18 -> Motor Left terminal B ##IO.setup(39,IO.OUT) #Left Motor Enabler IO.setup(40,IO.OUT) #Right Motor Enabler print('1') IO.setup(3,IO.HIGH) #GPIO 4 -> Motor 1 terminal A IO.setup(5,IO.HIGH) #GPIO 17 -> Motor Left terminal A ##IO.setup(6,IO.HIGH) #GPIO 18 -> Motor Left terminal B IO.setup(7,IO.HIGH) #Left Motor Enabler ######IO.setup(8,IO.HIGH) #Right Motor Enabler ##IO.setup(9,IO.HIGH) #GPIO 2 -> Left IR HIGH ##IO.setup(10,IO.OUT) #GPIO 3 -> Right IR out IO.setup(11,IO.HIGH) #GPIO 4 -> Motor 1 terminal A IO.setup(12,IO.HIGH) #GPIO 14 -> Motor 1 terminal B IO.setup(13,IO.HIGH) #GPIO 17 -> Motor Left terminal A ##IO.setup(14,IO.OUT) #GPIO 18 -> Motor Left terminal B IO.setup(15,IO.HIGH) #Left Motor Enabler IO.setup(16,IO.HIGH) #Right Motor Enabler ##IO.setup(17,IO.OUT) #GPIO 2 -> Left IR out IO.setup(18,IO.HIGH) #GPIO 3 -> Right IR out IO.setup(19,IO.HIGH) #GPIO 4 -> Motor 1 terminal A ##IO.setup(20,IO.OUT) #GPIO 14 -> Motor 1 terminal B ##IO.setup(17,IO.OUT)#GPIO #GPIO172 -> -> Motor Left IR outterminal A IO.setup(21,IO.HIGH) Left USHA RAMA COLLEGE OF ENGINEERING TECHONOLOGY IO.setup(18,IO.HIGH) #GPIO 18 3 AND -> outterminal B IO.setup(22,IO.HIGH) #GPIO -> Right Motor IR Left IO.setup(19,IO.HIGH) #Left #GPIO Motor 4 -> Motor 1 terminal A IO.setup(23,IO.HIGH) Enabler

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Chapter-5 DESIGN

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5. Design 5.1 Use case diagram

Use case diagrams consists of actors, use cases and their relationships. The diagram is used to model the system/subsystem of an application. A single use case diagram captures a particular functionality of a system. To model a system, the most important aspect is to capture the dynamic behavior.

Fig:5.1 usecase diagram for greeting droid

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5.2 class diagram Class diagram describes the attributes and operations of a class and also the constraints imposed on the system. The class diagrams are widely used in the modeling of objectoriented systems because they are the only UML diagrams, which can be mapped directly with object-oriented languages. Class diagram shows a collection of classes, interfaces, associations, collaborations, and constraints. It is also known as a structural diagram. The purpose of the class diagram can be summarized as − 

Analysis and design of the static view of an application.



Describe responsibilities of a system.

Fig:5.2 class diagram for greeting droid

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5.3 Sequence diagram A sequence diagram shows object interactions arranged in time sequence. It depicts the objects and classes involved in the scenario and the sequence of messages exchanged between the objects needed to carry out the functionality of the scenario. Sequence diagrams are typically associated with use case realizations in the Logical View of the system under development. Sequence diagrams are sometimes called event diagrams or event scenarios.

Fig 5.3 sequence diagram for greeting droid

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5.4 Flow Diagram The flow diagram of the greeting droid demonstrates how the data flows through the number of layers of hardware and software to generate a result.

Fig 5.4-Flow diagram of the greeting droid which displays the data flow

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Chapter-6 Results

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6.

As of the implementation in the previous chapter-4, the results for the implementation are discussed here.

6.1 Gifplay:

Fig-6.1-gif image of the greeting droid that plays on the start of the program As referred in the chapter-4 the fig6.1 is the image that plays continuously until a person gets recognized in the area of the droid.

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6.2 Query Window After loading the Gifplay the greeting droid load a query intake window which takes the details and the destination from the visitor and the goes for the further steps.

Fig 6.2- query window image of the greeting droid that plays after the gifplay.

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6.3 ID Generator

Saran

Fig-6.2 the id card generates based on the visitor details

From the above figure, this is the image of the id card that gets generated by the details given by the user and the date is printed to maintain a reference.

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6.4 Movement The movement of the droid always depends on the commands that are passed by the line following sensor and understands in which direction it should move.

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6.5 Cleanup All gpio pins cleaned can be used for the further operations >>>

The cleanup code always helps the pins of the raspberry pi to clear the recent buffer memory and set the pins in a ready state.

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Chapter-7 Testing of project modules

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7. Testing Software testing is defined as an activity to check whether the actual results match the expected results and to ensure that the software system is Defect free. It involves execution of a software component or system component to evaluate one or more properties of interest.

7.1 Unit Testing What is unit testing? It is a level of software testing where individual units/ components of a software are tested. The purpose is to validate that each unit of the software performs as designed. A unit is the smallest testable part of any software. It usually has one or a few inputs and usually a single output. In procedural programming, a unit may be an individual program, function, procedure, etc. In object-oriented programming, the smallest unit is a method, which may belong to a base/ super class, abstract class or derived/ child class. (Some treat a module of an application as a unit. How unit testing improves manageability Managers are under pressure to perform. This means that they are responsible for accomplishment through the effort of others. If a change lowers the team’s performance, they can expect to be held accountable for the consequences. This pressure puts the focus on managing and controlling in ways that can favour the status quo.   

Visibility and reporting Control and correction Customer satisfaction

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Table7.1 Playing a gif image at the startup of program

Test case ID

Unit Test-1

Description

Testing the static gif playing User Interface

Steps

1.Add the path of the source image to the python script 2.Execute the python script to load the image using opencv

Test Setup

Playing a gif image

Input

runs when the program is started

Output

plays a gif image in fullscreen

Status

Successful

Comment

No comments

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Table7.2:printing a ID card based on the given inputs along with date.

Test case ID

Unit Test-2

Description

ID card generator based on the given and details and adding date to it

Steps

1.Visitor enters the details into the User Interface 2. Details given should be loaded to generate a Id card along with date

Test Setup

Printing a ID card

Input

Entering the user details

Output

ID card generaton

Status

Successful

Comment

No comments

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Table 7.3: Generating a destination path based on the given input.

Test case ID

Unit Test-3

Description

Generating destination path based on the given input.

Steps

1.Getting the destination given by the visitor in the User Interface 2.Generating and Analysing the destination path to reach.

Test Setup

Droid moving from its source place to the destination.

Input

The Destination entered by the visitor

Output

Generating a path to reach the destination.

Status

Successful

Comment

Uses normal logic for limited destinations but uses AO* algorithm when it has a large number of destinations.

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Table 7.4 Movement of droid based on the commands of the sensor.

Test case ID

Unit Test-4

Description

Movement of the droid based on the commands from the line follower sensor

Steps

1.Takes the path of the destination. 2.Follows the line follower until the line is reached.

Test Setup

Movement of the droid based on the destination.

Input

Destination to reach.

Output

Movement of the droid to the destination.

Status

Successful.

Comment

Follows the black line by using line following sensors.

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Table 7.5 Checking the Motor controls of the droid.

Test case ID

Unit Test-5

Description

Checking the motor controls of the droid.

Steps

1.Importing the motor controls of the raspberry pi using RPi.gpio. 2.Checking the motor controls based on the inputs given.

Test Setup

Checking the motor controls.

Input

Giving commands through the python script.

Output

Working of the motors according to the commands.

Status

Successful

Comment

Controlling the motors using the python script using the Rpi.gpio library.

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Table 7.6 Running a cleanup script to clear the buffer of the processor.

Test case ID

Unit Test-6

Description

Running a cleanup script to clear the buffer of the raspberry pi.

Steps

1.Import all the pins using the pin numbers. 2. Set the buffer to high to make the pins ready to listen to the further commands.

Test Setup

Running a cleanup file.

Input

Gpio pin numbers.

Output

Cleaned up pins ready to listen.

Status

Successful

Comment

No comments

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Chapter-8 Conclusion

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8. Conclusion We presented an indoor assisted navigation system for the visitors or outlanders. The system consists of a mobile robotic guide and small RFID sensors embedded in the environment. The system allows individuals to navigate in unfamiliar indoor environments and interact with the robotic guide via text, sound, and a fixed keyboard.

The main question addressed by our research is the feasibility of robot-assisted navigation in indoor environments instrumented with inexpensive passive sensors. So, is indoor robot-assisted navigation feasible? While our experiments show that the technology has promise, the answer to this question cannot be given either negatively or affirmatively at this point. The benefits of autonomous systems, such as greeting droid, increase with longer deployments. Only through longer deployments can one answer how easy it is to maintain the system over extended time periods and whether the target environment accepts the technology sociologically. Our deployments have not been sufficiently long to answer either question.

A major barrier to long-term deployment is the unwillingness of real target environments, e.g., airports, head quarters, colleges to agree to the exploratory long-term deployments (two to three months) of assistive technologies. Only after this barrier is overcome, both sociologically and technologically, will we be able to render a definite verdict on the feasibility of indoor robot-assisted navigation.

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Chapter-9 Future Enhancements

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9. Future enhancement In this paper, we showed how line follower sensors can be used in robot-assisted indoor navigation for the outlanders to the particular place. We presented a robotic guide for the visitors that was deployed and tested both with and without visitors in two indoor environments. The experiments illustrate that passive line following sensors can act as reliable stimuli that trigger local navigation behaviors to achieve global navigation objectives. In the scope of future enhancement we want to develop a droid that can also work on voice inputs and also a dynamic human-robot interaction system which also works for the visually impaired individuals. The enhancement can also extend the idea of path planning using the most advanced and stimulated algorithms which can be used for the dynamic reallocation of the droid from place to place.

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Chapter-10 References

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https://scholar.google.co.in/scholar?hl=en&as_sdt=0%2 C5&q=robotic+guides&btnG= https://www.aaai.org/Papers/IAAI/2004/IAAI04-014 https://patentimages.storage.googleapis.com/5c/13/36/4 57618abb5d367/US4928546 https://www.aaai.org/Papers/Symposia/Spring/2004/SS04-03/SS04-03-001 https://www.researchgate.net/profile/Vladimir_Kulyuki n/publication/224755759_RFID_in_RobotAssisted_Indoor_Navigation_for_the_Visually_Impaire d/links/0c960530cc8e2e33a1000000 https://www.researchgate.net/profile/Wahied_Gharieb/ publication/254606101_Intelligent_Robotic_Walker_De sign/links/549360a30cf25de74db4f2d6/IntelligentRobotic-Walker-Design

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