WIRELESS GESTURE CONTROLLED ROBOT Thesis submitted in partial fulfillment of the requirement for the award of degree
BACHELOR OF TECHNOLOGY by Name of the student 1)Debanjan Sarkar
Roll no. 15800312007
Under the guidance Mrs. Mousumi Karmakar
DEPARTMENT OF ELECTRONICS AND COMMUNICATION ENGINEERING MALLABHUM INSTITUTE OF TECHNOLOGY
Braja Radha Nagar, P.O. - Gosaipur, P.S.-Bishnupur, P.S.-Bishnupur, Dist-Bankura Dist-Bankura WEST BENGAL
Decleration I hereby declare that the work presented in the thesis entitled as “WIRELESS GESTURE CONTROLLED ROBOT” bonafied record of the systematic research work done by us under the guidance of Mrs. Mousumi Karmakar, Department of Electronics and Communication Engineering, Mallabhum Institute of Technology, Bishnupur, India and that no part thereof has been presented for the award of other degree.
Place. Bishnupur
_________________
Date.
Debanjan Sarkar Roll no.-15800312007
i
Department of Electronics and Communication Communication Engineering Mallabhum Institute of Technology, Bishnupur Bankura, West Bengal, India 722122
Certificate This is to certify that the thesis entitled “ WIRELESS GESTURE CONTROLLED ROBOT” by Debanjan Sarkar submitted to the Mallabhum Institute of Technology, Bishnupur for the degree of Bachelor of Technology, is a record of bonafide research work, carried out by us in the Department of Electronics and Communication Engineering under my supervision and guidance. I believe that the thesis fulfill parts of the requirements for the award of degree of Bachelor of Technology. To the best of my knowledge, the matter embodied in the thesis has not been submitted to any other University/Institute for the award of any o ther degree.
Head of the Department Department of Electronics and Communication Engineering, Mallabhum Institute of Technology, Bishnupur , West Bengal Bishnupur , West Bengal
Mrs. Mousumi Karmakar Assistant Professor Department of Electronics and Communication Engineering, Mallabhum Institute of Technology,
Place: MIT, Bishnupur Date:
ii
Acknowledgement I take this opportunity to express my sincere gratitude to the faculties of Electronics and Communication Department, especially our mentor Mrs. Mousumi Karmakar for their noble guidance during the seminar. We are indebted to them for their kind help and timely encouragement in making this seminar work professionally stimulating and personally satisfying.
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Contents Title page Declaration Certificate Acknowledgement List of symbols and abbreviations List of Figures List of Tables Abstract Introduction Chapter 1 6
1.1. Theory 1.1.2. Accelerometer (ADXL335) 1.1.3. Comparator IC (LM324)
7 8 10
1.1.4. Encoder IC (PT 2262)
11
1.1.5. RF module (Rx/ Tx) 1.1.6. Decoder IC (PT2272)
12
1.1.7. Microcontroller (AT 89C51)
13
1.1.8. Motor Driver IC
14 15
1.1.9. DC motors
16
1.1.10. DC Gear motors
1.2. Working principle 1.2.1 Transmitter section 1.2.1.2. Theory
17
1.2.1.3. Circuit Diagram 1.2.2. Receiving section
18
1.2.2.2. Theory
19 20
1.2.2.3. Circuit diagram Chapter 2 2. Microcontr Microcontroller oller codes codes
21
Chapter 3 3. Outp Output ut
24
Chapter 4 4.1. Feasibility of the project
26
4.1.1. Software 26
4.1.2. Hardware 4.1.3. Expanses 4.2. Application 4.3. Limitation Conclusion and future scope
26
28 29 30
List of symbols and abbreviations 1) IC-I IC-Int nteg egra rated ted Chip Chip 2) RF-R RF-Rad adio io Freq Freque uency ncy 3) MCU-Mi MCU-Micro cro Control Controller ler Unit Unit 4) GND GND-Gro -Groun und d 5) Vcc-I Vcc-IC C power power supp supply ly pin pin 6) AntAnt-An Ante tenn nnaa 7) VssVss-Gr Grou ound nd pin pin 8) DinDin-Da Data ta inpu inputt 9) CPU-Cen CPU-Centra trall Proce Processi ssing ng Unit Unit 10) ASK-Amplitude Shift Keying
1
List of Figures Figure no.
Name
Page no.
1
Block Diagram
6
2
ADXL335 Accelerometer
7
3
LM324 IC
8
4
PT2262 IC
10
5
RF Transmitter
11
6
RF Receiver
11
7
PT2272 IC
12
8
AT 89C51 microcontroller
13
9
Crystal Oscillator
13
10
L293D IC
14
11
H-Bridge
14
12
DC Motor
15
13
DC Gear motor
16
14
Input and output of comparator IC
17
15
Transmitting circuit
18
16
ASK Modulation
19
17
Receiver circuit
20
18
Move Forward
24
19
Move Backward
24
20
Move Right
24
21
Move Left
24
22
Robot 1
25
23
Robot with hand assembly
25
2
List of Tables Table no.
Table Name
Page no.
1
7
2
Pins description for accelerometer Pins description for LM324
3
Pins description for PT2262
10
4
11
6
Pins description for RF Transmitter Pins description for RF Receiver Pins description for PT2272
7
Accelerometer Orientation
25
8
Expanses
27
5
3
9
11 12
ABSTRACT Gesture Controlled Car is a robot which can be controlled by simple human gestures. The user just needs to wear a gesture device in which a sensor is included. The sensor will record the movement of hand in a specific direction which will result in the motion of the robot in the respective directions. The robot and the Gesture instrument are connected wirelessly through radio waves. User can interact with the robot in a more friendly way due to the wireless communication. We can control the car using accelerometer sensors connected to a hand glove. The sensors are intended to replace the remote control that is generally used to run the car. It will allow user to control the forward, backward, leftward and rightward movements, while using the same accelerometer sensor to control the throttle of direction and the other pair to rotate in the clockwise direction which makes the car to rotate about its own axis without any kind of forward or backward motion. The main advantage of this mechanism is the car with this mechanism can take sharp turn without any difficulty
4
INTRODUCTION The robot is usually an electro-mechanical machine that can perform tasks automatically. Some robots require some degree of guidance, which may be done using a remote control or with a computer interface. Robots can be autonomous, semi-autonomous or remotely controlled. Robots have evolved so much and are capable of mimicking humans that they seem to have a mind of their own. An important aspect of a successful robotic system is the Human-Machine interaction. In the early years the only way to communicate with a robot was to program which required extensive hard work. With the development in science and robotics, gesture based recognition came into life. Gestures originate from any bodily motion or state but commonly originate from the face or hand. Gesture recognition can be considered as a way for computer to understand human body language. This has minimized the need for text interfaces and GUIs (Graphical User Interface). Gesture recognition technologies are much younger in the world of today. At this time there is much active research in the field and little in the way of publicly available implementations. Several approaches have been developed for sensing gestures and controlling robots. Glove based technique is a well-known means of recognizing hand gestures. It utilizes a sensor attached to a glove that directly measures hand movements. A Gesture Controlled robot is a kind of robot which can be controlled by hand gestures and not the old fashioned way by using buttons. The user just needs to wear a small transmitting device on his hand which includes a sensor which is an accelerometer in our case. Movement of the hand in a specific direction will transmit a command to the robot which will then move in a specific direction. The transmitting device includes a Comparator IC for assigning proper levels to the input voltages from the accelerometer and an Encoder IC which is used to encode the four bit data and then it will be transmitted by an RF Transmitter module. At the receiving end an RF Receiver module will receive the encoded data and decode it by using a decoder IC. This data is then processed by a microcontroller and passed onto a motor driver to rotate the motors in a special configuration to make the robot move in the same direction as that of the hand.
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CHAPTER 1
1.1 THEORY Gesture recognition technologies are much younger in the world of today. At this time there is much active research in the field and little in the way of publicly available implementations. Several approaches have been developed for sensing gestures and controlling robots. Glove based technique is a well-known means of recognizing hand gestures. It utilizes a sensor attached to a glove that directly measures hand movements. A Gesture Controlled robot is a kind of robot which can be controlled by hand gestures and not the old fashioned way by using buttons. The user just needs to wear a small transmitting device on his hand which includes a sensor which is an accelerometer in our case. Movement of the hand in a specific direction will transmit a command to the robot which will then move in a specific direction. The transmitting device includes a Comparator IC for assigning proper levels to the input voltages from the accelerometer and an Encoder IC which is used to encode the four bit data and then it will be transmitted by an RF R F Transmitter module. At the receiving end an RF Receiver module will receive the encoded data and decode it by using a decoder IC. This data is then processed by a microcontroller and passed onto a motor driver to rotate the motors in a special configuration to make the robot move in the same direction as that of the hand.
Accelerometer
Decoder
MCU
Comparator
RF Receiver
Motor Driver
Encoder
RF Transmitter
Motors
Figure 1. Block Diagram
6
1.1.2 ACCELEROMETER (ADXL335) An Accelerometer is an electromechanical device that measures acceleration forces. These forces may be static, like the constant force of gravity pulling at your feet, or they could be dynamic – caused by moving or vibrating the accelerometer. It is a kind of sensor which record acceleration and gives an analog data while moving in X, Y, Z direction or may be X, Y direction only depending on the type of the sensor.
Figure 2. ADXL335 Accelerometer Table 1. Pin description for Accelerometer
PIN NO.
SYMBOL
FUNCTION
1
ST
Sets the sensitivity of the accelerometer
2
Z
Records analog data for Z direction
3
Y
Records analog data for Y direction
4
X
Records analog data for X direction
5
GND
Connected to ground for biasing
6
VCC
+3.3 volt is applied
7
1.1.3 COMPARATOR IC (LM324) The comparator ic compares the analog voltage received from the accelerometer and compares it with a reference voltage and gives a particular high or low voltage. The received signal is quite noisy and of various voltage levels. This ic compares those levels and outputs in the form of 1 or 0 voltage level. This process is called signal conditioning. The figure shown below is comparator IC. The pins 1, 7, 8 and 14 are output pins. A reference voltage is connected to the negative terminal for high output when input is high or positive terminal for high output when input is low from the LM324 IC.
Figure 3. LM324 IC
8
Table 2. Pin description for LM324
PIN NO.
SYMBOL
FUNCTION
1
Output 1
Output of 1 comparator
2
Input 1-
Inverting input of 1 comparator
3
Input 1+
Non-Inverting input of 1 comparator
4
VCC
Supply voltage: 5V(up to 32V )
5
Input 2+
Non-Inverting input of 2 comparator
6
Input 2-
Inverting input of 2 comparator
7
Output 2
Output of 2 comparator
8
Output 3
Output of 3 comparator
9
Input 3-
Inverting input of 3 comparator
10
Input 3+
Non-Inverting input of 3 comparator
11
Ground
Ground(0V)
12
Input 4+
Non-Inverting input of 4 comparator
13
Input 4-
Inverting input of 4 comparator
14
Output 4
Output of 4 comparator
st
st
st
nd
nd
nd
rd
rd
rd
th
th
th
9
1.1.4. ENCODER IC (PT2262) PT2262 is a remote control encoder paired with PT2272 utilizing CMOS technology. It encodes data and address pins into serial coded waveform suitable for RF or IR modulation. P T2262 has
12
a maximum of 12 bits of tri-state address pins providing up to 3 address codes; thereby, drastically reducing any code collision and unauthorized code scanning possibilities. The pin description is shown below. It has 4 input while 1 output pin. The address pins can also be utilized as data pins. P
P
Figure 4. PT2262 IC Table 3. Pin description for PT2262
SYMBOL
FUNCTION
1-8
A0-A7
Address pins
9
Vss
Ground pin
13-10
D0-D3
Output pins
14
TE
Enables the transmission
15-16
Osc1-Osc2
Rosc of 470K ohm is connected
17
Dout
Output for transmission
18
Vcc
5V supply voltage
PIN NO.
1.1.5 RF MODULE (Rx/Tx) 10
Radio frequency (RF) is a rate of oscillation in the range of about 3 KHz to 300 300 GHz, which corresponds to the the frequency of radio waves, and the alternating currents which carry radio signals. Although radio frequency is a rate of oscillation, the term "radio frequency" or its abbreviation "RF" are also used as a synonym for radio – radio – i.e. to describe the use of wireless communication as opposed to communication via electric wires The RF module is working on the frequency of 315 MHz and has a range of 50-80 meters.
Figure 5. RF Transmitter
Figure 6. RF Receiver
Table 4. Pin description for RF Tx
PIN
FUNCTION
VCC
5V supply
GND
Ground pin
Data
Output to pin 14 of PT2272 for data transmission
Ant
A wire attached here works as antenna
Table 5. Pin description for RF Rx
11
PIN
FUNCTION
VCC
5V supply
GND
Ground Pin
Data
Input from pin 17 of PT2262 for data transmission
Ant
A wire attached here works as antenna
1.1.6. DECODER IC (PT 2272) PT2272 is a remote control decoder paired with PT2262 utilizing CMOS Technology. It has 12
12
bits of tri-state address pins providing a maximum of 3 address codes; thereby, drastically reducing any code collision and unauthorized code scanning possibilities. The input data is decoded when no error or unmatched codes are found. It has 1 input while 4 output pins. The address pins can also be utilized as data pins. P
P
Figure 7. PT2272 IC Table 6. Pin description for PT2272
PIN NO. SYMBOL
FUNCTION
1-8
A0-A7
Address pins
9
Vss
Ground pin
13-10
D0-D3
Output pins
14
Din
Input of RF
15-16
Osc1-Osc2
Rosc of 470K ohm is connected
17
VT
Indicates valid transmission
18
Vcc
5V supply voltage
12
1.1.7MICROCONTROLLER (AT89C51) The processing is the most important part of the robot. Till now we get the data from the decoder. Based on that data decisions have to be made. So here the role of microcontroller comes up. We used a microcontroller for our robot to give it a decision capability. Our microcontroller is made up by Atmel and the product name is AT89C51. Port 1 works as an input port while Port 2 is working as output port for our ou r program.
Figure 8. AT89C51 Microcontroller A crystal oscillator is attached to the pins 18 and 19 of the microcontroller. The oscillator creates an electrical signal of a very precise frequency which is used to keep track of time. Two capacitors are connected in parallel p arallel with the oscillator to remove unwanted frequencies.
Figure 9. Crystal Oscillator
13
1.1.8 MOTOR DRIVER IC It is also known as H-Bridge or Actuator IC. Actuators are those devices which actually gives the movement to do a task like that of a motor. In the real world there are different types of motors available which work on different voltages. So we need a motor driver for running them through the controller. The output from the microcontroller is a low current signal. The motor driver amplifies that current which can control and drive a motor. In most cases, a transistor can act as a switch and perform this task which drives the motor in a single direction. direction.
Figure 10. L293D IC Turning a motor ON and OFF requires only one switch to control a single motor in a single direction. We can reverse the direction of the motor by simply reversing its polarity. This can be achieved by using four switches that are arranged in an intelligent manner such that the circuit not only drives the motor, but also controls its direction. Out of many, one of the most mo st common and clever design is a H-bridge circuit where tran sistors are arranged in a shape that resembles the English alphabet "H".
As seen in the image, the circuit has four switches A, B, C and D. Turning these switches ON and OFF can drive a motor in different ways. • • • • •
When switches A and D are on, motor rotates clockwise. When B and C are on, the motor rotates anti-clockwise. anti-clockwise. When A and B are on, the motor will stop. Turning off all the switches gives the motor a free wheel drive. Turning off on A & C at the same time or B & D at the same time shorts the entire circuit.
14
1.1.9 DC MOTORS A machine that converts DC power into mechanical power is known as a DC motor. Its operation is based on the principle that when a current carrying conductor is placed in a magnetic field, the conductor experiences a mechanical force. DC motors have a revolving armature winding but non-revolving armature magnetic field and a stationary field winding or permanent magnet. Different connections of the field and armature winding provide different speed/torque regulation features. The speed of a DC motor can be controlled by changing the voltage applied to the armature or by changing the field current.
Figure 12. DC Motor
15
1.1.10 DC GEAR MOTOR A geared DC Motor has a gear assembly devoted to the motor. The speed of motor is counted in terms of rotations of the shaft per minute and is termed as RPM .The gear assembly helps in increasing the torque and dropping the speed. Using the correct arrangement of gears in a gear motor, its speed can be reduced to any required figure. This concept of reducing the speed with the help of gears and increasing the torque is known as gear reduction. Reducing the speed put out by the motor while increasing the quantity of applied torque is a important feature of the reduction gear trains found in a gear motor. The decrease in speed is inversely relative to the increase in torque. This association means that, in this sort of device, if the torque were to double, the speed would decrease by one half. Small electric motors, such as the gear motor, are able to move and stand very heavy loads because of these reduction gear trains. While the speed and ability of larger motors is greater, small electric motors are sufficient to bear these loads.
Figure13. DC Gear Motor
16
1.2.1. TRANSMITTER TRANSMITTER SECTION 1.2.1.2. THEORY
The accelerometer records the hand movements in the X and Y directions only and outputs constant analog voltage levels. These voltages are fed to the comparator IC which compares it with the references voltages that we have hav e set via variable resistors attached to the IC. The levels that we have set are 1.7V and 1.4V. Every voltage generated by the accelerometer is compared with these and an analog 1 or 0 signal is given out by the comparator IC.
Fig 14. Input and Output of Comparator IC This analog signal is the input to the encoder IC. The input to the encoder is parallel while the output is a serial coded waveform which is suitable for RF transmission. A push button is attached to pin 14 of this IC which is the Transmission Enable (TE) pin. The coded data will be passed onto the RF module only when the button is pressed. This button makes sure no data is transmitted unless we want to. The RF transmitter modulates the input signal using Amplitude Shift Keying (ASK) modulation. It is the form of modulation that represents digital data as variations in the amplitude of a carrier wave.
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1.2.1.3. CIRCUIT DIAGRAM
Fig 15. Transmitting Circuit
18
1.2.2. RECIEVER SECTION 1.2.2.2. THEORY
This transmitted signal is received by the RF receiver, demo dulated and then passed onto o nto the decoder IC. The decoder IC decodes the coded waveform and the original data bits are recovered. The input is a serial coded modulated waveform while the output is parallel. The pin 17 of the decoder IC is the Valid Transmission (VT) pin. A led can be connected to this pin which will indicate the status of the transmission. transmission. In the case of a successful transmission, the led will blink.The parallel data from the encoder is fed to the port 1of the th e microcontroller. This data is in the form of bits. The microcontroller reads these bits and takes decisions on the basis of these bits. What the microcontroller does is, it compares the the input bits with the coded bits which are burnt into the program memory of the microcontroller and outputs on the basis of these bits. Port 2 of the microcontroller is used as the output port. Output bits from this port are forwarded to the motor driver IC which drives the motors in a special configuration based on the hand movements.At a dead stop, a motor produces no voltage. If a voltage is applied and the motor begins to spin, it will act as a generator that will produce a voltage that opposes the external voltage applied to it. This is called Counter Electromotive Force (CEF) or B ack Electromotive Force (Back EMF). If a load stops the motors from moving then the current may be high enough to burn out the motor coil windings. To prevent this, fly back diodes are used. They prevent the back emf from increasing and damaging the motors. The following figure shows the modulated output of the RF module:
Fig16. ASK Modulation The RF modules works on the frequency of 315MHz. It means that the carrier frequency of the RF module is 315MHz. The RF module enables the user to control the robot wirelessly.
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1.2.2.3. CIRCUIT DIAGRAM
Fig 17. Receiving Circuit
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CHAPTER 2
2. MICROCONTROLLER CODES ;;;;;;;;;gesture based robot;;;;;;;;;; Org 00h mov p1,#offh movp2,#00h start:mov a,p1 anl a,#0fh ;;;;;;;;;;;For stopping;;;;;;;;;;;;; Cjne a,#0ch,nxt Clr p2.0 Clr p2.1 Clr p2.2 Clr p2.3 ;;;;;;;;;;;;For moving forward;;;;;;;; nxt:cjne a,#08h,nxt1 setb p2.0 setb p2.2 Clr p2.1 Clr p2.3 ;;;;;;;;;;;For reverse;;;;;;;;;;;;;; reverse;;;;;;;;;;;;;; nxt 1:cjne a,#04,nxt2 setb p2.3 setb p2.1 clr p2.2 clr p2.0 21
;;;;;;;;;;;;;For Turning Left;;;;;;;;;;;;; nxt2:cjne a,30eh,nxt3 setb p2.0 setb p2.3 clr p2.1 clr p2.2 ;;;;;;;;;;;;;For Turning Right;;;;;;;;;;;;;;;;; nxt3:cjne a,#0dh,nxt4 setb p2.1 setb p2.2 clr p2.0 clr p2.3 nxt4:sjmp start end
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CHAPTER 3
3. OUTPUT We achieved our objective without any hurdles i.e. the control of a robot using gestures. The robot is showing proper responses whenever we move our hand. Different Hand gestures to make the robot move in specific directions are as follow:
Figure 18. Move Forward
Figure 19. Move Backward
Figure 20. Move Right
Figure 21. Move Left
The robot only moves when the accelerometer is moved in a specific direction. The valid movements are as follows: Table 7. Accelerometer orientation DIRECTION
ACCELEROMETER ORIENTATION
Forward
+y
Backward
-y
Right
+x
Left
-x
Stop
Rest
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my finished product can be seen in the images below:
Figure 22. Robot 1
Figure 23.Robot with hand assembly
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CHAPTER 4
4.1. FEASIABILITY OF THE PROJECT During the development of the project we w e researched the feasibility in different fields, especially software and hardware. The feasibility study is shown below.
4.1.1 SOFTWARE We targeted to choose a language that is easy to understand and program. So we chose assembly language for our project. Assembly language langua ge is the basic language of microcontrollers. Although its not user friendly in terms of programming but still one can learn it quickly.
4.1.2 HARDWARE We chose accelerometer as the sensing device because it records even the minute movements. We could also have completed comp leted our project using Arduino but chose microcontroller instead because its cost is low and is easily available everywhere. There are a number of dc geared motors available but the ones we chose are capable of supporting loads up to 6kgs.
4.1.3 EXPENSES This project is quite cost effective. The componen ts used are easily available in the market apart from accelerometer, RF modules and the motors. These components are quite cheap as compared to the motors which are the only onl y expensive part in our whole project. But these particular motors are capable of providing support to loads up to 6kgs which is what we wanted.
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Table 8. Expenses
S. NO
COMPONENT
AMOUNT
RATE ( )
COST ( )
1
AN7805 Voltage regulator
2
15
30
2
LF33CV Voltage regulator
1
30
30
3
1uF Capacitor
2
5
10
4
Accelerometer (ADXL335)
1
159
159
5
Comparator IC (LM324)
1
25
25
6
10K Variable Resistor
4
7
Encoder IC (PT2262)
1
200
200
8
470K ohm Resistor
2
1
2
9
RF Module (Rx/Tx)
1
199
199
10
LED
1
2
2
11
330 ohm Resistor
1
2
2
12
Decoder IC (PT2272)
1
200
200
13
Microcontroller (AT89C51)
1
85
85
14
Crystal Oscillator (11.0592 MHz)
1
10
10
15
33pF Capacitor
2
1
2
16
Motor Driver IC (L293D)
1
110
110
17
1N4007 Diode
8
1
8
18
9V
2
20
40
19
DC Gear Motors
2
169
338
20
Base
300
Total
1756 27
1
4
4.2. APPLICATION Gesture control can be used in different areas such as in healthcare field that is wheelchair control for handicapped patients and also for controlling hospital beds. It can also be used in industrial section such as controlling the robotic arm with our gesture instead of using the joystick or any an y other controlling device. We can also control humanoid robot using hand gesture
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4.3. LIMITATION The on-board batteries occupy a lot of space and are also quite heavy. Secondly, as we are using RF R F for wireless transmission, the range is quite limited; nearly 5080m. Thirdly, an on-board camera can be installed for monitoring the robot from faraway places. All we need is a wireless camera which will bro adcast and a receiver module which will provide live streaming.
29
Conclusion and Future Scope The aim of our project is to construct a Accelerometer based Gesture Controlled Robot. As its name implies it is an efficient circuit (robot),which can be moved in any direction by by making simple Gestures, and the system’s sensitivity to Gestures can be easil y adjusted a per our liking. We have successfully completed our project. Finally, we conclude that Accelerometer Based Gesture Controlled Robot is very cheap and simple with wide applications as mentioned before. Wireless modules consume very low power and are best suited for wireless, battery driven devices. Advanced robotic arms that are designed like the human hand itself can easily controlled using hand gestures only. Proposed utilit y in fields of Construction, Hazardous waste, Disposal, Medical Science, Combination of Heads Up display, Wired Gloves, Haptictactile sensors, Omni directional Tread mills may produce a feel of physical places during simulated environments. VR simulation may prove to be crucial for Military, LAW, Enforcement and Medical Surgeries.
30
References [1] Waldherr, S., Thrun, S., and Romero, R., “A Gesture based interface for Human-Robot Interaction”, Kluwer Academic Publishers, Netherland, 2000. [2] Liu, T., Guo, H., and Wang, Y., “A new approach for color-based object recognition with fusion of color models”, Congress on Image and Signal Processing Conference, Sanya-China, vol. 3, pp. 456-460, May 2008. [3] Wang, B., and Yuan, T., “Traffic Police Gesture Recognition using Accelerometer”, IEEE SENSORS Conference, Lecce-Italy,pp. 1080-1083,Oct. 2008. [4] Lalanne, T., and Lempereur, C., “Color recognition with a camera: a supervised algorithm for classification”, IEEE Southwest Symposium on Image Analysis and Interpretation, TucsonArizona, pp. 198- 204, April 1998. [5] Available: http://en.wikipedia.org/wiki/Ges http://en.wikipedia.org/wiki/Gesture_recognition. ture_recognition. [6] Cannan, J. and Hu, H., “Human-Machine Interaction (HMI): A Survey”.[Online]. Available: http://www. dces.essex.ac.uk/staff/hhu/Papers/CES-508%20HMI-Survey.pdf [7] Das, S., Toya, L., Green, Perez, B., and Murphy, M. M., “Detecting User Activities using the Accelerometer on the Smartphone”, Team for Research in Ubiquitous Secure Technology REU Research Program, July 2010. [8] Aroca, R. V., AntônioPéricles B. S. de Oliveira, and Gonçalves, L. M. G., “Towards Smarter Robots With Smartphone”, 5th workshop in Applied Robotics and Automation, Bauru-Brazil, June 2012. [9] Song, M., Kim, B., Ryu, Y., Kim, Y., and Kim, S., “A design of real time control robot system using android Smartphone” The 7th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI), Busan Korea, Nov. 2010. [10] Shilpa, V., Pradeep, H. S., and Kurian, M. Z., “The Symbian Robot,”International Journal of Computer Science and Informatics (IJCSI), Vol-1,Issue-3. [11] M. Klingmann, “Accelerometer-Based Gesture Recognition with the iPhone”, Goldsmiths University, MSc in Cognitive Computing, London,September 2009. [12] G¨obel, S., Jubeh, R., Raesch, S. L., and Z¨undorf A., “Using the Android Platform to control Robots”, Kassel University Germany.[Online].Available: www.innoc.at/fileadmin/user_upload/_temp_/RiE/.../65.pdf 13] Do, H. M., Mouser, C. J., and Sheng, W., “Building a Telepresence Robot Based on an opensource”, ASCC Lab, Oklahoma State University USA, Dec. 2011
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