CLOUD ROBOTICS USING RASPBERRY PI

INTRODUCTION

With the advances in technology, a new area called Cloud Robotics (CR) has evolved from
conventional robotics which can create a wide impact in industrial areas. When connected to the
cloud, robots can benefit from the powerful computational, storage, and communications
resources of modern data centre in the cloud, which can process and share information from
various robots or agent (other machines, smart objects, humans, etc.). Humans can delegate tasks
to robots remotely through networks and therefore, humans have no need to be present on site
since the job is performed by the robot entirely. The goal is to construct a robot with sensors and
alert system which works within the control of cloud. To make this work, we need a separate
platform for the robot to work on which is, the ROS- Robot Operating System. Robot Operating
System (ROS) is a collection of software frame works for robot software development providing
operating system-like functionality. ROS provides standard operating system services such as
hardware abstraction, low-level device control, implementation of commonly used functionality,
message-passing between processes, and package management.

The system we have proposed contains a Raspberry-pi controller in the robot to control its
movement. The directions are controlled by an android device using ROS. 2016 Second
International Conference on Science Technology Engineering And Management ( ICONSTEM )
544 978-1-5090-1706-5/16$31.00©2016 IEEE A Robot Operating System (ROS) allows a user
to easily control the mobile operations of a robot. A Camera is used to give input to the
Raspberry pi microcontroller. Temperature sensor and gas sensor is used to sense the
temperature and gas leakage with the use of Raspberry Pi controller. An IR sensor is used to alert
attempt to access restricted area. An alarm system with a danger indication lamp, cooling fan and

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speaker alert are fixed with the Raspberry Pi controller. Wi-Fi is used to send the data from
controller to Mobile using the IP address of the RaspberryPi kit. Using a mobile, we can also
control the robot movement. The monitored data will be sent to the cloud enabling access of
information from anywhere.

TRANSMISSION SECTION:

Equipment and sensors we are going to use in this project are mentioned below with their
descriptions.

A. Raspberry Pi
This credit card-sized single board computer is a fully programmable PC that runs in
open-source Robot operating system. The board consists of Video Core IV graphics
processing unit (GPU), ARMv7-compatible quad-core one, 512 MB of RAM. It has a
MicroSD to boot media and for persistent storage. One powerful feature of the Raspberry
Pi is the row of GPIO -General Purpose Input/output pins along the edge of the board
(refer Fig.1.1). These pins are a physical interface between the Pi and the outside world.
At the simplest level, these are called as switches. Seventeen of the 26 pins are GPIO
pins; the others are power or ground pins.

B. Sensors
i. Temperature sensor- The DS18B20 Digital Thermometer provides 9 to 12-bit
(configurable) temperature readings which indicate the temperature of the
device. Information is sent to/from the DS18B20 over a 1-Wire interface. It

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 can be powered from its own data line. Power supply range is from 3.0V to
5.5V. It measures temperatures from - 55°C to +125°C. It has 0.5§C accuracy.
ii. IR sensor- These are miniaturized IR receiver modules for remote control
systems. The sensors detect the wavelength and spectral radiation of the light
from the IR emitter. It provides high communication speed and high level of
security.
iii. Gas Sensor- It is used in gas leakage detecting equipment the industry. It is
suitable for detecting of LPG, iso-butane, propane. It had Small sensitivity to
alcohol and smoke. Highlighting features include Fast response and Stable
and long life. The sensor can be directly powered by DC supply or through a
diver circuit.
C. Camera
The type of camera used here is an IP camera which has recording function built-in and
can thus record directly to any standard storage media, such as SD cards, NAS (network-
attached storage) or a PC/server. The camera feeds or streams its image in real time to a
computer or a mobile using network. When "captured" by the computer, the video stream
may be saved, viewed or sent on to other networks via Wi-Fi. When sent to a receiver
side, the video stream is saved in cloud. The resolution offered by the camera is
1280x720 (720p) or even 1920x1080 (1080p) resolution. The video stream is viewed in
mobile or computer by connecting to the IP of Raspberry Pi controller kit.

D. Power supply
There are several ways to convert an AC voltage into the DC voltage. Traditionally, this
has been done with a transformer and rectifier circuit. However, in applications that
involve providing a DC voltage to only the controller and a few other low-current
devices, transformer-based or switcher-based power supplies may not be cost effective.
So, Transformer less power supplies which provide a low-cost alternative to transformer-
based are used in this robot

RECIEVER SECTION:

A. Alarm system
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 Functionality provided by project is defined below.
i. Cooling fan-
the robot is fitted with a cooling fan which turns on when the temperature
sensor detects a reading which is more than the desired value. The fan is
focused in the area where the temperature dissipation is more and cools the
area. It is powered by DC supply.
ii. Indication lamp-
The light source powered by DC supply automatically turns on when the IR
sensor detects access to restricted area. The lamp glows when IR receiver
senses undesirable access into a particular area.
iii. Speaker alert-
In case of emergency situation, say here a gas leakage, the gas sensor detects
the presence of harmful gas in the environment and signals the controller. The
controller in turn switches on the Speaker alert.

B. Cloud
Cloud computing is a synonym for distributed computing over a network. Its highlighting
feature is the ability to run a program on many connected computers at the same time. Its
advantages proved in history include ondemand self-service, ubiquitous network access,
location independent resource pooling, rapid resource elasticity, usage-based pricing and
transference of risk. Some of the Services offered by cloud include 'SaaS' (Software as a
Service), 'PaaS' (Platform as a Service), 'IaaS' (Infrastructure as a Service), 'HaaS'
(Hardware as a Service) and 'NaaS' (Network as a Service).

C. DC motor
The DC motor is connected to a set of four wheels and is responsible for the movement
of robot. A DC motor is a class of electrical machine that converts direct current
electrical power into mechanical power. A DC motor's speed can be controlled over a
wide range, using either a variable supply voltage or by changing the strength of current
in its field windings.

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 D. Wi-Fi (Wireless Fidelity)
Wireless Fidelity or Wi-Fi is a local area wireless computer networking technology that
allows the Raspberry Pi kit to connect to the network. It uses a bandwidth of 2.4
gigahertz. The Wi-Fi network provides the connection of unique IP address from the
Raspberry Pi kit to the devices in receiving end. Using the various encryption
technologies in Wi-Fi, the network is made secure.
CONNECTIVITY SECTION:

There are several connectivity parts in this project. Such as;

 Cloud connection
 Raspberry-pi and smartphone connection
 Sensors and motor connectivity
 Raspberry-pi GPIO pins

OBJECTIVES

The objectives and scope of this project includes below functionalities:

 Movement is controlled by the person at the receiver side by operating in a separate

platform called ROS.
 The live video feed obtained by the camera will be streamed to the receiver and viewed in
the screen.
 If Temperature level increases above the threshold value then the controller switches on
the cooling fan.
 If Gas level increases above the threshold value then the controller invokes the speaker
announcement.
 IR sensor signals if a person is trying to cross a restricted area and switches on the lamp.
 All the data obtained in mobile will be uploaded to cloud.
 Wi-Fi will be provided for the entire process by a Wi-Fi dongle which is going to be
fitted along with the robot.

OUTCOME

The outcome of this project will be:

 To move and monitor the entire industry from the inside.

 Industry monitoring can be done from anywhere. Even from home.

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  It can be effectively used in Nuclear power plants where human can be prevented from
getting exposed to radiation.
 Less use of CCTV cameras installation.
 Ease of access and solely usable through a smartphone, handy device.
 There won’t be any data storage issue due to cloud service.
 Due to its multi-tasking it would make monitoring and securing an easy job.

Final Deliverable of the Project:

 Hardware System

Benefit of the project:

 24-hour surveillance is maintained. Provided, all the values obtained by the robot are
stored in cloud.
 Using the robot in power grids will be efficient for monitoring the entire area.
 Safety is ensured by the IR sensor. Unwanted access inside restricted area can be
avoided.
 Provides immediate attention to over temperature and heat dissipation by turning on the
cooling fan.
 Smoke, harmful gas can be immediately detected and alerted.
 Very cost effective.
 Because of its miniature structure, and compact nature, it is now very easy to build
personalized robots.
 Able to save lots of man power.
 The robot can be used in any kind of manufacturing and industrial unit.

PROBLEM STATEMENT:
Existing industrial control and monitoring systems have a significant portion of their costs in
cable installation and the maintenance costs associated with moving and replacing cables during
machinery maintenance and re-configuration.

A. Wired device
Wired devices are fixed to or near the machinery. These devices are wired to power
supply. The lack of wireless system and large power consumption are the drawbacks of
wired device.
Disadvantages- fixed in particular place, cost, cable installation, maintenance.
B. Manual system
Manually control the devices inside the industry.
Disadvantages- Lack of wireless communication (e.g. - RFID, ZIGBEE). Large power
consumption in order to automate the entire industrial system.

Challenges in Cloud Computing

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 A. Network Latency
Dealing with output to input network transportation paying attention to latency is
key to successfully transmitting information. Network latency is an expression of how
much time it takes for a packet of data to get from one designated point to another.
(Rocus, 2014). In order for cloud computing to work effectively the latency would have
to be managed proficiently.

B. Data Integrity
Data integrity is of prime importance for proper transfer of data over the network
as it pertains to the proper working of the devices connected. Data integrity has been
used as one of the criteria in this work.

Most of the user have external hard drive 1 TB (Terabyte) or more but the users can’t carry the
external hard drives all the time, whereby this project will benefit the users connect to personal
cloud storage over internet. The new technology which will be affordable to everyone and also it
will enable the user to use their external hard drives over internet possible.
Devices and sensors from different manufacturers may output data with different structures. In
fact, even different models of a product from the same manufacturer may result in consider-able
differences in the output data’s structure.
Security issues could never be neglected in such cases. Current Status and Open Issues dangers
also affect data generated by computing devices and sensors used in cloud robotics. Commercial
science and technology solutions have suffered from serious data leakage incidents, especially
during the upload of photos and video to the cloud.

FUTURE WORK:
 As future work, the developed system can be expanded by enriching it with additional
devices, sensors and actuators, as well as test its acceptance with real elders.
 Obstacle detection for the robot can be added to improve the robot’s working.
 By making the robot fly, the entire top view of the industry can be viewed. This will
overcome the usage of CCTV cameras inside the industry.
 Security can be tightened by adding face recognition feature to the camera.
 The image processing software available in the cloud, such as Google Object Recognition
Engine could be used to identify the objects and report to officials if any intruder is
found.
 Using GPS technology, we can determine location, velocity round the clock in any
weather conditions anywhere in the world. We need to interface Arduino Uno with GPS.
The location of the robot is tracked in Google maps with Trimble Studio.

BACKGROUND/LITERATURE REVIEW
The term “Cloud Robotics” was coined by J.J. Kuffner in 2010 [9]. Kuffner believed

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that the robots are restricted to perform in real environments due to the limited amount of
processing capability, storage, programming with them. He proposed a concept to utilize
the platform of internet. By use of information communication technologies robots can
utilize parallel processing powers and share their knowledge with a network of robots.
These resources are not physically situated with the robot but can be called upon without
any deployment overheads. The concept of Cloud robotics opens new domains of research
providing robots with state of advanced features, improved efficiency and rapid
scalability.
Cloud Robot with Agriculture Using Raspberry Pi
S. Logeswari, R. Subhashini, Students, MRK Institute of Technology, Kattumannarkoil,
Nattarmangalam, Cuddalore, Tamil Nadu
Abstract In this paper, a system is designed with an autonomous robot to sense environmental
data such as temperature, humidity, and air quality, along with GPS coordinates and store them
on the cloud. The mobile robot is controlled using an Arduino microcontroller and communicates
with the cloud via a Raspberry Pi. Advanced Fuzzy logic controller is implemented to change the
steering angle and the speed of the robot according to the desired reference position using
raspberry PI. The collected data are stored in a cloud server which could be viewed through a
web browser and can be used to create awareness about the environmental changes of the
location under study. A proof-of-concept prototype has been developed to illustrate the
effectiveness of the proposed system.
Cloud robot is a combination of cloud computing and robotics. It is an important theme of the
fourth industrial revolution and a hot topic in research in various countries. Various IT giants and
research institutions have laid out cloud robot technology, laying a good foundation for the
development of cloud robots. This paper mainly reviews the state of the art of cloud robotics
including the concept, characteristics and architecture of cloud robots, and the development
status of cloud robots by consulting the literature. The application prospects are also prospected
at the end.
Published in: 2019 25th International Conference on Automation and Computing (ICAC)
A Study of Robotic Cooperation in Cloud
Robotics: Architecture and Challenges
ABSTRACT: Networked robotics involves a collection of robots working together to perform
complex tasks, such as search and rescue task in disaster management. Because such tasks are
beyond the capacity of a single powerful robot, networked robotics has been widely researched.
However, the modes of cooperation in traditional networked robotics have been restricted by the
inherent physical constraint that all computations are performed in the robotic network, with
knowledge sharing being limited to the collective storage in the network. Cloud robotics, which
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allows robots to benefit from the rich storage, computation, and communication resources of
modern data centers, is widely accepted as a promising approach to efficient robot cooperation in
applications, such as disaster management. In this paper, we study robotic cooperation in cloud
robotics. We first give a conceptual view of the nature of this cooperation. We then propose three
novel robotic cooperation frameworks for cloud robotics: robotic knowledge sharing
cooperation, robotic physical-task cooperation, and robotic computation task cooperation.
Finally, we identify several critical challenges, and illustrate the potential benefits of robotic
cooperation in cloud robotics.
A Review of Robotics through Cloud Computing
Abstract
The review of cloud computing and robotics is cloud-based development and use of computing
technologies in field of robotics. It is a style of computing in which resources are provided "as a
service" over the internet/robots to users who need not have control over the technology
infrastructure. With cloud computing, user can access files and use applications from any device
that can access the internet. Cloud computing is a computing area, where a large pool of system
is connected in a private or public network to provide dynamically scalable infrastructure for
application, data and storage. The review process was adopted by surveying the 42 research
articles in last 6 years (2010-2015) for extraction of information about seven sub-issues. Review
process was adopted in the area of API stack management, robotics sensor management, network
computing management, storage management, hybrid cloud system management, infrastructure
management and security management. The first paragraph should describe the
background/motivation of area/sub area selected, and the current scenario in general. Second
para should state the details of review process adopted, categorization of Issues/sub-issues,
extraction of information and analysis. It should briefly tell how many research papers ranging
from which year to which year have been considered. Third Para should discuss the outcome of
review such as various solution approaches, their advantages and limitations, strengths and
weaknesses.
Rajesh DoriyaPavan ChakrabortyG C Nandi
k. kamei et.al [10] discuss the concept of Cloud Networked robotics, which targets continuous
supportof daily activities that cannot be satisfied by stand-alone robotic services or by networked
robotic services, theKey research challenges were described through an examination of typical
daily activities also some challengesin cloud networked robotics were described in this work, but
it was found that still many other aspects to bestudied such as scalability and dependability.
Basit Qureshi et .al [11] discussed robots and automation systems by summarizing cloud robotics
intofive types for performance enhancement in robotics and autonomous systems as follow:
1) Remote Brain 2) Big Data and Shared Knowledge-base 3) Collective Learning,
4) Intelligence and Behavior 5) Cloudarchitectures. Bishwadeep mainaly et .al [12]

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Elaborate how cloud provided service to robotic applications andhighlighting the challenges in
cloud robotics.Guoqiang Hu et .al [13] shows how robots shares computationresources,
information , data with each other and accessing new knowledge and skills not learned by them.

PROJECT METHODOLOGY
Methodology we are going to use in this project is WATERFALL. Reason behind
its usage is described below.
One of the more traditional project management methodologies, Waterfall is a linear, sequential
design approach where progress flows downwards in one direction — like a waterfall. Originating
in the manufacturing and construction industries, its lack of flexibility in design changes in the
earlier stages of the development process is due to it becoming exuberantly more expensive
because of its structured physical environments.
The methodology was first introduced in an article written in 1970 by Winston W. Royce and
emphasizes that you’re only able to move onto the next phase of development once the current
phase has been completed. The phases are followed in the following order:
1. System and software requirements
2. Analysis
3. Design
4. Coding
5. Testing
6. Operations
Best suited for: Larger projects that require maintaining stringent stages and deadlines, or
projects that have been done various times over where chances of surprises during the
development process are relatively low. Waterfall often makes use of a Gantt chart for planning
and scheduling which is one of the key requirement according to template also.
Moreover, our project is divided into two parts/sides.
Transmitter Side & Receiver Side.

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PROJECT SCHEDULE

KEY MILESTONES
Key Milestones of the Project with dates
S. No Elapsed time since start of the project Milestone Deliverable
0-3 Months Hardware and Research and
1 Application design Equipment
analysis gathering
3-6 Months Transmitter side Finalizing Robot
2
implementation structure
6-9 Months Receiver side Finalizing Cloud
3
implementation connectivity
9-12 Months Setting Reminder Testing robot
4 and Giving reports with cloud
Result connections

RESOURSE ESTIMATION
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Required equipment along with estimated cost:

S.N Required Equipment/Resource Estimated Cost

o
1 Internet/Wi-Fi -
2 Android Smartphone 10,000-15,000 PKR
3 Android Studio -
4 Raspberry-Pi 8,000-16,000 PKR
5 Robot Structure 800-1,200 PKR
6 DC Motors 1,000-3,000 PKR
7 Sensors 800-3,500 PKR
8 Light 200-500 PKR
9 IP Camera 3,500-6,600 PKR
10 Speaker 2,600-4000 PKR
11 Cooling Fan 660-800 PKR
12 Battery/Power Supply 3,300-5000 PKR
13 Cloud Service -
14 Wowza Streaming Cloud 999$/Year, 99$/Month
OR OR
Microsoft Azure 0.034$/Day, 100$/Month
& &
Azure IOT Hub Free(Limited Access), 3,736
PKR(Standard)

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REFERENCES

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[9] James J. Kuffner, Cloud-Enabled Robots, IEEE-RAS International Conference on
Humanoid Robots, 2010, Nashville, TN.
[10] k. kamei et al. Cloud Networked Robotics Network, IEEE, 2012 - ieeexplore.ieee.org.
[11] Basit Qureshi, Anis Koubˆaa. ―Five Traits of Performance Enhancement using Cloud
Robotics: ASurvey.‖ The 5th International Conference on Emerging Ubiquitous Systems and
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ISSN: 2454-5031
[12] WUHUI CHEN 1, YUICHI YAGUCHI2, KEITARO NARUSE2, YUTAKA
WATANOBE2,KEITA NAKAMURA3, AND JUN OGAWA3(Member, IEEE)
1School of Data and Computer Science, Sun Yat-sen University, Guangzhou 510275, China

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2School of Computer Science and Engineering, The University of Aizu, Aizuwakamatsu 965-
8580, Japan 3Revitalization Center, The University of Aizu, Aizuwakamatsu 965-8580, Japan.
[13] Rajesh Doriya, Pavan Chakraborty, Nandi GC. Robotic Services in Cloud Computing. IEEE
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