BlueGenius

1
BlueGenius

• A Toolset for Bluetooth Application Development
• And
• A Realization of Distributed Mobile
  Computing/Communication

2
Where are we going?

• Simple Language for Robots Communication
• Friendly Developing Environment
• One for all application
• What is BlueGenius
• Software Development Environment
• Hardware Basic Motherboard Platform

3
BlueGenius Provides

• Distributed Mobile Computing
• Load Balance
• Toolset for Bluetooth APP Development
• Built-in Remote Procedure Call
• Small Size RVM and Robot Bluetooth Stack
• RVM 5KB / Robot Bluetooth Stack 35KB
• Voice Control
• Security of Transmission

4
Software Components

• Robot Language Compiler
• Robot Virtual Machine
• Robot Bluetooth Stack
• Remote Control Center

5
Hardware Components

• General Purpose 8051 Main Board
• Display Card
• Motor Control Card
• Voice Recognition Card
• Robot Body

6
Going Deeper

• Tools Used
• System Architecture
• Software Architecture
• Hardware Architecture
• Robot Bluetooth Stack Architecture
• Mechanical Architecture
• Applications
• Conclusion
• Future Work

7
Tools Used

• Software Development
• Microsoft Visual C 6.0
• Borland C Builder 5.0
• Borland Delphi 5.0
• Keil 8051 C Compiler
• Hardware Development
• Protel 98
• AutoCAD 2000

8
Software Architecture
9
Software Development Flow
10
RPC in ROBOL

• Non-waited Remote Procedure Call

Robot2.JustDoIt(2)
Robot Name
Function Name
Parameters
Subject
Verb
Complement
11
RPC in ROBOL (2)

• Waited Remote Procedure Call

_at_(60,-1)Robot2.DoIt(2)
Default Return Value
Waiting Time
Keyword for Waited Remote Procedure Call
12
RPC Execution Flow
13
RPC Execution Flow (2)
14
Robot Bluetooth Stack

• Robot Bluetooth Stack 35KB
• Encoding and Sending Packet
• Command Layer over L2CAP
• Sending huge data
• Multiple Connection Problem
• Connection on demand
• CSMA/CD

15
Security Model

• Robot Name and Team Name
• Team1
• UID '28B0C88B-7CA1-4DB0-BAB2-9E9F5481F4C1'
• Robot1 'C7708690-9581-4B70-8D6C-6131D9543CBD'
  
• Robot2 'A67D3D16-32F0-4521-8E0F-F3C8069EC487'
  
• Robot3 'ED8460D7-29E6-40B0-8650-5891CBD9DA35'
  

16
RVM Features

• Small size RVM 5KB
• Remote Procedure Call
• Built-in Bluetooth
• Two different platforms
• PC
• 8051
• Multi-Thread

17
RVM Instructions

• Data Access Instructions
• Global variable
• Local variable
• Stack
• Arithmetic/Logic Instructions

18
RVM Instructions (2)

• Flow Control Instructions
• Conditional jump
• Procedure call
• System Instructions
• System call
• Bluetooth
• RPC

19
Speech Recognition

• Microsoft Speech Library
• Direct Control Mode
• Direction Command
• Program Setting Command
• RVM Flow Control Command
• Speech Recognition Card

20
Mechanical Architecture

• Size
• 250 x 250 x 150 mm
• Weight
• 2 kg
• Body
• Aluminum
• Shield
• Acrylic
• Wheel Diameter
• 50 mm

21
Robot Body

• Interior
• Battery
• Motor
• Exterior
• Blue acrylic shield
• Touch sensor

22
Hardware Architecture
23
Battery And Power

• 12 V / 2.3 Ah Lead Rechargeable Battery
• 7805 Regulator Power Supply

24
Bluetooth Module

• Ericsson Bluetooth Toolkit
• RS-232 Connector

25
Motor Control Card

• Speed control with DAC
• Direction control with relay

26
Main Board

• INTEL 8051 CPU
• 64 KB ROM
• 64 KB RAM
• Memory Mapping Structure
• Bluetooth Connection with RS-232

27
Display Card

• LED x 8
• LCD x 1
• 7-segment digital LED

28
Voice Recognition Card

• Voice Recognition Chip
• RVM Application

29
Price List
Retail Price (Material) 194
30
Robot Talks

• Example
• Prime Number
• Find the prime number from 2 to 97 and display
  them one by one on the 7-segment LED display

31
Prime Number
ROBOL Compiler
Robot Virtual Machine for PC
32
Robot on the Road

• Download to 8051 and Go!!
• Remote Control Center
• Speech Control
• Direct Control Mode
• Go forward/backward
• Turn left/right

33
The Power of Bluetooth

• Cooperation between Robots
• Calculation with PC (BFS Algorithm)
• Demo on PC
• Demo with a Robot and PC

34
Map of BFS
Sequence (1,1) (1,2) (1,3) (2,3) (3,3) (3,4) (4,4
) (5,4) (5,3) (5,2) (4,2)
35
Map of Room Cleaning
ROBOT 1
ROBOT 2
36
Further BlueGenius can do

• Team Toys
• Mobile Wireless Home/Information Appliance
• Emergency Robots
• Handicap-assist Robots

37
Conclusion

• Realization of distributed mobile computing
• Toolset for Bluetooth application development
  environment
• General purpose 8051 platform for various
  applications
• RVM enhances portability
• Ready for product

38
Future Work

• Computer Vision
• Global Position System
• High Performance CPU
• Long Range Transmission

39
Team Members

• Mentor
• Feipei Lai
• Team Member
• Pin-chou Liu
• Chung-ruei Huang
• Yih-lun Huang
• Chin-chi Chen
• Chou-han Yang