Paper Title
Design Of An Embedded Sensing System To Determine The Orientation Of A Robotic Device For Remote Inspection

Abstract — This paper presents the design of an embedded sensing system to determine the orientation of a robotic device, being developed for remote inspection of engineering components that are without line of sight. The system is designed to measure the pitch and roll axes data using a two-axis tilt sensor and to measure the yaw axis data using a magnetic digital compass. Both the sensors are interfaced to personal computer through a PIC microcontroller and ZigBee wireless module. The responses of the tilt and magnetic compass are used to determine the orientation of the robotic device. The performance of the sensors is experimentally verified. By using a Python script, the 3-D orientation of the robotic device is displayed in real time. Details of the circuit, printed circuit board designed, and experimental set up made for calibration and testing are discussed.