Smart Structure for Automated Rangoli

Jit SenGupta1, Suman Deb2

Dept. of CSE, National Institute of Technology, Agartala, 799055, India
1
jit.agt@gmail.com, 2sumandebcs@gmail.com

Abstract

As a rising art form of the twenty first century, traditional forms of painting has gained acceptance as a two-dimensional art form, in the world of
art. In spite of the creation of realistic application software for digital painting, traditional forms of painting like Rangoli is yet to be explored as a
visual art form. The pith of this paper is to present a design that can cultivate thought, development and improvement of techno-tasteful values to
mimic the human way of perception from viewing and drawing based on human modeling of Rangoli. The methodological strategies as discussed in
this paper comprise an optical feedback perception based on camera input and an open source software framework for agent processing. Movements
of the agent can be dynamically defined trough an intelligent interface and are performed by the agent in a responsive manner. Controlling behavior
of intelligent agent keeps the dynamism manifested by the human behavior, granting spontaneous and dynamic perception of drawing in
synchronism to perception from viewing, without any previous knowledge of it.

Keywords: Multilayered approach, CAR, Optical feedback, Automated painting, Rangoli, Haptic device.

1. INTRODUCTION

Most human work on visual input and process data depending on the visual input of the surrounding, People are not equipped with large number of
sensors rather the visual input are processed in a intelligent manner to get the most sophisticated application or uses of human ideas and thoughts.
Visual representation is an age old process where it is used for learning, teaching and expressing once mind or thinking to another person. In this
system we tried to extend a very specific form of art i.e. Rangoli [1] and scale it up to apply on any surface using machine particularly computer.
Rangoli came into existence from two words Rang which means color and Holi which implies festival of colors. Rangoli is an articulation of the
imaginative self, regularly saw as a manifestation of representation toward oneself. Rangoli is the root of most profound sense of being thru
craftsmanship in India. Symmetry of the Rangoli brings unified consideration. In India especially in southern part Rangoli is a must seen art in front
of every house. It is believed that the moment you pass through Rangoli you are separated from the past and future and are compelled to stay in
present. You will have full focus in the event that you are going for into a house. Furthermore this is precisely what the rangoli does to one's brain
i.e. It has a relieving impact. Rangoli is an art of vibration example which was found by Indians a large number of years prior and been made a
piece of the way of life for otherworldly, tasteful & exploratory purposes. Rangoli is truly not a mechanical or fancy marvel. Technology is growing
at a pace. We have witnessed the invention of robots, machines, electricity etc. Industrial Robots can be used for different applications which simply
cut across industrial and personal purposes. They perform different tasks based on how they have been programmed or taught manually. More and
more HCI researchers are trying to make a mechanical device to draw what they visualize of. As the ideas and technologies develop, it’s clear that
drawing robots can be serious indeed. The development of service robot became popular recently due to the fact that society needs robots to relax
human from the tedious, exhaustive physical efforts and time consuming job. Recent generations of robots has even more resemble to humans like
drawing and artistic capacities as a hand drawn painting does not have the required looks as desired. This motivated researchers to design interactive
drawing robots that can mimic the complexity and style of human modeling of Rangoli by applying Computer Aided Rangoli mechanism. The
project places emphasis on outdoor painting, a domestic application using small robots.
In order to design such type of devices we will need an intelligent system, which can think like humans & do the task in the same way a
human do. This can be done using haptic devices with the interaction of computers. With the use of simple hardware components like Arduino
board and a motor shield. Our work is focused on drawing Rangoli of the given design. For that we are using edge detection algorithm to find the
edges. A multilayered concept is also introduced to check the correctness of the device based on which the system also gets a real-time optical
feedback of the device. On the basis of these feedbacks the system updates itself to work with the agent accordingly.

2. RELATED WORKS

Similar idea identified with this thought has been used to build up a framework which is remotely controlled by means of an Android device [2] by
a group of research individuals from New York Institute of Technology. The framework is implied for hunt mission under the rubbles in the event
of common debacles. The gadget used by them is sufficiently little to move over and go through tight spaces. As because of the light weight of the
gadget it can move over the rubbles without taking a chance with the lives of conceivable survivors. This framework uses sensors which devours a
ton of vitality and in addition have higher expense.
In an alternate work a Wall painting robot [3] is used for picture painting in the outer walls, cleaning, tile division senses and repair work
without the inclusion of people to minimize the danger of life of individuals working in common structure development. However the fundamental
bad mark of this framework is that it needs an immense set up for legitimate working.
In another work a robotic system [4] was customized to paint letter sets using its Flex pendant. The Flex Pendant was utilized to
physically instruct the robot how to take after the ways for particular focuses of letters. The robot End Effecter was picked and mounted on the robot
to perform a powerful painting assignment. It was modified in light of its usefulness.

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 A smart device to design and fabricate graphics on uneven surface is described in [5]. Apart from painting graphics on uneven surface this
system omits the drawbacks of previously developed system related to this concept and also overcome throughout involvement of humans in due
course of painting.

3. PROPOSED WORK

In handmade surface painting or big size surface painting it is difficult to maintain proper scaling and projection angle and it is always confined with
expert painters. Hence in order to overcome the human effort and to make the work more efficient we have proposed this system where, we are
using a multilayered approach to attain uneven surface painting using a physical moving agent, one optical feedback and an intermediate system
guidelines/guide grid. Agent’s movement will be observed and guided by the camera placed at the top of the structure or support. The camera will
observe agent’s movement and its relevant actions which will be predetermined by edge detected image and the feedback of application will be
compared with the predetermined layers for calibrating the movement and for attaining the actual planned figure on a surface using any particular
color or granules.

3.1MULTILAYERED APPROACH:

In the field of automated painting it’s hard to detect the outcome of any technical error resulting in undesired painting. It can be overcome using
an interactive system. For implementing such systems a new approach is being used which is multilayered approach. It comprises of four layers
which is being depicted in figure 1. Each layer is having a resemblance with human nature while drawing. Here Layer 1 is the physical layer which
is the actual outcome of the system recorded by the web cam similar as human looks in to an object while drawing. Layer 2 and layer 3 are assumed
to be a virtual layer. Layer 2 is used for comparison between layer 3 and Layer 1 that is, where the moving agent has sprayed color. The compared
value is being sent as feedback to the system same as human compares the drawn image with the actual one and performs further steps accordingly.
Layer 3 is used for projecting edge detected image, it is the image perceived by the human. Layer 4 tracks the current position of the agent which is
same as positioning our hand during drawing. As it keeps on comparing the drawn image with the actual image hence this approach is feasible in
avoiding any discrepancy occurred during drawing.

Fig. 1 Multilayered approach

3.2 SETUP EXPLANATION:

The best part of this system is its interactive behavior with the haptic device shown in figure 2 which is carried out using optical sensor for
feedback. This feedback is processed and passed to Arduino [6] placed on the agent through wireless medium for controlling the movement of the
agent. Arduino is an open-source physical computing platform based on a simple microcontroller board, and a development environment for writing
software for the board. It is easy to implement, has a simple structure with huge functionality. In this system Arduino UNO board is used. Arduino
is connected to a wireless device ZigBee [7] for receiving signal from the system through ZigBee shield. For the movement of agent Johnson geared
wheels having 7inches by 6inches dimension is used, the agent is significantly denoted by a glowing LED on center of the sprinkler in order to
distinguish it from any other object in the vicinity of the camera. Johnson geared wheels are controlled by Arduino through Dual H-Bridge [8]
which accepts standard TTL logic levels and drive inductive loads such as motors. The Arduino is programmed to control the movement of the
agent and for spraying color shown in figure.5
Rangoli to be drawn is first browsed and then it is passed through an edge detection filter for extracting the edges of desired Rangoli. Layer 3
virtually project this edge detected image. The system begins examining starting with one corner then onto the next in a straight manner as it may
be. Here supposition is that the canvas will be of square or rectangular shape henceforth examining for the focuses is raster scanning method. All the
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while it likewise locates agent’s position at first glance which is projected in layer 4. While scanning, system compares layer1 and Layer3 of the
multilayered approach. In the wake of getting agent’s position system sends agent to first spot on Physical Layer or Layer 1. From there onwards the
system will begin spraying the color. The sprayed position and sprayed shape is checked by the camera where it is always sending the live status of
the depiction to the computer. Computer compares the sprayed image with the desired pattern which helps in keeping track of the working of the
system. A flowchart is depicted below in figure 3 which explains the processing of this system.

Fig. 2 Haptic device (agent)

4. SYSTEM DESIGN

4.1 FUNCTIONALITY:

The system is designed to perform traditional painting using open source framework with contemporary tools to create human drawing
environment like situation. The flowchart for accomplishing such task is explained below

Fig.3 Flowchart of the system

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 4.2 SYSTEM ARCHITECTURE:

The system architecture is described in two parts i.e. software architecture and physical architecture. Figure 4 depicts physical architecture of
the system whereas figure 5 is software architecture of the system. Lower part of figure 4 depicts position of haptic device and optical sensor. Upper
part shows the system control through computer. There connection is through a wireless medium.

Fig.4 Physical architecture

Figure 5 shows the processing of designed system.It shows the way input is given to the system,processing of that input like edge detection,giving
commands to agent for spraying color etc. and output of the system.

Fig.5 Software architecture

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 4.3 USER INTERFACE:

In order to have initial command from user to the system, an interface is designed. The figure 6 shows the interface designed for such system. In
screen1 of the interface live video from the optical sensor of the canvas is shown through which the movement of the agent can be tracked. This
screen is layer4 of multilayered approach. In screen2 the user uploads the image. Then using canny edge detection the edges of the image are
extracted which replaces the browsed image. This is projected in layer3 of multilayered approach. After further processing the command for moving
the agent and to sprinkle color is send to Arduino. Using the Arduino interface some predefined set of instructions is burn on to haptic device, based
on the instructions in the Arduino the agent move accordingly and sprinkles color. The interface also has some operational manual keys to operate
the haptic device in case of any problem occurred during its runtime.

Fig.6 Interface of the system

5. RESULT & EXPERIMENTS

In this experiment we used haptic device with a sprinkler surmounted on it to draw the Rangoli. An image of Rangoli was given as input to the
system. The figure 7(a) shows browsed image of Rangoli, figure 7(b) shows edge detected image, figure 7(c) shows partial coloring by the agent
and finally figure 7(d) shows complete painting by the agent respectively. During the experiments the color used in this painting (i.e. blue) is such
that it sticks to the canvas, avoiding spreading of the color due the movements of wheels of the agent.

Fig.7(a)browsed Rangoli Fig.7 (b)edge detected Rangoli

Comparison between layer 1 and layer 3 can be easily being seen in figure 7(c). Red color shows the actual painting where as white color shows the
remaining one. Figure 7(d) shows completion of the task as entire edge detected image became red.

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 Fig.7 (c)partial complete painting

Fig.7 (c)fully complete painting

6. CONCLUSION AND FUTURE WORK

Focus of the work was to design a system which is capable of doing automated painting using haptic devices. Result shows that such system will be
effective even for painting graphics on uneven surface, which omits the drawbacks of prior systems. It is more effective as it also removes
throughout involvement of humans for working of the system. The graphics designed by this system will be more accurate as compared to humans
if the system is used with more calibers. As the communication between the agent and the system is through wireless medium hence it can be
accessed remotely. In this system the input taken was a colored image if the image is binary then there is no need of edge detection.
Instead of using computer it can be gotten to through PDA with the help of app, where in place of browsing an image they can draw it on
their Smartphone. This work can be stretched out to multicolored Rangoli. Few instruments can be appended to expand the usefulness of the system
like in the field of fossil science.

7. REFERENCES:

1. Rangoli website. [Online]. Available from URL: http://en.wikipedia.org/wiki/Rangoli, accessed on 12th Feb. 2015.
2. Yuxin Jing, et al. “ AndroRC: An Android Remote Control Car Unit for Search Missions” , in Systems, Applications and Technology
Conference (LISAT), 2014 , pp. 1 – 5
3. T. Gokyu, et al. “Development Of Wall Painting Robot” , in 13th ISARC, 1996, pp. 949-956
4. Ijeoma W. Muzan, et al. “Implementation of Industrial Robot for Painting Applications”, in International Symposium on Robotics and
Intelligent Sensors (IRIS), 2012 ,pp. 1329-1335
5. Jit Sengupta, et al. “Multilayered Optical Feedback for Controlling Haptic Devices”, International Journal of Computer Science and
Network, Volume 3, Issue 6 (online), 2014
6. Arduino, Arduino Leonardo [Online], Available: http://arduino.cc/en/Main/ArduinoBoardLeonardo, accessed on 10th Jan. 2015.
7. Zigbee,[Online], Available: http://en.wikipedia.org/wiki/ZigBee, accessed on 11th Jan.2015.
8. Dual H-bridge, [Online], Available: http://www.instructables.com/id/Arduino-Modules-L298N-Dual-H-Bridge-Motor-Controll/, accessed
on 10th Jan. 2015.
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