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This application in combination with "Droid Control for Arduino" allows you to remote control your Arduino project via WiFi / 3G *without* any shields
Steps:
1.Download this app and connect Arduino MEGA/UNO with USB cable.
2.Download "Droid Control for Arduino" on *another* android device.
3.Configure the TCP connection between the apps.
4.Both application will communicate via WiFi / 3G and allow you to remote control your Arduino project.
This application can also stream video content to "Droid Control for Arduino".
In general this app is something like WiFi/3G modem/shield for your Arduino board and "Droid Control for Arduino" is something like a joystick/controller that can send commands to this application and the arduino board.
You can find "Droid Control for Arduino" here:
https://play.google.com/store/apps/details?id=arduino.robot.control