Adb over wifi, no USB cable required

Assumption is you are connected to device using UART for smoething similar so that you can run few commands on device

Find out the IP address of the Android device: Settings -> About tablet -> Status -> IP address. Remember the IP address, of the form #.#.#.#.

Steps on device
su
stop adbd
setprop service.adb.tcp.port 5555
start adbd

Steps on host
adb kill-server
sudo adb start-server
adb -a connect 192.168.1.64:5555