[Type here]

1

WIRELESS BOMB DIFFUSING ROBOTIC ARM

USING HAPTIC GESTURES

A SEMINAR REPORT

Submitted by

SHAH DISHA CHANDRAKANT (110340111007)

THAKKAR AYUSHI JAYESHBHAI (110340111009)

SHAH RIYA ANISH (110340111018)

In fulfilment for the award of the degree

Of

BACHELOR OF ENGINEERING

In

ELECTRONICS & COMMUNICATION ENGINEERING

NARNARAYAN SHASTRI INSTITUTE OF TECHNOLOGY, JETALPUR

Gujarat Technological University, Ahmedabad

December 2014

[I]

[Type here]

2

NARNARAYAN SHASTRI INSTITUTE OF TECHNOLOGY

ELECTRONICS & COMMUNICATION ENGINEERING

2014

CERTIFICATE

Date:

This is to certify that the dissertation entitled Wireless Bomb Diffusing Robotic

Arm Using Haptic Gestures has been carried out by Shah Disha Chandrakant,

Thakkar Ayushi Jayeshbhai and Shah Riya Anish under my guidance in fulfilment

of the degree of Bachelor of Engineering in Electronics & Communication

Engineering (7th Semester/8th Semester) of Gujarat Technological University,

Ahmedabad during the academic year 2014-2015.

Mrs. Kinjal Kapadiya Mr. Jignesh Patolia

(Internal guide) (External guide)

NSIT, Jetalpur

Mr. Saurabh Patel Mrs. Shardadevi Mandalappu

(Head of Department) (Principal)

E.C. Department NSIT, Jetalpur

NSIT, Jetalpur

[II]

[Type here]

3

ACKNOWLEDGEMENT

The success and final outcome of this project required a lot of guidance and

assistance from many people and we are extremely fortunate to have got this all

along the completion of our project work. Whatever we have done is only due to

such guidance and assistance and we would not forget to thank them. We would

also like to thank all the faculty members of Narnarayan Shashtri Institute of

Technology for their critical advice and guidance without which this project would

not have been possible. We would like to express our special gratitude and thanks

to Mrs. Kinjal Kapadiya for giving us such attention and time.

Last but not the least we place a deep sense of gratitude to our family members and

our friends especially Abhijeet Satani who have been constant source of inspiration

during the preparation of this project work.

[III]

[Type here]

4

ABSTRACT

Since Bomb diffusing is very difficult, we make use of robots in this field. Our

main aim to select this project is to provide safety to the people who are in bomb

diffusion squad. According to the present law and order situations, where

thousands of people are killed and injured due to the bomb explosions, our robot

helps the defense team to diffuse the bomb with the help of haptic gestures without

physically touching it. It will also provide security to the common man in case of

crowded areas.

To accomplish these objectives we designed a robotic arm in which motion tilt

tracks a human operator's arm motion including open-close hand tracking by the

end-effector. For this case we are using joystick for controlling the robotic

movements i.e. forward, backward, left and right. When we move our hand over

the sensors, our hand movement is captured and the signal is sent to the robotic

arm and it will mimic the action accordingly. Camera is placed over the robotic

arm so that user can detect the circuit on the screen. It also detects bomb during

night since it is having night vision and it can be used for spying. Bombs can even

be diffused by different technologies like radio control, remote control, voice

control, etc. but we are making use of IR sensors for sake of serving our objective.

[IV]

[Type here]

5

LIST OF TABLES

Table No Table Description Page No.

1 ANALYSIS OF HAND AND ROBOTIC ARM ACTIONS 25

[V]

[Type here]

6

LIST OF FIGURES

Figure No. Figure Description Page No.

1 BlUETOOTH 16

2 MOTOR DRIVER CIRCUIT 17

3 IR SENSOR 18

4 CHASIS 19

5 ROBOTIC ARM 20

6 TRANSMITTER DEVICE 23

7 RECEIVER DEVICE 24

8 BUSINESS MODEL CANVAS 27

9 PRODUCT DEVELOPMENT CANVAS 28

10 IDEATION CANVAS 29

11 L293D 31

12 STATE DIAGRAM OF ROBOTIC ARM 33

13 INTERFACING OF L293D 34

14 ORCAD DESIGN 35

15 ROBOTIC BASE 37

16 ARM MECHANISM 38

17 SUBSYSTEM DIAGRAM 39

18 RELATIONSHIP 41

[VI]

[Type here]

7

Abbreviations Used:

RF Radio Frequency

EN Enable pin

IR Infra-red

TX Transmission

RX Receiver

PC Personal Computer

AM Amplitude Modulation

DC Direct Current

TTL Transistor Transistor Logic

RTL Resistor Transistor Logic

IC Integrated Circuits

AI Artificial Intelligence

IP Internet Protocol

AVR Advanced Virtual RISC

RC Remote Controller

LED Light Emitting Diode

[Type here]

8

TABLE OF CONTENTS

ACKNOWLEDGEMENT..3

ABSTRACT ........................................................................................................ 4

LIST OF TABLES ............................................................................................. 5

LIST OF FIGURES ........................................................................................... 6

ABBREVIATIONS USED.7

[1] INTRODUCTION

THE CENTRAL IDEA.12

1.1 PROBLEM DEFINITION..13

1.2 EXPECTED OUTCOME...13

1.3 LITERATURE SYRVEY...14

USED COMPONENTS15

1.4 HARDWARE..15

1.4.1 BLUETOOTH..15

1.4.2 MOTOR DRIVER CIRCUIT...16

1.4.3 SHEET OF IR SENSORS16

1.4.4 ANTENNA...16

1.4.5 RF TRANSCEIVER PAIRS.17

1.4.6 MOTORS..17

1.4.7 CHASIS18

1.4.8 ROBOTIC ARM...18

[Type here]

9

1.4.9 WIRE CUTTER19

1.4.10 METAL DETECTOR.19

1.5 SOFTWARE20

1.5.1 BLUETOOTH RC CONTROLLER.20

1.5.2 IP CAMERA.20

1.5.3 ORCAD SOFTWARE FOR PCB DESIGNING..20

1.5.4 PROTEUS SOFTWARE FOR SIMULATION20

1.5.5 ARDUINO 1.0.5...20

[2] DESIGN ANALYSIS AND IMPLEMENTATION

BLOCK DIAGRAM.......23

2.1 TRANSMITTER SIDE.23

2.2 RECEIVER SIDE.............24

WORKING.25

BUSINESS MODEL CANVAS.27

PRODUCT DEVEKOPMENT CANVAS.28

IDEATION CANVAS29

[3] SOFTWARE AND STIMULATION

3.1 MOTOR DRIVER L293D...31

3.2 ARCHITECTURE MODEL36

3.2.1 SOFTWARE ARCHITECTURE..36

3.2.2 ROBOTIC ARCHITECTURE..36

[Type here]

10

3.3 SYSTEM OVERVIEW..39

3.4 DATA DESCRIPTION..41

3.4.1 MAJOR DATA OBJECTS.41

3.5 SYSTEM INTERFACE DESCRIPTION..42

3.5.1 EXTERNAL MACHINE INTERFACE.42

3.5.2 EXTERNAL SYSTEM INTERFACE42

[4] MICROCONTROLLER AND WORKING

4.1 COMMON FEATURES OF AVR.44

4.1.1 PROGRAM MEMORY..44

4.1.2 INTERNAL DATA MEMORY.44

4.1.3 INTERNAL REGISTERS..44

4.1.4 GPIO PORTS..45

4.1.5 EEPROM45

4.2 WORK DONE...46

4.3 ADVANTAGE..47

4.4 DISADVANTAGE47

4.5 APPLICATIONS...47

[5] TESTING AND FUTURE SCOPE

5.1 SYSTEM TEST AND PROCEDURE..50

5.2 INTEGRATION TESTING..50

5.3 VALIDATION TESTING.50

[Type here]

11

5.4 TESTING TOOLS AND ENVIRONMENT50

5.5 FUTURE SCOPES...52

5.6 CONCLUSION.52

REFERENCES53

[Type here]

12

CHAPTER 1

INTRODUCTION

[Type here]

13

THE CENTRAL IDEA

The main backbone behind the idea of creating a bomb diffusion robotic arm is to provide a cost-

effective and safe solution to the very critical task of bomb diffusion. Bombs are a weapon for

mass destruction and have been a threat to the peace and prosperity of the world as whole. We

have thought to provide an alternative to the risky process of handling a bomb manually by

replacing it with the mediator of a robotic arm. Further when we see the possible obstacles of

developing a robotic arm, we find cost as a major hindrance. Of course costly equipment can be

installed when it comes to the safety of places having great value such as military sites and

government properties, but for private institutions, it becomes a matter of thought while

considering the finances. Thus, we thought to make the arm as simple and cost friendly as

possible, by only focusing on the economical techniques of bomb diffusion.

When we focused on the other obstacles except the cost, we found that size was the major

concern for us. As terrorists or people associated with such antisocial activities always hide

bombs at places which are very narrow and have a limited access. Thus we focused on creating

the robot arm whose dimensions are as small as possible so that we can reach our target

destination with ease and higher mobility. Also, the major issue was weight of the robot. As

more weight can give a hindrance to the mobility of the project. We designed the robot with

controls of Atmega controller as it is easy to implement and has features which makes it suitable

for our project. Also, Atmega controllers made the design of the arm with least possible external

hardware, making the whole robot a simple yet efficient means of bomb diffusion.

[Type here]

14

WHAT IS EMBEDDEDD SYSTEMS?

In An embedded system software and hardware devices used in embedded products such as

Microprocessors and controllers are combined and controlled in such a way that a particular task

is accomplished to the most efficient outcome. We program the controller or processor in a way

that it works according to the definition of the given aim. Processors differ from controllers in a

way that processors are a general purpose devices which do not their own memory and we have

to use external peripherals according to our task. Thus, we chose Atmega controller over

microprocessor so that we can reduce circuit complexity and bulkiness.

1.1 PROBLEM DEFINITION: Bomb diffusing is very difficult & it may put life in risk if directly humans diffuse bomb. For the

safety of human life, Robots are involved in the field of bomb diffusing. Our main aim to select

this project is to provide safety to the people who are in bomb diffusion squad. Taking into

consideration the present day law and order conditions, where thousands of people are killed and

injured due to the bomb explosions, our robot helps the defense team to diffuse the bomb with

the help of haptic gestures without physically touching it.

1.2 EXPECTED OUTCOME: We have designed a robotic arm in which motion tilt tracks a human operator's arm motion

including open-close hand tracking by the end-effector. For this case we are using joystick for

controlling the robotic movements i.e. forward, backward, left and right. When we move our

hand over the sensors, our hand movement is captured and the signal is sent via RF link to the

robotic arm and it will mimic the action accordingly. Camera is also placed over the robotic arm

so that user can detect the circuit on the screen.

[Type here]

15

1.3 LITERATURE SURVEY:

We researched a lot and after a lot of considerations we decided to implement the hand gesture

mechanism by virtue of IR sensors. While doing the same we searched many websites on the

internet and came up with the implementation methodology and circuit diagram for the same.

The original idea was adopted from a research article named Microcontroller Based Gesture

Recognition System for Handicap People was published in Journal of Engineering Research and

Studies. The goal of the original project was to develop a computerized Indian Sign Language

recognition system. We also considered Matlab for the same but since the software is not an

open source we discarded the option. Another idea includes the use of IR proximity sensors for

hand gestures recognition. The system allows a user to interact with mobile devices using

intuitive gestures, without touching the screen or wearing/holding any additional device.

Evaluation results show that the system is low-power, and able to recognize 3D gestures with

over 98% precision in real time.

Although the idea of our project is original, a number of projects with similar functionalities can

be found. For Example the British Police have a bomb disposal robot, the Israeli Army has it and

it is also being used by bomb disposal squads and a number of states of USA. The main idea of

this robot is to provide the bomb disposal squad with safety and security from the risks that they

face every day. The bomb disposal squads of Pune have metal detectors and other equipment for

bomb detection and disposal, but they have to risk their lives by approaching the bomb or the

suspicious packet without any safety and precautions.

Our robot provides an extra layer of protection to the bomb disposal squad. Mobile robots reduce

or eliminate a bomb technicians time-on-target. A robot takes risk out of potentially deadly

scenarios and lets the bomb technician focus on what to do to an explosive device rather than on

the immediate danger to life and limb. Even if a robot cannot reach an item for disruption, it can

still be used to relay information to aid in tool and procedure selection to moving downrange. In

addition, events recorded by a robots camera can provide evidence for further analysis.

[Type here]

16

USED COMPONENTS:

We have used technologically advanced components in order to reduce the processing time and

the instruction delay to its minimum. We needed both hardware and software components for the

accomplishment of the project.

They are described with their photographs as under:

1.4. HARDWARE:

1.4.1 BLUETOOTH:

Bluetooth is a wireless device which is used for the communication between short ranges.it

works on the 2.4 GHz frequency, on the frequency hop spread spectrum (FHSS) mode of

signaling system with 1400 hops per second. We first thought of controlling the robotic

movement by hand gestures along with the arm movement, but that was increasing the circuit

complexity and the cost of the project. Thus, we then planned to use a Bluetooth module and

interface with an android software app named blue tooth RC controller. This eased the complex

process of robotic movement as now it was very simple to interface a Bluetooth device with the

Atmega controller and then connecting the output to the motor driver circuits.

FIG 1.4.1

[Type here]

17

1.4.2 MOTOR DRIVER CIRCUITS:

The microcontroller output is not sufficient to drive the DC motors, so current drivers are

required for motor rotation. The L293D is a quad, high-current, half-H driver designed to

provide bidirectional drive currents of up to 600 mA at voltages from 4.5V to 36V. It

makes it easier to drive the DC motors. The L293D consists of four drivers. Pin IN1

through IN4 and OUT1 through OUT4 are input and output pins, respectively, of driver 1

through driver 4. Drivers 1 and 2, and drivers 3 and 4 are enabled by enable pin 1 (EN1)

and pin 9 (EN2), respectively. When enable input EN1 (pin 1) is high, drivers 1 and 2are

enabled and the outputs corresponding to their inputs are active. Similarly, enable input

EN2 (pin 9) enables drivers 3 and 4.

FIG 1.4.2

1.4.3 SHEET OF IR SENSORS:

An infrared sensor is an electronic device works on the principle of emitting the radiation as per

the radiation of light incident on it. We wanted that our project should have the control of hand

gestures for movement of the robotic arm so, we planned to interface these sensors with the

controller and then for the emission of the radiation, we used the antenna of a remote controlled

car. These sensors sense over hand movements and emitted the radiation to the receiver

according to the magnitude of radiation.

[Type here]

18

FIG 1.4.3

1.4.4 ANTENNA:

An antenna (or aerial) is an electrical device which converts input into radio waves, and vice

versa. It is usually used with a transmitting and receiving device. In transmission, a radio

transmitter supplies an electric current oscillating at radio frequency(i.e. a high frequency

alternating current(AC)) to the antenna's terminals, and the antenna radiates the energy from the

current as electromagnetic waves. In reception, an antenna intercepts some of the power of an

electromagnetic wave in order to produce a tiny voltage at its terminals that is applied to a

receiver to be amplified. The receiver has a module which converts the radio waves into

electrical energy and the energy passes on.

1.4.5 RF TRANSCEIVER PAIRS:

Radio frequency transceiver pairs are widely used in any wireless communication purpose. They

are used when the transmission is to be carried without having a line of sight. But, when we deal

with the complex circuits, these pairs can prove a bit inefficient.as, they are very difficult to be

programed, especially in our project, as the intensity of hand movements need to be very

constant and according to the range for precise implementation.

1.4.6 MOTORS:

Motors are a device which convert electrical energy into mechanical energy. They are used in

our project for the motion of robot on which the arm is mounted. They come in various types

[Type here]

19

such as dc motors, servo motors, Johnson motor, etc. We have used dc motor for our purpose as

it is faster and efficient for the robot mobility.

1.4.7 CHASIS:

Chasis are the basis on which the robot is made, and they also support the mounted robotic arm.

Chasis act as a base for the arm and also the body of robot. They are made up of a metal sheet

molded in a curved shape from two sides. Two chasis are joined to make a robot.

FIG 1.4.4

1.4.8 ROBOTIC ARM:

Robotic arm is a device in shape of an arm which moves according to the control of controller in

order to access the position of the bomb in order to diffuse it. We have interfaced servo motors in

the arm as per the requirement of the movement, so that the arm can rotate as per the controllers

[Type here]

20

direction.

FIG 1.4.5

1.4.9 WIRE CUTTER:

For cutting the circuit of bomb, we have attached a wire cutter or a simple blade, so that when

the bomb is accessed, and the gripper is closed, the bomb circuit gets cut and the bomb gets

diffused.

1.4.10 METAL DETECTOR:

Every bomb has a metal part. Thus, in order to detect the bomb, we have placed a simple metal

detector in the front of the arm, so that it senses the bomb and the controller knows the location

of the bomb.

[Type here]

21

1.5 SOFTWARE:

1.5.1 BLUETOOTH RC CONTROLLER APPLICATION FOR

ANDROID:

The Bluetooth RC controller application is an android operating system application, which is

used for the movement of robot in all directions and also for the operation of the gripper.it works

on the Bluetooth principle and is a cost effective solution for robotic movement.

1.5.2 IP CAMERA:

As installation of a camera or a spy cam would cost us much, we used an android application

known as IP CAMERA, which give us the view of the site and the user can observe it in the

laptop, which is interfaced to the application.

1.5.3 ORCAD SOFTWARE FOR PCB DESIGNING:

Orcad is open source software which we have used to design the printed circuit board for our

project. We have designed the circuits for motor drivers and the Atmega controller.

1.5.4 PROTEUS SOFTWARE FOR STIMULATION OF

CIRCUIT:

Proteus is also open source software which is used for circuit stimulation. It has all the necessary

interfacing devices and controllers which can be interfaced and checked out if the programming

of the device is correct or not.

1.5.5 ARDUINO 1.0.5:

We have used an Atmega 328 controller.so, we for programming of the controller, we have used

the Arduino 1.0.5 open source software. It has features like serial communication, analog to

digital conversion, I2C and SPI support, etc. The reason behind programming in this software is

that it is very simple and user friendly software which easily dumps the program into the

controller.

[Type here]

22

CHAPTER 2

DESIGN ANALYSIS

AND

IMPLEMENTATION

[Type here]

23

BLOCK DIAGRAM

2.1 TRANSMITTER DEVICE:

FIG 2.1

ATMEGA

CONTROLLER

SHEET OF IR

SENSORS

CONTROLLERS

HAND

GESTURES

ANTENNA

[Type here]

24

2.2 RECEIVER SIDE:

FIG 2.2

ATMEGA

CONTROLLER

ROBOTIC ARM

MOVEMENT

ROBOT

MOVEMENT

INPUT FROM

ANTENNA

INPUT FROM THE

BLUETOOTH RC

CONTROLLER

APPLICATION

METAL

DETECTOR

IP CAMERA ANDROID

APPLICATION

VIEWERS

CELLPHONE

CAMERA

[Type here]

25

2.3 Working:

The working of our project can be understood by dividing it into two modules namely, the

transmitter and the receiver. The transmitter consist of two vertical sheets of infrared sensors,

two horizontal sheets if infrared sensors, an Atmega controller and a transmitting antenna with a

RF transmitter. The infrared sensors are interfaced with the digital input and output pins of the

controller. When the user moves the hand over the sheet, the controller will get the signals

according to the position of the hand. We have programmed the controller in such a way that the

controller will sense the output of the IR sensors when the value of the radiation lies in a

particular range. We have decided the operation of the arm making it depending upon the range

from the users hand to move the robotic arm. On the other hand, a blue tooth based application

is used to control the motion of the robot in all directions. So, when the robot moves, the metal

detector detects the presence of the bomb circuitry, and gives the notation to the user about the

presence of the bomb. The user then moves the robotic arm by controlling it with hand

movements and also simultaneously views the position of the bomb placed with the help of the

IP camera application.

TABLE 2.2.1

HAND ACTION

(from users side)

ROBOTIC ARM

ACTION

Hand will move left Robotic arm will move

left

Hand will move

right

Robotic arm will move

right

Hand will stop Robot will stop

Hand will move upwards Robotic arm will move

upwards

Hand will move

downwards

Robotic arm will move

downwards

[Type here]

26

The receiver consist of an Atmega controller, a Bluetooth module, robot and the arm mounted on

the top of the robot chasis. The motion of the robot will be done by the motors interfaced with

the digital output pins of the controller, which is guided by the Bluetooth application. The arm

will move as per the users gestures, when the antenna over the transmitter will emit the

electromagnetic radiation, and the receiver of the transceiver module will convert the signal, and

guide the arm to move in that direction. Finally, when the arm reaches the position of the bomb,

the gripper is controlled by the Bluetooth app, which holds the wire into the grip, and cuts it so

the bomb gets diffused.

[Type here]

27

Fig 2.3 Business model canvas

The Business Model Canvas is a strategic management and lean startup template for developing

new or documenting existing business models.

It is a visual chart with elements describing a firms or product's value proposition, infrastructure,

customers, and finances.

Value Proportions:

Innovative

Cost Reduction

Risk Reduction

Newness

Security

Safety

Customer Relationship:

ATS

Bomb squad Services

Military

Automated Services

[Type here]

28

Fig 2.4 Product development canvas

The Product Canvas is a simple, yet powerful agile tool that helps you create a product with a

great user experience and the right features.

Product Features:

Compact Design

Video Feedback

Artificial Intelligence

Improved Reliability

Easily movable

Product Functions:

Surveillance and Spying

Bomb Diffusion

Allows interactivity in real time

[Type here]

29

Fig 2.5 Ideation canvas

[Type here]

30

CHAPTER 3

INTERFACING AND

SIMULATION

[Type here]

31

3.1 MOTOR DRIVER L293D:

FIG 3.1

PIN DESCRIPTION:

1-Enable 1

2- Input 1

3- Output 1

[Type here]

32

4, 5, 12, 13- Ground

6-Output 2

7- Input 2

8-VSS

9- Enable 2

10-Input 3

11-Output 3

14-Output 4

15-Input 4

16- VCC

[Type here]

33

FIG 3.2

[Type here]

34

INTERFACING OF L293D

FIG 3.3

[Type here]

35

FIG 3.4

ORCAD DESIGN

[Type here]

36

3.2 Architecture Model:

The architecture of the robot is based on a modular approach. For every function there is

a separate module, which performs its individual action. The architecture consists of the

following modules:

3.2.1 Software Architecture:

The application is divided into the following modules according to the functions that they

perform:

Video Interface Module: Camera is placed on the robotic arm to control the live feedback of the video, which

is transmitted from the robot to the control application.

Serial Interface Module: Serial communication is accomplished using this module. This module monitors all

the data sent through the serial port and all the synchronization of the microcontroller

and this module does serial port.

Application Control Module: All the events occurring when using the software application are controlled through

this module. This means all the application level design and inputs of the end user are

translated into control signals, which are transmitted to the microcontroller. All the

user interface and error control is done in this module.

3.2.2 Robotic Architecture:

The architecture of the robot has also been designed keeping the modular approach in

mind. It is divided into the following modules:

The Robotic Base: The base is made of rectangular chasis. In the middle supporting beams have been

welded to support the platform on top of the structure of the base. The base consists

of the following mechanisms that are responsible for driving and turning:

[Type here]

37

FIG 3.5 ROBOIC BASE

Driving DC Motors: The Driving DC motors are 12 volt DC motors that are connected to the each wheel

of the robot base. Torque from the DC motor is transferred to the individual wheels

that drive the robot.

Steering DC Motor: The steering DC motor is done by functions and commands programmed in

microcontroller.

The Robotic Arm: The robotic arm has been designed using metallic strips. The power to weight ratio

has been kept in mind in the design of the robotic arm, as it has to be light enough to

be moved by the stepper and DC motors and strong enough to be able to move

nominal weight objects. It is a jointed arm type robotic arm with 360 degrees of

freedom. It consists of:

o A DC motor for the shoulder of the robotic arm. This DC motor is mounted on

a circular plate onto which robotic arm have been mounted.

o At the next joint, the elbow, a DC motor is fixed which is responsible for the

pitch of the robotic arm. This DC motor is responsible for the vertical

movement of the arm.

o The final joint is connected to a DC, which controls the movement of the

gripper. The gripper is a two finger type and can pick up objects with ease.

o Also, cutter is placed over it to cut the wire.

[Type here]

38

FIG 3.6 ARM MECHANISM

The Wireless Module: The purpose of the wireless module is to provide wireless communication between

the control application and the robot. Data from the control application is transmitted

from the transmitter, which is connected to the serial port of the PC, and received at

the robot by the receiver. This receiver is connected to the serial port of the

microcontroller. The data transmission is done serially by the transmitter and

receiver. This transmission is based on Radio Frequency using Amplitude Modulation

at 433 MHz

[Type here]

39

3.3 Subsystem Overview:

Figure 3.7: Subsystem Diagram

IR Sensor: IR sensor is used as input. It recognize hand gestures and work accordingly. By using

a led which produces light at the same wavelength as what the sensor is looking for,

you can look at the intensity of the received light. When an object is close to the

sensor, the light from the led bounces off the object and into the light sensor. This

results in a large jump in the intensity, which we already know can be detected using

a threshold.

Video Control: The video control turns on and off the video signal from the wireless camera. It

provides features such as:

Displaying live camera feedback

Turning the video transmission on or off.

Transceiver System: The transmitter being used works at a frequency of 434 MHz. Most transmitters

available in the market either work at 434 MHz or 834 MHz. Some also use 900 MHz

[Type here]

40

for data transmission. This transmitter gives our robot a range of about 300 feet,

approximately equal to 100 feet. The receiver has the same characteristics and pairs

with the transmitter to form a transceiver system.

Wireless Camera: The wireless camera has its own transmitter and receiver system, which provides a

wireless link from the robot to the control application. It is mounted on the robotic

arm and provides a live view of the remote site. The application can record the video

input from this camera for further analysis. Initially the camera has been mounted on

the robotic arm, although it can be mounted anywhere on the robot according to the

users need. IP-cam is used for this purpose.

Gripper: The gripper is used to manipulate the object, which poses a threat or is suspicious and

can be moved from a critical place to a much safer place. It is constructed to be a two-

finger type gripper. It is controlled using a DC motor that allows a firm grip on the

object.

DC Motor: DC Motors basically works by applying DC power and the shaft spins. Depending on

the polarity of the electricity applied the shaft will spin in one direction or the other.

We have used eight DC motors. Four are used for driving the robot, one at the robot

arm and one for the gripper.

Power Supply: The robot has its own power supply. Three transformers have been used as the source

voltage for the power of different modules on board the robot.

[Type here]

41

3.4 Data Description:

3.4.1 Major data objects:

The major data objects in this system include the application, which generates data

signals. These signals are control signals that are generated by the application depending on the

input from the user.

User Input Data: Signals are generated when the user inputs data into the application. This data is

dependent on the function that has to be performed by the robot. For controlling

different functions of the robot different signals are generated.

Serial Data Object: The data generated by the input from the user has to be transmitted serially to the

microcontroller. This function is performed by the serial data object.

Wireless Transmission Object: The data from the serial data object has to be transmitted to the robot without using

any kind of wired communication. The wireless transmission object transmits data

using a wireless link over radio waves.

FIG 3.8 RELATIONSHIP

[Type here]

42

3.5 System Interface Description:

The system has many internal and external interfaces. The internal interfaces include

The Video input interface control

The data input wireless control interface

The serial data input/output control

3.5.1 External Machine Interfaces:

The system application has the following external machine interfaces:

The robot itself

The IP camera

3.5.2 External System Interfaces:

The system is connected to the following external system interfaces:

The wireless transmitter

Wireless receiver

Bluetooth module

[Type here]

43

CHAPTER 4

MICROCONTROLLER

AND WORKING

[Type here]

44

4.1 COMMON FEATURES OF AVR

Full form of AVR is Advanced Virtual RISC. The AVR advanced virtual risk microcontrollers

are Harvard architecture 8- bit reduced instruction set computer single chip microcontrollers.

They were developed by the Atmel in 1996. AVRs use the on- chip flash memory for program

storage. In the AVRs, the program and data are stored in two different memories. AVRs are

classified into:

Tiny AVR, mega AVR, Xmega, application specific AVR, FPGA AVR, and other 32 bit AVRs.

Tiny AVRs have 0.5 -16 kb of program memory and they come in 6-32 pin package with a

limited peripheral set.

The mega AVRs have 4-512 kb program memory and they come in 28-100 pin package. We

have used the mega AVR in our project as they have an extended instruction set. The xmega

AVRs support features like cryptography, DMA and event support.

The device architecture of AVR have the FLASH, EEPROM and SRAM all integrated onto a

single chip.so, AVR do not need any external memory.

4.1.1 Program memory:

Program instructions are stored in flash memory that is non-volatile. Each and every instruction

takes one or two 16-bit words.

The size of the program memory is described in the naming of the device itself (e.g., the

ATmega64x line has 64 kB of flash, while the ATmega32x line has 32 kB).

There is no off-chip program memory; all codes that are executed by the AVR core must lie in

the on-chip flash.

4.1.2 Internal data memory:

The data address space consists of the, I/O registers, SRAM and register file.

4.1.3 Internal registers:

The AVRs have 32 single-byteregisters and are classified as 8-bit RISC devices.

[Type here]

45

4.1.4 GPIO ports:

Each GPIO port on AVR drives up to eight pins and is controlled by three 8-bit registers: DDR,

PORT and PIN.

DDR: Data Direction Register

It configures the pins as either inputs or outputs.

PORT: Output port register.

Sets the output value on pins configured as outputs.

Enables or disables the pull-up resistor on pins configured as inputs.

PIN:

Input register, used to read an input signal. This register can be used for pin toggling: writing a logic one to a PIN bit toggles the

corresponding bit in PORT, irrespective of the setting of the DDR bit.

4.1.5 EEPROM:

Almost all AVR microcontrollers have internal EEPROM for semi-permanent data storage. Like

flash memory, EEPROM can maintain its contents when electrical power is removed.

In most variants of the AVR architecture, this internal EEPROM memory is not mapped into the

MCU's addressable memory space. It can only be accessed the same way an external peripheral

device is, using special pointer registers and read/write instructions, which makes EEPROM

access much slower than other internal RAM.

[Type here]

46

4.2 WORK DONE:

In making this robotic arm, for bomb diffusion, we first thought the design of a basic structure

and imagined about the appearance and the structure of the arm. We first designed the arm and

its motionary parts according to our requirement. Then, we thought of the technique of cutting

the wire with the gripper. We first thought of keeping it in the form of a human wrist. But, that

would cost us much, and the extra fingers were of no use and they increased the circuit

complexity. Thus, we thought to design the gripper in the form of a scissor. We assembled a

blade inside the gripper to cut the wire .after this, another problem was the logic to control the

arm. First, we decided to control both arm and the robot motion by gestures. But, then we

experienced the difficulty of achieving the preciseness and accuracy need. Thus, we thought of

other alternatives and, thinking about it, an idea about controlling the robot motion with an

android application strikes us. We calculated the possibilities of success and then agreed to

involve technique in our project, as it was efficient and simple. So, now the control of robotic

motion was decided and then we implemented it. And then came the critical path, of applying the

logic to control the arm movement. As we had already decided that the arm was to be controlled

by the hand gestures, we thought of interfacing two sheets of infrared sensors instead of one.

This was because only one sheet would not be as precise and accurate as we wanted it to be. So,

we took four sheets, two for horizontal and two for vertical. Then interfaced it with the Atmega

controller using its I/O pins and the output went to the transmitting antenna, which radiated the

electromagnetic radiations, which receives the radiations and converts it to the digital format

directly are interfaced to the arm joints. We installed an android application named IP camera

which gives us the view of the site. Also, to discover the bomb site, we placed a metal detector

so that the presence of the bomb can be observed.

[Type here]

47

4.3 ADVANTAGES: Compact design

Quick movement

Improved reliability

Removable multi gripper robotic arm

Artificial intelligence

Night vision camera

Time saving

Reduction in number of peoples needed in field. It can be altered to suit the need of the

user.

Robust

It can handle different loads

It can be controlled remotely

It has video feedback

Life saving and safe

It allows interactivity in real-time between operator and Robotic Arm.

4.4 DISADVANTAGES: Robots are not as suitable for making complicated decisions.

Auxiliary controls are required to move the workspace of the device to a new location.

Full working of the robot is dependent on the range of RF transceiver low power module.

I.e. up to 100 meters.

4.5 APPLICATIONS:

In Chemical Plants.

In Atomic Research Labs, Atomic Power Plants.

In Mines

In Material Handling.

[Type here]

48

Police: In hostage situations

Military: For reconnaissance missions, Bomb Diffusion, War Fields to save lives of

militants.

Fire: To provide video feedback of the site for analysis

Nuclear: For handling hazardous or radioactive materials.

[Type here]

49

CHAPTER 5

TESTING AND

FUTURE SCOPES

[Type here]

50

TEST PLAN:

5.1 System Test & Procedure:

The DC Motor Circuit:

The DC motor is connected to each wheel of the robot for its movement and also one at

the elbow and one for the gripper is used.

This circuit has also been tested on a breadboard.

The Serial Interface Circuit:

Serial interfacing was first tested by connecting L293D to the serial port of the PC and

the microcontroller. Hyper Terminal was used to generate the control signals, which were

tested by turning an LED on and off.

5.2 Integration Testing:

After the individual testing, the robot underwent integration testing. All circuits were

mounted on the robot, connected to the microcontroller circuit and tested. Control signals from

the serial port of the PC were generated using the control application and tested by turning on or

off the appropriate motor.

5.3 Validation testing:

The validation testing required the signals generated by the control application to be

correct. This was verified by checking whether the required motor moved on the appropriate

signal. The following mapping was used to test the validation.

5.4 Testing tools and environment:

The code written for the microcontroller was tested by using a test circuit. Every time a

code needed to be tested, it was programmed in the microcontroller and was tested on this

circuit.

The tools required for this testing are:

A spare microcontroller

Multimeter

[Type here]

51

Power Supply (+5volt and 12 Volt)

LED

Resistors

Capacitors

Serial Cable

[Type here]

52

5.5 FUTURE WORK:

Though we have completed the project to a satisfactory extent, we find that there are some

situations where we are not able to make our project work most efficiently. We are planning to

make a more efficient version of the robotic arm. We plan to make the arm function as a night

vision disposal arm. For which special night vision camera has to be interfaced. Also, we are

planning to extend the range of the connectivity, by using more advanced technologies. Also, we

are planning to make the robotic arm operate under water, for which we would require other

technologies such as waterproof circuits and also require a waterproof coating to prevent the

water accumulating inside the circuit. Also, we are planning to control the robot by help of brain

waves. We plan to use NEUROSKY for the brain wave control implementation. But, due to

constraints of making it user friendly and economical, we have not implemented it yet.

NEUROSKY is a technology which is used to control the instruments by brain waves. We have

planned to implement it for controlling the motion of robot as well as the robotic arm and the

gripper. We also plan to use the quad-copter for the motion of the robot, as the robot cannot

climb steps and is presently unapproachable. We are planning to make the arm a more accurate

and safe solution to the risky task of bomb diffusion, by improving it in all aspects. For this, we

will have to be more technologically sound and advanced. We can also make this arm to be

controlled by only genuine and authenticated personals by authenticating the user through a

finger print scanner or any authentication key. We have plans for future implementation of the

project, but we need more resources both finance and intelligence.

5.6 CONCLUSION:

This project describes designing and working of a system which is useful in areas concerning

security, surveillance etc. This assembly and the set up would help spread awareness and thus

prevent a dismay amongst masses which is posed by many malicious objects in the vicinity.

Besides, the hand gesture recognition makes the robot more user friendly and less prone to

accessibility hindrance. It is an effort to reduce crime levels and in turn curb terrorism.

[Type here]

53

REFRENCES:

[1] Engwirda, T. Engwirda, A. Vlacic, L. Dromey, G., Sch. of Microelectron. Eng., Griffith

Univ., Brisbane, Qld., Australia, Industrial Technology 2000. Proceedings of IEEE International

Conference on 19-22 Jan. 2008, Volume: 1, On page(s): 460- 465 vol.2, ISBN: 0-7803-5812-0,

INSPEC Accession Number: 6715776.

[2] Ray Lockton, Balliol College, Oxford University, Hand gesture recognition using Computer

Vision.

[3] Matuso et al, Hand Gesture Recognizing Device, United Nations patent, Patent no. US6,

215,890 B1, April 10, 2001.

[4] Heng-Tze Cheng, Contactless Gesture Recognition System Using Proximity Sensors,

Carnegie Mellon University, 1-1-2010.

[5] Muhammad Ali Mazidi, 8051- Micro-controller and embedded system using assembly and

C, 2nd edition, Prentice Hall publication, 2005.

[6] Designer & Author: Laszlo Kirschner, Mobile jammer [Online]. Available:

http://www.circuit-projects.com.

[7] Maeyama, S., Yuta, S. and Harada, A., (1998) Mobile Robot in the Remote Museum for

Modeling the Evaluation Structure of KANSEI, 7th IEEE International Workshop on Robot

and Human Communications, pp. 315-320, Oct 1998.

[Type here]

54

[Type here]

55