fianl report

TRIBHUVAN UNIVERSITY

INSTITUTE OF ENGINEERING

HIMALAYA COLLEGE OG ENGINEERING

A

FINAL YEAR PROJECT REPORT

ON

GPS BASED SURVEILLANNCE ARMED ROBOT

BY:

BINOD NAGARKOTI (ROLL NO 067/BEX-04)

KULDEEP SHARMA (ROLL NO 067/BEX-07)

PUSPANJALI SHRESHTHA (ROLL NO 067/BEX-11)

RAJIM ALI MIYA (ROLL NO 067/BEX-12)

A PROJECT SUBMITTED TO DEPARTMENT OF ELECTRONICS AND COMPUTERENGINEERING IN PARTIAL FULFILLMENT OF THE REQUIREMTNT FOR

BACHLORE’S DEGREE IN ELECTRONICS AND COMMUNICATION ENGINEERING

DEPARTMENT OF ELECTRONICS AND COMPUTER ENGINNERING

LALITPUR, NEPAL AUGUST, 2014

ii

COPYRIGHTS

Any unauthorized reprint or use of this material is prohibited. No part of this report

may be reproduced or transmitted in any form or by any means, electronic or

mechanical, including photocopying, recording, or by any information storage and

retrieval system without express written permission from the author / publisher. But

the author has agreed that the library, Himalaya College of Engineering, may make

this report freely available for inspection. Moreover, the author has agreed that

permission for extensive copying of this project report for scholarly purpose may be

granted by the lecturers who supervised the project works recorded herein or, in their

absence, by the Head of Department wherein the project report was done. It is

understood that the recognition will be given to the author of the report and to the

Department of Electronics and Computer, HCOE in any use of the material of this

project report:

Head of Department

Department of Electronics and Computer Engineering

Himalaya College of Engineering

iii

ACKNOWLEDGEMENT

It is blessings and gracious encouragement of our parents, respected elders and our

supporting colleagues that we are able to come up in front with this project on titled

“ GPS BASED SURVILLANCE ARMED ROBOT”. We are very grateful to our

HOD sir Er.Rajesh Paudal, project coordinator sir Er. Devendra kathayat, our project

supervisor Er. Devendra kathayat for their continuous support and help throughout

the project. We also express our heart full thanks to Er. Bijay karki, and Er.Subodh

Nepal for their great support. We are also very much thankful to our lab sir Mr

Madan Gyawali, Mr Sudarshan Dahal for their great support and encouragement to

do this project.

We are grateful towards Smart house at Kupondole Lalitpur, Projectronix at

Satdobato Lalitpur and Annapurna Electronics at Jyatha for providing us the preferred

components and device. We would also like to thank to all our friends, and HCOE

family for their encouragement and support for doing our project.

Finally, we would like to specially thank all our family members for their continuous

support and motivation.

iv

ABSTRACT

Robotics is a field of engineering which is related to the design, analysis, and

implementation of electromechanically devices and components to obtain a workable

object or body called as robot which can assist human in his work. Generally a robot

is electromechanical device which can be controlled by using some kind of computer

processed signals or by some kind of electronic circuitry.

Here in this project in titled “GPS BASED SURVIELLENCE ARMED ROBOT”

is a robot having a robotic body with 4 wheel drive system, a robotic arm having a

capability to carry even the cylindrical objects and robot is provided with the wireless

IP camera creating its own LAN, and is also provided with a vehicle tracking system

and the whole robot is controlled using the remote control using a RF module xbee

series 2. So this robot is aerial unmanned ground vehicle.

This project is specially designed for the military purpose as such unmanned aerial

vehicle plays a very important role in military. But its use is not limited to that it is

highly useful in industrial use, for mine exploration, for surveillances of any

dangerous or radiation affected areas, for the security of any buildings and so on. It is

also highly applicable in assigning the humans who are physically disabled and

elder’s peoples who can handle remote control. It can also be useful in various other

fields of development in rural parts as well if the robot if enhanced as per the

requirement of the relevant field.

Keywords: local area network, global positioning system, radio frequency, internet

protocol

v

TABLE OF CONTENTS: PAGE NO

COPYRIGHT Ii

ACKNOWLEDGMENT Iii

ABSTRACT IV

LIST OF FIGURES VIII

LIST OF TABLES X

ABBREVIATION XI

1. INTRODUCTION 1

1.1 BACKGROUND 2

1.2 HISTORY OF ROBOTIC DEVELOPEMENT 2

1.3 INTRODUCTION TO OUR PROJECT 3

1.4 OBJECTIVES 5

1.5 FEATURES 5

1.6 SCOPES AND USES 6

2. LITERATURE REVIEW 7

2.1 LITERATURE REVIEW 8

3. THEORY AND METHODOLOGY 10

3.1 THEORY BACKGROUND 11

3.2 GLOBAL SYSTEM MOBILE (GSM) 11

3.2.1 GSM Services and Features 11

3.3 AT COMMANDS 14

3.3.1 Serial Data Transmission 15

3.3.2 Asynchronous Serial Data 15

vi

3.4 GLOBAL POSITIONING SYSTEM (GPS) 16

3.5 MECHANICAL DESIGN 19

3.5.1 Mechanical Body Part 19

3.5.2 Shaft Design 23

3.6 ROBOTIC ARM DESIGN 25

3.6.1 Robotic Arm Gripper 25

3.6.2 Parameter Requirement 26

3.6.3 Torque 27

3.6.4 Degree of Freedom 27

3.6.5 Force Calculation 28

3.6.6 Forward Kinematics 28

3.6.7 Testing Process 29

3.6.8 Modules of Robotic Arm 30

3.7 SYSYEM DESCREPTION 30

3.7.1 Working Principle 31

3.7.2 Obstacle Detection 33

3.8 SYSTEM ALGORITHM 33

3.8.1 System Operation Flowchart 35

3.9 IP BASED SURVEILLENCE 38

3.10 MOTER CONTROL USING THE HIGH

MOSFET BASED HIGH POWER CONTROL

CIRCUIT

38

4. TOOLS AND TECHNIQUES 40

4.1 PCB WIZARD 41

4.2 ARDUINO DEVELOPMENT ENVIRONMENT 42

vii

4.3 FAMILIRIZATION WITH ARDUINO 45

4.4 PROTUES 45

4.5 HYPER TERMINAL 47

4.6 XBEE 48

4.7 IP CAMERA 49

4.8 SERVO MOTOR 50

4.9 X-CTU 52

4.10 HIGH PERFORMANCE GPS SHIELD 53

4.11 SIM 300 MODULES 54

4.12 PRO SERVELLIENCE SYSTEM 56

5. TIME AND COST ANALYSIS 57

5.1 MATERIAL REQUIRED 58

5.2 GANTT CHART 59

6. RESULT AND FURTHER ENHANCEMENTS 60

6.1 RESULTS 61

6.2 LIMITATIONS 61

6.3 FURTHER ENHANCEMENT 62

7. CONCLUSION AND DISCUSSION 64

6.1 CONCLUSION AND DISCUSSION 64

REFRENCES 66

SNAPS 69

viii

LIST OF FIGURES PAGE NO

Figure 3.1 Bit Format Used For Sending Asynchronous Serial Data 15

Figure 3.2 GPS Satellites 17

Figure 3.3 GPS Position Fixing 17

Figure 3.4 Initially Proposed Mechanical Design 20

Figure 3.5 Orthographic And Dimensional Drawing Of The Mechanical Part 21

Figure 3.6 Mechanical Parts To Hold Wiper Motors 21

Figure 3.7 Mechanical Part To Hold The Base And Whole Robot 22

Figure 3.8 Assembly Drawing Of The Whole Robot 23

Figure 3.9 Designed Shaft 24

Figure 3.10 Finally Designed Mechanical Body 24

Figure 3.11 Designed Gripper 26

Figure 3.12 Finally Designed Robotic Arm 30

Figure 3.13 Diagram Of Manual Operation 32

Figure 3.14 Flow Chart For Obstacle Detection 33

Figure 3.15 Flow Chart Of Transmitter Side 36

Figure 3.16 Flow Chart Of Receiving Side 37

Figure 3.17 Schematic Diagram Of Circuit 38

Figure 3.18 PCB Design Of Motor Control Circuit 39

Figure 4.1 PCB Wizard 42

Figure 4.2 Arduino Environment 44

Figure 4.3 Arduino Board 45

Figure 4.4 View Of Protius 46

Figure 4.5 View Of Hyper Terminal 47

ix

Figure 4.6 Xbee Modules 49

Figure 4.7 IP Cameras 50

Figure 4.8 Gear Mesh Motor 51

Figure 4.9 GPS Shield With Antenna 54

Figure 4.10 GSM SIM 300 Modem 55

x

LIST OF TABLES PAGE NO

Table 5.1 Material Used 59

Table 5.2 Gantt Chart 59

xi

ABBREVIATION

A Ampere

API Application Programming Interface

AT Advance Text

EN Enable

Fig Figure

FM Frequency Modulation

GND Ground

GPS Global Positioning System

GSM Global System for Mobile Communication

IC Integrated Circuit

IDE Integrated Development Environment

IP Internet Protocol

LAN Local Area Network

LCD Liquid Crystal Display

LED Light Emitting Diode

Modem Modulator Demodulator

MHz Mega Hertz

PCB Printed Circuited Board

RC Radio Control

RF Radio Frequency

Rx Receiver

SIM Subscriber Identity Module

SMS Short Message Service

Tx Transmitter

xii

USB Universal Serial Bus

V Voltage

W Watt

WI-FI Wireless Fidelity

GPS BASED SURVEILLECNCE ARMED ROBOT Page 1

CHAPTER-1

INTRODUCTION


1.1 BACKGROUND

There is a great history of robotics and it’s so vast that can’t be contained in any

document. Every day around the world, lots of robotic projects are carried out to

fulfill some kinds of human needs. Actually a robot is an electro-mechanical

machine that is guided by a computer program or electronic circuitry. When we look

into the history of robotics we found different stage of development of different kind

of robots. But before heading towards such thing, it is better to know about robot.

Nowadays, the word ROBOT is often applied to any device that works automatically

or by remote control, especially a machine (automaton) that can be programmed to

perform tasks normally done by people. In past it was believed that any mechanical

body which looks like human are considered as the robot such that they should

behave like human and work in similar manner, like humanoid but now the scenario

has changed now such robots comes all in all shapes and sizes, including small robots

made of LEGO, and larger wheeled robots.

Such robots are becoming so important in human life because they can perform tasks

which used to be dangerous, dull and dirt for people. There used to be two different

types of robot: human controlled and fully autonomous. The robots which are human

controlled are provided with some kind of remote control system so they follow the

instructions coming through remote but the autonomous robots used to be provided

with some special type of algorithms so that they can control themselves and are

provided with artificial intelligence. For example, the robots that perform space

missions on planets like Mars may get instructions from humans on Earth, but since it

can take about ten minutes for messages to get back and forth, the robot has to be

autonomous during that time.

The word robot was introduced in 1920 in a play by Karel Capek called R.U.R. or

Rossum's Universal Robots. Robot comes from the Czech word robota, meaning


forced labour or drudgery. In the play, human-like mechanical creatures produced in

Rossum's factory are docile slaves.

1.2 HISTORY OF ROBOTIC DEVELOPMENT [1]

As, human feels the importance of such robots and machines in their life: era of

robotics begins. At first, Manipulators types of robot come into existence. As time

passes, the need for robotics increases and on serial basis Legged Robot, Wheel

Robot, and Autonomous under water vehicle, Humanoid Robots and Unmanned

Aerial Vehicle comes into existence. But this was not end, development is moving on

and a large number of researches are still ongoing.

The first industrial robot: UNIMATE was the first programmable robot which was

designed by George Devol, who coins the term Universal Automation but later he

shortens this to unimation, which become the name of the first robot company. But

later in 1978: the PUMA (Programmable Universal Machine for Assembly) robot is

developed by Unimation with a general motor designed support. In 1980: the robot

industry enters into the rapid growth. Many institutions introduced the course robotics

as their faculty in different field of engineering.

A large number of projects have been carried out in the field of robotics since 1995.

The latest and used project was the NASA’s Mars exploration rovers, which were

lunched in Mars to know the existence of water on the surface of the Mars.

1.3 INTRODUCTION TO OUR PROJECT

It’s always a dream for human to be assisted by the machines in their everyday life

and this project is based on the same dream. By the continuous effort man is able to

make electro mechanical device to assist in their daily life to which we called a robot.

This project is provided with a robotic arm and a very strong moving body so that it


can easily work in every situation and can perform any kind of repetitive and

dangerous work without any problem. It also has some ability to distinguish data on

physical environment, to process data and to respond to various stimuli. This is in

contrast to a simple mechanical device which does tasks thorough purely mechanical

process and motion on the control of appropriate signals.

This is actually a mechanical device or better to say an electromechanical, which is

controlled by some kind of the computer controlled signals and some kind of

electronic circuits such that such signals can be generated as per human requirements.

Robot contains various electronic and mechanical parts and each of such parts is

assembled in such a manner it can perform task which can assist the humans.

The robotic arm and robotic body provided with wireless IP camera and vehicle

tracking system is controlled remotely by the user through joystick. The necessary

parameters to guide the movement of robot are transmitted from the users under the

principles of wireless technology. Thus, we find suitable title to introduce our project

as “GPS BASED SURVIELLENCE ARMED ROBOT”.

In the present context of our country in industrial, agricultural, mining, military and

various such fields use of human manpower are considered as the best way to achieve

the specified task. All such fields are not in reach of technology even in this era of

technology. So this project is a small step to make the technology reachable to such

fields. This project is specially designed for the military, industrial, mining use and to

assist the human who are physically disabled but can use remote control or computer.

In case of Nepal armed force even after being so brave they are still facing problems

due to the lack of technology.

As it is known to all that technology is the only thing which can change every field.

But still Nepal is far beyond the reach of technology in every sector. When Nepal is

compared with other developing countries in the world such scenario comes in our

way. So our productivity rate is not so good which is the main cause of economic


crisis. So we need a technological breakthrough in industrial, military and mining

area for the development of country from every side. It is not that there is no any use

of technology use in Nepal but level of use is not satisfactory or it can be said that it

is 100 years beyond the present day technology. Similarly our project aims to assist

the disabled people and elderly people as well. This robot is generic multi-function

prototype for the development of industrial area and assisting the disabled and elderly

people and assisting Nepal armed force. This project is the bridge for uplifting the

industrial and military area towards the approach of technology and for upgrading and

supporting the lifestyle of elderly and disabled people. As it is provided with robotic

arm so any physically disabled and elderly people who will be able to use remote also

can use it to carry things from one point to another point.

1.4 OBJECTIVES

The main objective of our project is to assist the human task in an effective and

efficient way which may be not so easy for human to perform. Mainly this project is

focused for the military, industrial and surveillance purposes but despite of all these it

may be very helpful for other purposes also. Some of the objectives of this project are

pointed out as:

To use the robot in such environment which are dangerous to humans like

diffusing bombs, mines, in territories which are highly affected by radiation.

To perform the repetitive task which are boring stressful, as robotic arm can

be a solution to such problems.

To perform menial task which human don’t want to do.

To use the robot for the surveillance of any remote locations which are not

easily reachable to human like mines.

To assist the physically disabled and elders peoples.

1.5 FEATURES


As each project is carried out to archive some predefined goals and after such

achievements it becomes its features. In the same way some of the achievement and

outcomes which are collected as the features of this project which are pointed out as:

Wireless control using joystick and xbee RF module.

Provided with the 4 wheel drive system, controlled with the 4 different power

wiper motors.

Provided with the ultrasound obstacle detection circuits.

Provided with the wireless IP camera to transmit the real time video over the

long distance creating its own LAN.

Provide with the GPS tracking device to track and find its location at the

remote location.

Provided with the robotic arm that can carry even the cylindrical objects.

Provided with the aluminum based strong metallic body.

Provided with the direct charging system.

1.6 SCOPES AND USES

Because of above mentioned features, it may be highly useful for the various human

purposes and some of the indented uses and field of the given project are listed out as

follows:

It can be highly used in the military application.

It can be used in surveillance of any remote location.

It can be used as the security system of any buildings or any places.

It can be used to carry weight from one location to another location using RF.

It can be used in the industrial purposes.

It can be used in the mining purposes.

It can be used in highly radiation affected areas which may be highly

dangerous for humans to be ther


CHAPTER-2

LITERATURE REVIEW


2.1 LITERATURE REVIEW

The projects addressing similar problem like in this project, have been already done

in national and international level but each of such projects are provided with

different features but here in this project all such special features form different

projects are combined into a single project.

It’s true that such points were always fascinating for us from the beginning of our

engineering carrier but one of the project “The Mega Bot 4-Wheel Drive Robotic

Platform – YouTube” [2] was most motivating video to carry out this project as the

final year project. In this project the 4 wheel drive system robot is controlled with the

RF module and it is so powerful that can carry more than 100kg and this project was

carried out in USA already. The concept of robotic arm was came from last year’s

project “ROBOTIC ARM “[3] it was provided with the robotic arm such that arm

was designed with servo motors so that it can carry only very light weighted objects

but in this project a 4 wheel drive system is provided along with the robotic arm.

Such that the robotic arm is so stronger that it can carry out a weight up to 100 grams.

The robot will be controlled with the wireless remote control system and such project

was carried out in titled “Processing Controls R/C Car with XBee modules” [4]

here in this project a simple car is controlled wirelessly using the xbee modules. IP

camera is interfaced in this project along with a Router such that it is used to create its

own LAN so as the transmit real time video for the surveillance purpose. The vehicle

tracking projects have been already carried out in titled “The Global Car Tracking

System” [5] in this project any vehicle provided with the GPS and GSM modem

along with some kind of controller can be used to track the vehicle and in this project

same concept is being used to track the robot in any remote location.

Especially, such types of projects are carried out in national and international level

specially targeting to Military purpose such as to dispose the bombs, for the

surveillance of any remote locations, to explore any unknown objects and so on. So


this whole project was designed for the military purpose so as to connect technology

with Nepal armed force.


CHAPTER-3

THEORY AND METHODOLOGY


3.1 THEORY BACKGROUND

3.2 GLOBAL SYSTEM MOBILE (GSM) [6]

Global system for a mobile is a 2nd generation cellular system standard that was

developed to solve the fragmentation problem of the 1st cellular systems in

Europe.GSM was the world’s 1st cellular system to specify digital modulation and

networks level architectures and services, and is the world’s most popular 2G

technology. Before GSM, European countries used different cellular standards

throughout the continent, and it was not possible for a customer to use a single

subscriber unit throughout Europe. GSM was originally developed to serve as the

pan-European cellular service and promised a wide range of network services through

the use of ISDN. GSM’s success has exceeded the expectation of virtually everyone,

and it is now the world’s most popular standard for new cellular radio and personal

communication equipment throughout the world. As of 2001, there were over 350

million GSM subscribers worldwide.

The task of specifying a common mobile communication system for Europe in the

900 MHz band was taken up in the mid-1980s by the GSM (Group special mobile)

committee which was a working group of the CEPT. In 1992, GSM changed its name

to the Global System for Mobile Communications for marketing reasons. The setting

of standards for GSM is used the aegis of the European Technical Standards Institute

(ETSI).

GSM was first introduced into the European market in 1991.By the end of 1993,

several non-European countries in South America, Asia and Australia had adopted

GSM and the technically equivalent offshoot, DCS 1800, which supports Personal

Communication Services (PCS) in the 1.8 GHz to 2.0 GHz radio bands recently

created by governments throughout the world.

3.2.1 GSM Services and Features


GSM services follow ISDN guidelines and are classified as either tale services or data

services. Teleservices include standard mobile telephony and mobile-originated or

base-originated traffic. Data services include computer-to-computer communication

and packet-switched traffic. User services include may be divided into three major

categories:

Telephone services including emergency calling and facsimile. GSM also

supports Videotex and Teletex, through they are not integral parts of the GSM

standard.

Bearer services or data services which are limited to layers 1, 2 and 3 of the

open system interconnection (OSI) reference model. Supported services

include packet switched protocols and data rates from 300 bps to 9.6 kbps.

Data may be transmitted using either a transparent mode or nontransparent

mode.

Supplementary ISDN services, are digital in nature, and include call

diversion, closed user groups, and caller identification, and are not available in

analog mobile networks. Supplementary services also include the short

messaging services (SMS) which allows GSM subscribers and base station to

transmit alphanumeric pages of limited length while simultaneously carrying

normal voice traffic.

From the user’s point of view, one of the most remarkable features of GSM is the

Subscriber Identity Module (SIM), which is a memory device that stores information

such as the subscriber identification number, the networks and countries where the

subscriber is entitled to service, privacy keys, and other user-specific information. A

subscriber uses the SIM with four-digit personal ID number to activate service from

any GSM phone. SIMs is available as smart cards or plug-in modules, which are less

convenient than the SIM cards but nonetheless removable and portable. Without a

SIM installed, all GSM mobiles are identical and nonoperational. It is the SIM that

gives GSM subscriber units their identity.


A second remarkable feature of GSM is the on-air privacy which is provided by the

system. Unlike analog FM cellular phone systems which can be readily monitored, it

is virtually impossible to eavesdrop on a GSM radio transmission. The privacy is

made possible by encryption the digital bit stream sent by a GSM transmitter,

according to a specific secret cryptographic key that is known only to the cellular

carrier. This key changes with time for each user.

The GSM system architecture consists of three major interconnected subsystems that

interact between themselves and with the users through certain network interfaces.

The subsystems are the Base Station Subsystems (BSS), Network and Switching

Subsystem (NSS) and the Operation Support Systems (OSS). The Mobile Station

(MS) is also a subsystem, but is usually considered to be part of the BSS for

architecture purposes. Equipment and services are designed within GSM to support

one or more of these specific subsystems.

The BSS, also known as the radio subsystems, provides and manages radio

transmission paths between the mobile stations and the Mobile Switching Center

(MSC). The BSS also manages the radio interface between the mobile stations and all

other subsystems of GSM. Each BSS consists of many Base Station Controllers

(BSCs) which connect the MS to the NS via the MSCs. The NSS manages the

switching functions of the system and allows system engineers to monitor, diagnose,

and troubleshoot all aspects of the GSM system. This subsystem interacts with the

other GSM subsystems, and is provided solely for the staff of the GSM operating

company which provides services facilities for the network.

GSM originally used two 25MHz cellular bands set aside for all member countries,

but now it is used globally in many bands. The 890-915MHz band was for subscriber-

to-base transmissions, and the 935-960 MHz band was for base-to-subscriber

transmissions. GSM uses FDD and a combination of TDMA and FHMA schemes to

provide multiple accesses to mobile users. The available forward and reverse

frequency bands are divided into 200 kHz wide channels called ARFCN. The


ARFCN denotes a forward and reverse channel pair which is separated in frequency

by 45 MHz and each channel is time shared between as many as eight subscribers

using TDMA.

3.3 AT COMMANDS

AT Commands, commands used by computers, microcontroller or other terminal

devices to control operation of the modem, was originally developed by Hayes

Microcomputer, a U.S. based company. Almost all of the modem commands start

with the two letter sequence AT - for getting the modem’s attention. The starting

"AT" is the prefix that informs the modem about the start of a command line. It is

not part of the AT command name. Because of this, modem commands are called AT

Commands. Many of the commands that are used to control wired dial-up modems

are also supported by GSM/GPRS modems and mobile phones. Besides this common

AT command set, GSM/GPRS modems and mobile phones support an AT

command set that is specific to the GSM technology.

There are two types of command used i.e.

Basic commands: Basic commands are AT commands that do not start with

"+". For example, D (Dial), A (Answer), H (Hook control) and O (Return

to online data state) are basic commands. In the command ATX, X refers to

special direction.

Extended Commands: Extended commands are AT commands that start with

"+". All GSM AT commands are extended commands. For example, +CMGS

(Send SMS message), +CMSS (Send SMS message from storage), +CMGL

(List SMS messages) and +CMGR (Read SMS messages) are extended

commands. AT+XXXX, where XXXX refers to special direction due to

concise and simple structure of AT commands it is widely used in the

embedded systems. AT Commands are fed to modem by the serial port or

serial connection of computer or terminal devices.


3.3.1 Serial Data Transmission

The digital data can be transmitted between any two devices in two ways, parallel or

serial. Serial data transmission means information is transmitted from source to

destination over a single pathway and one bit is transmitted at a time. There are

two modes of serial data transmission.

Simplex: Data is transmitted in single direction.

Duplex: Data is transmitted in either direction.

Although both synchronous and asynchronous serial data communication are widely

used in serial data transmission, brief overview on asynchronous serial data

transmission is presented in this report considering its use in the project.

3.3.2 Asynchronous Serial Data Transmission

The receiving and transmitting devices need not to be synchronized in

asynchronous serial data transmission system. The transmitting device can send one

or more data units when it is ready to send data. Each data unit must be formatted i.e.

it must be transformed into specified format before transmission. For asynchronous

transmission, each any time i.e. asynchronously data character has bit which

identifies its start and 1 or 2 bits which identify its end.

Figure 3.1 Bit Format used for sending Asynchronous Serial Data [7]








































Figure shows the bit format often used for transmitting asynchronous serial data.

When no data is being sent, the signal line is in a constant high or marking state. The

beginning of a data character is indicated by the line going low for 1 bit time. This

bit is called a start bit. The data bits are then sent out on the line one after the other.

Note that the least significant bit is sent out first. Depending on the system, the

data word may consist of 5, 6, 7, or 8 bits. Following the data bits is a parity bit,

which is used to check for errors in received data. Some systems do not insert or

look for a parity bit. After the data bits and the parity bit, the signal line returned

high for at least 1 bit time to identify the end of the character. This always-high bit

is referred to as stop bit. Some older systems use 2 stop bits. Efficiency of this

system is low.

3.4 GLOBAL POSITIONING SYSTEM (GPS)

GPS is a constellation of 24 satellites with 6 different orbits. Each orbit has 4

satellites. These satellites are in the medium earth orbit (MEO) that is about, 20,000

KM above the surface of the earth, in nearly circular orbits. Their orbits are staggered

around the earth, forming a pattern similar to a bird cage; in such a way that anybody

on the earth has, at all times, a line of sight to at least four and at most ten of them.

GPS satellites circle the earth twice a day. GPS can be used in almost any situation

anywhere in the world, at any time, in any whether condition, by anybody with a

suitable receiver at no user cost. It can be used to locate vehicles, structures,

geographical features, etc. depending on the equipment used; positioning accuracy

can be anything from 100m to few millimeters.

The basic idea behind GPS is simple which is based on triangulation and simple

geometry. Suppose , our point of measurement is at a distance of R1 Km from

satellite A and R2 Km from satellite B. then by taking the positions of the satellites as

the centre of the spheres, our position must be at the position of intersection of two

circles where two spheres meet. Suppose we find another satellite C at a distance of


R3 with an appropriate geometry such that all the three spheres meet at the point of

measurement. Then as per geometrical rules there will be only two such points in

space where that can be correct.

Figure 3.2 GPS satellites [8]

Figure 3.3 GPS position fixing [8]














Each satellite transmits simultaneously their exact three-dimensional position at a

given moment. Suppose “XYZ” are the unknown coordinates that should be located

using the GPS receiver, then to fulfill the geometrical condition that all three spheres,

with their centers as the respective satellite, to meet at two points including one at a

given receiver, can be easily found by solving the following equations

(X1 –X) ² + (Y1 –Y) ² + (Z1-Z) ²=R1 ² ……….. (3.1)

(X2 –X) ² + (Y2 –Y) ² + (Z2 –Z) ²=R2 ²………… (3.2)

(X3 –X) ² + (Y3 –Y) ² + (Z3 –Z) ²=R3 ²………… (3.3)

While the satellites transmit their own coordinates at a given moment the range R1,

R2 and R3 are to be determined by the receiver itself. The information sent out by

satellites leave exactly at the same time from all satellites. Based on the time taken to

reach the signal from the satellite to earth, a receiver on earth computes their exact

distances by multiplying the time it took for the signal to travel from the satellite to

the receiver by the speed of light. Three distances to three satellites are needed to

provide the receiver coordinates in three dimensions. Thus two possible intersection

positions are found out of which one belongs to the receiver. One of these points will

be far way out in the space. The computers in GPS receivers have various techniques

to distinguishing the correct point from the incorrect one. The computers in GPS

receivers calculate the range of the satellites, their locations at a given moment, and

perform geometrical calculations to compute the coordinates of the point.

Since the satellites are constantly moving relative to earth’s surface, their positions

have to be constantly updated. This is done by some specific earth stations located at

various part of the world. The earth stations are the part of GPS program therefore

they are maintained by the us Department of Defense (DoD). These earth stations

monitor and track the satellites, synchronize their operation, and amend orbital and

corrected time data. The GPS system works by timing how long a radio signal takes

to reach us. The time measurements have to be done with utmost accuracy. Even if


we are wrong by 1/100-th of second, the distance error would be 3000 KM. so each

satellites is equipped with automatic clocks with an accuracy of 10^-9 sec and all of

them are constantly synchronized from the ground monitoring stations so that they all

send their respective signals at the same time intervals.

Both receiver and satellite have to be synchronized with each other and generate

exactly the same digital codes at the same time so that to measure the arrival times

accurately. Therefore when a particular code is received from the satellite, the time

lapse can be determined by finding out how long ago the similar code was generated

by the receiver.

The GPS receiver and satellites actually generate a very complicated set of digital

codes. The codes are made deliberately complicated so they can be compared easily

and unambiguously. The codes are so complicated that the almost look like a string of

random pulses. They are not really random though. They are carefully chooses

pseudo-random sequences that repeats every milliseconds and they are referred to as

pseudo-random code.

3.5 MECHANICAL DESIGN

3.5.1 MECHANICAL BODY PART

Whole mechanical body is made using the aluminum strip which is very light in

weight and is not affected by any kind of the rusting. Actually the whole design was

proposed in the following way as shown:


Figure 3.4 Initially proposed mechanical design [2]

To achieve this mechanical body structure a lots of mechanical parts have been

designed and they are as shown and all such parts are designed using the aluminums

strips. To a hobby robotics builder, aluminum is one of the most important materials

that everyone will use. It is very strong, light, resistant to corrosion, and affordable.

Most importantly, it is very easy to cut, shape, drill, and bend.

Aluminum is not as strong as steel, and rarely as cheap. So why is aluminum useful?

It is because aluminum has a much-much higher strength to weight ratio. This means

that for a mass of aluminum and an equal mass of steel, aluminum would be much

stronger. Aluminum would be more expensive for an equal mass as well, but would

you need as much mass if it is stronger.

Here are some mechanical designs:


Figure 3.5 Orthographic and dimensional drawing of the mechanical parts

These are the parts which are used in this robot.

Figure 3.6 Mechanical parts to hold wiper motors










Figure 3.7 Mechanical parts to hold the base and whole robot

Here is the complete design how we assembled all such designed mechanical parts to

obtain out full and final mechanical body design.










Figure 3.8 Assembly drawing of the whole robot

3.5.2 Shaft Design

Shaft for this robot is made from iron rod which is very strong to carry the weight of

the whole robot. Designed shaft is as shown:



3.5.2 Shaft Design





3.5.2 Shaft Design




Figure 3.9 Designed shaft

Finally we have the real mechanical body as:

Figure 3.10 finally designed mechanical body










3.6 ROBOTIC ARM DESIGN

There are several considerations that should be known when designing robotic arm

including mechanical parts and electrical components to sensor technology, computer

programming system that affect or influenced the overall robotic arm performance.

The overall design of the robotic arm can be categorized into two parts i.e.

mechanical design and electrical components. The mechanical design includes the

design of gripper and body part of the robotic arm whereas the electrical components

include the microcontroller, sensing system, circuit system to monitor and control the

arm of robot. The mechanical design must be designed as accurate as possible to keep

away from any problem during its movement and the electrical components also must

be chosen wisely to make sure the electronics can be performed perfectly and easy to

attach to mechanical part of the robotic arm.

The robotic arm design consists of the gripper and the body part. The gripper should

be of light weight and the body of the robot must be able to support the weight of the

object to be lifted. The material used for mechanical parts must be considered because

the weight is an important factor to make sure that the robot can move smoothly or

can operate. Due to this reason, the whole mechanical parts are designed by choosing

aluminum. The main reasons using behind the aluminum are due its better strength

and light weight as compared to the other type of material. Also aluminum is difficult

to break due to its quality. As aluminum is easily available and the price is also cheap,

the aluminum is preferred.

3.6.1 Robotic Arm Gripper

Gripper model is the important part and critical part in designing the robotic arm.

Gripper used in the application of the robotic arm as an end effecter. Nowadays,


gripper is the most important part in robotic arm because of its function to pick or

hold an item for transferring process in factory. Thus, gripper basically used to pick

up and place objects to specific places controlled by remote or computer. The

performances of robot to grasp on the object are depending on the weight of the

object, friction between the object and the gripper, movement speed of the robot, and

relation between the direction of movement and the gripper position. There are

varieties of gripper model depending on the use of the gripper such gripper move

both side and gripper only moves one side. Basically, gripper designed based on

the purpose of the gripper. Figure shows the picture of the gripper.

Figure 3.11: Designed Gripper

3.6.2 Parameter Requirement

The problem statement for arm design is size, material selection, torque, and motor

rpm which affect the characteristic of Robotic Arm performances. Thus, the


problems regarding to Robotic Arm should be care of to achieve the desire

performances.

There are several parameters requirement that should be considered including

torque, stress analysis and weight. For the real system the physical characteristics of

the electric hardware are modeled and then the actuator and mechanical transmission

effect determined.

3.6.3 Torque

The calculation of torque is depending on the link length of the robotic arm and the

weight of an object. Torque is defined as turning or twisting force and is calculated

using the following relation:

Γ=F*l ………………….. (3.4)

As F=m*g………………. (3.5)

Γ=m*g*l…………..……. (3.6)

3.6.4 Degree of Freedom

Robotic arm includes a drive assembly and an articulated arm assembly

pivotally connected to the drive assembly. The articulated arm includes a pivoting

base link system, a wrist link system, and a first elbow link system rotatable

connected to the base link system by a pair of upper arms and connected to the

wrist link system by a pair of forearms, a second elbow link system rotatable

connected to the base link system by another at least one upper arm and connected to

the wrist link system by another at least one forearm, wherein the drive assembly is

connected to at least one of the upper arms and the base link system to provide three

degrees of freedom by driving the at least one of the upper arms and pivoting the

pivoting base link system to position the wrist link system at a given location

with a predetermined skew relative to an axis of translation.


3.6.5 Force Calculation

The purpose of the force calculations of joints is to choose the suitable motor for the

robotic arm. The selected motor must support all the weight of the robotic arm

includes the weight of the object that being picked up.

Torque about joint 1

M1=(L1/2)(W1)+(L1)(W4)(L1+L2/2)(W2)+(L1+L3)(W3) ……………(3.7)

Torque about joint 2

M2= (L2/2)* (W2) + (L3) *(W3) ……………………………………… (3.8)

3.6.6 Forward Kinematics

Forward kinematics is the method for determining the orientation and position of the

end effectors, given the joint angles and link lengths of the robotic arm. Inverse

kinematic also affect robotic arm performances and it is opposite of the forward

kinematics mechanisms.

Forward kinematics of robotic arm can be calculated on the basis on the figure above.

Assume that the base is at origin i.e., x=0 and y=0. Now the first step is to calculate x

and y at each point.

Joint 0 is the base point so that,

Xo=0 ……………………... (3.9)

y0=0 …………………….. (3.10)

Joint 1(with x and y at J1 equaling 0)

Cos ф = ….………….. (3.11)


x1=L1 Cos ф ………………. (3.12) andSin ф = …………………. (3.13)y1=L1 Sin ф …………….. ... (3.14)

Joint 1(with x and y at J1 equaling 0)

Sin Ɵ = ……………… ….(3.15)

x2=L2 Sin Ɵ …… ………….(3.16) and

Cos Ɵ = ………………… (3.17)

y2=L2 Cos Ɵ ………………... (3.18)

3.6.7 Testing Process

To assemble mechanical components of this robotic arm, the method of fabricating

parts must be sure first because the part to be assembled has different dimensions

and usage. Gripper is used to hold an object. The gripper is assembling along

with the RC Servo using coupling to give the movement. The suitable lift

mechanism is important in robotic arm because it’s function as an affecter to hold the

object. The methods that have been used to lift the object are robotic arm mechanism

which gripper functions as the holder.

Besides assembling mechanical components, electric components used for this

project must be considered. There are many electronic for robotic arm out there such

as servo controller, regulator, microcontroller and computer. Servo controller used to

control many servos simultaneously by using computer as a host. Host of the servo

controller can be computer or microcontroller. For this project, computer functions

as the operation system to control all servos using software provided by the

manufacturer.


3.6.8 Models of Robotic Arm

Robotic arm depends on the efficiency of the various parameters that can be

investigated through analysis. From the result of analysis, decisions that affect the

selection of the best models can be made. This analysis includes the investigation of

degree of freedom, robot workspace, force calculations, forward kinematics, inverse

kinematics, motion planning, velocity, and sensing and end effectors design.

Degree of freedom is a joint on the arm where it can bend or rotate. The number of

degree of freedom can be identified by the number of actuators on the robotic arm.

Each of degree requires a motor, often an encoder, and exponential algorithms

calculation.

Figure 3.12: Finally Designed Robotic Arm

3.7 SYSTEM DESCRIPTION











calculation.













calculation.




This is just a prototype of a Robot with the different features as specified. The whole

robot will be controlled with the help of voice commend through the RF module at

the remote location. The robot will be provided with the wireless camera such that it

will be able to transmit the video from such location to the base commands. It will be

also provided with the facility of the obstacle detection using the ultrasound so that it

will never collide with any obstacles that will appeared in front of it. Whole system of

robot can be operated in the two ways which are described as follows:

3.7.1 Working Principle

This is the block diagram of the whole project. The robot will be provided with the 4

wheels drive system and a robotic arm with capabilities to carry even the cylindrical

objects. The robot will be controlled with the help of RF Xbee module. The module

that is used here can control the robot up-to the distance of 100m in case of line of

sight and in indoor case we can achieve the range up-to 30 meters. The robot will be

provided with the help of ultrasonic obstacle detection module so that as it will find

any obstacle on its ways then it will not collide with it in spite of that it will stop and

move back to choose another best path. The robot will be provided with GPS and

GSM based vehicle tracking system so that as the system will be upgraded in such a

way that wireless control is replaced with internet control, at such case this feature

could be very important. The robot will be provided with the wireless IP camera

which can transmit live video over the internet but while in this project we are

interfacing that particular IP camera with the router. The router thus connected

creates the wireless LAN and with the help of such created virtual LAN the IP camera

can transmit the live video over the range of coverage area of router. The robot will

be provided with the high power battery source and 4 wheels drive system so that it

will not so difficult for the robot to move in any sloppy lands and so.The whole final

concept of the project is shown in the following block diagram:

GPS BASED SURVEILLECNCE ARMED ROBOT Page 32Fig: 3.13: Diagram of manual operation.

Robotic arm and 4wheels drivesystem roboticbody

Arduino uno[10]

(MicrocontrollerBoard)

GPS MODEM

GSM MODEM

Xbee RF modem

Wireless IP camerawith wirelessROUTER

Ultrasonic obstacledetection module

Power supply

Arduino uno(microcontrolle

r Board)

Wireless RF Xbeemodem

Joystick remotecontrol Board

Computer

LCD display

GSM mobile tolocate the positionof robot

Power supply


3.7.2 Obstacle Detection

To detect the obstacle coming in the way of robot we are using ultrasound module

having two different ultra sound such that one is used as transmitter and another is

used as the receiver. When obstacle will appeared in front of the given robot them the

receiving one will receive the ultrasound reflected signal and it will come to know

that robot is approaching the obstacle then robot will be stop and returned back and

turn left or right.

This simple approach can be shown in a flowchart as:

Yes No

Figure 3.14: Flow chart for obstacle detection

3.8 SYSTEM ALGORITHM

The system algorithm for our project is as below

Move robot

Transmit signal andcheck for receivedsignal at receivingultrasound

Receivedany signal

Stop robot andmove back thenturn right or left ascommand

Keep on checkingfor the receivedsignal


TRANSMITTER SIDE

Step1: Start

Step2: XBee Initialization.

Step3: Check if it is in Arm Mode

If yes: Go to step 4

If No: Go to step 8

Step4: Read analog value from joystick or computer software.

Step 5: Convert analog integer into angular value.

Step 6: Create packet and send it via Radio Frequency Module

Step7: Go to Step 3 [Loop]

Step 8: Read which button s pressed

Step 9: Send control signal to control motion of dc motor according to button pressed

Step 10: Go to Step 3 [Loop]

RECEIVER SIDE

Step 1: Start

Step2: Initialize XBee

Step3: Read Serial Data and Analyze.

Check the Start Bytes of Packets [*@]


Step 4: Found Start bits?

If Yes: Go to Step 5

If No: Go to step 3

Step 5: Read six characters serially and assign each char corresponding to wiper motor.

Step 6: Go to Step 3

Step 7: Read Start byte of packet

Step 8: Correct sequence detected?

If yes: Go to Step 9

If No: Go to Step 3

Step 9: Control the corresponding movement of respective wiper Motor.

Step 10: Go to Step 3

3.8.1 System Operation Flowchart

Transmitter side flow chart is as shown.


NO YES

Fig: 3.15 Transmitter sides

Create Packet and TransmitAngle Packet Using XBeeModule

Read analog Value fromJoystick or computer andconvert into angles

ArmMode?

Sense the Pressedbutton

Create Packetaccording to PressedButton

Start


Receiving side block diagram is as shown:

YES NO

Figure 3.16 Flow Chart of Receiving Side

Load Angle values stored inrespective variables to wipermotors

Receive Serial Dataand Check for Startbyes ‘*@’

Start Bytes

Found?

Read 6 Angle Values

Reload the variablescontaining anglevalues

Control the Correspondingwiper Motors

Start


3.9 IP BASED SURVEILLENCE

Here in this project a wireless IP camera is being interfaced such that it is transmitting

the live real time video by using its own LAN. A LAN is created using a router and

up to the range of the given router the provided IP camera can transmit the live real

time video. Hence this feature helps the project to be very useful for the surveillances

of the remote locations, dangerous locations and the locations which are highly

radiation affected. A high quality colored camera is being used in this project so that

it will be easy to find the object at the remote location and to identify it easily. The

camera provided here is of the 1.6 Megapixel capacities and is highly reliable too.

The video transmitted by the camera can be easily obtained in our PC using simple

software.

3.10 MOTOR CONTROL USING THE MOSFET BASED HIGH

POWER CONTROL CIRCUIT

This motor drive circuit is designed to drive the wiper motor. The circuit is provided

with the help of MOSFET such that they can withstand the high current and high

voltage and it also helps in the very fast switching as well. It has capacity to

withstand at the current rating up to 28A so we have designed it quite carefully so as

that it can work with its full capacity.

Figure 3.17 - Schematic Diagram of Circuit


Figure 3.18 PCB design of the motor control circuit


CHAPTER-4

TOOLS AND TECHNIQUES


4.1 PCB WIZARD

PCB wizard 3 is a highly innovative tool to design the single sided and double-sided

printed circuit board. It provides a comprehensive range of tools covering all the

traditional steps in PCB production, including schematic drawing, schematic capture,

component placement, automatic routing, Bill of Materials reporting and file

generation for manufacturing. In addition, PCB Wizard 3 offers a wealth of clever

new features that do away with the steep learning curve normally associated with

PCB packages.

Component placement and automatic routing

Strategic component placement is critical to achieving successful routing and PCB

Wizard 3 has been greatly enhanced in this area. The process is fully automated and

PCB Wizard 3 is able to calculate an optimum board size and intelligently position

components in preparation for automatic routing

Style views

Styles are a powerful PCB Wizard 3 features that greatly simplifies the process of

viewing circuits. They are particularly useful when assembling and soldering circuit

boards. The style themselves are simply combinations of various display options that

alter how the circuit looks.

Copper pour

PCB Wizard 3 features a powerful new copper pour system that can help to reduce

manufacturing costs by minimizing the amount of etching solution required. To use it

all have to do is insert a copper are on board and any pad or track inside the selected

area will be automatically surrounded with a gap of the desire size. As you update

your design, the copper area is re-calculated.


Figure 4.1 - PCB Wizard

4.2 ARDUINO DEVELOPMENT ENVIRONMENT

The Arduino development environment contains a text editor for writing code, a

message area, a test console, a toolbar with buttons for common functions, and a

series of menus. It connects to the Arduino hardware to upload programs and

communicate with them.

Writing sketches

Software written using Arduino is called sketches. These sketches are written in the

text editor. Sketches are saved with the file extension .inon. It has features for

cutting/pasting and for searching/replacing text. The message area gives environment

including complete error message and other information. The bottom right-hand








Writing sketches












Writing sketches






corner of the window displays the current board and serial port. The toolbar buttons

allow you to verify and upload programs, create, open and save sketch, and open the

serial monitor.

Sketchbook

The Arduino environment uses the concept of a sketchbook: a standard place to store

your program (or sketches). The sketches in sketchbook can be opened from the

File>sketchbook menu or from the Open button of the toolbar. The first time

Arduino will automatically create a directory for the sketchbook. Sketchbook location

can be changed or viewed from preferences dialog.

Tabs, Multiple Files, and Compilation

Allows you to mange sketches with more than one file (each of which appears in its

own lab). These can be normal Arduino code files (no extension), C files (.cpp), or

header files (.h).

When a sketch is loaded in the Arduino it means Arduino bootloader is in use, which

is a small program that has loaded on the microcontroller on your board. It allows

uploading code without using any additional hardware. The bootloader is active for a

few seconds when the board resets; then it starts whichever sketch was most recently

uploaded to the microcontroller. The bootloader will blink the on-board(pin 13) LED

when it starts (i.e. when the board resets).

Libraries

Libraries provide extra functionality for use in sketches, e.g. working with hardware

or manipulating data. To use a library in a sketch, select it from the sketch> Import

Library menu. This will insert one or more #include statements at the top of the

sketch and compile the library with sketch. Because libraries are uploaded to the


board with the sketch they increase the amount of space it takes up. If a sketch no

longer needs a library, simply delete its #include statements from the top of the code.

Third party hardware support for third-party hardware can be added to the hardware

directory of code’s sketchbook directory. Platforms installed there may include board

definitions, core libraries, bootloaders and programmer definitions.

Serial monitor

Displays serial data being send from the Arduino board (USB or serial board). To

send data to the board, enter text and click on the “send” button or press enter.

Choose the baud rate from the droop-down that matches the rate passed to

Serial.begin in the sketch. Note that on Mac or Linux, the Arduino board will reset

whey connected with the serial monitor.

Language support

The Arduino 1.0.1 software environment has been translated into 30+ different

languages. By default, the IDE loads in the language selected by the operating

system.

Figure 4.2 - Arduino environment [14]







Serial monitor






Language support



system.








Serial monitor






Language support



system.



4.3 FAMILIARIZATION WITH ARDUINO [9]

Arduino is an open-source electronics prototyping platform based on flexible, easy-

to-use hardware and software. It’s intended for artists, designers, hobbyists and

anyone interested in creating interactive objects for environment. Arduino is a

Controller with various library functions so it becomes very helpful for us while

coding. Motor interfacing, serial communication, PWM, LCD interfacing can be

easily done using this inbuilt controller. Arduino can sense the environment by

receiving input from a variety of sensors and can affect its surrounding by controlling

lights, motors, and other actuators. The microcontroller on the board is programmed

using the Arduino programming language and Arduino development environment.

Arduino projects can be stand alone or they can be stand alone or they can

communicate with software running on computers.

Figure 4.3 - Arduino board [9]

4.4 PROTUES

PROTUES combines advanced schematic capture, mixed mode SPICE simulation,

PCB layout and auto routing to make a complete electronic design system.


The PEORUES product range also includes our revolutionary VSM technology which

allows simulating micro-controller based design, complete with all the surrounding

electronic.

Features-

ISIS schematic capture an easy to use yet and extremely powerful tool for

entering the design

PROSPICE Mixed mode SPICE simulation industry standard SPICE#F%

simulator upgradeable to unique virtual system modeling technology.

ARES PCB layout

Modern Graphical user interface standardized across all modules

Runs on windows

Technical support direct from the author

Rated best overall products

Figure 4.4- View of Protous


4.5 HYPERTERMINAL

HyperTerminal is a program that we can use to connect host computers to other

computers or telnets using either modem or null modem or Ethernet connection. At

the time of unavailability of World Wide Web, HyperTerminal with Bulletin Board

System (BBS) was very popular practice to access information on remote computers

but become less common with the availability of the World Wide Web.

HyperTerminal is still a useful means of configuring and testing our modem or

examining our connection with other sites. HyperTerminal records the messages

passed to and from the computer or service on the other end of your connection.

Therefore, it can serve as a valuable troubleshooting tool when setting up and using

our modem. To make sure that our modem is connected properly or to view our

modem's settings, we can send commands through HyperTerminal and check the

results. HyperTerminal has scroll functionality that allows us to look at received text

that has scrolled off the screen.

We can use HyperTerminal to transfer large files from a computer onto your portable

computer using a serial port rather than going through the process of setting up your

portable computer on a network.

Figure 4.5 - View of hyper terminal


4.6 XBEE

XBee are radio modules to set up the wireless links between two or more nodes.

There are different series for its modules. XBee S2 improves on the power output and

data protocol. Xbee Series 2 modules allow us to create complex mesh networks

based on the XBee ZB ZigBee mesh firmware. These modules allow a very reliable

and simple communication between microcontrollers, computers, systems, really

anything with a serial port, Point to point and multi-point networks are supported.

These are essentially the same hardware as the older Series 2.5, but have updated

firmware. They will work with Series 2.5 modules if we update the firmware through

X-CTU. The Series 2 is not useful if we are looking for a simple point-to-point

configuration, in such case we might try the Series 1 instead. The Series 2 requires

considerable setup and configuration. Series 1 and Series 2 XBee modules have the

same pin-out. However, Series 1 modules cannot communicate with Series 2

modules.

Features:

3.3V @ 40mA

250kbps Max data rate

2mW output (+3dBm)

400ft (120m) range

Built-in antenna

Fully FCC certified

6 10-bit ADC input pins

8 digital IO pins

128-bit encryption

Local or over-air configuration

AT or API command set


Figure 4.6 - Xbee modules [14]

4.7 IP CAMERA

An Internet protocol camera, or IP camera, is a type of digital video camera

commonly employed for surveillance and which unlike analog closed circuit

television (CCTV) cameras can send and receive data via a computer network and the

Internet. Although most cameras that do this are webcams, the term "IP camera" or

"net cam" is usually applied only to those used for surveillance. The first centralized

IP camera was Axis Net eye 200, released in 1996 by Axis Communications.

There are two kinds of IP cameras:


Centralized IP cameras, which require a central Network Video Recorder

(NVR) to handle the recording, video and alarm management.

Decentralized IP cameras, which do not require a central Network Video

Recorder (NVR), as the cameras have recording function built-in and can thus

record directly to any standard storage media, such as SD cards, NAS

(network attached storage) or a PC/Server.

Figure 4.7 IP cameras [12]

4.8 SERVO MOTOR

Motor is a device that creates motion; it usually refers to either an electrical

motor or an internal combustion engine. It may also refer to electric motor includes

DC motor for an electric motor that is driven by alternating current and AC


motor; an electric motor that runs on direct current electricity. The selection of motor

for this project is depending on the three degree of freedom of the robotic arm

includes weight, arm link length and power or current.

Radio Control (RC) servo is also used in this project. RC servo is small actuators

designed remotely operating model vehicles such as cars, airplanes, and boats.

Today, RC servos are become popular in robotic arm, creating humanoid robot,

biologically inspired robot, and robotic arm. This is because its ability to rotate and

maintain and certain location, position or angle according to control pulse from a

single wire. Inside a typical RC servo contains a small motor and gearbox to do the

work, a potentiometer to measure the position of the output gear, and an electric

circuit that control the motor to make the output gear move to the desired position.

Because all of these components are packed into a compact, low-cost unit, RC servos

are great actuator for this robotic arm project. Figure show the picture of the RC servo

motor.

Figure 4.8 - Gear Mesh Motor

Servos are controlled by sending them a pulse of variable width. The signal wire is

used to send this pulse. The parameters for this pulse are that it has a minimum pulse,


a maximum pulse, and repetition rate. Given the rotation constraints of the

servo, neutral is defined to be the position where the servo exactly the same

amount of potential rotation in the clockwise direction as it does in the counter

clockwise direction. It is important to note that different servos will have different

constraints on their rotation.

4.9 X-CTU

XCTU is a free multi-platform application designed to enable developers to interact

with RF modules through a simple-to-use graphical interface. It includes new tools

that make it easy to set-up, configure and test Xbee RF modules.

XCTU includes all of the tools a developer needs to quickly get up and running with

XBee. Unique features like graphical network view, which graphically represents the

XBee network along with the signal strength of each connection, and the XBee API

frame builder, which intuitively helps to build and interpret API frames for XBees

being used in API mode, combine to make development on the XBee platform easier

than ever.

Features

We can manage and configure multiple RF devices, even remotely (over-the-

air) connected devices.

The firmware update process seamlessly restores your module settings,

automatically handling mode and baud rate changes.

Two specific API and AT consoles, have been designed from scratch to

communicate with your radio devices.

We can now save our console sessions and load them in a different PC

running XCTU.


XCTU includes a set of embedded tools that can be executed without having

any RF module connected:

Frames generator: Easily generate any kind of API frame to save its

value.

Frames interpreter: Decode an API frame and see its specific frame

values.

Recovery: Recover radio modules which have damaged firmware or

are in programming mode.

Load console session: Load a console session saved in any PC running

XCTU.

Range test: Perform a range test between 2 radio modules of the same

network.

Firmware explorer: Navigate through XCTU's firmware library.

An update process allows us to automatically update the application itself

and the radio firmware library without needing to download any extra

files.

XCTU contains complete and comprehensive documentation which can be

accessed at any time.

4.10 HIGH PERFORMANCE GPS SHIELD

Arduino GPS shield is a GPS module breadout board designed for Global Positioning

System receiver with SD interface. It is easy to use for recording the position data into

SD card. 5V/3.3V compatible operation voltage level make it compatible with

Arduino boards, leaf maple, IFlat32 and other arduino compatible boards.

Arduino GPS shield is a GPS module breadout board designed for Global Positioning


System receiver with SD interface. It is easy to use for recording the position data into

SD card. 5V/3.3V compatible operation voltage level make it compatible with

Arduino boards, leaf maple, IFlat32 and other arduino compatible boards.

Features:

With micro SD interface

Active antenna design with high receive sensitivity, compatible normal

antenna

Extremely fast time to first fix at low signal level

UART interface

Operation temperature is:-400 c to 850c

Figure 4.10 - GPS shield with antenna

4.11 SIM300 MODULES

This is a simple low cost solution for cellular control based projects. It is based on the

famous modem SIM 300 module. The modem comes with RS-232 for interfacing

with computers and the Tx and RX pins are provided for interfacing with SPDunio

and other microcontrollers. The SMA connector can be brought separately too.


Features:

Based on SIM300 tri-band GSM/GPRS engine

RS232 port and SerialTTL (Tx and Rx) interface

On board 3A regulator

SMA connector for antenna

Voice communication ports

On board buzzer for audio indication

Specifications:

input voltage: 7-12v

Modem type::SIM 300

Figure 4.11 - GSM SIM300 modem


4.12 PRO SURVEILLANCE SYSTEM

This system is used to view the real time video of the remote location. This software

can display the video transmitted by the LAN over the range of LAN. It is provided

with the different features so that we can record the video make it on at any time as

per requirement. It can display the color video so is very helpful in identifying the

distant objects. We can easily add a number of such IP cameras in this software and

can view up to 64 different videos in a single monitor by dividing the single window

into the multiple numbers of windows. This software is very easy to handle and easy

to configure so is highly helpful for anyone. A view of the software interface is as

shown:


CHAPTER-5

TIME AND COST ANALYSIS


5.1 MATERIAL USED

In this project a lots of different components have been used and a general list of

material required and used is as given in table, but in this table all simple and discrete

components are not included as are the basic components for almost all projects:

S.N. Material Required Quantity Estimated cost

1. Aluminum strip 20ft 2000

2. Arduino Uno R3 2 4000

3. Gear mesh motor 3 450

4. GPS modem 1 2000

5. GSM modem 1 4000

6. PCB board 2 700

7. Joy stick 1 100

8. Wiper motor 6 10000

9. Keys 12 60

10. Capacitors(different values) 1 pack 50

11. Resistor pack 2 pack 100

12. Standard wheels(with grip) 4 1000

13. Warm gear 3 set 240

14. MOSFETS IC 20 1000

15. Wireless camera 1 2000

16 X-bee module 1 set 2000

17. Transformer 1 700

18. Bearing 10 100

19 Bearing holders 10 1000

20 Nut Bolt Few 100

21 CD 4050 2 200

22 L293D 2 300


23 2 pin connector cables Few 200

24 Regulator IC(7805,7809,7912) 10 150

25 Battery 4 6000

26 Etc 2000

Total 40,450/

Table 5.1 - Material Required

5.2 GANTT CHART

The Gant chart for the whole project is as shown in this given table. We tried all our

best to perform our work as per the schedule but due to some technical problems we

have been unable to work as per specified schedule. But still we work hard and finally

come to the end of the project at the specified time with few limitations.

S.N. Activities Jan Feb March April May June July Aug Sep

1 Planning

2 Collection of material

4 Mechanical design

5 Electronic circuit

design

6 Documentation

7 Testing and

verification

8 Implementation

Table 5.2 - Gantt chart


CHAPTER-6

RESULTS AND FURTHER ENHANCEMENTS


6.1 RUSULTS

After a long and continuous effort from the beginning of the project time we have

comes to some of the result which is really enough to make us to forget all such stress

we faced during the whole of the project periods. Actually this project becomes a

great experience for the whole team so far. Some of the results of the projects are as:

Wireless control of the robot over the range of 100 meters in case of direct

line of sight and over the range of 30 meters in case of non line of sight.

Obstacle detection in the range of 30 cms.

Wireless real time video transmission using the IP camera for surveillances.

A robotic arm capable to carry even the cylindrical objects.

A robotic body having the 4 wheel drive system

GPS based robot tracking system

Aluminum made body and robotic arm

Provided with the powerful wiper motors.

6.2 LIMITATIONS

As no any machine can be perfect and this line also affect out project as well. Even

after such a continuous hard work throughout the whole project period still our

projects contains some of the limitations. But such problems can be solved if the

whole system is enhanced to some higher level. The limitations and problem

encountered throughout the project are as follows:

The main problem was the unavailability of materials as per requirement of

the project

Lack of well equipped mechanical lab in college

Robot can’t be controlled in highly dense and crowded areas over the long

range

Obstacles beyond the distance of 30 cm cants be detected


Robotic arm cant rotate in 360 degrees

Mechanical body is not 100% perfect and not all 4 wheel touch the ground at

a single time as one wheel used to be 5mm above ground when rest touch to

the ground

Lack of the specified metal parts to make robotic arm

Lack of specified motors

The robotic arm can lift very light weighted objects.

As IP camera is transmitting video using its own LAN so it can’t transmit the

video over the long range.

6.3 FURTHER ENHANCEMENT

This project is can be made useful in various fields when the system is enhanced as

per the requirement of the relevant field. But here the main concern is to enhance the

system so that it can be highly useful for the military, industrial, mine exploration and

assisting the physically disabled and elders’ peoples. The further enhancement which

can be carried out may be:

It can be controlled using the internet over the long range which could be very

much danger free in military purpose for surveillance or to inspect any

affected areas.

It can be provided with the various types of scanners as per requirements to

scan any remote locations for the search purposes.

It can be provide with a robotic arm which can rotate in 360 degrees and can

lift the heavy weight which can be very much useful in the industries to carry

loads form one point to another point.

It can be provided with the special types of wheels so that it can easily move

at any kind of surfaces which can be useful for the mine exploration purposes.

It can be controlled with the help of voice command and our cell phone which

could assist the elders’ peoples and physically disabled peoples as well.


It can be controlled using the android phone or any type of such latest

operating systems.


CHAPTER-7

CONCLUSION AND DISCUSSION


Here, in this way this major project of BE Electronics and communication is

completed with great devotion and dedication. The project helped us to learn about a

lot of things up to now. It helps us to gain a better perspective on various aspects

related our course and our way of doing. Patience, group work, technical analysis,

forecasting of any problem coming on our way if we done something stupid are the

few main things that we learn and we believe that these point that we learn so far are

going to help us in our coming days and in our carrier. At the beginning of the

project time it used to be very hard to understand each other’s idea for all of us, ass

we were all new on such projects and it used to be very hard to work in a

collaborative way but as time passes we learn how to share our idea among our group

member and begin to understand each other’s idea and how to implement them to

make it workable. Now all of us can analyze the problem discuss on any subject

matter so as o find the final solution which is used to be cost effective, reliable, and

long lasting. During the project work our stressful time are made comfortable by the

support from our seniors, teachers and friends.

The main goal of this project on title “GPS BASED SURVIELLENCE ARMEDROBOT” is to assist humans in their work. It was mainly developed for the military,

industrial and surveillances purpose but its usefulness are not limited to only that its

uses can be extended with the help of few many enhancements as per the requirement

in the relevant fields. So we give our best throughout the whole year to make it best

as much as we can do. Finally we are presenting our success in front of you.

Hence, this project has been a great experience for us. As no machine can be 100%

perfect and this line also plays a role in this project and it contains few many

limitations, but such limitation can be solved. With our great dedication, devotion and

continuous effort we come to this point and it’s really a wonderful feeling for all of

us.


REFERECNES


REFRENCES

[1] “History of Robotic Development” Internet: www.fcet.staffs.ac.uk/ [August, 1,

2014]

[2] “The Mega Boot 4-Wheel Drive Robotic Platform” Internet:www.youtube.com

[September 20, 2013]

[3] “Wireless Control Robotic Arm” Final year project 066/BEX

[4] “Processing-Controls-RC-Car with XBee modules” Internet:

http//www.instuctables.com [February, 20, 2014]

[5] “Vehicle tracking system using GSM and GPS modem. ” Internet:

www.projectsof8051.com/vehicle-tracking-system-using-gps-and-gsm-modem/

[December 20, 2013]

[6]Theodre S. Rappaport, “Wireless communications Principles and Practice”Second

editon 2012

[7] “SMS Based Voting Machine” Final Year Project: HCOE [2013]

[8] Suresh Prasad Sha, “Course manual in Aviation Engineering”, HCOE Library:

[2014]

[9] “4 Bar Linkage End Effectors, Robot Gripper Animation” Internet:

www.mapcordinates.net /en [February 5, 2014]

[10] “Arduino” Internet: http://www.arduino.cc/ [December, 1, 2013]

[11] “Ultrasonic Distance sensor” Internet:

http://www.rhydolabz.com/index.php?main_page=product_info&cPath=155_163&pr

oducts_id=308 [December 13, 2013]

[12] “IP camera Manual”

[13]” PWM DC Motor Controller Using MOSFETs and IR2110 H-Bridge Driver”

Internet: http//www.circuit-project.com //mosfet [January, 5, 2014]

[14]” Arduino uno interfacing with XBee radio modules” Internet:

http//www.alselecta.worldpress.com [March, 12, 2014]


[15] “X-CTU software” Intenet: http//www.x-ctu.com [March, 12, 2014]

[16] “Voice Controlled Wheel Chair” Internet:

http://www.engineersgarage.com/contribution/voice-controlled-wheel-chair-for-

disabled-people [December, 20, 2013]

[17] “Motor Control Circuit” Internet: www.projectstoday.com [January 25, 2014]

[18] “How Global Positioning System Works “Internet:

www.circuitstoday.com/how-globle-positioning-system-gps-works/ [December 20,

2013]

[19] “LR Series RF transmitter and receiver modules” Internet:

www.linxtechnologies.com/en/products/modules/ir-rf-transmitter-receiver

[January 1, 2014]

[20] “RF based Robot Control” Internet:

www.electronicsforu.com/electronicsforu/circuitarchives/view-article.asp

[January 1, 2014]

[21] “GPS shield and its working principle “Internet:

http://imall.iteadstudio.com/im120417017.html//gps [March, 5, 2014]

[22] “Arduino interfacing with x-bee radios”

Internet:http://alselectro.wordpress.com [ March, 24, 2014]

[21] “Arduino wireless shield s2” Internet: http://arduino.cc/en [Feb, 20, 2014]


SNAPS……………..

fianl report

Documents