Bomb Detection Robotics Using Embedded Controller

Detect the bomb by sending the robot to the respective place. A person can
operate the system from personal computer through wireless RF control. The
operator can control the system by visual moving pictures transmitted from the
robotic system. If it senses there is a bomb means it gives the buzzer sound will
be generated by the robot. It always possible that when influenced by
destructive metals, it may lead to severe damages. For this purpose we
configure a circuitry for metal detection in our proect .!e are ma"ing use of
pro#imity sensors in our proect. $ro#imity sensors when ferrous materials
came closer to the sensors it senses and produces an output signal.
%. Blind navigation system using RFID for indoor environments
Abstract
A location and trac"ing system becomes very important to our future world of
pervasive computing, where information is all around us. &ocation is one of the
most needed information for emerging and future applications. 'ince the public
use of ($' satellite is allowed, several state)of)the)art devices become part of
our life, e.g. a car navigator and a mobile phone with a built)in ($' receiver.
*owever, location information for indoor environments is still very limited.
'everal techni+ues are proposed to get location information in buildings such
as using a radio signal triangulation, a radio signal ,beacon- emitter, or signal
fingerprinting.
.sing Radio Fre+uency Identification ,RFID- tags is a new way of giving
location information to users. Due to its passive communication circuit, RFID
tags can be embedded almost anywhere without an energy source. The tag
stores location information and gives it to any reader that is within a pro#imity
range which can be up to /01/2 meters for .*F RFID systems. !e propose an
RFID)based system for navigation in a building for blind people or visually
impaired. The system relies on the location information on the tag, a user3s
destination, and a routing server where the shortest route from the user3s
current location to the destination. The navigation device communicates with
the routing server using ($R' networ"s. !e build a prototype based on our
design and show some results. !e found that there are some delay problems in
the devices which are the communication delay due to the cold start cycle of a
($R' modem and the voice delay due to the file transfer delay from a 445
module
Description:
This 'ystem having three different modules,
/- 6lind RF)ID 4odule
%- Room RF)ID Tag .nit7
8. IR T9 'ensor for :bect Type and Range 'ensing .nit
Always this unit will transmit the IR :bect ID)5ode through R52 $rotocol by
8;<*= fre+uency.
1. Blind RF-ID Module
This is divided into two different modules,
a- RF)ID
b- IR)R52 $rotocol
c- $IR 1*uman Detect
Advantage of these Systes:
/- Automation of all 5.'T:4>R to communicate through remote ('4 using
mobile
%- 'ave data using automatic control systems
8- &ess cost to communicate
?- &ess power to automate
2- Increase 'afty
@- To increase n number of person to communicate and automate.
A- >asy and fast identification system
Deerit:
/- This system will support less distance.
%- It won3t 'ense &ong Distance obect.
!R"!"S#D S$S%#M:
/- This system will support all type of obect to identify the blind.
%- &ess cost
8- 'ignal will support all places.
?- $ortable
2- !ireless communication
@- It won3t affect any other defects of human being.
A- The blind will not depends the help from any others.
Fire Fighting Robot
Abstract
The need for a device that can detect and e#tinguish a fire on its own is long
past due. 4any house fires originate when someone is either sleeping or not
home. !ith the invention of such a device, people and property can be saved at
a much higher rate with relatively minimal damage caused by the fire. :ur tas"
as electrical engineers was to design and build a prototype system that could
autonomously detect and e#tinguish a fire. Also aims at minimizing air
pollution.In this $roect we design a Fuzzy based 4icrocontroller controlled
Robot. It is the Robot that can move through a model structure, find a
BCoburning oil derric"BC ,lit candle- and then e#tinguish it with help of a
6lower.
This is meant to simulate the real world operation of a Robot performing a fire
e#tinguishing function in an oilfield. Fuzzy logic provided an appropriate
solution to the otherwise comple# tas" of mathematically deriving an e#act
model for the non)linear control system upon which conventional control
techni+ues could then be applied. The fuzzy inference system was designed to
act as a $ID)li"e controller. !e are using the $opular ; bit 4icrocontroller the
;02/ family 4icrocontroller. $rogram code to control the fire fighting robot is
written in assembly language
Green House Monitoring nd Control
Appropriate environmental conditions are necessary for optimum plant growth,
improved crop yields, and efficient use of water and other resources.
Automating the data ac+uisition process of the soil conditions and various
climatic parameters that govern plant growth allows information to be collected
at high fre+uency with less labor re+uirements. The e#isting systems employ
$5 or '4')based systems for "eeping the user continuously informed of the
conditions inside the greenhouseD but are unaffordable, bul"y, difficult to
maintain and less accepted by the technologically uns"illed wor"ers.
The obective of this proect is to design a simple, easy to install,
microcontroller)based circuit to monitor and record the values of temperature,
humidity, soil moisture and sunlight of the natural environment that are
continuously modified and controlled in order optimize them to achieve
ma#imum plant growth and yield. The controller used is a low power, cost
efficient chip manufactured by AT4>& having ;< bytes of on)chip flash
memory. It communicates with the various sensor modules in real)time in order
to control the light, aeration and drainage process efficiently inside a
greenhouse by actuating a cooler, fogger, dripper and lights respectively
according to the necessary condition of the crops. An integrated &i+uid crystal
display ,&5D- is also used for real time display of data ac+uired from the
various sensors and the status of the various devices.
!eather "tation
Abstract
!eather station with pressure reading, relative humidity, indoor E remote
outdoor temperature display. This proect is intended to develop the capacity of
the national meteorological services by improving the observing station
networ"s and development of human resources. The specific proect
components include procurement and installation of meteorological instruments
and the training of staff re+uired for manning the stations where the e+uipment
will be deployed. The e+uipment will be deployed at agro)meteorological,
hydro)meteorological, and synoptic stations.
Description:
This proects is divided into 8 1 modules,
/- 4ain unit
%- 4obile .nit
8- 'ensors .nit
6oth 5elsius or Fahrenheit E mbarFh$a or mm *g supported. !ith calendar E
cloc". To use 8)button user)menu. ?% hour)history display ,curve-. Auto)
memory E display of all high and low)values.
1&Main unit:
This .nit contains &5D Display, <eypad, Alarm.
It will Read and control the data and send the data through mobile.
&5D Display 7 It will Display all 4easurement of all data3s and "ey
inputs
<eypad7 .sed to get the input and control the output of this system.
'erial 5ommunication7 !hich is used to send the data through mobile
wireless protocols.
'&Mo(ile )nit:
!hich is used to send all the data to $5 using mobile communication. This unit
having interface *ardware and wireless protocols.
*&Sensing )nit:
This unit having 8)different type of sensing .nit,
A- !ater &evel measurement 'ensing .nits
6- River Force measurement 'ensing .nits
5- !eather measurement .nits
"ver vie+ of pro,ects:
This was a wireless communication proect. The circuit may be powered by a
small GH battery, 5onsumption for the base station is around ; to G mA whilst
active and only % to 8 mA in sleep mode The receiver ,base station- is active
during 2 seconds E then goes to sleep for ?2 seconds. The transmitter ta"es a
nap every 80 seconds or so. All data is stored in >>$R:4 and is loaded at
power)up. In case of a power failure ,or when changing batteries-, there will be
no data ,nor history- lost.
4enu mode is entered when pushing the ImenuI button for / second. 6rowsing
E value changes are done with the IminI E IplusI "eys. !hen in normal mode,
the IminI andIplusI "eys can browse through the different histories. All these
controls will wa"e up the processor if it was in sleep mode. :n the left)hand
side of the &5D , from top to bottom, there are :utside temperature, $ressure,
Inside Temperature, Relative *umidity, 5alendar and 5loc". :n the $57 *igh
value of the past ?%)hours, 6ar graph histogram ,right is most recent value-,
&ow value. :utput of pressure sensor is an analogue voltage, which is
temperature)compensated . This analogue voltage is given to the ;02/ /0)bit
AD5.
#an$er Robo For %ision Based "urveillance "ystem
Abstract
This proect aims at designing control system for a robot such that the
unmanned vehicle is controlled using $5 and wireless RF communication. In
this proect the controlling is done depending on the feedbac" provided by the
IR sensor, which is the part of obect detection circuit.
Description:
The proect contains different modules such as
:bect detection and angle determination in the path using IR sensor.
:bstacle avoidance and enemy detection.
Design of RF circuits for data transfer and camera interface.
In the obect detection module when the AT;Gc%02/ micro controller is
powered up the stepper motor starts rotating at 8@0)degree arc. The IR sensor is
mounted on stepper motor. !hen an obect is detected by the IR sensor the
microcontroller stops the robot and stepper motor. The video camera mounted
on the stepper motor starts transmitting the obect picture continuously. *ere
the IR sensor consists of IR transmitter and receiver .the IR transmitter is a led
and receiver is detected the obect and receive the IR pulse. *ere the fre+uency
used is 8; "*z. The angle detected is sent to $5 using RF communication. The
rotation of each step is calculated in to each step. From $5 "eyboard to control
the speed, left and right control "ey value is sending through 'erial port. The
printer port is connected into RF >ncoder circuits and RF Transmitter.
The data transmission is happened in ?)bit communication. $5 "ey entering
value is sending to RF. The value will receive into the R9)RF and compare of
each value and control all steps. 6ut IR it will wor" under obect detection and
controller will shoot or enable the &aser &ight. In the RF circuit design two
pairs of RF transmitter and receiver are used. :ne set is used for
communication between AT;Gc%02/ micro controllers.
F)-%I".I./ "0#R0I#1 "F 0#2I-3# -".%R"33#R -IR-)I%S:
The 4ain 4icro 5ontroller is 5onnected into :bect detect circuits, 4oving
:bect Detect circuits, 'peed 5ontrol 5ircuits, Hideo 5amera with Angle
detection of 8@0 degree circuits, &aser control circuits and RF Receiver
circuits, !hich is communicating to $5 .sing RF 5ommunication.
!hen the vehicle will move in the any area automatically will detect the obect
through obect detect IR circuits. If :bect is detected it will trac" the other
path.
!hen 4oving :bect is detected then it will decide which is enemy or our
army person.
If its enemy, the obect is moving obect then the micro control will read the
data if the RFID is not matching else no enemy ,RFID value is matched-
detected the vehicle will moving to detect other obect, !hich contains IR T9
and R9 using 8;<*= and ?0<*=.
If the enemy is detected then it will shoot to the moving obect F enemy
through &aser beam and it will pass sleeping (as.
The stepper motor will rotate 8@0)degree angle, when the obect is detected
then it will send the angle to $5 using RF communication.
D5 motor Driver used to control the R$4 ,'peed-, forward and Reverse of the
Hehicle.
Another D5 motor is used to 5ontrol the &eft and Right controller.
!hen the obect will detect, then the 'ensor will sense the obect and where
ever the obect will move the motor will move in to the obect moving places.
All control Data will controlling from $5 using RF 5ommunication.
Bomb Detection Robotics Using Embedded Controller
Abstract
Detect the bomb by sending the robot to the respective place. A person can
operate the system from personal computer through wireless RF control. The
operator can control the system by visual moving pictures transmitted from the
robotic system. If it senses there is a bomb means it gives the buzzer sound will
be generated by the robot. It always possible that when influenced by
destructive metals, it may lead to severe damages. For this purpose we
configure a circuitry for metal detection in our proect .!e are ma"ing use of
pro#imity sensors in our proect. $ro#imity sensors when ferrous materials
came closer to the sensors it senses and produces an output signal.
G"M &ath &lanning For Blind &erson Using Ultrasonic
Abstract
This paper describes the system architecture for a navigation tool for visually
impaired persons. The maor parts are7 a multi)sensory system ,comprising
stereo vision, acoustic range finding and movement sensors-, a mapper, a
warning system and a tactile human)machine interface. The sensory parts are
described in more detail, and the first e#perimental results are presented.
"(,ectives:
About /J of the human population is visually impaired, and amongst them
about /0J is fully blind. :ne of the conse+uences of being visually impaired is
the limitations in mobility. For global navigation, many tools already e#ist. For
instance, in outdoor situations, handheld ($' systems for the blind are now
available. These tools are not helpful for local navigation7 local path planning
and collision avoidance. The traditional tools, i.e. the guide dog and the cane,
are appreciated tools, but nevertheless these tools do not ade+uately solve the
local navigation problems. (uide dogs are not employable at a large scale ,the
training capacity in the Ketherlands is about /00 guide dogs yearlyD ust enough
to help about /000 users-. The cane is too restrictive.
The goal of this research is to develop a wearable tool that assists the blind to
accomplish his local navigation tas"s. Fig. / shows the architecture of the
proposed tool. It consists of a sensory system controlled by the user. The
primary data needed for local navigation is range data ,which is not necessarily
obtained from visual data aloneD at this point, the type of sensors is still an open
+uestion-. The mapper converts the range data into map data. The local map is
the input to a warning system that transforms the map data into a form that is
suitable for communication. In order to give the blind person freedom of
movement, he must be able to control the focus of attention of the sensory
system. For that purpose, the tool must be provided with a man)machine
interface.
The ultimate goal of this proect is to provide an electronic tool for the local
navigation tas" of the blind. The tool must provide information about the direct
surroundings of the blind to enable him to move around without collisions. !e
assume that, although mostly un"nown, the environment does have some
structure such as in an urban outdoor situation ,e.g. a street-, or in an indoor
situation7 smooth floors, now and then a doorstep, stairs, walls, door openings
and all "ind of obects that possibly obstruct the passage.
!e start with three sensor types7 stereovision, optical flow, and sonar.
$reliminary research has shown that other types of
sensors are also of interest, e.g. ladar, radar and infrared ,detection of people
and traffic-. The system should be e#pandable such that the information from
these types of sensors can be integrated easily in a later stage of the proect.
Functioning overvie+ of this !ro,ects:
/. !henever the blind want go to particular place, before that he will set the
path through mobile
%. !herever he wants to go he has to carry this system
8. !hen he is going out his system will communicate to house through ('4.
?. *is system will communicate to bus stopFshop system through RF
communication.
2. After receiving the data from blind system, it will communicate through
voice using head phone.
@. This same data will send to house by ('4.
A. The house members can monitor the blind through mobile and which street,
which area he is going.
;. This system will support the blind and the children also.
G. The ultrasonic will support the blind distance of each obect
/0. RF will support the path name, signal identification.
Methodology of this !ro,ect:
/. .ltra 'onic :bect 'ensing and Distance 4easuring 1 20<*=
%. $ath $lanning Algorithm
8. F6us $rotocol,('4-
?. RF)?884*= 5ommunication
Abstract of Bu((le !o+er
In sono fusion a piezoelectric crystal attached to li+uid filled $yre# flas" send
pressure waves through the fluid, e#citing the motion of tiny gas bubbles. The
bubbles periodically grow and collapse, producing visible flashes of light. The
researchers studying these light emitting bubbles speculated that their interiors
might reach such high temperature and pressure they could trigger fusion
reaction. Tiny bubbles imploded by sound waves can ma"e hydrogen nuclei
fuse) and may one day become a revolutionary new energy source.
!hen a gas bubble in a li+uid is e#cited by ultrasonic acoustic waves it can
emit short flashes of light suggestive of e#treme temperatures inside the bubble.
These flashes of light "nown as sono luminescence, occur as the bubble
implode or cavitates. It is show that chemical reactions occur during cavitations
of a single, isolated bubble and yield of photons, radicals and ions formed. That
is gas bubbles in a li+uid can convert sound energy in to light.
'ono luminescence also called single)bubble sono luminescence involves a
single gas bubble that is trapped inside the flas" by a pressure field. For this
loud spea"ers are used to create pressure waves and for bubbles naturally
occurring gas bubbles are used. These bubbles can not withstand the e#citation
pressures higher than about /A0 "ilopascals. $ressures higher than about /A0
"ilopascals would always dislodge the bubble from its stable position and
disperse it in the li+uid. A pressure at least ten times that pressure level to
implode the bubbles is necessary to trigger thermonuclear fusion. The idea of
sonofusion overcomes these limitations.
Introduction of Bu((le !o+er
'onofusion is technically "nown as acoustic inertial confinement fusion. In this
we have a bubble cluster ,rather than a single bubble- is significant since when
the bubble cluster implodes the pressure within the bubble cluster may be
greatly intensified. The centre of the gas bubble cluster shows a typical pressure
distribution during the bubble cluster implosion process. It can be seen that, due
to converging shoc" waves within the bubble cluster, there can be significant
pressure intensification in the interior of the bubble cluster. This large local
li+uid pressure ,$L/000 bar- will strongly compress the interior bubbles with in
the cluster, leading to conditions suitable for thermonuclear fusion. 4ore over
during the e#pansion phase of the bubble cluster dynamics, coalescence of
some of interior bubbles is e#pected, and this will lead to the implosion of
fairly large interior bubbles which produce more energetic implosions.
The apparatus consists of a cylindrical $yre# glass flas" /00 m.m. in high and
@2m.m.in diameter. A lead)zirconate)titanate ceramic piezoelectric crystal in
the form of a ring is attached to the flas"Ms outer surface. The piezoelectric ring
wor"s li"e the loud spea"ers in a sonoluminescence e#periment, although it
creates much stronger pressure waves. !hen a positive voltage is applied to the
piezoelectric ring, it contractsD when the voltage is removed, it e#pands to its
original size.
The flas" is then filled with commercially available deuterated acetone ,5 8 D
@ :-, in which GG.G percent of the hydrogen atoms in the acetone molecules are
deuterium ,this isotope of hydrogen has one proton and one neutron in its
nucleus-. The main reason to choose deuterated acetone is that atoms of
deuterium can undergo fusion much more easily than ordinary hydrogen atoms.
Also the deuterated fluid can withstand significant tension ,stretching- without
forming unwanted bubbles. The substance is also relatively cheap, easy to wor"
with, and not particularly hazardous.
Applications :
N Thermonuclear fusion gives a new, safe, environmental friendly way to
produce electrical energy.
N This technology also could result in a new class of low cost, compact
detectors for security applications. That use neutrons to probe the contents of
suitcases.
N Devices for research that use neutrons to analyze the molecular structure of
materials.
N 4achines that cheaply manufacture new synthetic materials and efficiently
produce tritium, which is used for numerous applications ranging from medical
imaging to watch dials.
A new techni+ue to study various phenomenons in cosmology, including the
wor"ing of neutron star and blac" holes.
!ith the steady growth of world population and with economic progress in
developing countries, average electricity consumption per person has increased
significantly.
There fore see"ing new sources of energy isnMt ust important, it is necessary. 'o
for more than half a century, thermonuclear fusion has held out the promise of
cheap clean and virtually limitless energy. .nleashed through a fusion reactor
of some sort, the energy from / gram of deuterium, an isotope of hydrogen,
would be e+uivalent to that produced by burning A000 liters of gasoline.
Deuterium is abundant in ocean water, and one cubic "ilometer of seawater
could, in principle, supply all the worldMs energy needs for several hundred
years.
A(stract of 2uan-Ro(ot Interaction
A very important aspect in developing robots capable of *uman)Robot
Interaction ,*RI- is the research in natural, human)li"e communication, and
subse+uently, the development of a research platform with multiple *RI
capabilities for evaluation. 6esides a fle#ible dialog system and speech
understanding, an anthropomorphic appearance has the potential to support
intuitive usage and understanding of a robot, e.g .. human)li"e facial e#)
pressions and deictic gestures can as well be produced and also understood by
the robot. As a conse+uence of our effort in creating an anthropomorphic
appearance and to come close to a human)human interaction model for a robot,
we decided to use human)li"e sensors, i.e., two cameras and two microphones
only, in analogy to human perceptual capabilities too.
Despite the challenges resulting from these limits with respect to perception, a
robust attention system for trac"ing and interacting with multiple persons
simultaneously in real time is presented. The trac"ing approach is sufficiently
generic to wor" on robots with varying hardware, as long as stereo audio data
and images of a video camera are available. To easily implement different
interaction capabilities li"e deictic gestures, natural adaptive dialogs, and
emotion awareness on the robot, we apply a modular integration approach
utilizing 94&)based data e#change. The paper focuses on our efforts to bring
together different interaction concepts and perception capabilities integrated on
a humanoid robot to achieve comprehending human)oriented interaction.
Introduction of 2uan-Ro(ot Interaction
For face detection, a method originally developed by Hiola and Oones for obect
detection is adopted. Their approach uses a cascade of simple rectangular
features that allows a very efficient binary classification of image windows into
either the face or non face class. This classification step is e#ecuted for
different window positions and different scales to scan the complete image for
faces. !e apply the idea of a classification pyramid starting with very fast but
wea" classifiers to reect image parts that are certainly no faces. !ith
increasing comple#ity of classifiers, the number of remaining image parts
decreases. The training of the classifiers is based on the Ada6oost algorithm .
5ombining the wea" classifiers iteratively to more stronger ones until the
desired level of +uality is achieved.
As an e#tension to the frontal view detection proposed by Hiola and Oones, we
additionally classify the horizontal gazing direction of faces, as shown in Fig.
?, by using four instances of the classifier pyramids described earlier, trained
for faces rotated by %0I, ?0I, @0I, and ;0I. For classifying left and right)turned
faces, the image is mirrored at its vertical a#is, and the same four classifiers are
applied again. The gazing direction is evaluated for activating or deactivating
the speech processing, since the robot should not react to people tal"ing to each
other in front of the robot, but only to communication partners facing the robot.
'ubse+uent to the face detection, a face identification is applied to the detected
image region using the eigenface method to compare the detected face with a
set of trained faces. For each detected face, the size, center coordinates,
horizontal rotation, and results of the face identification are provided at a real)
time capable fre+uency of about A *z on an Athlon@? % (*z des"top $5 with I
(6 RA4.
0oice Detection:
As mentioned before, the limited field)of)view of the cameras demands for
alternative detect ion and trac"ing methods. 4otivated by human perception,
sound location is applied to direct the robotMs attention. The integrated spea"er
localization ,'$&:5- realizes both the detection of possible communication
partners outside the field)of)view of the camera and the estimation whether a
person found by face detection is currently spea"ing. The program continuously
captures the audio data by the two microphones.
To estimate the relative direction of one or more sound sources in front of the
robot, the direction of sound toward the microphones is considered . Dependent
on the position of a sound source in front of the robot, the run time difference t
results from the run times tr and tl of the right and left microphone. '$&:5
compares the recorded audio signal of the left and the rightP microphone using
a fi#ed number of samples for a cross power spectrum phase ,5'$- to calculate
the temporal shift between the signals. Ta"ing the distance of the microphones
dmic and a minimum range of 80 cm to a sound source into account, it is
possible to estimate the direction of a signal in a %)D space. For multiple sound
source detection, not only the main energy value for the 5'$ result is ta"en, but
also all values e#ceeding an adustable threshold.
In the 8)D space, distance and height of a sound source is needed for an e#act
detection.
This information can be obtained by the face detection when '$&:5 is used
for chec"ing whether a found person is spea"ing or not. For coarsely detecting
communication partner, outside the field)of)view, standard values are used that
are sufficiently accurate to align the camera properly to get the person
hypothesis into the field)of)view. The position of a sound source ,a spea"er
mouth- is assumed at a height of /@0 5m for an average adult. The standard
distance is adusted to //0 5m, as observed during interactions with naive
users.