International Conference on Global Trends in Engineering, Technology and Management (ICGTETM-2016)
Real Time Monitoring & Controlling of Robot for Human
Security
Sonal Satish Pardeshi#1, Prof.N.M.Kazi#2
1
M.E. Scholar (Digital Elec.), 2 Assistant Professor (E&TC Dept.)
1,2
SSBT College of Engineering, Bambhori, Jalgaon, Maharashtra, India
Abstract
II. LITERATURE SURVEY
Robotics has been an important assistive
technology for the human being. The voice is a
signal of infinite information. The idea is to design
a robot which is to be used in dangerous area using
voice processing. A camera is mounted on its head,
so that it can monitor enemy remotely and provide
us status of surrounding area on screen. It uses
colour classification to detect enemy. In the
following article, it will indicate that the motivation
for the use of robots, within the military purpose is
the replacement of solder in war area.
Keywords- Enemy detection, robotics, voice processing,
wireless.
I.INTRODUCTION
Intelligent machines and robotic systems
with different level of complexity are used today
for performing
various processes in industries and in day to day
life. This paper is specially designed to save the life
of soldiers in war fields, which is an unmanned
ground vehicle. Robot is a Czech word which
meaning is “worker.” It can also be define as “a
machine that looks like a human being and perform
various complex task repetitively by a
mechanism”[1].
Now a days in India and other countries, most
of the political leader, VIP’s (very important
persons), soldiers, or the citizens are died because
of the lack in security provided by the
corresponding departments. Even today, in metro
and major cities, innocent people are dying because
of lack of security. Robots have been widely used
to execute difficult tasks when the working
environments are dangerous or even cannot be
reached by human [3].
In this system robot is develop by using
voice processing with purpose of human security in
highly hazardous area. In proposed robot camera
mounted on its head to monitor status of
surrounding environment. So these robots are the
replacement of soldiers in war areas. This type of
robot can also be used in star hotels, shopping
malls, jewellery shop for security [4].
During the 19 th and 20 th Centuries, the
development of is useful in many fields. Further
development in computer programming provide
engineers to build new features which were not
previously possible.
Jean-Christophe Lementec and Peter
Bajcsy presented a gesture recognition algorithm
using multiple orientation sensors with IS-300 Pro
Precision Motion Tracker by Inter Sense [8].
Next, Gesture Recognition Using LaserBased Tracking System was proposed by St’ephane
Perrin describes a finger gesture recognition system
based on an active tracking mechanism [7]
Tan Tian Swee introduced a Wireless Data
Gloves Malay Sign Language Recognition System
based on Hidden Markov Models (HMM) methods.
But in these system recognition takes place only
when the user wearing data glove[5].
Wheelchair
Control
system
was
introduced by Chun Sing Louis Tsui¹ which uses an
EOG- and EMG-Based Gesture Interface to
generate commands and control the speed of
wheelchair. But this system cannot be used for
longer period of time [6].
III.DESIGN IMPLEMENTATION
In the last few years the robot
manufacturers have made great efforts towards
creating “Human Machine Interfacing Device”
recognizing human gestures, recurring to visionbased systems or using finger gesture recognition
systems based on active tracking mechanisms. This
system uses voice processing for its operation.
Fig.1 Robot Module
ISSN: 2231-5381
http://www.ijettjournal.org
Page 568
International Conference on Global Trends in Engineering, Technology and Management (ICGTETM-2016)
Relay Driver Applications
Operating temperature range is -200 to 850
c.
Fig. 2 Transmitter Section.
Transmitter section is connected to the PC as
soon as the system is started for real time
monitoring. It is use to transmit data serially.
IV.HARDWARE REQUIRMENT
(A) PIC18F4520 Controller
PIC18F4520 has 16 bit of instruction set with
Risk architecture. The RAM space is 12 bits,
addressed using a 4-bit bank select register and an
8-bit offset in each instruction. Some of the feature
of PIC18F4520 are as follows [11].
Call stack is 21 bits wide and much
deeper.
The call stack may be read and written
register.
Conditional branch instructions.
Indexed addressing mode (PLUSW).
The addition of another FSR register
(bringing the number up to 3).
Fig. 4 Pin diagram of ULN2803
(C) Stepper motor.
A stepper motor is an electromechanical
device which converts electrical pulses into discrete
mechanical movements. The shaft or spindle of a
stepper motor rotates in discrete step increments
when electrical command pulses are applied to it in
the proper sequence. The motors rotation has
several direct relationships to these applied input
pulses.
The sequence of the applied pulses is
directly related to the direction of motor shafts
rotation. The speed of the motor shafts rotation is
directly related to the frequency of the input pulses
and the length of rotation is directly related to the
number of input pulses applied. Here
Rotation of gun mounted on robot is depend on this
stepper motor.
(D) Zig-Bee
Zig-Bee was presented as the cheap alternative
of Bluetooth and Wi-fi in the beginning of last
decade. There was a demand for an ad-hoc
network, with limited resources and low cost but
with the ability to hold more client. The main
concept was that Zig-bee could adopt in different
aspects of everyday life and integrate human
interaction with the environment without noticing
by the user.
Fig.3 Pin diagram of PIC18F4520 Controller
(B) IC ULN2803
The ULN2803 is a 18 pin IC with dual in
line package. It is high voltage and high current IC
consist of 8 Darlington pair array. Some of the
feature of PIC18F4520 are as follows.
500 mA Rated Collector Current.
High-Voltage Outputs . . . 50 V
Output Clamp Diodes
ISSN: 2231-5381
It is focused on monitoring, control and sensor
applications by means of low and green energy
consumption, while delivering reliability and
security. The first Zig-bee specification (the core of
Zig-bee standards) was publicly available in 2005
(1.0) while the second and current one was released
on 2007 (2.0). They were based on the lower level
specifications of IEEE 802.15.4 published in 2003
and 2006 respectively.Table 1 gives us the
comparison between all the 3 kinds of techniques.
When it comes to robot communication the
technique adopted should be such that it can cover
wide distance and provide good battery backup.
http://www.ijettjournal.org
Page 569
International Conference on Global Trends in Engineering, Technology and Management (ICGTETM-2016)
When these aspects are considered Zig-Bee is a
better option than the others [9].
Table 1: Comparison of Wi-Fi, Bluetooth and
Zig-Bee.
Category
Wi-Fi
Bluetooth
Zig-bee
Distance
50m
10m
50m-1600m
Complexity
Very
Complic
ated
Complicat
ed
Simple
Linking
Time
Up to 3s
Up to 10s
30ms
Ease of
Use
Hard
Normal
Easy
1Mbps
250Kbps
Transition
speed
1-54
Mbps
(E) DC Motor
A DC Motor is a device that converts direct
current (i.e. electrical energy) into mechanical
energy. DC motor is used for movement of robot as
per the commands
A geared DC Motor has a gear assembly
attached to the motor. The speed of motor is
counted in terms of rotations of the shaft per
minute and is termed as RPM .The gear assembly
helps in increasing the torque and reducing the
speed. Using the correct combination of gears in a
gear motor, its speed can be reduced to any
desirable figure. This concept where gears reduce
the speed of the vehicle but increase its torque is
known as gear reduction [12].
V. SOFTWARE REQUIEMENT
MATLAB
A personal computer incorporating MATLAB is
used in this system for image processing of the
image captured by the camera. A MATLAB code is
to be developed for voice processing. MATLAB is
a matrix-based language. Since operations may be
performed on each entry of a matrix, “for” loops
can often be used. The MATLAB programs are
often much shorter and easier to read than
programs written for instance in C.
Fig. 5 Manual Operation of Robot
(F)PC
(a)
Through the PC different interrupt
command will be passed by the user which in turns
change the Robot direction [11].
(G) Camera
Camera is use for capturing the image of
the hazardous area and a camera which should
support a YUY2_640x480format is used. Here a
quantum 25MP camera is used having 10x digital
zoom. It also provides Snap shot mode for taking
all pictures [10].
(H)Microphone
Microphone is an acoustic sensor that
receives and recognizes spoken commands. The
user voice is recognize by microphone and convert
voice signal into electrical signal.
ISSN: 2231-5381
(b)
Fig. 6 Automatic Operation of Robot
http://www.ijettjournal.org
Page 570
International Conference on Global Trends in Engineering, Technology and Management (ICGTETM-2016)
VI RESULTS
Table 2: Status of bullets of gun before and after
operation.
In our system the robot detects the enemy
by using camera mounted on it. When robot detect
enemy it shown on screen using X and Y coordinates as shown in fig (9). Aerial view of the
robot and controller setup shown in fig (7).
Fig.7 Aerial view of the robot and controller
Fig. 8 Status of robot before enemy detection.
Target
No.
No. of Bullets
Before Enemy
After Enemy
Detection
Detection
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
24
23
22
21
20
19
18
17
16
15
14
13
12
11
10
9
8
7
6
5
4
3
2
1
23
22
21
20
19
18
17
16
15
14
13
12
11
10
9
8
7
6
5
4
3
2
1
0
VII.FUTURE SCOPE
To enhance camera quality for long
distance detection and in future wireless camera
will be recommended, as the wireless range of zigbee is 2 or 3 Km only. For the detection of exact
enemy the technique by using image processing
and database like face, dress, or other enemy
detectable property can be used.
VI.CONCLUSIONS
Fig. 9 Status of robot after enemy detection.
ISSN: 2231-5381
In this system the robot is developed
which is operated by manually as well as by voice
processing. The robot is used for the security of
human being. It also provides security in dangerous
areas. Robot can give the exact detection of enemy
by identifying enemies colour code and shoot it
immediately and in this way finally it saves the
important life of human being. Hence this system is
useful for the solders of our Nation.
http://www.ijettjournal.org
Page 571
International Conference on Global Trends in Engineering, Technology and Management (ICGTETM-2016)
Acknowledgements
The author wish to thank Prof.
Dr.S.R.Suralkar Head of Department of Electronics
& Tele-Communication Engineering, Prof.
N.M.Kazi and Prof. Dr. P.H.Zope for their moral
support throughout the work.
REFERENCES
[1]Karthikeyan.P, Tamilselvan.S, Selvakumar.S, Sridharan.P
“Design of armed robotic system for defense and Military
applications” 5th IRF International Conference, Chennai, 23rd
March. 2014, ISBN: 978-93-82702-67-2
[2] S.Hemachandra1, T.K.S Ravi Kiran2, B.Gowri Prasad3,
S.M Mazhar “Accelerometer based Robot control using Renesas
Microcontroller” International Journal Of Modern Engineering
Research Vol. 4 Iss. 4 Apr. 2014
[3]Manohar M “Framework for Personal Security System using
Bomb Detection, Metal Detection, Speech Detection, Image
Classification and Robot Technology” International Journal of
Advanced Research in Computer Science and Software
Engineering Volume 3, Issue 12, December 2013
[4]SwethaN,“Design and Implementation of Accelerometer
based Robot motion
and Speed control with Obstacle
detection.” International Journal of Science, Engineering and
Technology Research (IJSETR) Volume 2, Issue 3, March 2013
[5] Tan TianSwee, A.K. Ariff, Sh-Hussain. Salleh, Siew Kean
Seng, and Leong SengHuat “Wireless Data Gloves Malay Sign
Language Recognition System”1-4244-0983 IEEE 2007
[6] Chun Sing Louis Tsui¹, Pei Jia¹, John Q. Gan¹, Huosheng
Hu¹ and Kui Yuan²”EMG-based Hands-Free Wheelchair
Control with EOG Attention Shift Detection” International
Conference on Robotics and Biomimetics December 15 -18,
IEEE 2007
[7] St´ephane Perrin, Alvaro Cassinelli and Masatoshi Ishikawa
“Gesture Recognition Using Laser-Based Tracking System”
International Conference on Automatic Face and Gesture
Recognition IEEE 2004.
[8] Jean-Christophe Lementec and Peter Bajcsy represent
“Recognition of Arm Gestures Using Multiple Orientation
Sensors”
IEEE
Intelligent
Transportation
Systems
ConferenceWashington, D.C., USA, October 3-6,2004
[9] Future Electronics Egypt Ltd. “Comparison of Wireless
Technologies”(NFC - WIFI - Zigbee - Bluetooth - GSM)
[10]R.G.Gupta “Audio video Engineering” Tata MGhill
Publication.
[11]Muhammad ALI Mazidi “PIC Microcontroller and
Embedded System using Assembly and C for PIC18” 2007,111
Edition.
[12]D.P.Kothari,I.J.Nagrnath“Electrical machine” third edition.
ISSN: 2231-5381
http://www.ijettjournal.org
Page 572