Rescue Robot

This paper has been submitted to the department of Electrical &

Electronic Engineering of European University of Bangladesh in partial
fulfillment of the requirement for the degree of Bachelor of Science in
Electrical and Electronic Engineering.

SUBMITTED BY:
Name : Sonia Akter I.D.: 170316238
Name : Anjuman Akter I.D.:170316239
Name : Shah Ibne Safayet I.D.:170316183
Name : Md Mosheur Rahman I.D.:170316247

SUPERVISED BY:

(Supervisor Name)
(Designation)
Department of Electrical and Electronic Engineering

EUROPEAN UNIVERSITY OF BANGLADESH

[December,2020]

Letter of Transmittal
30th December, 2020

To
The Supervisor
Department of EEE
European University of Bangladesh
Mirpur-2, Dhaka-1216.

Subject: Submission of Project/Thesis/Internship report.

Dear Sir,
Please find enclosed the project report entitled “Rescue Robot”. The study
has been carried out in partial fulfillment of the requirements for the degree
of Bachelor of Science in Electrical & Electronic Engineering.

In carrying out the study, we have followed supervisor’s advice and collected
required information from several text books, reference books, web sites and
other sources. I/we think you will find it useful and informative. We would
be glad to furnish you further explanations or clarifications if required.
Sincerely yours,
______________
Name: Sonia Akter
I.D: 170316238

______________
Name : Anjuman Akter
I.D.:170316239

______________
Name: Shah Ibne Safayet
I.D: 170316183

______________
Name: Md Mosheur Rahman
I.D: 170316247

Declaration
2
I/We do hereby solemnly declare that the work presented in this report
entitled “Rescue Robot” has been carried out by me/us and has not been
previously submitted to any other university, college or organization for an
academic qualification, certificate or diploma/degree.

I/We hereby warrant that the work that has been presented here does not
breach any existing copyright. I/We further undertake to indemnify the
university against any loss or damage arising from breach of the foregoing
obligations.

Authors

______________
Name: Sonia Akter
I.D: 170316238

______________
Name : Anjuman Akter
I.D.:170316239

______________
Name: Shah Ibne Safayet
I.D: 170316183

______________
Name: Md Mosheur Rahman
I.D: 170316247

EUROPEAN UNIVERSITY OF BANGLADESH

3
 Certificate

This is to certify that the report entitled “Rescue Robot” is the valid record
of the work done by Sonia Akter, Anjuman Akter, Shah Ibne Safayet, and
Md Mosheur Rahman, partial fulfillment of the requirement of the degree
of B.Sc. in Electrical and Electronic Engineering (EEE) from European
University of Bangladesh.

This work has been carried out under my guidance and is a bonafide record
of valid works carried out successfully.

Faculty Guide

___________________
Fahad Bin Sarwar
Lecturer
Department of Electrical and Electronic Engineering

4
 Acknowledgement

We would like to express our greatest gratitude to the people who helped and supported us
throughout this work. First and foremost we would like to thank our honorable supervisor,
Fahad Bin Sarwar, Lecturer, Department of EEE, for giving us enormous support,
advices and valued guidance concerning this thesis.
We are grateful to A. O. M. Abdul Ahad, honorable Chairman, Department of EEE,
Faculty of Engineering, European University of Bangladesh (EUB) for his comments,
encouragement and support.
We are grateful to our respected coordinator Sourav Barua, Lecturer, Department of
EEE, Faculty of Engineering, European University of Bangladesh (EUB) for kindly
agreeing to examine my thesis.
Next, We would like to thank our family and friends for their valuable support to complete
this thesis.
Finally, we would like to express our heartiest gratefulness to Almighty Allah for His
heavenly blessings. Without his blessings it would not possible to complete our work
successfully.

Thank you all

Authors

5
 Executive Summary

We have made a “Rescue Robot” with a robotic arm which can be controlled remotely by
using an Android application. Our robot may go to some specific place to rescue people or
some valuable things where human are not capable. Natural disaster is common
phenomena in the world, we are all also know about “Rana Plaza Tragedy”. Our robot is
built with concern of that kind of tragedy. Its main parts are four wheels, 360 degree
rotating robotic arm, Arduino, and an Android application. Android application can
communicate with Arduino and give necessary command to Arduino. As a consequence,
Arduino sends signal to Robotic arm/ wheel etc.

6
 Table of Contents
Letter of Transmittal II
Declaration III
Certificate IV
Acknowledgement V
Executive Summary VI
List of Figures X
List of Tables XI

Chapter 1 Introduction 1-7

1.1 Introduction 1
1.2 Motivation 1
1.3 Objectives 4
1.5 Methodology 4
1.6 Organization of the book 4

Chapter 2 Literature Review

Chapter 3 Equipments 8-20

3.1 Intoduction 8
3.2 Arduino 9
3.3 Servo motor 13
3.4 Gear Motor 14
3.5 Wheel 15
3.6 Bluetooth module 18
3.7 Zumper wire 20
3.8 Lithium Polymer Battery
3.9 Bread Board
3.10 Chesis

Chapter 4 Working Procedure and Algorithm Page

s

Chapter 5 Communication and Controling 21-35

5.1 Introduction 21
5.2 Android Application 22
5.3 Bluetooth Communication 25
5.4 Summary 34

Chapter Design and Analysis 51-60

6
7
 6.1 Introduction 51
6.2 Modeling 52
6.3 Actual Design 54
6.4 Actual Design 55
6.5 Cost Analysis 58
6.6 Summary 59

Chapter Discussion and Conclusions 61-63

7
7.1 Discussion 61
7.2 Future Work 62
7.3 Conclusions 63
References 64-68
Appendix I 69-71
Appendix II 72-74

LIST OF FIGURES

Figure 3.1 Lipo Battery 1

Figure 3.2 Arduino uno 2
Figure3.3 Gear motor 3
Figure 3.4 Wheel 4
Figure 3.5 Servo 5

Figure 3.6 Motor driver IC 6

Figure 3.7 Bluetooth module 7
Figure 3.8 Voltage regulator 8
Figure 3.9 Jumper wire 9
Figure 3.10 Bread board 10

8
Figure 3.11 Chesis 11
Figure 4.1 Flow chart
Figure 5.1 Inventor App inventor Block editor 12
Figure 6.1 Design Model
Figure 6.2 Actual design
LIST OF TABLES

Table 3.1 Cost analysis 1

Chapter 01
Introduction
1.1 Introduction

Natural disaster is a common phenomenon in the world and we are all familiar with
natural disaster which can hinder normal human life. After natural disaster rescue workers
work to rescue people, animal, and asset etc. But they are not quietly capable to rescue
something in time. Besides natural disaster, accidents may be happened. We saw “Rana
Plaza” tragedy that had happened to our country. Sometimes Military people have to
diffuse bomb. With hand, it is tough task because have a confusion whether bomb is going
to blast.

9
Recent dramatic events such as the earthquakes in Nepal and Tohoku, typhoon Haiyan or
the many floods in Europe have shown that local civil authorities and emergency services
have difficulties in adequately managing crises. The result is that these crises lead to major
disruption of the whole local society. On top of the cost in human lives, these crises also
result in financial consequences, which are often extremely difficult to overcome by the
affected countries.

In the event of large crises, a primordial task of the fire and rescue services is the search
for human survivors on the incident site. This is a complex and dangerous task, which—
too often—leads to loss of lives among the human crisis managers themselves. The
introduction of unmanned search and rescue (SAR) devices can offer a valuable tool to
save human lives and to speed up the search and rescue process.

Indeed, more and more robotic tools are now leaving the protected lab environment and
are being deployed and integrated in the everyday life of citizens. Notable examples are
automated production plants in industry, but also the widespread use of consumer drones
and the rise of autonomous cars in public space. Also in the world of search and rescue,
these robotic tools can play a valuable role.

Of course, this does not mean that the introduction of robotic tools in the world of search
and rescue is straightforward. On the contrary, the search and rescue context is extremely
technology unfriendly, as robust solutions are required which can be deployed extremely
quickly. Chapter 2 of the book will give a more in-depth review of the requirements for
search and rescue robotics, as proposed by the human users of these systems. Indeed, one
crucial aspect must not be forgotten: the robotic tools must not have the objective to
eliminate the need of human search and rescue workers! Instead, these robotic assets must
be seen as yet another tool in the ample toolkit of human search and rescue workers in
order to allow them to do their job better, faster, and safer.
With keeping in mind of above situations, we have designed a robot which can be
controlled remotely where human cannot access easily to rescue people and other things.

1.2 Motivation

Robotics has been a staple of advanced manufacturing for over half a century. As robots
and their peripheral equipment become more sophisticated, reliable and miniaturized,
these systems are increasingly being utilized for military and law enforcement purposes
Mobile robotics play an increasingly important role in military matters, from patrol to
dealing with potential explosives. “With suitable sensors and cameras to perform different
missions, mobile robots are operated remotely for reconnaissance patrol and relay back
video images to an operator. Now-a-days android smart phones are the most popular
gadget. There are multiple applications on the internet that exploit inbuilt hardware in
these mobile phones, such as Bluetooth, Wi-Fi and ZigBee technology to control other
devices. With the development of modern technology and Android Smartphone, Bluetooth
technology aims to exchange data wirelessly at a short distance using radio wave
transmission comprising features to create ease, perception and controllability. In this
10
paper we have designed a robot that can be controlled using an application running on an
android phone. It sends control command via Bluetooth which is interfaced to the
controller. The controller can be interfaced to the Bluetooth module though UART
protocol. According to commands received from android the robot motion can be
controlled.

1.3 Objectives

We have some specific objectives for this project and they are pointed below:
• To design and construct an Android robot.
• To design a Robotic arm
• Merge them together and control simultaneously

1.4 Methodology

Our methodology for the project:

• Creating an idea for design and construction of a Rescue Robot. And designing a
block diagram & circuit diagram to know which components we need to construct
it.
• Collecting all the components and programming the Arduino to control the whole
system.
• Assembling all the blocks in a board and to run the system & for checking
purposes.

1.5 Organization of the book

This book is organized in such a way that each purpose, every part of construction
details, equipment list and cost, application, and other parts have been shown properly.

11
12
 Chapter-02
Literature Review
Disaster response has become a standard role of fire departments and other rescue teams in
many parts of the world [1].
NIST has been collaborating with other government agencies and university researchers to
develop methods of measuring and evaluating the performance of robotic and other
intelligent systems [2]. The community agrees that it would benefit from having uniform,
reproducible means of measuring capabilities of their systems to evaluate which
approaches are superior under which circumstances, and to help communicate results. One
of the efforts in the performance metrics program at NIST is the creation of reference test
arenas for mobile autonomous robots. The arenas target the USAR application and are
designed to represent, at varying degrees of verisimilitude, a collapsed building.
The existing robots are whole operated with the help ofremote control. This operation is
sometimes tedious, less efficient and has no guarantee for its security. The existing system
consists of trade-off between processing speed, insecure communication and cost. With
growing trends, controllers are developing tremendously. Hence we can make use of
advanced controller in controlling the operation of robot. The proposed project can be
built further to work as a HUMANOID[3]. It can have many uses in practical fields. This
project can be helpful in wars as a part of spying. It can be further improved to have more
decision taking capabilities by employing varied types of sensors and thus could be used
in big industries for different applications.
An android control robot is a robot which every moving part is controlled by android
phone by creating an open source applications[4].

13
 Chapter-03
Equipment
3.1 Mandatory Components

In this project we have used several necessary components that help us to successfully
finish of the project. These are:
● Li-po Battery
● Arduino Uno
● Gear motor
● wheel
● Servo motor
● L293d Motor Driver IC
● Bluetooth Module
● Wires for Connection
● 5V Voltage Regulator IC (7805)
● Bread Board

3.2 Li- Po Battery

A lithium polymer battery, or more correctly lithium-ion polymer battery (abbreviated as

LiPo, LIP, Li-poly, lithium-poly and others), is a rechargeable battery of lithium-ion
technology using a polymer electrolyte instead of a liquid electrolyte. High conductivity
semisolid (gel) polymers form this electrolyte. These batteries provide higher specific
energy than other lithium battery types and are used in applications where weight is a
critical feature, such as mobile devices, radio-controlled aircraft and some electric
vehicles. Just as with other lithium-ion cells, LiPos work on the principle of intercalation
and de-intercalation of lithium ions from a positive electrode material and a negative
electrode material, with the liquid electrolyte providing a conductive medium. To prevent
the electrodes from touching each other directly, a microporous separator is in between

14
which allows only the ions and not the electrode particles to migrate from one side to the
other.

Fig: 3.1 Li-po Battery

3.3 Arduino uno

The Arduino Uno is an open-source microcontroller board based on the Microchip

ATmega328P microcontroller and developed by Arduino.cc. The board is equipped with
sets of digital and analog input/output (I/O) pins that may be interfaced to various
expansion boards (shields) and other circuits. The board has 14 digital I/O pins (six
capable of PWM output), 6 analog I/O pins, and is programmable with the Arduino IDE
(Integrated Development Environment), via a type B USB cable. It can be powered by the
USB cable or by an external 9-volt battery, though it accepts voltages between 7 and 20
volts. It is similar to the Arduino Nano and Leonardo. The hardware reference design is
distributed under a Creative Commons Attribution Share-Alike 2.5 license and is available
on the Arduino website. Layout and production files for some versions of the hardware are
also available. The word "uno" means "one" in Italian and was chosen to mark the initial
release of Arduino Software. The Uno board is the first in a series of USB-based Arduino
boards; it and version 1.0 of the Arduino IDE were the reference versions of Arduino,
which have now evolved to newer releases. The ATmega328 on the board comes
preprogrammed with a bootloader that allows uploading new code to it without the use of
an external hardware programmer. While the Uno communicates using the original
STK500 protocol, it differs from all preceding boards in that it does not use the FTDI
USB-to-serial driver chip. Instead, it uses the Atmega16U2 (Atmega8U2 up to version R2)
programmed as a USB-to-serial converter.

15
 Fig 3.2: Arduino Uno

3.4 Gear Motor

A gear motor is an all-in-one combination of a motor and gearbox. The addition of a gear
head to a motor reduces the speed while increasing the torque output. ... Most of our DC
motors can be complimented with one of our unique gearheads, providing you with a
highly efficient gear motor solution. A DC motor is any of a class of rotary electrical
motors that converts direct current electrical energy into mechanical energy. The most
common types rely on the forces produced by magnetic fields. Nearly all types of DC
motors have some internal mechanism, either electromechanical or electronic, to
periodically change the direction of current in part of the motor. The input of a brushless
DC motor is current/voltage and its output is torque. Understanding the operation of the
DC motor is very simple from a basic diagram is shown below. DC motor basically
consists of two main parts. The rotating part is called the rotor and the stationary part is
also called the stator.

Fig 3.3: Gear Motor

16
3.5 Wheel
In its primitive form, a wheel is a circular block of a hard and durable material at whose
center has been bored a hole through which is placed an axle bearing about which the
wheel rotates when torque is applied to the wheel about its axis. The wheel and axle
assembly can be considered one of the six simple machines.

Fig 3.4: Wheel

3.6 Servo Motor

A servomotor is a rotary actuator or linear actuator that allows for precise control of
angular or linear position, velocity and acceleration.[1] It consists of a suitable motor
coupled to a sensor for position feedback. It also requires a relatively sophisticated
controller, often a dedicated module designed specifically for use with servomotors.
Servomotors are not a specific class of motor, although the term servomotor is often used
to refer to a motor suitable for use in a closed-loop control system. A servomotor is a
closed-loop servomechanism that uses position feedback to control its motion and final
position. The input to its control is a signal (either analogue or digital) representing the
position commanded for the output shaft.

17
 Fig 3.5: Servo Motor

3.7 L293d Motor driver IC

L293D is a typical Motor driver or Motor Driver IC which allows DC motor to drive on
either direction. L293D is a 16-pin IC which can control a set of two DC motors
simultaneously in any direction. It means that you can control two DC motor with a single
L293D IC.In a single L293D chip there are two h-Bridge circuit inside the IC which can
rotate two dc motor independently.H-bridge is a circuit which allows the voltage to be
flown in either direction.H-bridge IC are ideal for driving a DC motor.Due its size it is
very much used in robotic application for controlling DC motors.

Fig 3.6: Motor driver IC

18
There are 4 input pins for l293d, pin 2,7 on the left and pin 15 ,10 on the right as shown on
the pin diagram. Left input pins will regulate the rotation of motor connected across left
side and right input for motor on the right hand side. The motors are rotated on the basis of
the inputs provided across the input pins as LOGIC 0 or LOGIC 1. For rotating the motor
in clockwise direction the input pins has to be provided with Logic 1 and Logic 0.Enable
pins 1 and 9 (corresponding to the two motors) must be high for motors to start operating.
When an enable input is high, the associated driver gets enabled. As a result, the outputs
become active and work in phase with their inputs. Similarly, when the enable input is
low, that driver is disabled, and their outputs are off and in the high-impedance state.

3.8 Bluetooth Module

A BlueTooth module is usually a hardware component that provides. a wireless product to

work with the computer; or in some cases, the. bluetooth may be an accessory or
peripheral, or a wireless headphone. or other product such as cellphones can use. The
Bluetooth technology manages the communication channel of the wireless part. The
Bluetooth modules can transmit and receives the data wirelessly by using two devices. The
Bluetooth module can receive and transmits the data from a host system with the help of
the host controller interface (HCI). HC-05 is a Bluetooth module which can communicate
in two way. Which means, It is full-duplex. We can use it with most micro controllers.
Because it operates Serial Port Protocol (SSP). The module communicate with the help of
USART (Universal Synchronous/Asynchronous Receiver/Transmitter ) at the baud rate of
9600. and it also support other baud rate. So we can interface this module with any
microcontroller which supports USART. The HC-05 can operate in two modes. One is
Data mode and other is AT command mode. When the enable pin is "LOW" the HC-05 is
in Data Mode. If that pin set as "HIGH" the module is in AT command mode. Here we
operate this module in Data Mode.

19
 Fig 3.7: Bluetooth module

3.9. 5V Voltage regulator IC

7805 is a three terminal linear voltage regulator IC with a fixed output voltage of 5V
which is useful in a wide range of applications. Currently, the 7805 Voltage Regulator IC
is manufactured by Texas Instruments, ON Semiconductor, STMicroelectronics, Diodes
incorporated, Infineon Technologies, etc. They are available in several IC Packages like
TO-220, SOT-223, TO-263 and TO-3. Out of these, the TO-220 Package is the most
commonly used one. Some of the important features of the 7805 IC are as follows:
1.It can deliver up to 1.5 A of current (with heat sink).
2.Has both internal current limiting and thermal shutdown features.
3.Requires very minimum external components to fully function.

20
 Fig 3.8: Voltage regulator IC

3.10 Jumper Wire

A jump wire (also known as jumper wire, or jumper) is an electrical wire, or group of
them in a cable, with a connector or pin at each end (or sometimes without them – simply
"tinned"), which is normally used to interconnect the components of a breadboard or other
prototype or test circuit, internally or with other equipment or components, without
soldering.

Fig 3.9: Jumper wire

3.11 Bread Board

A breadboard is a construction base for prototyping of electronics. Originally the word

referred to a literal bread board, a polished piece of wood used for slicing bread. In the
1970s the solderless breadboard became available and nowadays the term "breadboard" is
commonly used to refer to these.

21
 Fig 3.10: Breadboard

3.12 Chassis Board

The supporting frame of a structure (such as an automobile or television) Leaf springs are
attached to the car's chassis. also : the frame and working parts (as of an automobile or
electronic device) exclusive of the body or housing.

Fig 3.11: Chesis Board

22
 Chapter-04
Working Procedure and algorithm
4.1 Working procedure

A smart phone Android operated robot. Now here is a simple to control your robot using
Bluetooth module and Arduino uno with your android Smartphone device. The controlling
devices of the whole system are a Arduino uno. Bluetooth module, DC motors are
interfaced to the Arduino uno. The data receive by the Bluetooth module from android
smart phone is fed as input to the controller . The controller acts accordingly on the DC
motor of the robot. The robot in the project can be made to move in all the four
directions using the android phone.

Working Principle of the proposed system:

We proposed system consists of following components:
a) Android smart phone
b) Bluetooth module
c) Arduino uno
d) DC power supply
e) Motor Driver
f) DC motors

An Android smart phone will act as remote controlled device for movement of the robot.
An Android application will be developed for the same. The application will support only
the2.2 and above versions of Android Operating System. The Bluetooth module will act as
an interface between Smartphone and Arduino uno. We will be using HC-05 Bluetooth
module for the system, which can be used as either master or slave. Generally our master
will be smart phone and slave will be Bluetooth module. Bluetooth module will give the
commands given by smart phone to the Arduino uno. Arduino uno will act as the brain of
the robot. The robot movement will be decided by the Arduino uno. The Arduino uno will
be programmed with the help of the Embedded C programming.

23
In a nutshell, using Android application, sends command to Bluetooth module. Bluetooth
module is connected to Arduino by wire. According to the command which one is given to
Bluetooth module, Arduino gives the signal to motor driver IC to move robot any specific
direction or servo motor to rotate the robotic arm. While motor driver IC gets signal from
Arduino, it gives necessary voltage to the motors. Left side and right sides motors are
connected parallelly and work simultaneously.

4.2 Algorithm

24
 Fig 4.1: Flow chart

Chapter-05
Communication and controlling

5.1 Introduction

Data transmission, digital transmission, or digital communication is the transfer of data

from one point to another. Data transmitted may be digital messages originating from a
data source, such as a computer or a keyboard. It may also be an analog signal, such as a
phone call or a video signal. The speed at which data moves and is processed is growing,
and—much like the amount of data being generated—it takes an understanding of how
much faster things are moving to manage effectively.

5.2 Android Application

App Inventor for Android is an open-source web application provided by Google and now
maintained by the Massachusetts Institute of Technology (MIT). It allows computer
program to create software applications for the Android operating system (OS).
MIT App Inventor is an innovative beginner's introduction to programming and app
creation that transforms the complex language of text-based coding into visual, drag-and-
drop building blocks. The simple graphical interface grants even an inexperienced person
to create a basic, fully functional app within an hour or less.

App Inventor involves three aspects:

(i) App inventor designer,
(ii) App Inventor Blocks editor, and
(iii) An emulator or Android Phone.
25
The set-up process for the software is very easy and system requirements are very basic. It
is compatible with Mac OSX, Windows and Linux Operating systems. Browsers required
for the software are Mozilla Firefox 3.6 or higher, Apple Safari 5.0 or higher, Google
Chrome 4.0 or higher and Microsoft Internet Explorer 7.0 or higher. (App Inventor 2012)

App Inventor Designer :

The first phase of application design passes through App Inventor Designer. Designer is
accessible through the web page and all the ingredients for the app are available on the left
side of the window. The ingredients contains elements like a screen for the app, buttons
for tapping, text boxes, images, labels, animations and many more. The right side of the
designer allows users to view the screen and components added to the screen.
Additionally, the properties section of the window allows users to modify the properties of
components. Adding the components to the screen is a simple drag-and-drop process. The
alignment of the components can be managed through alignment options. Several non-
visible components are also added to the screen, which are explored later in the blocks
editor. On the left of the screen is a list of the components which can be dragged and
dropped onto the Android screen. To the immediate right of the Android screen is a list of
the current screen components: a ListPicker, two Buttons in a Horizontal Arrangement and
a “hidden” Label, hidden because it is initially blank. There is also a non-visible bluetooth
client at the bottom of the screen. To the far right of the Android screen are the properties
of the currently selected component - in this case the Label, Label1 is selected. If we click
on the Blocks Tab and then click on the ListPicker1 component on the left hand side of the
screen. A scrollable list of code blocks relevant to theListPicker1 appears.Click on“When
ListPicker1 BeforePicking” and it will be placed onto the Blocks screen area.

App Inventor Blocks editor:

26
 Fig 5.1: Inventor App inventor Block editor

An emulator or Android phone:

The final part of the application design is testing the application. Thus, for the users
without the android handsets. App Inventor gives the option of testing the application in an
emulator which is very similar to the real device but with some limitations. From the
Blocks Editor, the user can connect the application to the emulator available via the
connect option and test how the application functions in real world. Apart from the
emulator, the user can also directly connect the android phone to the computer via USB
connecter and test the application. Real time testing is definitely the best option for
monitoring the application function.

5.3 Bluetooth communication

Bluetooth technology is a short-range wireless communications technology to replace the

cables connecting electronic devices, allowing a person to have a phone conversation via a
headset, use a wireless mouse and synchronize information from a mobile phone to a PC,
all using the same core system.

27
The Bluetooth RF transceiver (or physical layer) operates in the unlicensed ISM band
centered at 2.4 gigahertz (the same range of frequencies used by microwaves and Wi-Fi).
The core system employs a frequency-hopping transceiver to combat interference and
fading.
Bluetooth devices are managed using an RF topology known as a "star topology." A group
of devices synchronized in this fashion forms a piconet, which may contain one master
and up to seven active slaves, with additional slaves that are not actively participating in
the network. (A given device may also be part of one or more piconets, either as a master
or as a slave.) In a piconet, the physical radio channel is shared by a group of devices that
are synchronized to a common clock and frequency-hopping pattern, with the master
device providing the synchronization references.
Let's say the master device is your mobile phone. All of the other devices in your piconet
are known as slaves. This could include your headset, GPS receiver, MP3 player, car
stereo, and so on.
Devices in a piconet use a specific frequency-hopping pattern, which is algorithmically
determined by the master device. The basic hopping pattern is a pseudorandom ordering of
the 79 frequencies in the ISM band. The hopping pattern may be adapted to exclude a
portion of the frequencies that are used by interfering devices. The adaptive hopping
technique improves Bluetooth technology's coexistence with static (nonhopping) ISM
systems, such as Wi-Fi networks, when these are located in the vicinity of a piconet.
The physical channel (or the wireless link) is subdivided into time units known as slots.
Data is transmitted between Bluetooth-enabled devices in packets that are positioned in
these slots. Frequency hopping takes place between the transmission or reception of
packets, so the packets that make up one transmission may be sent over different
frequencies within the ISM band.
The physical channel is also used as a transport for one or more logical links that support
synchronous and asynchronous traffic as well as broadcast traffic. Each type of link has a
specific use. For instance, synchronous traffic is used to carry hands-free audio data, while
asynchronous traffic may carry other forms of data that can withstand more variability in
the timing for delivery, such as printing a file or synchronizing your calendar between
your phone and computer.
One of the complexities often associated with wireless technology is the process of
connecting wireless devices. Users have become accustomed to the process of connecting
wired devices by plugging one end of a cable into one device and the other end into the
complementary device.

Chapter-06
Design and analysis
28
6.1 Introduction
We have designed a robot by our own concept. A wheel-legged rescue robot design with
strong environmental adaptability is proposed. The design presented is aimed at helping
rescue workers complete their missions, such as environmental and personnel search,
quickly and accurately. So it has broad application prospects. In order to achieve the
advantages of simple structure, easy control, small occupation space, and wide motion
range, a wheel-legged rescue robot is designed in this paper, and the robot can realize
three kinds of motion states, which include wheel state, rotation center lifting process, and
leg state. Then the motion states are analyzed in detail, which provides a reference for
motion control. Considering the wheel state and leg state share the same structure to
contact with the ground, the effect of the stiffness of wheel-legged structure to the motion
performance is analyzed. Then the experiment is carried out to prove the feasibility of the
structure design. This study offers a design and quantitative analysis for wheel-legged
rescue robot. Furthermore, a basis for future control research and engineering applications
is established.

6.2 Modeling
We presume our robot will look like this one.

Fig 6.1: Design Model

6.3 Actual Design

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Fig 6.2: Actual Design

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6.4 Simulation
We use proteus software to simulate this circuit.

Fig 6.3: Circuit Diagram

6.5 Cost Analysis

Sl.no Particulars Specification Qty. Unit Price Total Price (Taka)
(Taka)
1 Li-po Battery and 1+1 1139+440 1579
charger
2 Arduino Uno 1 419 419
3 Gear Motor   4 70x4 280

4 Wheel 4 75x4 300

5 Servo Motor SG 90 4 235x4 940
6 Motor Driver IC L293d 1 320 320
7 Bluetooth Module HC-05 1 280 280

8 5V Regulator IC 7805 1 10 10

9 Wires for Jumper 29+29 68

Connection
10 Breadboard Medium 1 80 80

  Total 4276

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6.6 Summary

At first, we designed a robot model in solidworks software with robot arm. Solidworks is
software where machinery and parts of machine will be designed. It shows the virtual
design of our project. Then we designed our actual design according to our model. For
circuit simulation, we used proteus. Proteus is a software circuit design and code upload in
Arduino is possible. And we calculated the total cost of our project.

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 Chapter - 06
Discussion and Conclusion

6.1 Discussion

Nowadays robotics is become popular and human workers are replaced by robots or
other automation machines. Although our robot is controlled by human but it may
work in such a conditions where humans are unable to do in body present. Robots are
already used as remote-controlled tools that help locate buried accident victims,
defuse bombs and dismantle decommissioned nuclear power plants. The future goal
is rescue robots that can act autonomously to a certain extent and perform more
complex tasks. Rescue robots are programmed to make decisions by themselves
accordingly to the situation, They are designed to help us during the situation of
need, You don’t need to put human lives at risk, Robots can perform multiple actions
at once, They are easily replaceable, They can be used in the aftermath of
earthquakes, They are able to go in every direction and they can enter into small
spaces.

6.2 Future Work

A wireless camera is mounted on the robot vehicle for spying

and surveillance purpose even in night time by using
infrared lighting. Future modifications can be made to
perform different tasks with precise control such as:
1.A Robot Mounted with camera
2. A headset, with a full-color display
3. A mission control centre

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6.3 Conclusion

The operating system of smart phone is android which can develop effective remote
control program. At the same time , this program uses blue-tooth connection to
communicate with robot. It has proven to allow for meaningful two-way communication
between the Android phone and the robot which would allow a non-expert to interact with
and adjust the functionality of a system which uses ATmega328 controller, a single board
micro-controller intended to make the application of interactive objects or environments
more accessible. The surveillance is always has been a quite sensitive task. And it includes
so many risks. So it’s better to use robot for this job instead of people. And if you are able
to control the robots with efficiency and accuracy then you can guarantee yourself with
good results and success. This system is a good step for secure surveillance using robots.
Wireless control is one of the most important basic needs for all the people all over the
world. But unfortunately the technology is not fully utilized due to a huge amount of data
and communication overheads. Generally many of the wireless-controlled robots use RF
modules. But our project for robotic control make use of Android mobile phone which is
very cheap and easily available. The available control commands are more than RF
modules. For this purpose the android mobile user has to install a designed application on
her/his mobile.

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6.4 References:

[1] Los Angeles County Fire Department,

http://www.lacofd.org/usar.htm, 2003.
[2] A. Jacoff, E. Messina, and J. Evans, “Performance Evaluation of Autonomous Mobile
Robots”, Industrial Robot, An International Journal, Vol. 29, No. 3, 2002.
[3] ANGELO, J. A., “Robotics: a reference guide to the new technology”, Libraries
Unlimited. Santa Barbara, United States. ISBN: 1573563374, 2007.
[4] Arpit Sharma, Reeteshverma, Saurabh Gupta, Sukhdeepkaurbhatia, Android phone
controlled robot using Bluetooth , IJEEE, Vol.7, pp-443-448, Nov- 2014.
[5] Arvind Kumar Saini1,Garima Sharma2, Kamal Kishor Choure3, “BluBO: Bluetooth
Controlled Robot,” International Journal of Science and Research (IJSR) National
Conference on Knowledge, Innovation in Technology and Engineering (NCKITE), 10-11
April 2015, pp. 325-328S.
[6] Arpit Sharma1, Reetesh Varma2, Saurabh Gupta3 and Sukhdeep Bhatia4, “Android
Phone Controlled Robot Using Bluetooth” IJEEE ISSN 0974-2174, Volume 7, Number 5
(2014, pp. 443-448)
[7] M.Selvam1, “Smart phone based robotic smart phone based robotic” IJRET Volume:
03 Issue: 03, Mar-2014, pp. 229-232.
[8] Ritika Pahuja1, Narender Kumar2, “Android Mobile Phone Controlled Bluetooth
Robot Using 8051Microcontroller” IJSER, Volume 2 Issue 7, July 2014, Paper ID:
J2013324, pp. 14-17.
[9] Aniket R. Yeole1, Sapana M. Bramhankar2, Monali D, Wani3, Mukesh P. Mahajan4,
“Smart Phone Controlled Robot Using ATMEGA328 Microcontroller”, IJIRC Vol. 3,
Issue 1, January 2015, pp. 352-356
[10] Aiman Ansari *1, Yakub Ansari*2, Saquib Gadkari*3, Aarti Gokul#4, “Android App
Based Robot, IJCSIT, Vol. 6 (2) , 2015, pp.1598-1600
[11] Arita Dey 1, Akash Pal 2, Sayantan Nandi 3, Lusika Roy 4, “Three way controlled
android Smartphone based robotic vehicle via Bluetooth”, IJARCCE, Vol. 4, Issue 9,
September 2015, pp. 212-216.

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[12] Muhammad Gulfam1 and Mirza Waleed Iftikhar Baig2, “WG11 Android based
Surveillance Robot Control”IJMSE,Vol. 3, March 2015, pp. 17-22

Rescue Robot || Fall 2020 || EUB

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