A

TECHNICAL SEMMINAR

ON

ROBOT FOR LANDMINE AND HUMAN DETECTION

Submitted to Jawaharlal Nehru Technological University in partial fulfilment of the requirements for
the award of the degree of

BACHELOR OF TECHNOLOGY
In

ELECTRICAL & ELECTRONICS ENGINEERING

Submitted by

NAVAPETA MAHENDER

19X05A0233

Department of ELECTRICAL & ELECTRONICS ENGINEERING

NARSIMHA REDDY ENGINEERING COLLEGE

A UGC Autonomous Institution

(Affiliated to JNTU Hyderabad Approved by AICTE New Delhi)

Maisammaguda, Secunderabad, Hyderabad- 500100

2021-2022

1
2
 CERTIFICATE

This is to certify that the desertion work entitled “ROBOT FOR LANDMINE AND

HUMAN DETECTION” is the work done by NAVAPETA MAHENDER bearing Roll

no. 19X05A0233 submitted towards partial fulfilment for the award of ‘BACHELOR OF

TECHNOLOGY’ in ELECTRICAL & ELECTRONICS ENGINEERING under the

guidance and supervision during academic year 2021-2022.

SUPERVISOR HEAD OF THE DEPARTMENT

V.Kiranmayee Dr. G Seshadri

Assistant Professor Professor

Department of EEE Department of EEE

NREC NREC

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 ACKNOWLEDGEMENT

I wish to take this opportunity to express our deep gratitude to all the people who extended
their co-operation in various ways during my work. It is my pleasure to acknowledge the help
of all those individuals.
I would like to express my sincere thanks to Dr. P. SEKHAR BABU, Principal,
NARSIMHA REDDY ENGINEERING COLLEGE. I am grateful for his constant support
and cooperation.
I would like to express my sincere thanks to Dr. G. SESHADRI, H.O.D, Dept of
E.E.E, NARSIMHA REDDY ENGINEERING COLLEGE. I am grateful for his
encouragement and cooperation.
I would like to express my sincere thanks to my supervisor, V. KIRANMAYEE
Assistant Professor of the Dept of E.E.E, NARSIMHA REDDY ENGINEERING
COLLEGE. I am grateful for his kind encouragement and valuable suggestions.
I would also like to convey special thanks to my faculty members and friends for
their support in all the way through the work which lead to successful completion of my
work.

NAVAPETA MAHENDER
19X05A0233

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 ABSTRACT
Land mine detection is most crucial during ware fare to deploy armed vehicle drive in the
enemy territory. This system proposed to have a proto type model of a land-mine detection
robot, which can be operated remotely using Bluetooth technology. The safety of humans
was addressed and designed robot with special range sensors employed to avoid obstacles.
Fabrication of this project prototype was done using lightweight temperature resistant metal.
Arduino microcontroller is employed in this robot. The robot system is embedded with metal
detector capable of sensing the landmine and buzzer from producing a warning alarm to the
nearby personnel in that area. The locomotion of the robot is carried out by the DC motor.
The robot is interfaced with the Mobile by deploying a Bluetooth device. Robot can identify
the position of the landmines which is designed using the Proteus 8 software and the
embedded programming using Arduino software.

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 CHAPTER-1

1. INTRODUCTION TO EMBEDDED SYSTEM

1.1 EMBEDDED SYSTEM

An embedded system is a computer system designed to perform one or a few
dedicated functions often with real-time computing constraints. It is embedded as part of a
complete device often including hardware and mechanical parts. By contrast, a general-
purpose computer, such as a personal computer (PC), is designed to be flexible and to meet a
wide range of end-user needs. Embedded systems control many devices in common use
today.

Embedded systems are controlled by one or more main processing cores that are
typically either microcontrollers or digital signal processors (DSP). The key characteristic,
however, is being dedicated to handle a particular task, which may require very powerful
processors. Since the embedded system is dedicated to specific tasks, design engineers can
optimize it to reduce the size and cost of the product and increase the reliability and
performance. Some embedded systems are mass-produced, benefiting from economies of
scale.

Fig 1.1:A modern example of embedded system

1.1.2 NEED OF EMBEDDED SYSTEM

The uses of embedded systems are virtually limitless because every day new products
are introduced to the market that utilizes embedded computers in novel ways. In recent years,
hardware such as microprocessors, microcontrollers, and FPGA chips have become much

6
cheaper. So when implementing a new form of control, it's wiser to just buy the generic chip
and write your own custom software for it. Producing a custom-made chip to handle a
particular task or set of tasks costs far more time and money. Many embedded computers
even come with extensive libraries, so that "writing your own software" becomes a very
trivial task indeed.

1.1.3 CLASSIFICATIONS OF EMBEDDED SYSTEM

Stand Alone Embedded System

These systems take the input in the form of electrical signals from transducers or
commands from human beings such as pressing of a button etc.., process them and produces
desired output. This entire process of taking input, processing it, and giving output is done in
standalone mode.
E.g.: microwave oven, air conditioner etc.

Real-Time Embedded Systems

Embedded systems which are used to perform a specific task or operation in a specific
time period those systems are called as real-time embedded systems. There are two types of
real-time embedded systems.

Soft Real Time Embedded Systems

These embedded systems follow a relative deadline time period i.e.., if the task is not
done in a particular time that will not cause damage to the equipment.

E.g.: Consider a TV remote control system, if the remote control takes a few milliseconds
delay it will not cause damage either to the TV or to the remote control.

Network Communication Embedded Systems

A wide range network interfacing communication is provided by using embedded systems.

Consider a web camera that is connected to the computer with internet can be used to spread
communication like sending pictures, images, videos etc.., to another computer with internet
connection throughout anywhere in the world.

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 Consider a web camera that is connected at the door lock. Whenever a person comes
near the door, it captures the image of a person and sends to the desktop of your computer
which is connected to internet. This gives an alerting message with image on to the desktop
of your computer, and then you can open the door lock just by clicking the mouse.

Fig 1.2: Network communication embedded systems

1.2 APPLICATIONS OF EMBEDDED SYSTEMS

Consumer applications: At home we use a number of embedded systems which include

microwave oven, remote control, VCD players, DVD players, camera etc….

Fig 1.3: Automatic coffee makes equipment

Office automation: We use systems like fax machine, modem, printer etc…

Fig 1.4: Fax machine

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BLOCK DIAGRAM
RPS

IR
LCD
SENSOR

Micro
METAL
SENSOR controller
L293D MOTOR1

BLUETOOTH

MOTOR2

1.3 COMPONENTS USED

HARDWARE COMPONENTS REQUIRED:

 REGULATED POWER SUPPLY
 ARDUINO
 IR SENSOR
 BULETOOTH
 LCD
 L293D IC
 DC MOTORS

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SOFTWARE COMPONENTS:

 Embedded C
 ARDUINO IDE
 PCB WIZARD

CHAPTER-2
LITERATURE SURVEY

Now a days mobile robots are very important in construction sites, warehouses, and
manufacturing plants. Mobile robots can used in material handling applications which are
growing day by day. For identify different items and for handling materials mobile robots can
be used. Wireless navigation is also possible for movements of mobile robot, can be
controlled through android. Fuzzy logic control mechanism is used to control robot. That
model did not require any mathematical model controlling.

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 CHAPTER-3
PROPOSED SYSTEM

The proposed system is designed to build an android app that controls operations of the robot.
Fire Engineers can send commands to robot using Bluetooth module which is mounted on
robot. Android phones has facility of Bluetooth, using that Bluetooth fireman can control the
movement of the firefighting robot. For fire detection uses two sensors. One is temperature
sensor and other is smoke detector. System will be get activated when fire detection system
detects fire, Sprinkler starts sprinkling water when robot detects fire. At the fireman end
android application is used and at receiving end two DC motors.

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 CHAPTER-4

IMPLEMENTATION DETAILS

4.1ARDUINO UNO:

The Arduino Uno is a microcontroller board based on the ATmega328 (datasheet). It

has 14 digital input/output pins (of which 6 can be used as PWM outputs), 6 analogy inputs, a
16 MHz crystal oscillator, a USB connection, a power jack, an ICSP header, and a reset
button. It contains everything needed to support the microcontroller; simply connect it to a
computer with a USB cable or power it with an AC-to-DC adapter or battery to get started.
The Uno differs from all preceding boards in that it does not use the FTDI USB-to-serial
driver chip. Instead, it features the Atmega8U2 programmed as a USB-to-serial converter.
"Uno" means one in Italian and is named to mark the upcoming release of Arduino 1.0. The
Uno and version 1.0 will be the reference versions of Arduino, moving forward. The Uno is
the latest in a series of USB Arduino boards, and the reference model for the Arduino
platform; for a comparison with previous versions, see the index of Arduino boards.

TECHNICAL SPECIFICATIONS

Microcontroller ATmega328

Operating Voltage 5V

Input Voltage (recommended) 7-12V

Input Voltage (limits) 6-20V

Digital I/O Pins 14 (of which 6 provide PWM output)

Analog Input Pins 6

DC Current per I/O Pin 40 mA

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DC Current for 3.3V Pin 50 mA

Flash Memory 32 KB of which 0.5 KB used by bootloader

SRAM 2 KB

EEPROM 1 KB

Clock Speed 16 MHz

Fig4.1:Aurdino

POWER

The Arduino Uno can be powered via the USB connection or with an external power
supply. The power source is selected automatically. External (non-USB) power can come
either from an AC-to-DC adapter (wall-wart) or battery. The adapter can be connected by
plugging a 2.1mm centre-positive plug into the board's power jack. Leads from a battery can
be inserted in the Gnd and Vin pin headers of the POWER connector. The board can operate
on an external supply of 6 to 20 volts. If supplied with less than 7V, however, the 5V pin may
supply less than five volts and the board may be unstable. If using more than 12V, the voltage
regulator may overheat and damage the board. The recommended range is 7 to 12 volts.

The power pins are as follows:

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  VIN. The input voltage to the Arduino board when it's using an external power source
(as opposed to 5 volts from the USB connection or other regulated power source).
You can supply voltage through this pin, or, if supplying voltage via the power jack,
access it through this pin.

 5V. The regulated power supply used to power the microcontroller and other
components on the board. This can come either from VIN via an on-board regulator
or be supplied by USB or another regulated 5V supply.

 3V3. A 3.3-volt supply generated by the on-board regulator. Maximum current draw
is 50 mA.

 GND. Ground pins.

MEMORY

The Atmega328 has 32 KB of flash memory for storing code (of which 0,5 KB is
used for the bootloader); It has also 2 KB of SRAM and 1 KB of EEPROM (which can be
read and written with the EEPROM library.

INPUT OUTPUT

Each of the 14 digital pins on the Uno can be used as an input or output, using pin
Mode(), digital Write(), and digital Read() functions. They operate at 5 volts. Each pin can
provide or receive a maximum of 40 mA and has an internal pull-up resistor (disconnected by
default) of 20-50 Kohms. In addition, some pins have specialized functions

 Serial: 0 (RX) and 1 (TX). Used to receive (RX) and transmit (TX) TTL serial data.
TThese pins are connected to the corresponding pins of the ATmega8U2 USB-to-TTL
Serial chip .

 · External Interrupts: 2 and 3. These pins can be configured to trigger an interrupt

on a low value, a rising or falling edge, or a change in value. See the attach Interrupt()
function for details·

 PWM: 3, 5, 6, 9, 10, and 11. Provide 8-bit PWM output with the analogWrite()
function.

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  SPI: 10 (SS), 11 (MOSI), 12 (MISO), 13 (SCK). These pins support SPI
communication, which, although provided by the underlying hardware, is not
currently included in the Arduino language.

 · LED: 13. There is a built-in LED connected to digital pin 13. When the pin is HIGH
value, the LED is on, when the pin is LOW, it's off.

The Uno has 6 analog inputs, each of which provide 10 bits of resolution (i.e., 1024
different values). By default, they measure from ground to 5 volts, though is it possible to
change the upper end of their range using the AREF pin and the analogReference() function.
Additionally, some pins have specialized functionality.

 I2C: 4 (SDA) and 5 (SCL). Support I2C (TWI) communication using the Wire
library.

There are a couple of other pins on the board:

· AREF. Reference voltage for the analog inputs. Used with analogReference().

· Reset. Bring this line LOW to reset the microcontroller. Typically used to add a reset button
to shields which block the one on the board.

COMMUNICATION

The Arduino Uno has a number of facilities for communicating with a computer,
another Arduino, or other microcontrollers. The ATmega328 provides UART TTL (5V)
serial communication, which is available on digital pins 0 (RX) and 1 (TX). An ATmega8U2
on the board channels this serial communication over USB and appears as a virtual com port
to software on the computer. The '8U2 firmware uses the standard USB COM drivers, and no
external driver is needed. However, on Windows, an *.inf file is required.

The Arduino software includes a serial monitor which allows simple textual data to be
sent to and from the Arduino board. The RX and TX LEDs on the board will flash when data
is being transmitted via the USB-to serial chip and USB connection to the computer (but not
for serial communication on pins 0 and 1).

A Software Serial library allows for serial communication on any of the Uno's digital
pins. The ATmega328 also support I2C (TWI) and SPI communication. The Arduino

15
software includes a Wire library to simplify use of the I2C bus; see the documentation for
details. To use the SPI communication,

PROGRAMMING

Arduino Uno can be programmed with the Arduino software (download). Select
"Arduino Uno w/

ATmega328" from the Tools > Board menu (according to the microcontroller on
your board). For details, see the reference and tutorials.

The ATmega328 on the Arduino Uno comes preburned with a bootloader that allows
you to upload new code to it without the use of an external hardware programmer. It
communicates using the original STK500 protocol (reference, C header files).

You can also bypass the bootloader and program the microcontroller through the
ICSP (In-Circuit Serial Programming) header; see these instructions for details.

The ATmega8U2 firmware source code is available . The ATmega8U2 is loaded with
a DFU bootloader, which can be activated by connecting the solder jumper on the back of the
board (near the map of Italy) and then resetting the 8U2. You can then use Atmel's FLIP
software (Windows) or the DFU programmer (Mac OS X and Linux) to load a new firmware.
Or you can use the ISP header with an external programmer (overwriting the DFU
bootloader).

AUTOMATIC SOFTWARE RESET

Rather than requiring a physical press of the reset button before an upload, the
Arduino Uno is designed in a way that allows it to be reset by software running on a
connected computer. One of the hardware flow control lines (DTR) of the ATmega8U2 is
connected to the reset line of the ATmega328 via a 100 nano farad capacitor. When this line
is asserted (taken low), the reset line drops long enough to reset the chip. The Arduino
software uses this capability to allow you to upload code by simply pressing the upload
button in the Arduino environment. This means that the bootloader can have a shorter
timeout, as the lowering of DTR can be well-coordinated with the start of the upload.

16
 This setup has other implications. When the Uno is connected to either a computer
running Mac OS X or Linux, it resets each time a connection is made to it from software (via
USB). For the following half second or so, the bootloader is running on the Uno. While it is
programmed to ignore malformed data (i.e., anything besides an upload of new code), it will
intercept the first few bytes of data sent to the board after a connection is opened. If a sketch
running on the board receives one-time configuration or other data when it first starts, make
sure that the software with which it communicates waits a second after opening the
connection and before sending this data.

The Uno contains a trace that can be cut to disable the auto-reset. The pads on either
side of the trace can be soldered together to re-enable it. It's ladled "RESET-EN". You may
also be able to disable the auto-reset by connecting a 110-ohm resistor from 5V to the reset
line.

USB OVER CURRENT PROTECTION

The Arduino Uno has a resettable polyfused that protects your computer's USB ports
from shorts and over current. Although most computers provide their own internal protection,
the fuse provides an extra layer of protection. If more than 500 mA is applied to the USB
port, the fuse will automatically break the connection until the short or overload is removed.

PHYSICAL CHARECTERISTICS

The maximum length and width of the Uno PCB are 2.7 and 2.1 inches respectively,
with the USB connector and power jack extending beyond the former dimension. Three
screw holes allow the board to be attached to a surface or case. Note that the distance
between digital pins 7 and 8 is 160 mil (0.16"), not an even multiple of the 100-mil spacing
of the other pin.

4.2 POWER SUPPLY:

The power supplies are designed to convert high voltage AC mains electricity to a
suitable low voltage supply for electronic circuits and other devices. A RPS (Regulated
Power Supply) is the Power Supply with Rectification, Filtering and Regulation being done
on the AC mains to get a Regulated power supply for Microcontroller and for the other
devices being interfaced to it.

17
 A power supply can by broken down into a series of blocks, each of which performs a
particular function. A d.c power supply which maintains the output voltage constant
irrespective of a.c mains fluctuations or load variations is known as “Regulated D.C Power
Supply”

For example, a 5V regulated power supply system as shown below:

Fig 4.2: Block diagram of power supply

4.2.1 Transformer:
A transformer is an electrical device which is used to convert electrical power
from one Electrical circuit to another without change in frequency.

Transformers convert AC electricity from one voltage to another with little loss of
power. Transformers work only with AC, and this is one of the reasons why mains electricity
is AC. Step-up transformers increase in output voltage, step-down transformers decrease in
output voltage. Most power supplies use a step-down transformer to reduce the dangerously
high mains voltage to a safer low voltage.

The two lines in the middle of the circuit symbol represent the core. Transformers
waste very little power so the power out is (almost) equal to the power in. Note that as
voltage is stepped down current is stepped up. The ratio of the number of turns on each coil,
called the turn’s ratio, determines the ratio of the voltages. A step-down transformer has a
large number of turns on its primary coil which is connected to the high voltage mains
supply, and a small number of turns on its secondary coil to give a low output voltage.

Fig 4.3: Transformer

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An Electrical Transformer Turns ratio = Vp / VS = Np/Ns

Power Out= Power InVS X IS=VP XIP

Vp = primary (input) voltage

Np = number of turns on primary coil
Ip  = primary (input) current    

4.2.2 Rectifier:

A circuit which is used to convert ac to dc is known as RECTIFIER. The process of

conversion ac to dc is called “rectification”

Types of rectifiers:

 Half wave Rectifier

 Full wave rectifier
1. Bridge type full wave rectifier.

2 Centre tap full wave rectifier.

Half-wave rectifier:

In half wave rectifier, either the positive or negative half of the AC wave is passed,
while the other half is blocked. Because only one half of the input waveform reaches the
output, it is very inefficient if used for power transfer. Half-wave rectification can be
achieved with a single diode in a one-phase supply, or with three diodes in a three-phase
supply.

Fig 4.4: Half wave rectifier

Full wave rectifier:

Full wave rectifier is available in two ways like center-tapped full-wave rectifier and
bridge full-wave rectifier.

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1. Bridge type full wave rectifier:

The Bridge rectifier is a circuit, which converts an ac voltage to dc voltage using both
half cycles of the input ac voltage. The Bridge rectifier circuit is shown in the figure. The
circuit has four diodes connected to form a bridge. The ac input voltage is applied to the
diagonally opposite ends of the bridge. The load resistance is connected between the other
two ends of the bridge.

For the positive half cycle of the input ac voltage, diodes D1 and D3 conduct, whereas
diodes D2 and D4 remain in the OFF state. The conducting diodes will be in series with the
load resistance RL and hence the load current flows through R L. For the negative half cycle of
the input ac voltage, diodes D2 and D4 conduct whereas, D1 and D3 remain OFF.

The conducting diodes D2 and D4 will be in series with the load resistance R L and
hence the current flows through RL in the same direction as in the previous half cycle. Thus, a
bi-directional wave is converted into a unidirectional wave.

Fig 4.5: bridge type full-wave rectifier

2. Center Tapped Full wave rectifier:

For single-phase AC, if the transformer is center-tapped, then two diodes back-to-
back (i.e., anodes-to-anode or cathode-to-cathode) can form a full-wave rectifier.

Twice as many windings are required on the transformer secondary to obtain the same
output voltage compared to the bridge rectifier above.

For the positive half cycle of the input ac voltage, diodes D1 will conducts, whereas
diodes D2 is in the OFF state. The conducting diodes D1 will be in series with the load
resistance RL and hence the load current flows through RL.

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 For the negative half cycle of the input ac voltage, diodes D2 will conduct, whereas
diodes D1 is in the OFF state. The conducting diodes D2 will be in series with the load
resistance RL and hence the load current flows through RL.

Fig 4.6: Center tapped Full-wave rectifier

4.2.3 Filter:
A Filter is a device which removes the a.c component of rectifier output but allows
the dc component to reach the load

Capacitor Filter:

We have seen that the ripple content in the rectified output of half wave rectifier is
121% or that of full-wave or bridge rectifier or bridge rectifier is 48% such high percentages
of ripples is not acceptable for most of the applications. Ripples can be removed by one of the
following methods of filtering.

(a) A capacitor, in parallel to the load, provides an easier by –pass for the ripples voltage
though it due to low impedance. At ripple frequency and leave the D.C. to appear at the load.

(b) An inductor, in series with the load, prevents the passage of the ripple current (due to high
impedance at ripple frequency) while allowing the d.c (due to low resistance to d.c)

(c) Various combinations of capacitor and inductor, such as L-section filter section filter,
multiple section filter etc. which make use of both the properties mentioned in (a) and (b)
above. Two cases of capacitor filter, one applied on half wave rectifier and another with full
wave rectifier.

Filtering is performed by a large value electrolytic capacitor connected across the DC

supply to act as a reservoir, supplying current to the output when the varying DC voltage
from the rectifier is falling. The capacitor charges quickly near the peak of the varying DC,
and then discharges as it supplies current to the output. Filtering significantly increases the
average DC voltage to almost the peak value (1.4 × RMS value).
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 To calculate the value of capacitor(C),
C = ¼*√3*f*r*Rl

Where,
f = supply frequency,
r = ripple factor,
Rl = load resistance
Note: In our circuit we are using 1000µF hence large value of capacitor is placed to reduce
ripples and to improve the DC component.

4.2.4 Regulator:

Voltage regulator ICs is available with fixed (typically 5, 12 and 15V) or variable
output voltages. The maximum current they can pass also rates them. Negative voltage
regulators are available, mainly for use in dual supplies. Most regulators include some
automatic protection from excessive current ('overload protection') and overheating ('thermal
protection'). Many of the fixed voltage regulators ICs have 3 leads and look like power
transistors, such as the 7805 +5V 1A regulator shown on the right.

The LM7805 is simple to use. You simply connect the positive lead of your
unregulated DC power supply (anything from 9VDC to 24VDC) to the Input pin, connect the
negative lead to the Common pin and then when you turn on the power, you get a 5-volt
supply from the output pin.

Fig 4.7: A Three Terminal Voltage Regulator

78XX:

The Bay Linear LM78XX is integrated linear positive regulator with three terminals.
The LM78XX offer several fixed output voltages making them useful in wide range of
applications. When used as a Zener diode/resistor combination replacement, the LM78XX

22
usually results in an effective output impedance improvement of two orders of magnitude,
lower quiescent current. The LM78XX is available in the TO-252, TO-220 & TO-
263package.

Features:

• Output Current of 1.5A

• Output Voltage Tolerance of 5%

• Internal thermal overload protection

• Internal Short-Circuit Limited

• Output Voltage 5.0V, 6V, 8V, 9V, 10V, 12V, 15V, 18V, 24V.

IR SENSOR

IR technology is used in daily life and also in industries for different purposes. For example,
TVs use an IR sensor to understand the signals which are transmitted from a remote control.
The main benefits of IR sensors are low power usage, their simple design & their convenient
features. IR signals are not noticeable by the human eye. The IR radiation in
the electromagnetic spectrum can be found in the regions of the visible & microwave.
Usually, the wavelengths of these waves range from 0.7 µm 5 to 1000µm. The IR spectrum
can be divided into three regions like near-infrared, mid, and far-infrared. The near IR
region’s wavelength ranges from 0.75 – 3µm, the mid-infrared region’s wavelength ranges
from 3 to 6µm & the far IR region’s infrared radiation’s wavelength is higher than 6µm.

Infrared technology addresses a wide variety of wireless applications. The main areas are
sensing and remote controls. In the electromagnetic spectrum, the infrared portion is divided
into three regions: near infrared region, mid infrared region, and far infrared region. The
wavelengths of these regions and their applications are shown below.

 Near infrared region — 700 nm to 1400 nm — IR sensors, fiber optic

 Mid infrared region — 1400 nm to 3000 nm — Heat sensing
 Far infrared region — 3000 nm to 1 mm — Thermal imaging

23
The frequency range of infrared is higher than microwave and lesser than visible light. For
optical sensing and optical communication, photo optics technologies are used in the near
infrared region as the light is less complex than RF when implemented as a source of signal.
Optical wireless communication is done with IR data transmission for short range
applications.
An infrared sensor emits and/or detects infrared radiation to sense its surroundings.

What is an IR Sensor/Infrared Sensor?

An infrared sensor is an electronic device, that emits in order to sense some aspects of
the surroundings. An IR sensor can measure the heat of an object as well as detects the
motion. These types of sensors measure only infrared radiation, rather than emitting it that is
called a passive IR sensor. Usually, in the infrared spectrum, all the objects radiate some form
of thermal radiation.

These types of radiations are invisible to our eyes, which can be detected by an infrared
sensor. The emitter is simply an IR LED (Light Emitting Diode) and the detector is simply an
IR photodiode that is sensitive to IR light of the same wavelength as that emitted by the IR
LED. When IR light falls on the photodiode, the resistances and the output voltages will
change in proportion to the magnitude of the IR light received.

WORKING PRINCIPLE:

24
The working principle of an infrared sensor is similar to the object detection sensor. This
sensor includes an IR LED & an IR Photodiode, so by combining these two can be formed as
a photo-coupler otherwise optocoupler. The physics laws used in this sensor are planks
radiation, Stephan Boltzmann & Wein’s displacement.IR LED is one kind of transmitter that
emits IR radiations. This LED looks similar to a standard LED and the radiation which is
generated by this is not visible to the human eye. Infrared receivers mainly detect the
radiation using an infrared transmitter. These infrared receivers are available in photodiodes
form. IR Photodiodes are dissimilar as compared with usual photodiodes because they simply
detect IR radiation. Different kinds of infrared receivers mainly exist depending on the
voltage, wavelength, package, etc. Once it is used as the combination of an IR transmitter &
receiver, then the receiver’s wavelength must equal the transmitter. Here, the transmitter is IR
LED whereas the receiver is IR photodiode. The infrared photodiode is responsive to the
infrared light that is generated through an infrared LED. The resistance of photodiode & the
change in output voltage is in proportion to the infrared light obtained. This is the IR sensor’s
fundamental working principle. The working of any Infrared sensor is governed by three
laws: Planck’s Radiation law, Stephen – Boltzmann law and Wien’s Displacement law.

Planck’s law states that “every object emits radiation at a temperature not equal to 00K”.
Stephen – Boltzmann law states that “at all wavelengths, the total energy emitted by a black
body is proportional to the fourth power of the absolute temperature”. According to Wien’s
Displacement law, “the radiation curve of a black body for different temperatures will reach
its peak at a wavelength inversely proportional to the temperature”. The basic concept of an
Infrared Sensor which is used as Obstacle detector is to transmit an infrared signal, this
infrared signal bounces from the surface of an object and the signal is received at the infrared
receiver.

There are five basic elements used in a typical infrared detection system: an infrared source, a
transmission medium, optical component, infrared detectors or receivers and signal
processing. Infrared lasers and Infrared LEDs of specific wavelength can be used as infrared
sources. The three main types of media used for infrared transmission are vacuum,
atmosphere and optical fibers. Optical components are used to focus the infrared radiation or
to limit the spectral response. Optical lenses made of Quartz, Germanium and Silicon are
used to focus the infrared radiation. Infrared receivers can be photodiodes, phototransistors
etc. some important specifications of infrared receivers are photosensitivity, detectivity and
25
noise equivalent power. Signal processing is done by amplifiers as the output of infrared
detector is very small.

Types of IR Sensors

Infrared sensors can be passive or active. Passive infrared sensors are basically Infrared
detectors. Passive infrared sensors do not use any infrared source and detects energy emitted
by obstacles in the field of view. They are of two types: quantum and thermal. Thermal
infrared sensors use infrared energy as the source of heat and are independent of wavelength.
Thermocouples, pyroelectric detectors, and bolometers are the common types of thermal
infrared detectors.

Quantum type infrared detectors offer higher detection performance and are faster than
thermal type infrared detectors. The photosensitivity of quantum type detectors is wavelength
dependent. Quantum type detectors are further classified into two types: intrinsic and
extrinsic types. Intrinsic type quantum detectors are photoconductive cells and photovoltaic
cells.

4.5 DC MOTOR:

26
 Fig 4.5.1: Dc motor

DC motors are configured in many types and sizes, including brush less, servo, and gear
motor types. A motor consists of a rotor and a permanent magnetic field stator. The
magnetic field is maintained using either permanent magnets or
electromagnetic windings. DC motors are most commonly used in variable speed.
Motion and controls cover a wide range of components that in some ways are used to
generate and/or control motion. Areas within this category include bearings and bushings,
clutches and brakes, controls and drives, drive components, encoders and resolves,
Integrated motion control, limit switches, linear actuators, linear and rotary motion
components, linear position sensing, motors (both AC and DC motors), orientation
position sensing, pneumatics and pneumatic components, positioning
stages ,slides and guides, powertransmission (mechanical), seals, slip rings, solenoids, sprin
gs. Motors are the devices that provide the actual speed and torque in a drive system.  This
family includes AC motor types (single and multiphase motors, universal, servo motors,
induction, synchronous, and gear motor) and DC motors (brush less, servo motor, and gear
motor) as well as linear, stepper and air motors, and motor contactors and starters. In any
electric motor, operation is based on simple electromagnetism. A current-carrying
conductor generates a magnetic field; when this is then placed in an external magnetic
field, it will experience a force proportional to the current in the conductor, and to the
strength of the external magnetic field. As you are well aware of from playing with
magnets as a kid, opposite (North and South) polarities attract, while like polarities (North
and North, South and South) repel.

The internal configuration of a DC motor is designed to harness the magnetic

interaction between a current-carrying conductor and an external magnetic field to
generate rotational motion.

27
 Let's start by looking at a simple 2-pole DC electric motor (here red represents a
magnet or winding with a "North" polarization, while green represents a magnet or
winding with a "South" polarization).

Every DC motor has six basic parts -- axle, rotor (a.k.a., armature), stator,
commutator, field magnet(s), and brushes. In most common DC motors (and all that
Beamers will see), the external magnetic field is produced by high-strength permanent
magnets1. The stator is the stationary part of the motor -- this includes the motor casing, as
well as two or more permanent magnet pole pieces. The rotor (together with the axle and
attached commutator) rotates with respect to the stator.

You can imagine how with our example two-pole motor, if the rotor is exactly at the
middle of its rotation (perfectly aligned with the field magnets), it will get "stuck" there.
Meanwhile, with a two-pole motor, there is a moment where the commutator shorts out the
power supply.
This would be bad for the power supply, waste energy, and damage motor
components as well. Yet another disadvantage of such a simple motor is that it would
exhibit a high amount of torque” ripple" (the amount of torque it could produce is cyclic
with the position of the rotor).

So since most small DC motors are of a three-pole design, let's tinker with the workings of one via
an interactive animation (JavaScript required):

28
 You'll notice a few things from this -- namely, one pole is fully energized at a time
(but two others are "partially" energized). As each brush transitions from one commutated
contact to the next, one coil's field will rapidly collapse, as the next coil's field will rapidly
charge up (this occurs within a few microsecond).

There's probably no better way to see how an average dc motor is put together, than by just
opening one up. Unfortunately, this is tedious work, as well as requiring the destruction of a
perfectly good motor.

4.6 LCD MODULE:

To display interactive messages, we are using LCD Module .We examine an

intelligent LCD display of two lines, 16 characters per line that is interface to the controllers.
The protocol for the display is as shown.

Fig 4.6.1:2x16 Line Alphanumeric LCD Display

The most commonly used ALPHANUMERIC displays are 1x16, 2x16, and 4x20.The
LCD requires three control lines and 8 data lines the no. on data lines depend on the mode of
operation.

When RS is low, the data is to be treated as a command. When RS is high, the data
been sent is considered as text data which should be display on screen.

29
 The surfaces of the electrodes that are in contact with the liquid crystal material are
treated so as to align the liquid crystal molecules in a particular direction. This treatment
typically consists of a thin polymer layer that is unidirectional rubbed using, for example, a
cloth. The direction of the liquid crystal alignment is then defined by the direction of rubbing.
Electrodes are made of a transparent conductor called Indium Tin Oxide (ITO).

The voltage-off dark state in this configuration appears blotchy, however, because of
small variations of thickness across the device. Both the liquid crystal material and the
alignment layer material contain ionic compounds. If an electric field of one particular
polarity is applied for a long period of time, this ionic material is attracted to the surfaces and
degrades the device performance.

When a large number of pixels are needed in a display, it is not technically possible to
drive each directly since then each pixel would require independent electrodes. Instead, the
display is multiplexed. In a multiplexed display, electrodes on one side of the display are
grouped and wired together (typically in columns), and each group gets its own voltage
source. On the other side, the electrodes are also grouped (typically in rows), with each group
getting a voltage sink. The groups are designed so each pixel has a unique, unshared
combination of source and sink. The electronics, or the software driving the electronics then
turns on sinks in sequence and drives sources for the pixels of each sink.

4.6.1 Colour Display

In colour LCD’s each individual pixel is divided into three cells, or sub pixels, which
are coloured red, green, and blue, respectively, by additional filters (pigment filters, dye
filters and metal oxide filters). Each sub pixel can be controlled independently to yield
thousands or millions of possible colours for each pixel. Colour components may be arrayed
in various pixel geometries, depending on the monitor's usage.

If the software knows which type of geometry is being used in a given LCD, this can
be used to increase the apparent resolution of the monitor through sub pixel rendering. This
technique is especially useful for text anti-aliasing.

To reduce smudging in a moving picture when pixels do not respond quickly enough
to colour changes, so-called pixel overdrive may be used. LCD technology still has a few
drawbacks in comparison to some other display technologies:

30
  While CRTs are capable of displaying multiple video resolutions without introducing
artifacts, LCD’s produce crisp images only in their native resolution and, sometimes,
fractions of that native resolution. Attempting to run LCD panels at non-native
resolutions usually results in the panel scaling the image, which introduces blurriness
or "blackness" and is susceptible in general to multiple kinds of HDTV blur. Many
LCDs are incapable of displaying very low-resolution screen modes (such as
320x200) due to these scaling limitations.
 Smaller colour gamut compared to CRT and Plasma displays.
 Some types of LCD displays have a more limited colour resolution than advertised
and must use spatial and/or temporal dithering to increase the apparent colour depth.
4.6.2 LCD interface with microcontroller

4.7 L293D
L293D is a dual H-bridge motor driver integrated circuit (IC). Motor drivers act
as current amplifiers since they take a low-current control signal and provide a higher-current
signal. This higher current signal is used to drive the motors.

L293D contains two inbuilt H-bridge driver circuits. In its common mode of
operation, two DC motors can be driven simultaneously, both in forward and reverse
direction. The motor operations of two motors can be controlled by input logic at pins 2 & 7
and 10 & 15. Input logic 00 or 11 will stop the corresponding motor. Logic 01 and 10 will
rotate it in clockwise and anticlockwise directions, respectively.

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,

31
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.
 
Description/ordering information (continued)

1.On the L293, external high-speed output clamp diodes should be used for inductive
transient suppression.
2.A VCC1 terminal, separate from VCC2, is provided for the logic inputs to minimize device
power dissipation.
3.The L293and L293D are characterized for operation from 0C to 70C.

Pin Diagram: 

The L293 and L293D are quadruple high-current half-H drivers. The L293 is
designed to provide bidirectional drive currents of up to 1 A at voltages from 4.5 V to 36 V.
The L293D is designed to provide bidirectional drive currents of up to 600-mA at voltages
from 4.5 V to 36 V. Both devices are designed to drive inductive loads such as relays,
solenoids, dc and bipolar stepping motors, as well as other high-current/high-voltage loads in
positive-supply applications.

32
 All inputs are TTL compatible. Each output is a complete totem-pole drive
circuit, with a Darlington transistor sink and a pseudo-Darlington source. Drivers are
enabled in pairs, with drivers 1 and 2 enabled by 1,2EN and drivers 3 and 4 enabled by
3,4EN. When an enable input is high, the associated drivers are enabled, and their outputs are
active and in phase with their inputs. When the enable input is low, those drivers are disabled,
and their outputs are off and in the high-impedance state. With the proper data inputs, each
pair of drivers forms a full-H (or bridge) reversible drive suitable for solenoid or motor
applications.

Features

 Featuring Uni-trade L293 and L293D Products Now from Texas Instruments
 Wide Supply-Voltage Range: 4.5 V to 36 V
 Separate Input-Logic Supply
 Internal ESD Protection
 Thermal Shutdown
 High-Noise-Immunity Inputs
 Functional Replacements for SGS L293 and SGS L293D
 Output Current 1 A Per Channel (600 mA for L293D)
 Peak Output Current 2 A Per Channel (1.2 A for L293D)
 Output Clamp Diodes for Inductive Transient Suppression (L293D)

Controlling Motors
While turning a motor on and off requires only one switch (or transistor) controlling the
direction is deceptively difficult. It requires no fewer than four switches (or transistors)
arranged in a clever way.
H-Bridges
These four switches (or transistors) are arranged in a shape that resembles an 'H' and thus
called an H-Bridge. Each side of the motor has two transistors, one is responsible for pushing
that side HIGH the other for pulling it LOW. When one side is pulled HIGH and the other
LOW the motor will spin in one direction. When this is reversed (the first side LOW and the
latter HIGH) it will spin the opposite way.

4.8 BLUE TOOTH

33
 Bluetooth is an open wireless technology standard for exchanging data over short
distances (using short wavelength radio transmissions) from fixed and mobile devices,
creating personal area networks (PANs) with high levels of security. Created by telecoms
vendor Ericsson in 1994 it was originally conceived as a wireless alternative to RS-232 data
cables. It can connect several devices, overcoming problems of synchronization.

Bluetooth Overview

Bluetooth is a short-range radio link intended to replace the cable(s) connecting portable
and/or fixed electronic devices. Key features are robustness, low complexity, low power, and
low cost [1]. There are already similar standards in this market, such as IrDA, HomerRF and
IEEE 802.11 family. Bluetooth is designed to offer some unique advantages that none of the
others can provide.

Compared with HomeRF and IEEE 802.11 family, Bluetooth has much lower data rate and
transmission range (10 meter). While HomeRF supports 1.6 ~ 10 Mbps data rate and IEEE
802.11a/b supports 54/11 Mbps, Bluetooth supports only 780 Kbps, which can be used for
721 kbps downstream and 57.6 kbps upstream asymmetric data transfer, or 432.6 kbps
symmetric data transfer. Both HomeRF and IEEE 802.11 operates at 100-meter range, while
Bluetooth operates at up to 10 meters.

BLUETOOTH ARCHITECTURE

The Bluetooth architecture and its mapping to OSI model

34
 Bluetooth communication occurs between a master radio and a slave radio.
Bluetooth radios are symmetric in that the same device may operate as a master and also the
slave. Each radio has a 48-bit unique device address (BD_ADDR) that is fixed.

A master is the only one that may initiate a Bluetooth communication link. However, once a
link is established, the slave may request a master/slave switch to become the master. Slaves
are not allowed to talk to each other directly. All communication occurs within the slave and
the master. Slaves within a piconet must also synchronize their internal clocks and frequency
hops with that of the master. Each piconet uses a different frequency hopping sequence.
Radio devices used Time Division Multiplexing (TDM). A master device in a piconet
transmits on even numbered slots and the slaves may transmit on odd numbered slots.

+Bluetooth technology is designed for and optimized for use in mobile devices.
Mobile computers, cellular handsets, network access points, printers, PDA’s, desktops,
keyboards, joysticks and virtually any other device can have short range Bluetooth radios
operating in the free 2.4GHz Industrial-Scientific-Medical (ISM) band integrated into them
(single chip). It uses Frequency Hop (FH) spread spectrum, which divides the frequency band
into a number of hop channels. Bluetooth radios use tiny radio-frequency transmitters, no
larger than 1.0 by 0.5 inches, that can run off a watch battery for months.  Power
considerations are always important for battery-powered mobile devices, and Bluetooth’s low
power modes meet those requirements with less than 0.1 W active power. And since
Bluetooth is designed for both computing and communications applications, it is designed to
support high quality simultaneous voice and data, with robust data transfer rates of up to 721
Kbps. IT supports both synchronous and asynchronous services and easy integration of
TCP/IP for networking purposes.

The complete Bluetooth protocol stack has been designed to include the existing
protocols as much as possible (like TCP, UDP, OBEX) as well as Bluetooth specific
protocols like LMP and L2CAP. The protocol reuse ensures smooth interoperability between
existing applications and hardware. The Specification is also open, thereby allowing vendors
to build proprietary applications. Although different applications may run over different
protocol stacks, they all use the Bluetooth data link and physical layers. The Applications
layer lies on top of the vCard (internal object representation convention) layer. 

35
Baseband: The Baseband and Link Control Layer enables the RF link Bluetooth units in a
piconet. This layer uses inquiry and paging procedures to synchronize the transmission
between different Bluetooth devices. 

Link Manager Protocol (LMP): The link manager protocol is responsible for setting up link
channels between Bluetooth devices after performing security methods like authentication
and encryption by generating, exchanging, and verifying linking and encryption keys and
negotiating baseband packet size.

Logical Link Control and Adaptation Protocol (L2CAP): L2CAP packets carry payloads
which are carried to the upper layer protocols.

Service Discovery Protocol (SDP): Using SDP, device information, services allowed, and
characteristics of the services are queried between Bluetooth enabled devices.

Cable Replacement Protocol (RFCOMM): RFCOMM is a serial line emulation protocol.

BLUETOOTH TOPOLOGY

There can be only 2 ~ 8 Bluetooth devices talking to each other. This is called a piconet.
Among these devices, there can be only one master device, all the rest are slave devices. A
device can belong to two piconets meantime, serving as slaves in both piconet or a master in
one and slave in another. This is called a bridging device. Bridging devices connect piconets
together to form a scatternet:

RF AND BASEBAND

RF

Bluetooth operates at the unlicensed 2.5GHz Industrial-Scientific-Medical

(ISM) band. There are already many types of devices using this band, such as
baby monitors and garage door remote controls. To avoid interfering with these
devices, Bluetooth devices send out very weak signals (about 1 milliwatt). This
limits the transmission range to 10 meters. It also uses a frequency hopping
36
technique, hopping randomly between 79 1-MHz channels 1600 times per
second (625 us time slot). Each piconet is synchronized to a specific frequency
hopping pattern, so that even different piconets do not interfere with each other.
A piconet can either be static or dynamic (changing when devices move in or
out).

PHYSICAL LINKS

Bluetooth protocol uses a combination of synchronous and asynchronous links. A

Synchronous Connection-Oriented (SCO) link is a point-to-point link between the master and
specific slave. It has symmetric 64 kbps rate, typically used for voice transmission. It uses
reserved time slots, thus can be regarded as a circuit switching link. A master can support up
to 3 SCO links to one or multiple slaves, while a slave can support up to three SCO links to
one master or up to two SCO links to different masters. Master transmits at reserved master-
to-slave time slot, and slave response in the following slave-to-master slot. SCO packets are
never retransmitted.

Asynchronous Connectionless (ACL) links are used for data transmission, with 723.2
downstream/57.6 kbps upstream asymmetric or 433.9 kbps symmetric data rate. There can be
only one ACL link between the master and all active slaves. Only the addressed slave device
can response. ACL packets can be retransmitted for data integrity.

LOGICAL CHANNELS

On top of physical links, there is a sub layer of logical channels, representing different types
of information carried through the physical links. LC channel carries low-level link control
information such as ARQ and flow control; LM channel carries messages for the Link
Manager layer, UA, UI and US channel carries asynchronous, isochronous and synchronous
user data respectively. LC channel is carried in the packet header, others are in the payload.

3.5. PACKET FORMAT

Data in piconet is encoded in packets. The general packet format is shown below:
 

37
Figure 5: General Packet Format of Bluetooth [1]
A packet could contain a shorthanded access code (68 bytes) part of the parker only, or
access code plus header, or all the three parts.
   Access Code
Access code is used for synchronization, DC offset compensation and identification. It is
show below:

Figure 6: Access Code Format of Bluetooth Packet [1]

There are three kinds of access codes. Channel Access Code (CAC) is used to identify the
piconet. All packet

s sent through one channel of the piconet carries the address of the master device. Device
Access Code (DAC) is used for special signalling procedures, such as paging and response to
paging. A DAC for paging carries the address of paged device. Each
Bluetooth device has a unique address called BD_ADDR. It contains two parts: company ID
which is unique across the world, and device ID which is unique within the products of the
company. The Sync Word of the access code is derived from a BD_ADDR address using
(64,30) expurgated block code with an overlay of a 64-bit full length PN sequence.
The preamble is simply a fixed “0101” or “1010” sequence depending on whether the LSB of
the following sync word is “0” or “1”.
If there is no header following in the packet, the access code does not have a trailer.
    Header
Header part of the packet is used by the Link Control (LC) logical channel. It has the
following format:

Figure 7: Header Format of Bluetooth Packet [1]

38
    AM_ADDR: temporary address assigned to active members of the piconet, used on
all packets in both directions sent between the master and the addressed slave. An all-zero
AM_ADDR is used to broadcast to all slaves.
   TYPE: type of packet. There are 12 types of packets for each SCO and ACL physical
links, and four types of common control packets for both.
   FLOW: for flow control.
   ARQN: for ACK.
   SEQN: contains sequence number for packet ordering.
   HEC: header error check for header integrity.
3.6.                Payload
There can be two types of payloads: voice and data. SCO packets only have voice field, while
ACL packets only have data field.

LINK MANAGER

Link Manager messages are used for link setup, security and control. They are
transferred in the payload part of the packet. LM messages are filtered out and
interpreted by LM layer and are not passed to upper layers. LM messages have
higher priority than upper-layer messages.

LOGICAL LINK CONTROL AND ADAPTION PROTOCOL (L2CAP)

L2CAP layer operates over a single ACL link provided by the baseband, which is setup by
the LM layers using LM messages. This ACL link is always available between the master and
any slaves. L2CAP layer serves upper layer by transmitting data over channels (Fig. 8). Each
channel has two end points and a logical channel ID (CID).

39
APPLICATIONS OF BLUETOOTH

Mobile computers
Cellular handsets
Network access points
Printers, PDA’s, desktops, keyboards, joysticks

CHAPTER-5

EXECUTION DETAILS

The Arduino is a family of microcontroller boards to simplify

electronic design, prototyping and experimenting for artists, hackers,
hobbyists, but also many professionals. People use it as brains for their
robots, to build new digital music instruments, or to build a system that lets
your house plants tweet you when they’re dry. Arduinos (we use the
standard Arduino Uno) are built around an AT mega microcontroller —
essentially a complete computer with CPU, RAM, Flash memory, and
input/output

What you will need:

40
A computer (Windows, Mac, or Linux)
An Arduino-compatible microcontroller (anything from this guide should
work)
A USB A-to-B cable, or another appropriate way to connect your Arduino-
compatible
microcontroller to your computer
(Check out this USB buying guide if you’re not sure which cable to get.

41
Installing the Drivers for the Arduino Uno (from Arduino.cc)
Plug in your board and wait for Windows to begin its driver installation
process After a few moments,
the process will fail, despite its best efforts

Click on the Start Menu, and open the Control Panel

While in the Control Panel, navigate to System and Security. Next, click on
System Once the System window is up, open the Device Manager

Look under Ports (COM & LPT). You should see an open port named
“Arduino UNO (COMxx)”.
If there is no COM & LPT section, look under ‘Other Devices’ for
‘Unknown Device’

42
Finally, navigate to and select the Uno’s driver file, named
“ArduinoUNO.inf”, located in the “Drivers” folder of the Arduino Software
download (not the “FTDI USB Drivers” sub-directory). If you cannot see the
.inf file, it is probably just hidden. You can select the ‘drivers’ folder with
the ‘search sub-folders’ option selected instead.

After following the appropriate steps for your software install, we are now
ready to test your first program with your Arduino board!

Launch the Arduino application

If you disconnected your board, plug it back in

Open the Blink example sketch by going to: File > Examples > 1.Basics >
Blink

43
Select the type of Arduino board you’re using: Tools > Board > your board
type

44
Select the serial/COM port that your Arduino is attached to: Tools > Port >COMxx

45
If you’re not sure which serial device is your Arduino, take a look at the
available ports, then unplug your Arduino and look again. The one that
disappeared is your Arduino.

With your Arduino board connected, and the Blink sketch open, press the
‘Upload’ button

After a second, you should see some LEDs flashing on your Arduino,
followed by the message ‘Done Uploading’ in the status bar of the Blink
sketch.

After following the appropriate steps for your software install, we are now
ready to test your first program with your Arduino board!

Launch the Arduino application

If you disconnected your board, plug it back in

Open the Blink example sketch by going to: File > Examples > 1.Basics >
Blink

46
Select the type of Arduino board you’re using: Tools > Board > your board type

Select the serial port that your Arduino is attached to: Tools > Port >xxxxxx
(it’ll probably look something like “/dev/tty.usbmodemfd131” or
“/dev/tty.usbserial-131” but probably with a different number)

47
If you’re not sure which serial device is your Arduino, take a look at the
available ports, then unplug your Arduino and look again. The one that
disappeared is your Arduino.

With your Arduino board connected and the Blink sketch open, press the
‘Upload’ button

After a second, you should see some LEDs flashing on your Arduino,
followed by the message ‘Done Uploading’ in the status bar of the Blink
sketch.

If everything worked, the onboard LED on your Arduino should now be

blinking! You just programmed your first Arduino!

48
 CHAPTER-6

ADVANTAGES & APPLICATIONS

Prevention from dangerous incidents.

Minimization of –ecological consequences –financial 

loss –a threat to a human life. 

Protect fireman from risk their life.

Provide facility to fire station to extinguish the fire.

APPLICATIONS

Fire department  Factory

 High explosion area

chemical industries

  Petrol station 

49
 CHAPTER-7

CONCLUSION

Proposed approach of modular design strategy was a good solution in implementing

the firefighting robot to help people at the critical condition. The proposed robot can move in
forward, backward, left, right and can stop also. It reduces human efforts and protect their
property. Robot detects fire and extinguish the fire with the help of sprinkler pump. For
extinguishing that fire robot has to reach up to there and it moves towards the target with the
obstacle avoidance property. In this way robot can detects obstacle and avoid them also.

50
 CHAPTER-8

BIBLIOGRAPHY

[1] S. Jakthi Priyanka. Sangeetha, “Android controlled firefighting robot”, International

journal of innovative science Engg. And Technology ,Volume 3, 2017.

[2] Gignesh Patoliya ,Haard Mehta, “Arduino Controlled War Field Spy Robot using Night
Vision Wireless Camera and Android Application”, 5th Nirma University International
Conference on Engineering (NUiCONE),2015.

[3] Mohammed Faisal1, Ramdane Hedjar, Mansour Al Sulaiman and Khalid Al-
Mutib ,”Fuzzy Logic Navigation and Obstacle Avoidance by a Mobile Robot in an Unknown
Dynamic Environment”, International Journal of Advanced Robotic Systems, Vol 13,2013.

[4] Saravanan P ,” Design and Development of Integrated Semi - Autonomous Fire Fighting
Mobile Robot”, International Journal of Innovative Science, Engineering Technology,2015.

[5] Satya Veera Pavan Kumar Maddukuri, Uday Kishan Renduchintala, Aravinthan
Visvakumar ,”A Low-Cost Sensor Based Autonomous and Semi-Autonomous Fire-Fighting
Squad Robot”, IEEE,2016. [10] V. Raudonis,R. Maskeliunas, ”Trajectory Based Fuzzy
Controller for Indoor Navigation”, IEEE, 2011.

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