ARTICULATE ROBOT

ABSTRACT

Robots are becoming part and parcel of day-to-day life. Applications of robots can be seen in almost all
the fields such as household application, medical field, education field, defense field and so on. This
project is an attempt to design and develop an Articulate Robot which can be used to convey messages to
human beings.

The Articulate Robot can be used to detect the presence of the human being and announce the message.
The detection of human being is done using a Passive Infrared (PIR) module. The message to be
announced is stored in ISD1820 voice recorder and playback module. The PIR module will send a signal
to the Arduino UNO upon detection of human being. The Arduino UNO will turn evoke the ISD1820
module to announce the pre stored audio message through speaker. The robot can be used at the entrance
of the department to greet the person entering the department. It can also be used to convey some
important messages to the person. Further this robot can be implemented in schools to announce
important messages
to students, in offices it can be used to circulate the notices. In future one can add the mobility to the
same robot so, that it can, travel and announce the message.

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Table of Contents

CONTENTS PAGE NUMBER

CERTIFICATE I
Chapter 1: Introduction 3-10
AKNOWLEDGMENT II
Chapter 2: Literature Survey 11-13
ABSTRACT III
Chapter 3: Methodology 14-15

Chapter 4: Hardware and Software design 16-27

Chapter 5: Results and discussion 28

Chapter 6: Conclusion and Future scope 29

References 30-31

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Chapter 1:
INTRODUCTION

This chapter introduces Robotics followed by Articulate robot, applications and motivation. Objectives and
organization of report are given at the end of this chapter.

1.1 Robotics:
The term "robot" derives from the Czech word "Robota" meaning slave or forced labour. However, when we
think of a robot, the image that comes to mind, thanks to science fiction, is that of a machine with human
appearance and acting as such. In fact, the origin of the word "robotics" is attributed to Isaac Asimov, writer
of great narrations on the subject. Robot is a mechanical device that performs human tasks, either
automatically or by remote control and study and application of robot technology is called Robotics. Robot
has ability to perform on its own, it can do different job at different times and in different sequence, it can be
programmed, can take own decisions and has sensory feedback. The three “Laws of Robotics” are:

Law 1: A robot may not harm a human being or through inaction, allow a human being to come harm.

Law 2: A robot must obey orders given to it by human being, except where such orders would conflict the
first law.

Law 3: A robot must protect its ow existence as long as such protection does not conflict with the first law.

A robot is a system that combines many subsystems that interact among themselves and with the
environment.

Fig. 1.1 A Robot system.

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Fig. 1.1 shows the general anatomy of a robot. The Robot consists of a base which is fixed, manipulator arm,
and an end-effector which is also called as gripper, drive and actuators, controller, sensors and interfaces
which are used for connecting the robotic subsystem to the external world.[1]

1.1.1 Benefits of Robots:

The first industrial robot was introduced in U.S. in 1960s. Since, then the technology has improved
immensely which has led to many applications of robots. The advancement of robotics has also caused
robots to become more widespread across various industries ranging from manufacturing to health care.
Some major benefits of robotic technology are listed below.

Productivity: Robots produce more accurate and, high quality work and they rarely make mistakes and are
more precise than human workers.

Safety: Robots safeguard workers from performing dangerous tasks. They can work in hazardous
conditions, such as poor lighting, toxic chemicals, or tight spaces. Robots increase worker safety by
preventing accidents since humans are not performing risky job.

Savings: Robots save time by being able to produce a greater magnitude of products, they also reduce the
amount of scrap generated during manufacturing, by saving the material due to their accuracy.

Consistency: Robots never need to separate their consideration between a large number of things. Their
work is never dependent upon the work by other individuals.

Precision: The robots at workplace are with a more noteworthy level of precision and exactness. They work
with the comparable speed the entire day unlike human beings, their vitality never blurs away. Additionally,
they can repeat the assignment any number of times in a day without getting worn out. Robots will
dependably convey quality.

Increased Output: A robot is set on the mechanical production system and assembles a bit of the hardware
before it is passed on to a human labourer. This enables people to keep away from these basic assignments
and it can likewise guarantee that different workers have plenty of things to do.

Flexibility: The robots are flexible in working. They can work even in the unfriendly conditions, able to
bend and stretch in ways that humans cannot mimic. As the robots are more and more highly, evolved they
become more flexible, and easier for manufacturers to integrate into their production lines.[2]

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1.1.2 Applications of Robots:

Robots are being used in a lot of branches of our life. Among them, some applications of robots in our daily life are
shown in Fig. 1.2.:

a) Transportation b) Cooking

c) Hospitals d) Education

e) As a friend f) Defence

Fig. 1.2 Applications of Robots

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Automated Transportation (Self-driving Robot): The first widespread, high visibility use of mobile
robots are seen by Autonomous Self-driving cars. The progress of automated self-driving vehicles
development is surprising in the recent 10 or 15 years. But with robotics, they are more efficient and danger
free. In a modern world, the automated self-driving vehicle is available. Like buses, trams, trains are
automated. The day is not that far when human drivers won’t be needed for driving vehicles. As a result, the
accidents may not occur.

Cooking Robots: There are many programmable robots which can cook food according to your choice. we
just have to set the quantity of the ingredients of the food. The rest will be done by the robot. Many robots
are now introduced which can copy us. All we need is just do the cooking in front of the robot for once. The
movement of our body is recorded by the camera. From then, the robot will copy our actions to make that
food for us. This kind of robotic cooking assistants are introduced in many hotels and houses.

Medicine: In the recent past, robots were only used in the clinical system just as assistants. But now, they
are introduced as part and parcel of the clinical system. Though it is not possible yet, it is not too far that
robots will replace surgeons in surgical operations. Robot system is established in clinics around the world.

Education: Robotics is now called as a General-Purpose Technology. The robot performs as a teacher in the
classroom which is controlled by the person. Its cameras are his eyes and body, is for interacting with other
students and teachers. The Humanoid robots look like humans. So, it is easy to interact with them as they
look like a human. These robots can help the autistic students by teaching social cues, educational lessons. 

Robot as friend: Artificial intelligent robots are so smart that they can act as friends. As engineers are
always working to make artificial intelligence better, robots are more acting like a human. Some robots
monitor us. They can do things according to our choice. These make those robots friend. Robots are used as
explorers. Many spaceships are operated by robots. It is sometimes a very dangerous job for a human. 

Security, Defence, and Surveillance: In the Job of a security, defence and surveillance the use of robot is
normal. It surveys the desired area. It immediately notifies the owner if there is any type of disturbance. This
kind of robot is used in the military. This robot helps people to monitor the skies, ground, and water from a
remote location. [3]

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1.2 Articulate Robot:

Articulate Robot is an important concept for communication with the people. In the project design,
development and implementation of a robot which detects the presence of a person and greets with an audio
output message is announced.

Robot can keep up a conversation the same way people do, by speaking. Robots are changing the world by
helping humans do things with greater efficiency and doing things that were not possible before. Robots
facilitate disaster response, augment physical abilities, serve in areas where interaction with people is
needed, and enable exploration beyond the boundaries of Earth.

Some of the materials to keep in mind when designing and building robots are as follows.

1)Steel: Steel is one of the materials used most often by robot builders. This sturdy metal is a smart choice if
you’re building a robot that needs to stand up to harsh conditions. It’s possible to harden the steel to between
100,000 and 300,000 pound-force per square inch (psi) in many cases.

2) Rubber: Demand is growing for commercial robots with flexible exteriors, such as human-like “skin.”
Moreover, it’s advantageous for robots that work alongside humans to have soft surfaces. Rubber and soft
plastics can meet that goal.

3) Aluminum: Although aluminum has a higher price point than steel, it’s easier to shape and is lighter.
Aluminum is also a good material if you’re worried about a robot’s exterior becoming rusty over time
because aluminum does not rust.

4) Kevlar: Kevlar is a synthetic fiber frequently used for bulletproof vests. Some of its characteristics make
it worth evaluating for robot exteriors, too. Many heat-resistant gloves feature Kevlar because the material
does not melt or drip when exposed to hot environments. Also, Kevlar does not degrade in 50 degrees
Fahrenheit, nor do cryogenic conditions adversely affect the fibers.[4]

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1.3 Problem Statement:

Design, develop and implement a robot which detects the presence of a person and greets with an
audio output message.
The project attempts to design and implement a Robot which detects presence of person and greets with an
audio output message. Articulate refers the ability to speak fluently and coherently. This Articulate Robot
can be used at the entrance of our department to greet the person entering and announce some important
messages. Passive Infrared module (PIR) is used to detect a person and Arduino is used to store, retrieve the
audio snaps. The main advantage of Arduino is fast processing and ease of interfacing. Speaker is used to
play the audio message. Totally this robot is used to attract and greet the person as “Welcome to Electronics
and Instrumentation Engineering Department”.

1.4 Motivation:
In previous semester we have learnt about robotics subject, there we have gone through in depth of robot
movements, it's importance and application. This motivated us to make an Articulate robot. Basically,
welcoming of a person is casual thing but to make it as more attentive we planned to make an articulate
robot.

Articulate robots are becoming suitable choices for many commercial applications due to the capability of
the robot to perform tasks independently. It's crucial that they are taught how to communicate with the
humans that they cross paths with, whether they are co-workers or complete strangers. Natural language will
play an important role, but it's only one part of greater whole. More than words when humans talk to one
another, what's said only comprises a small amount of the information being relayed. Customer service
positions, especially those where there's a limited range of responsibilities, will be a perfect fit for machines
once they are able to hold a natural, productivity conversation reliably.

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Fig.1.4 An interacting robot

Articulate robot is an effective intervention for supporting behavior changes but traditionally depends on
face-to-face dialogue with a human counselor. This study addressed a key challenge for a goal of developing
social robotic motivational interviews creating an interview protocol, within the constraints of current
artificial intelligence, which the participants will find engaging and helpful. These, articulate robots have
been used to provide educational support for children and assistance to elderly individuals. They have
proven acceptable and effective for helping children with type 1 diabetes to learn about their condition and
how to manage it and are being trailed as therapeutic aids for children with autism spectrum disorders, with
results showing therapeutic outcomes similar to those of one-to-one therapy. [5]

1.5 Objectives

1. To select appropriate sensor for identify human beings

2. To understand the working of selected sensor sensor
3. To study Arduino
4. To build the link between audio-sense communication as a means of output audio message
5. To interface speaker with Arduino
6. To develop a prototype of the robot by integrating with Arduino, PIR sensor and speaker

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1.6 Organization of Report:

 Chapter 2 deals with the literature survey of Articulate Robot which describes components and
techniques used to develop the project.
 Chapter 3 explains the Block diagram and Methodology of implementation where the various stages
of the project are listed.
 Chapter 4 provides the brief explanation of hardware components used to build the circuit and in
software design the sequence of operation of Articulate Robot is discussed.
 Chapter 5 describes the results and pictorial representation of interconnection of various components
and prototype of the robot is shown.
 Chapter 6 deals with the conclusion and future scope of the project.

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Chapter 2:
LITERATURE SURVEY

This chapter describes the detailed literature survey carried to implement this project.

[1] Y. A. Badamasi, "The working principle of an Arduino," 2014 11th International Conference on

Electronics, Computer and Computation (ICECCO), 2014, pp. 1-4, doi: 10.1109/ICECCO.2014.6997578.

The paper represents the detailed study of Arduino UNO and what is the need of Arduino UNO. Working
principle of Arduino is analyzed. Now a days many peoples are attracted towards Arduino because it makes
the things easy due to simplified version of programming language. This paper describes that the hardware
components used in the Arduino board, the software used to program (Arduino board) with the guide on
how to write and build your own projects and a couple of examples of an ordinary project.

[2] O. Urfaliglu, E. B. Soyer, B. U. Toreyin and A. E. Cetin, "PIR-sensor based human motion event
classification," 2008 IEEE 16th Signal Processing, Communication and Applications Conference,
2008, pp. 1-4, doi: 10.1109/SIU.2008.4632611..

The paper describes the working methodology of a PIR sensor. Modified passive infrared radiation or
pyroelectric infrared (PIR)sensor is used. This sensor is used to detect five different human motion with one
additional "no action" event. Here the task is to find or classify specific variable processes. Most of the
applications to find the motion of the human are based on video sensor data. The alternative or
complementary approach is to use low cost PIR sensor for such applications. This classification shows the
experiments that are using PIR sensor in different human motion events in a room can be successfully
detected.

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[3] O. Ogorodnikova, "Robot introduction in Human work environment. Developments, Challenges

and Solutions," 2007 IEEE International Conference on Computational Cybernetics, 2007, pp. 167-
172, doi: 10.1109/ICCCYB.2007.4402029.

The paper shows that Robots are an inevitable part of the future industry. Their increased utilization will
result in increased productivity, safer work environment and very helpful in human daily life. However, their
successful implementation will only happen if their use will only benefit and not harm the human. That is
why it is crucial to take into consideration safety aspect in human robot interaction and robotization on the
whole. The literature has attempted to summarize the major areas of research currently under investigation
in the development of safe and reliable robot systems and its interaction with environment. These areas
include hazards investigation, robot design, standards development for safety, methods of safeguarding, etc.
This study is aimed at understanding common safety problems with robot installation in human working
environment. The purpose of this paper is to draw upon the vast bank of research in robot safety and indicate
how the existing results may be generated and applied to the field of human-robotic interaction.

[4] S. Ahmed, R. Islam, M. S. R. Zishan, M. R. Hasan and M. N. Islam, "Electronic speaking system
for speech impaired people: Speak up," 2015 International Conference on Electrical Engineering and
Information Communication Technology (ICEEICT), 2015, pp. 1-4, doi:
10.1109/ICEEICT.2015.7307401.

The paper describes the electronic speaking system which can be used for interactive communication with
speech impaired people. Speech impaired persons usually use sign language. But general people can't
understand the sign language so it becomes difficult for a speech impaired person to communicate with
them. In this project an electronic speaking system was developed to ease the communication process of
speech impaired people. A glove was developed which consists of five flex sensors. When a gesture is made
with the glove, the change in resistance of flex sensors fed into the Arduino Nano and specific prerecorded
audio command for that gesture is played from SD card through speaker and the text command for that
gesture is displayed on the LCD. There are four gestures that are designed for user input so that user can
play his/her chosen audio commands using those gestures. This device not only helps a speech impaired
person to communicate with a normal person via audio commands but also helps him/her to communicate
with a hearing-impaired person by displaying the text commands on the LCD.

[5] U. B. Sai, K. Sivanagamani, B. Satish, M. R. Rao, "Voice Controlled Humanoid Robot with
Artificial Vision," International Conference on Trends in Electronics and Informatics (ICEI),
Tirunelveli, India, 2017, pp. 505-508, doi:10.1109/ICOEI.2017.8300979.

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The paper describes design of voice controlled Humanoid robot which can be used in many fields such as in
education, marketing etc. So, these robots are meant for human luxury or safety. Humanoid robot is used to
recognise the base object using image processing techniques and for detection purpose This system is
programmed using python language for recognition of object or face. For controlling the mechanism of
robot, Arduino is used. These techniques are implemented to the robot to recognise the person or object and
robots speaks name of the person or object. This can be used in real-time automated systems.

[6] R. Bamdale, S. Sahay and V. Khandekar, "Natural Human Robot Interaction Using Artificial
Intelligence: A Survey," 2019 9th Annual Information Technology, Electromechanical Engineering
and Microelectronics Conference (IEMECON), 2019, pp. 297-302, doi:
10.1109/IEMECONX.2019.8877044.

In the era of Artificial Intelligence and robotics, it's imperative to have a friendly system to communicate
with robots so they can play a very crucial role in every-day human life. Human Robot Interaction is the
foremost system in robotics today to verbally communicate with a robot in a natural way. The major struggle
of the interactive system not only lies in how to teach robots to speak but also in helping to make them
understand the meanings and real-world around us. This article reviews the current novel and inventive
technologies to have a perfect and robust interactive system, also the importance of natural communication
along with the evolution of robots since an early age. The process of language understanding has its large
significance in human-robot communication with the rising technology of Artificial Intelligence.
Reinforcement Learning also will play a bigger role in understanding the natural language for robots. This
paper is concluded by discussing various pitfalls, advantages and future scopes of different technical aspects
of Human Robot Interaction, with the hope to have the absolute interactive robots in near future, that
humans have always dreamed of.

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Chapter 3:

METHODOLOGY

3.1 Block Diagram:

Block diagram shown in Fig. 3.1 shows the various elements of the robot.

Power
supply

PIR Arduino
Speaker
module UNO

Recorder and
Playback Module

Fig 3.1 Block diagram of Articulate Robot.

Fig. 3.1 shows the block diagram of the proposed project which consists of Arduino UNO it is an open-
source microcontroller board with sets of Digital and Analog, input/output pins that may be interfaced to
various expansion boards and other circuits, it can be powered using Adaptor as external power supply,
Passive Infrared (PIR) module is electronic sensor it allows to sense motion of objects in this project it is
used for detecting persons who enters the department, Recorder and playback module that is ISD 1820 used
to record the audio and the audio is played using 8 ohm 0.5 watt speaker, it produces audio output message
that can be heard by the listeners.

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3.2 Methodology:

The proposed project is for designing and developing an Articulate Robot which is used for greeting the
person or conveying any other audio output messages. The various stages of the project are listed below

Stage 1: Selection of an appropriate sensor for detection of human beings.

Stage 2: Understanding the working and characterization of the selected sensor.

Stage 3: Selection of appropriate audio recorder to store audio message.

Stage 4: Interfacing sensor and audio recorder to the Arduino.

Stage 5: Developing the program to read from the sensor and appropriately send the audio message to the
speaker.

Stage 6: Developing a prototype of Articulate Robot by integrating PIR sensor, Recorder and playback
module and speaker to Arduino.

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Chapter 4:
HARDWARE AND SOFTWARE
The list of the components used in the design and development of articulate robot is as follows:

 Arduino UNO
 PIR Module
 Recorder and Playback module
 Adapter
 Speaker

4.1. Arduino UNO:

The Arduino Uno is an open-source microcontroller board that is based on the Microchip ATmega328P (for
Arduino UNO R3) or Microchip ATmega4809 (for Arduino UNO WIFI R2) micro-controller by Atmel and
was the first USB powered board developed by Arduino.

The Arduino Uno R3 with Cable is a microcontroller board based on the AT-mega (datasheet). It has 14
digital input/output pins (of which 6 can be used as PWM outputs), 6 analog inputs, a 16 MHz ceramic
resonator, 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.

"Uno" means one in Italian and was chosen to mark the release of Arduino Software (IDE) 1.0. The
Uno board and version 1.0 of Arduino Software (IDE) were the reference versions of Arduino. The
Uno board is the first in a series of USB Arduino boards, and the reference model for the Arduino
platform.

Fig.4.1 Arduino UNO board

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4.1.1 Specifications of Arduino UNO:

 Microcontroller: ATmega328p
 Operating Voltage (VDC): 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
 PWM Digital I/O Pins: 6
 DC Current per I/O Pin: 40 mA
 DC Current for 3.3V Pin: 50 mA
 Flash Memory: 32 KB (ATmega328) of which 0.5 KB used by Bootloader
 SRAM: 2 KB (ATmega328)
 EEPROM: 1 KB (ATmega328)
 Clock Speed: 16 MHz

4.1.2 Power

The Arduino Uno board 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 center-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 from 6 to 20 volts. If supplied with less than 7V, however, the 5V pin may supply less
than five volts and the board may become 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:

 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.

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 5V: This pin outputs a regulated 5V from the regulator on the board. The board can be
supplied with power either from the DC power jack (7 - 12V), the USB connector (5V), or
the VIN pin of the board (7-12V). Supplying voltage via the 5V or 3.3V pins bypasses the
regulator, and can damage your board. We don't advise it.

 3.3V: A 3.3volt supply generated by the on-board regulator. Maximum current draw is 50
mA.
 GND: Ground pins.

 IOREF: This pin on the Arduino board provides the voltage reference with which the
microcontroller operates. A properly configured shield can read the IOREF pin voltage and
select the appropriate power source or enable voltage translators on the outputs to work
with the 5V or 3.3V.

Fig.4.1.1 Pin diagram of Arduino UNO

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4.1.3 Memory
The ATmega328 has 32 KB (with 0.5 KB occupied by the bootloader). It also has 2 KB of SRAM
and 1 KB of EEPROM (which can be read and written with the  EEPROM library ).

4.1.4 Input and 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 20
mA as recommended operating condition and has an internal pull-up resistor (disconnected by
default) of 20-50k ohm. A maximum of 40mA is the value that must not be exceeded on any I/O
pin to avoid permanent damage to the microcontroller. In addition, some pins have specialized
functions:

 Serial: 0 (RX) and 1 (TX). Used to receive (RX) and transmit (TX) TTL serial data. These
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 Analog write () function.
 SPI: 10 (SS), 11 (MOSI), 12 (MISO), 13 (SCK). These pins support SPI communication
using the SPI library.
 LED: 13. There is a built-in LED driven by digital pin 13. When the pin is HIGH value,
the LED is on, when the pin is LOW, it's off.
 TWI: A4 or SDA pin and A5 or SCL pin. Support TWI communication using the Wire
 library.

The Uno has 6 analog inputs, labeled A0 through A5, each of which provide 10 bits of resolution.
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 analog reference () function. There are a couple of other
pins on the board:

 AREF: Reference voltage for the analog inputs. Used with analog reference ().
 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.

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4.1.5 Programming

The Arduino Uno can be programmed with the (Arduino Software (IDE)). Select "Arduino Uno
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 pre-programmed 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).[6]

4.2 PIR Module:

PIR stands for Pyroelectric Infrared Radial Sensor or Passive Infrared Sensor. PIR is an electronic sensor
which detects the changes in the infrared light across certain distance and gives out an electrical signal at its
output in response to a detected IR signal. It can detect any infrared emitting object such as human beings or
animals if it is the range of the sensor, or moves away from the range, or moves within the range of the
sensor.

Fig.4.2 PIR Module

The sensing operation of a pyroelectric infrared sensor is based on the property or characteristic which
becomes responsible for altering the polarization of its material in response to temperature changes.

These sensors employ a dual or a pair of sensing elements for sensing the IR signals in two steps, which
ensures a fool proof detection by cancelling the unwanted temperature variations within the existing EMI
stage. This two-step sensing process improves the overall stability of the sensor and helps to detect IR
signals only from human presence.

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4.2.1 Specifications of PIR Module:

 Recommended Model: D204B

 Encapsulation Type: T0-5
 IR Receiving Electrodes: 2*1mm. 2 elements
 Window Size: 5*3.8mm
 Spectral Response: 5-14micromtr
 Transmittance: >=75%
 Signal Output [V p-p]: >=3500mV
 Sensitivity: >=3300V/W
 Detectivity: >=1.4*10^8cmHz^1/2/W
 Noise [V p-p]: <70mV
 Output Balance: <10%
 Offset Voltage: 0.3-1.2V
 Supply Voltage: 3-15V
 Operating Temperature: -30 to +70 degree Celsius
 Storage Temperature: -40 to +80 degree Celsius [7]

Fig. 4.2.1 Pin diagram of PIR Module

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4.3 ISD1820 Record and Playback Module:

ISD1820 is a small Voice Recorder and Playback module that can do the multi-segment recording. The user
can achieve a high quality of recording (for 8 to 20secs) for each application with the adjustment of the on-
board resistor. This Voice Recorder/Playback module is designed with embedded-Flash memory, which can
hold data for up to 100 years and erase/record the life cycle up to 100,000.

Fig.4.3 ISD 1820

4.3.1 Features of ISD1820 Record and Playback Module

 Operating Voltage: Wide power supply ranges from 2.4V to 5.5V DC

 With the internal audio amplifier, this board can drive 8 Ohm 0.5W speakers directly.
 An on-board microphone.
 Dual operating modes

a) Standalone mode b) Microcontroller driven mode

 Push‐button interface, playback can be edge or level activated

 Record up to 20 seconds of audio
 Automatic power-down mode (standby mode)

4.3.2 Pin description of ISD 1820:

 REC(RECORD) - Pin is active HIGH to start recording and must remain high while the recording is
in process.  The red LED will light while recording.  Once the pin goes LOW or it runs out of
memory, an End-Of-Message (EOM) marker is automatically recorded.
Pressing and holding down the pushbutton will also record a message.  Release the button to stop the
recording.

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 PLAYE (PLAY Edge) - Pin is edge activated when it transitions to, HIGH.  The recording will play
until the EOM is reached.  The pin can be set LOW while message plays and it will not terminate the
message.  When EOM is reached the red LED will flash. Pressing the pushbutton will play the entire
recorded message.
 PLAYL (PLAY Level) - Pin is active HIGH.  When pin goes HIGH, the message will play until the
pin is set back to LOW or the EOM is reached. Pressing the pushbutton will play the recorded
message until the button is released or the EOM is reached.
 REPEAT (REPEAT Switch) - if moved to the right will play the recorded message continuously.
 FT (FT Switch) - if moved to the right will enable a Feed Thru mode of operation.  In this mode of
operation, any audio picked up by the mic will be sent directly out to the speaker
 LED (LED Output) - Normally HIGH, goes LOW when LED is lit
 VCC -VCC can range from 2.6 to 5.5V. Only one VCC pin needs to be connected
 GND - Ground should be common with the NC.  Only one GND pin needs to be connected
 NC- No Connect [8]

Fig.4.3.1 Pin diagram of ISD 1820

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4.4 Power Supply (Adapter):

An adapter is a type of external power supply, they are used with electrical devices that require power but do
not contain internal components to derive the required voltage and power from mains power. Use of an
external power supply allows portability of equipment powered either by mains or battery without the added
bulk of internal power components, and makes it unnecessary to produce equipment for use only with a
specified power source.

Fig.4.4 Adapter

4.4.1 Features of Adaptor

 Excellent Quality
 Short Circuit, Over Voltage & Over Current Protection
 Incredibly Low Fault Rates
 No Minimum Load
 This power supply is a regulated Center Positive power supply
 It's plug design is for Indian power socket so, no plug converter is required
 Compact size & light weight
 High Reliability
 Regulated Stable Voltage
 Good quality SMPS Based Adapter
 Stabilized Output, low ripple & low interference
 Single Output Voltage
 High Efficiency & low energy consumption

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4.5 Speaker

A speaker is an electro acoustic transducer, a device which converts an electrical audio signal into a
corresponding sound. The most widely used type of speaker is the 2010s is the dynamic speaker, invented in
1925 by Edward W. Kellogg and Chester W. Rice. The dynamic speaker operates on the same basic
principle as dynamic microphone, but in reverse, to produce the sound from electrical signal. When an
alternating current electrical audio signal is applied to its voice coil, a coil of wire suspended in a circular
gap between the poles of permanent magnet, the coil is forced to move rapidly back and forth due to
Faraday's law of induction, which causes a diaphragm attached to the coil to move back and forth, pushing
on the air to create sound waves. Besides this most common method, there are several alternative
technologies that can be used to convert an electrical signal into sound. The sound source must be amplified
or strengthened with an audio power amplifier before the signal is then to the speaker.,

Fig.4.5 Speaker

4.5.1 Features and Specification of Speaker

 Nominal Size: 20 mm
 Impedance: 8 Ohm ± 15% at 1 K Hz 1V
 Resonant frequency: 750 Hz± 150 Hz at 1V
 Sound pressure level: 86 dB/w ± 3 dB
 Response: 10 dB (max)
 Input power: 0.5W
 Handling capacity: 1W
 Operation must be normal at program source of 0.5W
 Buzz, rattle, etc. must be normal at sine wave of 2 V
 Magnet Size:  8 x 1 mm
 Heat test: 60 ± 2° C
 Humidity test: 40 ± 2° C

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The purpose of speaker is to produce audio output that can be heard by the listeners. It receives audio input
from computer or audio receivers. The, input fed to speaker is in Analog or digital form. Analog speakers
simply amplify electromagnetic waves into sound waves while digital first convert the signal into Analog
and then amplify it.[9]

4.6 Hardware Design

Adapter

5/20v

PIR o/p
Arduino
module GND

Vcc P.E GND

s.p+
ISD
Speaker
s.p-
1820

Fig.4.6 Circuit connection

The Fig 4.2 shows the circuit connection of articulate robot circuit. The circuit consists of mainly PIR
module is used to identify the presence of person, to store the data Arduino Uno is used, IST 1820 module is
used to store the audio signal and speaker is used to announce the data.

In the proposed project it is required to greet a person who enters the department by announcing "welcome
to electronics and Instrumentation Engineering" the data will be stored in Arduino Uno that it will convert
into audio signal in ISD 1820 module, presence of a person is identified by PIR module then using speaker
the instruction is announced.

4.7 Software Design

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Software implementation includes the operation of identifying the presence of a human being. If there exist
a person in front of robot then through PIR module person is identified and audio output message is
announced through speakers. If the person is not present in front of the model then the sensor will always
search for the presence of person. Fig.4.7 shows the flow chart of operation of robot.

Start

Presence of No
a person

Yes

Audio output
message

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Chapter 5:
RESULTS AND DISCUSSION

Whenever a when a person comes and stands in front of the robot, the robot will announce the fed message.
As of now we have stored the message as “Welcome to Electronics and Instrumentation Engineering”.
And also, there is an option for changing the message, whatever message we feed to the ISD module, that
message will be announced.

a. b.

Fig.5.1 a. Interconnection of various components

b. Prototype of Articulate Robot

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Chapter 6

CONCLUSION AND FUTURE SCOPE

CONCLUSION

This Articulate Robot is used for greeting purpose using sensor and it also conveys any other message
provided by the user. Now a days, robots are used everywhere this articulate robot is one example of
welcoming the peoples, or it can be used for announcing any other important messages.

This project helped us to learn about Arduino and its working, programming, about PIR module and
ISD1820 recorder and playback module. The project gave an exposure to the field of robotics and embedded
systems.

FUTURE SCOPE
 The prototype of robot can be used for various purpose like conveying a message in a schools, hospitals,
and offices.
 In future one can add the mobility to the same robot so, that it can, travel and announce the message.
 In offices we can use this for circulating the notices, even it can be sent to classrooms to announce
certain messages.
 Instead of PIR module, Image processing can be used for this mini project so that it can detect the
presence of person particularly.

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REFERENCES
[1] S.R. Deb and Sankha Deb, “Robotics Technology and Flexible Automation,” Second Edition, Tata
McGraw Hill Education Private Education Private Limited,2010.

[2] https://www.analyticsinsight.net/top-7-benefits-of-robots-in-the-workplace/

[3] https://engineering.eckovation.com/10-impacts-robots-everyday-life/

[4] https://www.therobotreport.com/materials-rugged-robot-design-building/

[5] T. Uchida, T.Minato and H. Ishiguro, "A values-based dialogue strategy to build motivation for
conversation with autonomous conversational robots," Proceedings of 25th IEEE International Symposium
on Robot and Human Interactive Communication (RO-MAN), 2016, pp. 206-211, doi:
10.1109/ROMAN.2016.7745112, 2016

[6] Y.A. Badamasi,"The working principle of an Arduino,” Proceedings of 11th International Conference on
Electronics, Computer and Computation (ICECCO), pp.1-4, doi: 10.1109/ICECCO.2014.6997578, 2014

[7] O. Urfaliglu, E. B. Soyer, B. U.Toreyin and A. E. Cetin,"PIR-sensor based human motion event
classification," Proceedings of IEEE 16th Signal Processing, Communication and Applications Conference,
pp. 1-4, doi: 10.1109/SIU.2008.4632611, 2008

[8] O. Ogorodnikova,"Robot introduction in Human work environment. Developments, Challenges and

Solutions," Proceedings of IEEE International Conference on Computational Cybernetics, 2007, pp. 167-
172, doi: 10.1109/ICCCYB.2007.4402029, 2007

[9] S. Ahmed, R. Islam, M. S. R. Zishan, M. R. Hasan and M. N. Islam, "Electronic speaking system for
speech impaired people: Speak up," Proceedings of International Conference on Electrical Engineering and
Information Communication Technology (ICEEICT), 2015, pp. 1-4, doi: 10.1109/ICEEICT.2015.7307401,
2015

[10] U. B. Sai, K. Sivanagamani, B. Satish, M. R. Rao, "Voice Controlled Humanoid Robot with Artificial
Vision," Proceedings of International Conference on Trends in Electronics and Informatics (ICEI),
Tirunelveli, India, pp. 505-508, doi:10.1109/ICOEI.2017.8300979, 2017

[11] R. Bamdale, S. Sahay and V. Khandekar, "Natural Human Robot Interaction Using Artificial
Intelligence: A Survey," Proceedings of 9th Annual Information Technology, Electromechanical

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Engineering and Microelectronics Conference (IEMECON), 2019, pp. 297-302, doi:

10.1109/IEMECONX.2019.8877044, 2019

[12] https://www.elprocus.com/atmega328-arduino-uno-board-working-and-its-applications/

[13] https://www.homemade-circuits.com/pir-sensor-datasheet-pinout-specification-working/

[14] https://components101.com/modules/isd1820-record-and-playback-module

[15] https://components101.com/misc/8-ohm-speaker/

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