2 Project

A Project Report On
Robot for exploration and surveillance

Submitted By
Gunjan Lunkad B190333128

Shivraj Rajgure B190333181
Biswarup Chaki B190333031
Under the Guidance of Project Guide

Mrs. S.A. Patil
Department Of ELECTRONICS & TELECOMMUNICATION
PIMPRI CHINCHWAD COLLEGE OF ENGINEERING

(SAVITRIBAI PHULE PUNE UNIVERSITY, PUNE)
2022-2023
Robot For Explora on and Surveillance
CERTIFICATE
Project Phase -I Report

On
Robot for explora on and surveillance
Submi ed for Par al Fulﬁlment of the Requirements for the Degree of Bachelor
of Engineering in the Department of Electronics & Telecommunica on
Engineering Pimpri Chinchwad College of Engineering, Savitribai PhuleUniversity
of Pune, Pune
By
Gunjan Lunkad B190333128

Shivraj Rajgure B190333181
Biswarup Chaki B190333031
Mrs. Sangita Patil Dr. M.T. Kolte Dr. G.N. Kulkarni

(Project Guide) (H.O.D) (Director)
Pimpri Chinchwad College of Engineering,

Savitribai Phule University of Pune, Pune.
2022-23
Acknowledgement
We would like to express our profound gratitude to Dr. M.T. Kolte, Head of Department of
Electronics and Telecommunication department for his contributions to the completion of my
project titled Robot for exploration and surveillance.
We would like to express my special thanks to our mentor Mrs. Sangita Patil for her time and
efforts she provided throughout. Your useful advice and suggestions were really helpful to me
during the project’s completion. In this aspect, We are eternally grateful to you.
We would also like to acknowledge that this project was completed entirely by Biswarup Chaki,
Shivraj Rajgure and Gunjan Lunkad.
Gunjan Lunkad Shivraj Rajgure Biswarup Chaki
2022-2023 i Department of E&TC PCCOE

List of Figures
Figure Number Description Page Number
Fig. 1 Block Diagram 19

Fig. 2a Circuit Diagram for control electronics 21
Fig. 2b Circuit Diagram for onboard Sensor Stack 22
Fig. 3 ESP32-CAM AI tinker 23
Fig. 4 L298N Motor Driver 23
Fig. 5 Lithium Ion 18650 Battery 24
Fig. 6 Arduino Nano 25
Fig. 7 Esp8266 Module 26
Fig. 8 Chassis Body 27
Fig. 9 Mechanics of motion 28
Fig. 10 Wheels mechanics graph of robot 29
Fig. 11 Device Name and its IP address showing up 33
on Network settings
Fig. 12 Control Panel for robot and camera stream on 33
Desktop
Fig. 13 Using Esp.8266 to Check the strength of 34
thetarget Wi-Fi Network
Fig. 14 Robots for surveillance and exploration 34
Fig. 15 Control of robot on mobile phone 35
Fig. 16a Sensor Stack 36
Fig. 16b Sensor Stack Output 36
Fig. 17 Final Result 37
List of Table
Table Number Description Page Number
Table No. 1 Literature review 3-15
2022-2023 ii Department of E&TC PCCOE

Abbreviation
IP Internet Protocol
ESP Espressif
HTML Hyper Text Mark Up Language
HTTP Hypertext Transfer Protocol
IDE Integrated Development Environment
GPIO General Purpose Input Output
EEPROM Electrically Erasable Programmable Read-only Memory
SPI Serial Peripheral Interface
Wi-Fi Wireless Fidelity
UART Universal asynchronous receiver-transmitter
2022-2023 iii Department of E&TC PCCOE

Abstract
Nowadays, most robotics systems use computer vision and sensors for general
purposes, such as for surveillance and obstacle avoidance. Remote-controlled robots
for surveillance are also combined with video streaming for wireless operation such as
developed by. Robots for military purposes, in general, called an unmanned ground
vehicle (UGV) are used to augment the soldier’s capability. Apart from using these
robots for military purposes, we can use the robot for surveying and checking out
difficult and hazardous regions where sending any human being is dangerous. The robot
developed will be controlled by smartphone and which will be connected through a Wi-
Fi network.
Some of the application of the robot will include checking of gas leaks, search and
rescue operation during any natural calamities, any nuclear disaster or regular
maintenance of manholes.
The design of the robot is modular such that any additional sensor modules may be
added, which can help retrieve environmental data of the surroundings.
2022-2023 iv Department of E&TC PCCOE

Contents
.
Acknowledgement…………………………………………………………………………………...i
List of Figures………………………………………………………………………………………ii
List of Table………………………………………………………………………………………...ii
Abbreviation…………………………………………………………………………………...…. iii
Abstract……………………………………………………………………………………….……iv
1. Introduction…………………………………………………………………………………….1-2
1.1 Motivation………………………………………………………………………………1
1.2 Background……………………………………………………………………………..1
1.3 Project Specification…………………………………………………………………....2
2. Literature Survey……………………………………………………………………………....3-18
3. Methodology…………………………………………………………………………………19-20
3.1 Block Diagram………………………………………………………………………...19
3.2 Elements of Block Diagram& Explanation…………………………………………...19
4. Hardware Implementation…………………………………………………………………...21-30
4.1 Circuit Diagram……………………………………………………………………….21
4.2 Hardware Specifications……………………………………………………………....23
4.3 Design Consideration………………………………………………………………….27
4.4 Mechanics of Motion………………………………………………………………….28
5. Software Requirements………………………………………………………………………...31
6. Testing & Troubleshooting………………………………………………………………....32-37

6.1 Testing………………………………………………………………………………....32
6.2 Testing Strategies & Procedures……………………………………………………....32
6.3 Result………………………………………………………………………………….33
6.4 Hardware Result…………………………………………………………………….....33
6.5 Result Analysis………………………………………………………………………..37
7. Advantages & Application……………………………………………………………………..38
7.1 Advantages…………………………………………………………………………….38
7.2 Applications………………………….………………………………………………..38
2022-2023 Department of E&TC PCCOE

8. Conclusion……………………………………………………………………………………..39
9. References………………………………………………………………………………. …40-42
10. Appendix
Appendix I: Plagiarism Report…………………………………………………………………………………………43-45
Appendix II: Datasheets………………………………………………………………………………………………….46-72
Appendix III: Code………………………………………………………………………………………………………….73-90
Appendix IV: Bill of Material……………………………………………………………………………………………90-91
Appendix V: Project Outcome…………………………………………………………………………………………92-99
2022-2023 Department of E&TC PCCOE

Robot For Exploration and Surveillance
1. Introduction
1.1 Motivation
Robots are used to make the life of mankind easy and improve the quality of life.
The robot proposed to be developed will help us to survey and check out unsafe
environments or places where it is dangerous for a human to go.
These may include regions with poisonous gas leak, manholes, oil spills, nuclear
meltdowns or collapsing of buildings due to natural calamities.
With the help of the robot the operator can easily see and evaluate the dangerous
environment while sitting at a safe distance.
The robot can also be used for military work, for spying and surveillance of
critical regions, keeping a check on the borders and before sending troops the
1.2 Background
We will discuss how to control an unmanned ground vehicle utilizing a Wi-Fi
module and a mobile phone in this project. A new version of a wirelessly operated
robot has been proposed. A camera, motor drivers, batteries, and two moving
wheels make up the robot. The AI Thinker ESP32-CAM module has an ESP32-S
processor, an OV2640 camera. The HTTP communication protocol will be
utilized to receive video streaming from the OV2640 camera via a web browser in
this case. The web page will also have buttons for moving the car left, right,
forward, and backward. We will use two DC motors with Robot chassis and
L293D motor driver module to make this Robotic car, in addition to the ESP32-
Camera module. The signals from the user's smartphone are utilized to move the
vehicle in this vehicle, and the video is live streamed via a camera mounted on the
robot. The user's smartphone receives this live streaming data over the Wi-Fi
wireless infrastructure.
Additional sensors and monitors can be mounted on the robot as per the need and
requirements of the user.
2022-2023 1 Department of E&TC PCCOE

1.3 Project Specifications

 Power: - 5v-0.5A power supply for on-board electronics & 9V-1.0A
battery for motors
 Wireless Connectivity: - 2.4Ghz Wi-fi Connectivity
 Vision: - 2mp Camera Onboard
 Microcontrollers: - Arduino Nano, Esp-32,ESP-8266 & Esp-01
 Motors & Drives: - 3 to 12V & 40-180mA Motor & H-bridge Motor
Drivers
 Sensor: - DHT 22 & MQ series gas sensors.
 Body: - 3 Wheel Chassis of dimensions 15 × 12 × 5 cm

2. Literature Survey
Table No. 1: Literature Survey
Sr. Title of the Year of Publisher Methodology Conclusion

No Paper Publication
.
1 Development July 2022 T. E. Journal of Temperature, Monitoring and
of an ESP-32 Babalola. A. D. Engineering humidity, wind displaying
Microcontroller Babalola. M. S. Research and speed and weather
Based Weather Olokun. Reports. direction are all conditions
Reporting monitored by around the world
Device the system, as is made possible
well as the by the advanced
amount of rain system. The
that has fallen. Internet of
Real-time Things is the
readings are technology
shown on the behind this,
system's LCD which is an
screen. Every advanced and
hour and day, it efficient method
records the for.
previous day
data. Viewing
this data on an
LCD and
uploading it to a
web page is
possible.
2 Onboard 25 January IEEE Robotics This details the The method

Safety 2022 and Automation theory and applied to
Guarantees Andrew Letters implementation hardware results
for Racing Singletary, behind in smooth,
Drones: High- Aiden Swann, practically minimally
Speed Yuxiao Chen, ensuring the conservative
Geofencing Aaron D. Ames safety of alterations of the
With Control remotely pilots’ desired
Barrier piloted racing inputs, enabling
Functions drones. We them to push the
demonstrate limits of their
robust and drone without fear
practical safety of crashing.
guarantees on a Moreover, the
7” racing drone method works in
at speeds conjunction with
the preexisting
exceeding 100
flight controller.
km/h, utilizing
only online
computations on
a 10 g micro-
controller. To
achieve this
goal, we utilize
the framework
of control
barrier functions
(CBFs) which
give guaranteed
safety encoded
as forward set
invariance
3 DC Motor 4 Dec 2021 International In this system, All the discussion

Speed Control Pirah Peerzada, Journal of voltage is the concludes that the
Through Wasi Hyder Electrical input while the speed of the DC
Arduino and Larika, Aiman Engineering & speed of the motor has been
L298N Motor Abbas Maharb. Emerging DC motor is controlled
Driver Using Technology. our output. The successfully. The
PID voltage supply PID algorithm is
Controller. is connected to used here to
the motor achieve the
driver. The desired speed of
voltage being the DC motor.
supplied to the Initially, the
DC motor is system is
controlled simulated in a
through PWM. MATLAB-
Now here, the Simulink
output speed of environment.
Furthermore, it is
the DC motor
implemented on a
is our actual
hardware system.
value of output.
When it is
equal to the
setpoint which
we have
already set in
our controller,
the controller
will not vary
the input.

4 Performance September IEEE It is difficult to In this study,

of Low- 2021. Bo Publications reduce end-to- they have
Latency Zhang, Thiago end latency in evaluated 6
HTTP-based Teixeira, Yuriy HTTP-based different LL-
Streaming Reznik. live video HLS and LL-
Players streaming. DASH players,
There are using multi-
currently two bitrate-encoded
technologies in low-latency
this domain: HLS and
Low-Latency DASH streams
HTTP Live and network
Streaming (LL- emulation
HLS) and low- process,
latency employing
Dynamic traces obtained
Adaptive for T-Mobile
Streaming over 4G LTE and
HTTP (LL- Verizon 4G
DASH). Many LTE networks.
players support They have
LL-HLS and/or noted that both
LL-DASH LL-HLS and
protocols, LL-DASH
including systems were
Apple’s able to operate
AVPlayer, at significantly
Shaka player, lower latencies.
HLS.js,
Dash.js, and
others.

5 Holonomic 2, March 2021 Journal of The wheeled With
Implementatio Riky Tri Robotics and football robot omnidirectiona
n of Three Yunardi, Deny Control (JRC) division, robot l mobile robots
Wheels Arifianto, should be able that are capable
Omnidirection Farhan to play the ball of moving in
al Mobile Bachtiar, Jihan in the field both directions,
Robot using Intan basically like a the holonomic
DC Motors Prananingrum football player. approach can
The robot's be used. The
limits, that is in Holonomic
its movement. Motion System
The robot is a system
cannot which, without
accurately understanding
drive in the the mechanical
desired structure,
direction, the represents the
movement that number of
is also done by degrees of
the robot is the freedom. To
orientation and determine the
control of the movement of
movement of the robot into
robot. The the real
limitation of trajectory in
being able to the area, based
move to the on the test
left, right, and results obtained
diagonally by applying
without holonomic and
changing the inverse
orientation is kinematics.
also a problem.
One type of
mobile robot
that is the most
widely used
type of omni
three-wheeled
robot, known
as
omnidirectional
mobile robot.

6 Camera- 10 February IEEE/RSJ Unmanned the main
Realistic 2021 International Aerial Vehicles contribution of
Robotics Pablo Conference on (UAVs) are this work is to
Simulator for Pueyo, Eric Intelligent becoming endow the
Cinematograp Cristofalo, Edu Robots and increasingly well-known
hic Purposes ardo Systems popular in the drone
Montijano, Ma (IROS) film and simulator,
c Schwager. entertainment AirSim, with a
.
industries, in cinematic
part because of camera as well
their as extend its
maneuverabilit API to control
y and all of its
perspectives parameters in
they enable. real time,
While there including
exists methods various filming
for controlling lenses and
the position common
and orientation cinematographi
of the drones c properties. In
for visibility, this paper, we
other artistic detail the
elements of the implementation
filming of our AirSim
process, such modification,
as focal blur, CinemAirSim,
remain present
unexplored in examples that
the robotics illustrate the
community. potential of the
The lack of new tool.
cinematographi
c robotics
solutions is
partly due to
the cost
associated with
the cameras
and devices
used in the
filming
industry.

7 CMOS Image 12 January 2021 Sensors A privacy Charge-
Sensors in Susrutha Babu preservation coupled
Surveillance Sukhavasi, sensor can devices (CCD)
System Suparshya Babu detect the played a vital
Applications Sukhavasi, person’s role in many
Khaled Elleithy, position by applications
Shakour differentiating until CMOS
Abuzneid, the background image sensors
Abdelrahman brightness and came into
Elleithy object existence.
brightness in a However, CIS
one- still has some
dimensional shortcomings
manner. This to replacing
sensor can CCDs in
detect the essential fields
person fallen or like the
standing by medical field
keeping it in a and space, etc.
vertical To overcome
position and CISs’
can identify the shortcoming, s
person’s various
position by technological
keeping it in a advancements
horizontal have been
direction. introduced
Person during the last
detection in the decade and
system can be have made CIS
done by a leading good
considering competitor to
pixels with CCD in the
zero difference present market.
and will have a CIS is highly in
high pixel demand in all
value with the reputed
person’s edges cameras and
entered into the high spectral
frame. Emotion imaging
s and applications
motivations are due to its low
the two key manufacturing
factors that cost and size.
resemble a
positive
learning
environment

8 Real-time 16 April 2020. International increasing sensors
Environment DebapriyaPari Conference on inhabitants in continue to
Monitoring da, Asish Intelligent metropolitan raise in power
System using Behera, Jagdi sh Computing and areas as well as and
ESP8266 and Kumar Control rural areas functionality
Thing Speak Naik,Soumyar Systems requires an and decrease in
on the anjanPattanai k, (ICCS) acceptable their cost, the
Internet of Rajat Sekhar condition of internet of
Things Nanda. services and things (IoT)
Platform the basic comes out as a
physical and widespread
organizational platform and
structures. It service for
becomes consumer
necessary to electronics.
monitor the
real-time
weather
condition of
one place from
another place.
9 Sensor-based February 2020 Automation in A sensor is a
safety Amin Construction. device or
management. Asadzadeh, system that
Mehrdad responds to a
Arashpour, physical,
Heng Li, Tuan chemical,
Ngo, Alireza electrical, or
Bab- Hadiashar, optical quality
and Ali Rashidi. to produce an
output that is a
measure of that
quality. A
simple sensor
has two parts: a
sensing
element and a
transducer that
converts the
sensed quality
to a
representative
signal.

10 Using the May 2019 IEEE For different They
ESP32 Marek Babiuch Publications applications of summarized
Microcontroll Petr Foltýnek ESP32 the most
er for Data Pavel Smutný. different commonly
Processing platforms are used
there. As per application
the project development
requirement, platforms for
ESP32 can be the ESP32
used with microcontroller
Arduino, Micro . For each
Python, platform, they
Espressif IOT have described
platform, and the benefits
many more and
platforms. In recommendatio
these ns for which
platforms, the type of
basic operation application the
flow is ESP32 platform is
cam will suitable for.
capture photo They have
or live compared the
streaming and level of
ill deliver it to prerequisites
different for that
platforms using platform.
HTTP.
11 Sensor-Based 12 November Multidisciplina Over the last The
Safety 2018 ry Digital decade, construction
Performance JeeWoong Park, Publishing researchers industry has
Assessment of Yong K. Cho Institute have explored been suffering
Individual and Ali (Sensors) various from inefficient
Construction Khodabandel u technologies methods of
Workers and quantifying
methodologies safety-related
to enhance the hazards with
safety of limited
workers at resources. To
construction overcome this
sites. The challenge, this
approach using study
ZBSR for developeda
individual sensor-based
workers was method by
developed by establishing a
formulating a framework for
quantitative an automated
relationship safety
between the monitoring

associated system.
hazards and
modelling
parameters.
12 Robots and 27 October Springer Open Robots can be Robots are

Their 2017 classified found
Applications Mordechai Ben- according to everywhere: in
Ari, Francesco the factories,
Mondada environment in homes and
which they hospitals, and
operate. The even in outer
most common space. Much
distinction is research and
between fixed development is
and mobile being invested
robots. These in developing
two types of robots that
robots have interact with
very different humans
working directly.
environments Robots are
and therefore used in schools
require very in order to
different increase
capabilities. students’
Fixed robots motivation to
are mostly study STEM
industrial and as a
robotic pedagogical
manipulators tool to teach
that work in STEM in a
well defined concrete
environments environment.

adapted for
robots.
Industrial
robots perform
specific
repetitive tasks
such soldering
or painting
parts in car
manufacturing
plants. With
the
improvement
of sensors and
devices for
human-robot
interaction,
robotic
manipulators.
13 Wheels of 2017 Robot structure Thepurposeofth The number of

robot Guy ischapteristoint possible
Campion,Wooji roduce,analyze, wheeled
nChung andcomparethe mobile robots
modelsofwheel realizations is
edmobile almost infinite,
robots(WMR)a depending on
ndtopresentsev the number,
eralrealizations type,
andcommonlye implementation
ncountereddesi , geometric
gns.Themobilit characteristics,
y and
ofWMRisdiscu motorization of
ssedonthebasis the wheels.
ofthekinematic This chapter
constraintsresul describes
tingfromthepur several such
erollingconditi realizations.
onsatthecontact Notwithstandin
pointsbetweent g this variety it
hewheels is possible to
andtheground. classify
Accordingtothi WMRsintoonly
sdiscussionitis fivegeneric
shownthat,what categories. The
everthenumber (kinematic and
andthetypes dynamic)
ofthewheels,all posture models

WMRbelongto have exactly
onlyfivegeneric the same
classes.Differe structure within
nttypesofmodel each of these
sarederivedand classes.
compared:thep
osturemodelver
sustheconfigura
tionmodel,theki
nematicmodelv
ersusthe
dynamic
model.
14 The future of January 2017 7 International Environmental In the last two

Robotics Luigi Pagliarini, Conference on and Alternately decades
Technology Henrik Hautop Artificial Life Powered Robotics has
Lund. and Robotics Robotics that is literally
attracting exploded, both
interests from in terms of
different research and
Institutes and applications. It
Industries. has invaded the
Anyway, few people’s
are the existing imaginary and
application almost all of
(i.e.: toys, the existing
navigation, markets, up to
etc.) and they the point that,
do not on one side, we
represent a can spot at
valuable set by robotics news
which we could each single day
evaluate their and, on the
effective other, Robotics
potentialities. is about to
Nevertheless, reach a market
they slice of 100
theoretically Billions
represent a dollars. In this
quite important paper we tried
goal since a big to summarize
obstacle in this and analyse

machine-driven which are the
society is most profitable
around the and promising
energy costs, branches and
and renewable where to look
energies in for new
Robotics, as in horizons.
all other
applications
seems to be the
unique answer.
An important
answer to the
energy
consumption
question may
also be found
in the branch of
Neurorobotic.
15 WiFi signal 23 October 2014 IEEE Due to the In this paper,

strength-based Yuxiang International unavailable we develop a
robot indoor Sun, Ming Conference on GPS signals in system for
localization Liu, Max Q.-H Information indoor WiFi signal
Meng. and environments, strength-based
Automation indoor indoor
(ICIA) localization has localization
become an and implement
increasingly two
heated research approaches.
topic in recent The first is
years. improved KNN
Researchers in algorithm-
robotics based
community fingerprint
have tried matching
many method, and
approaches, but the other is the
this is still an Gaussian
unsolved Process
problem Regression
considering the (GPR) with
balance Bayes Filter
between approach. We
performance. conduct
experiments to
compare.

16 Performance 26 March 2013 Springer In order to The paper
of HTTP Arkadiusz Netherlands analyse the analyzed the
video Biernacki· Kurt performance of impact of
streaming Tutschku buffering network
under strategies of limitations on
different HTTP video video
network players there streaming,
conditions are two steps. specifically
Step 1 how latency,
OMNet++/INE transmission
T Simulation, errors, packet
streaming loss, and
module, Host bandwidth
module are the limits affect the
basics process. It also
components. In discussed how
the second step video
the components streaming
are Video occurs using
frame TCP and HTTP
extraction, networking
playback commands.
emulation.

Summary of Literature survey
 “A Technology Review of Smart Sensors with Wireless Networks for

Applications in Hazardous Work Environments' 'This is the third literature survey
that gives information about use of smart sensors for mine workers to protect
them from hazardous environments. This paper is important for us to get
information about different sensors to overcome hazardous environmental
conditions, so accordingly we can select the sensor for our project.
“Development of an ESP-32 Microcontroller Based Weather Reporting Device”
This paper published in July 2022 gives information about how ESP32 camera and
sensor data can be linked with web development. In the case of sensors, it will
collect real real-time and send it to the microcontroller from which it will
be displayed on LCD or on UI.
 “Using the ESP32 Microcontroller for Data Processing” published in May 2019.
In this paper they gave information about different interfacing of ESP32 camera
modules with different platforms. As per the project or requirement the platform
will change and interfacing will flow methods accordingly. There are different
platforms for example Arduino IDE, Micro Python, Expressive IOT and many
moreplatforms are available.
 The fifth literature survey that we studied is “Performance of Low-Latency HTTP-

based Streaming Players”. In this we understand that it is difficult to create It is
difficult to reduce end-to-end latency in HTTP-based streaming also we
understand that both LL-HLS and LL-DASH systems were able to operate at
significantly lower latencies.
 “DC Motor Speed Control Through Arduino and L298N Motor Driver Using PID
Controller” is our next six literature survey. Through this paper, we understand
that the speed of the DC motor has been controlled successfully. The PID
algorithm is used here to achieve the desired speed of the DC motor. Through this
paper, we also understand how to control the speed of a DC motor by using the
motor driver.
 As our project is related to surveillance so to understand the importance of

sensor-based safety system we select “Sensor-Based Safety Performance
Assessment of Individual Construction Workers” this paper for the survey. From
this paper we understand that many workers or peoples are suffering due the to
safety lake. The approach using ZBSR for individual workers was developed by
formulating a quantitative relationship between the associated hazards and
modelling parameters.
 The next paper that we took under the survey is related to the ESP8266
monitoring system using think speak software. From this paper, we understand
that modern devices and sensors continue to raise in power and functionality and
decrease in their cost. IoT is booming by using this cheap sensor and electronic
devices and monitoring systems can be created by using ESP8266.

 Wi-Fi based locational analyzer is our next paper for literature survey in this paper
we got information about how the wifi is used to find the location of our robot as
per this paper due to the unavailable GPS signals in indoor environments, indoor
localization has become an increasingly heated research topic in recent years.
Researchers in the robotics community have tried many approaches, but this is still
an unsolved problem considering the balance between performance which means
we can use this technology but it is not that much evolved yet it is under
supervision.
 Intentionally we choose this paper for our literature survey this paper gives
information about different applications of robots. As we are working on this
project we should have a good understanding application of robots in industries,
security, transportation, etc so that we will have a good understanding of the
robotics market and our competitors in the surveillance and exploration market.
 This Camera-Realistic Robotics Simulator is for Cinematographic Purposes in this

paper we understand that unmanned Aerial Vehicles (UAVs) are becoming
increasingly popular in the film and entertainment industries, in part because of
their maneuverability and perspectives they enable. While there exists methods for
controlling the position and orientation of the drones for visibility, other artistic
elements of the filming process, such as focal blur, remain unexplored in the
robotics community.
 The next paper that we go through is about geofencing technology used in drones
as a paper we understand that, the method applied to hardware results in smooth,
minimally conservative alterations of the pilots’ desired inputs, enabling them to
push the limits of their drone without fear of crashing. Moreover, the method works
in conjunction with the preexisting flight controller.
 CMOS Image Sensors in Surveillance System Applications this is our next paper
for the literature survey we choose this paper because we want more information
about a privacy preservation sensor that can detect the person’s position by
differentiating the background brightness and object brightness in a one-
dimensional manner.
 The next paper that we selected to study the future of robotics this paper is
environmental and Alternately Powered Robotics which is attracting interest from
different Institutes and Industries. Anyway, few are the existing application (i.e.:
toys, navigation, etc.) and they do not represent a valuable set by which we could
evaluate their effective potentialities.
 The last paper that we review is “Holonomic Implementation of Three Wheels

Omnidirectional Mobile Robot using DC Motors” We understand that in The
wheeled football robot division, the robot should be able to play the ball in the field
basically like a football player. The robot's limits, that is in its movement. The robot
cannot accurately drive in the desired direction, the movement that is also done by
the robot is the orientation and control of the movement of the robot.
 Our first literature survey is “Performance of HTTP video streaming under

different network conditions” It was published on 26 March 2013, it is related to
video streaming using TCP and HTTP protocol. Their methodology was divided
into two steps and in the first step they include two modules: streaming module,
Host module.
All above-published papers are helpful for our project, we get information about
how TCP and HTTP protocols are used for video streaming, how to connect the
ESP32 camera with the platform how to connect smart sensors with the
microcontroller to collect data and lastly display the data or result on the web page
using sensors, ESP32.

3. Methodology
3.1 Block Diagram
Fig. 1: Block Diagram
3.2 Elements of Block Diagram& Explanation
ESP 32 CAM Module: - This component is the most important, it gets

connected to the access point after which it will host an http web server. ESP
32 will receive the control command from the user and also live stream the
video feed to the user using the OV2640 Camera onboard the module.
L293D: -The signals generated by microcontrollers don’t have enough power

to drive/power up the motors so we use a motor driver used to drive the
motors of the robot. These drivers can provide higher current and voltages.

ESP 8266 Sensor stack: -This module will get connected to the network to
share the information about various environmental data after reading it from
various sensors. This continuously checks if the RSSI with the access point is
within the specific threshold or not. The RSSI will be displayed on the sensor
monitor website.
MQ Gas sensors: -These are generic sensor useful to measure a variety of gasses
like carbon monoxide, Sulphur, Carbon dioxide, LPG, etc.
DHT22 Temperature & Humidity sensors: - This module will get connected
to esp8266 sensor stack so as to measure the temperature and the humidity of
the environment.

4. Hardware Implementation
4.1. Circuit Diagram
Fig. 2.a: Circuit Diagram for on board control Electronics

Fig. 2.b: Circuit Diagram for on board Sensor Stack

4.2. Hardware Specifications

 ESP32-CAM AI-Thinker with external antenna
Fig. 3: ESP32-CAM AI tinker
- 802.11b/g/n Wi-Fi & Bluetooth 4.2 with BLE

- UART, SPI, I2C and PWM interfaces
- Clock speed up to 160 MHz
- Computing power up to 600 DMIPS
- 520 KB SRAM plus 4 MB PSRAM
- Supports WIFI Image Upload
- Firmware Over the Air (FOTA) upgrades possible
- 9 GPIO ports&Built-in Flash LED
 L298N Motor Driver Robot Car Chassis Kit
Fig. 4: L298N Motor Driver


 Sensor- DHT22
- The DHT22 is a digital temperature and humidity sensor that is commonly used
in a variety of applications, including environmental monitoring, HVAC systems,
and indoor agriculture. It operates based on the principle of measuring changes in
the capacitance of a polymer film when it is exposed to changes in temperature
and humidity.
- The DHT22 sensor is capable of measuring temperature in the range of -40°C to
80°C with an accuracy of ±0.5°C, and relative humidity in the range of 0% to
100% with an accuracy of ±2%. It communicates with a microcontroller or other
device using a single-wire interface, and it can be powered using a voltage supply
of 3 to 5.5 volts.
- One advantage of the DHT22 sensor is its low cost and ease of use. However, it is
important to note that the sensor may be affected by factors such as airflow and
temperature gradients in the surrounding environment, which can lead to
measurement inaccuracies. It is therefore recommended to calibrate the sensor
periodically and to take appropriate measures to ensure accurate readings.
 Arduino Nano-For Debugging


Fig. 6: Arduino Nano
- EEPROM: 1 KB
- Operating voltage: 5 volts
- Input voltage: 5 to 20 volts
- Digital I/O pins: 14 (6 optional PWM outputs)
- Analog input pins: 8
- DC per I/O pin: 40 mA
- DC for 3.3 V pin: 50 mA
- Flash memory: 32 KB, of which 2 KB is used by bootloader
- SRAM: 2 KB
- Clock speed: 16 MHz


 ESP 8266 module

Fig. 7: Esp8266 Module
- 8Mbit external SPI flash memory (1MByte)

- 32-bit TensilicaXtensa LX106 CPU running 80MHz
- 3.3V supply (current can spike 300mA+, depending on mode)
- PCB-trace antenna
- 2 x 4 dual-in-line pinout
- 14.3 x 24.8mm
- 1.5g
 FTDI Programmer Board

- An FTDI programmer board is a hardware device used for programming and
debugging microcontrollers and other embedded systems. FTDI stands for Future
Technology Devices International, which is a company that designs and
manufactures semiconductor solutions for a variety of industries.
- The FTDI programmer board typically features an FTDI USB-to-serial converter
chip that provides a convenient and reliable way to communicate between a
computer and a microcontroller. The board may also have additional components
such as voltage regulators, LEDs, and jumpers for configuring various settings.
- FTDI programmer boards can be used with a variety of programming and
debugging tools, including integrated development environments (IDEs), such as
Arduino IDE or Microsoft Visual Studio, and command-line utilities like avr
dude. They are widely used in the electronics and embedded systems industry for
tasks such as firmware development, hardware testing, and debugging.


 Cables and connectors 
 2-wheel Chassis
Fig. 8: Robot body
4.3. Design Considerations

 Since the device is designed to be used in a disaster-stricken area, we will
power it with portable power banks which also can be used to power other
devices
 Works on Wi-Fi networks and is compatible with long range Wi-Fi to give
control range up to few Kilometers
 Monitoring of signal strength i.e., connectivity strength with transmitter/ Wi-fi
Hotspot.
 Sensors present which can provide vital information about environmental
conditions of region being explored or is under surveillance
 Can be controlled via any device with web browser on it
 User friendly user interface and not difficult to operate

4.4. Mechanics of Motion
Fig. 9: Mechanics of motion
 For Technology demonstration we will use a 3-wheel robot of which 2 of

the wheels are powered.
 The robot to move in forward direction both motors are driven in same
direction.
 To move the robot in reverse direction both motors are driven in same
direction but with opposite polarity.
 To change the direction to the wheels are rotated in opposite direction
 A differential drive is the most basic drive, which consists of two sets of
wheels that can be driven independently. This is the most commonly used
form of locomotion system used in robots as it’s the simplest and easiest to
implement.
 A differential drive robot consists of two independently driven wheels of
radius r that rotate about the same axis, as well as one or more caster
wheels, ball casters, or low-friction sliders that keep the robot horizontal.

 If both the wheels are driven in the same direction and speed, the robot will
go in a straight line.
 A differential drive is the most basic drive, which consists of two sets of
wheels that can be driven independently. This is the most commonly used
form of locomotion system used in robots as it’s the simplest and easiest to
implement.
 A differential drive robot consists of two independently driven wheels of
radius r that rotate about the same axis, as well as one or more caster
wheels, ball casters, or low-friction sliders that keep the robot horizontal. If
both the wheels are driven in the same direction and speed, the robot will go
in a straight line.
Fig. 10: Wheels graph of robot
 Let the distance between the driven wheels be 2d and choose the (x,y) q =
(\phi,x,y,\theta_L,\theta_R) reference point halfway between the wheels.
Writing the configuration as , where \theta_L and \theta_R are the rolling
angles of the left and right wheels, respectively, the kinematic equations are

 where uL is the angular speed of the left wheel and uR that of the right. A
positive angular speed of each wheel corresponds to forward motion at that
wheel.
 While we can vary the velocity of each wheel, for the robot to perform
rolling motion, the robot must rotate about a point that lies along their
common left and right wheel axis. The point that the robot rotates about is
known as the ICC - Instantaneous Centre of Curvature.
 By varying the linear velocity of the wheels VR and VL, we can vary the
radius of curvature R that the robot follows. Because the rate of
rotation ω about the ICC must be the same for both wheels, we can write the
following equations
 A differential drive robot cannot move in the direction along the axis - this is
a singularity. Differential drive vehicles are very sensitive to slight changes
in velocity in each of the wheels. Small errors in the relative velocities
between the wheels can affect the robot trajectory.

5. Software Requirements
 The Arduino Integrated Development Environment (IDE) is a free, open-source software

program used to write, upload, and debug code on the Arduino platform. The Arduino
IDE supports several programming languages including C and C++ and allows for easy
and fast programming of Arduino boards. With its simple and user-friendly interface, the
Arduino IDE is a popular choice for hobbyists, students, and professionals alike.
Additionally, the Arduino IDE includes a library manager that allows users to easily
install and use external libraries, as well as a serial monitor to visualize and debug the
data being sent and received by the Arduino board.
 HTML-(HyperText Markup Language) is the standard markup language used to create

web pages. It provides a structure for the content on a web page and defines how it will be
displayed in a web browser. HTML consists of elements, each represented by a tag, which
is used to define the different components of a web page such as headings, paragraphs,
images, links, and more. HTML files are saved with the .html or .htm extension and can
be viewed in a web browser.
 HTTP (HyperText Transfer Protocol) -is a protocol used for transferring data over the
internet. It is the foundation of data communication for the World Wide Web and is the
standard for exchanging information between a web browser and a web server.
 Java Script -JavaScript is a high-level, dynamic, and interpreted programming language

that is widely used to create interactive and dynamic web pages. It is primarily used in
client-side web development, but can also be used on the server-side through technologies
like Node.js. JavaScript is a versatile and widely used language, and it is essential for
adding interactivity and dynamic behavior to web pages. It enables developers to create
animations, update page content without reloading the page, validate forms, and more.
JavaScript can interact with HTML and CSS, allowing developers to create rich, dynamic
web pages and web applications.

6. Testing & Troubleshooting
6.1. Testing
 Check if all wireless modules are able to connect to the network or not
 Test if the esp32 cam module is able to host a HTTP server or not
 Check is esp32 cam is able to stream video to the controlling device or not
 Check if Esp8266 is able to check and monitor the signal strength.
6.2. Testing Strategies & Procedure

 To check if Wireless module is connecting to network or not, we will simply
turn on the network and the device, then go to Wi-Fi admin settings and
check if device is visible on connected device list as “esp32-Arduino”
 Check if the esp32 cam module is able to host a HTTP server and is able to
stream video, simply go on to the Ip address is found out by previous step and
put it in address bar of browser connected in same network.
 Check if Esp8266 is able to check and monitor the signal strength, connect it
to pc and open serial monitor, you should see a strong signal strength when
esp8266 is close to device and it goes on decreasing as we move it away from
the network.

6.3. Results
Fig. 11: - Device Name and its IP address showing up on Network settings
Fig. 12: - Control Panel for robot and camera stream on Desktop

Fig.13: - Using Esp. 8266 to Check the strength of the target Wi-Fi Network “AndroidAPEB93”
6.4 Hardware Result
Fig.14: - Robot for surveillance and exploration

Fig.15: - Control of robot on mobile phone

Fig.16.a: - Sensor Stack
Fig.16.b: - Sensor Stack Output

6.5 Result Analysis

 To check if Wireless module is connecting to network or not, we will simply turn on the
network and the device, then go to Wi-Fi admin settings and check if device is visible on
connected device list as “esp32-Arduino”
 Check if the esp32 cam module is able to host a HTTP server and is able to stream video,
simply go on to ip address is found out by previous step and put it in address bar of browser
connected in same network.
 Check if the remote controlling device is well connected with the robot for surveillance and
exploration so that there will be no issue of facing problem when it come in action under
operation.
 To test the outputs from the sensor we can blow on the DHT22 & Gas sensor and observe
how the outputs changes in environmental sensor dashboard.
 To check if signal strength is being monitored or not we can move the bot away from the
Wi-Fi access point and see the drop in RSSI on the dashboard.
Fig.17: - Final Result

7. Advantages & Application
7.1. Advantages
 Easy To use
 Can be controlled by multiple devices
 Power supply through Power Banks
 Works on wi-fi network so easy to set up such networks during disaster
 On board environmental sensor to provide information about any dangerous
gases
 Signal Strength monitoring will be displayed on the monitor/sensor dashboard
7.2. Application
 Disaster Management
 Sewer Maintenance
 Repair of underground subways or wires
 Border patrolling
 Anti-Terror operations
 Policing a large compounds and areas
 Mining activities
 Nuclear Reactor inspections
 Inspection of hazardous industries

References
[1] https://en.wikibooks.org/wiki/Robotics/Design_Basics/Physical_Design#:~:text=Designing%20a%20robot%
20requires%20balance,lot%20of%20tweaking%20and%20experimenting.
[2] https://www.techtarget.com/whatis/definition/HTTP-Hypertext-Transfer-
Protocol#:~:text=HTTP%20(Hypertext%20Transfer%20Protocol)%20is,they%20are%20i
ndirectly%20using%20HTTP.
[3] https://www.cisco.com/c/en_in/products/wireless/what-is-wifi.html
[4] https://www.metageek.com/training/resources/understanding-rssi/
[5] https://www.esp8266.com/viewtopic.php?p=82810
[6] https://dl.acm.org/doi/abs/10.1145/3458305.3478442
[7] https://www.mdpi.com/1424-8220/18/11/3897
[8] https://ieeexplore.ieee.org/abstract/document/9065451
[9] T. E. Babalola, A. D. Babalola, M. S. Olokun, “Development of an ESP-32

Microcontroller Based Weather Reporting Device” published in “Journal of Engineering
Research and Reports” on July 2022.
[10] PirahPeerzadaa ,WasiHyderLarika , Aiman Abbas Maharb, “DC Motor Speed Control
Through Arduino and L298N Motor Driver Using PID Controller” published in
“International Journal of Electrical Engineering & Emerging Technology” on 4 Dec 2021.
[11] Bo Zhang, Thiago Teixeira, Yuriy Reznik, “Performance of Low-Latency HTTP-based

Streaming Players” published in “IEEE Publications” on September 2021.
[12] DebapriyaParida, Asish Behera, Jagdish Kumar Naik,SoumyaranjanPattanaik, Rajat

Sekhar Nanda, “Real-time Environment Monitoring System using ESP8266 and ThingSpeak
on Internet of Things Platform” published in “International Conference on Intelligent
Computing and Control Systems (ICCS)” on 16 April 2020.

[12] Amin Asadzadeh, Mehrdad Arashpour, Heng Li, Tuan Ngo, Alireza Bab-Hadiashar, and
Ali Rashidi, “Sensor-based safety management” published in “Automation in Construction”
on February 2020.
[13] Marek Babiuch, Petr Foltýnek, Pavel Smutný, “Using the ESP32 Microcontroller for
Data Processing” published in “IEEE Publications” on May 2019.
[14] JeeWoong Park, Yong K. Cho and Ali Khodabandelu, “Sensor-Based Safety
Performance Assessment of Individual Construction Workers” published in
“Multidisciplinary Digital Publishing Institute (Sensors)” on 12 November 2018.
[15] Arkadiusz Biernacki, Kurt Tutschku, “Performance of HTTP video streaming under
different network conditions” published in “Springer Netherlands” on 26 March 2013.
[16] Yuxiang Sun, Ming Liu, Max Q.-H Meng. “WiFi signal strength-based robot indoor
localization” published in “IEEE International Conference on Information and Automation
(ICIA)” on 23 October 2014.
[17] Mordechai Ben-Ari, Francesco Mondada. “Robots and Their Applications” published
in “Springer Open” on 27 October 2017.
[18] Pablo Pueyo, Eric Cristofalo, Eduardo Montijano, Mac Schwager. “Camera-Realistic
Robotics Simulator for Cinematographic Purposes” published in “IEEE/RSJ International
Conference on Intelligent Robots and Systems (IROS)” on 10 February 2021.
[19] Andrew Singletary, Aiden Swann, Yuxiao Chen, Aaron D. Ames. “Onboard Safety
Guarantees for Racing Drones: High-Speed Geofencing With Control Barrier Functions”
published in “ IEEE Robotics and Automation Letters” on 25 January 2022.
[20] Susrutha Babu Sukhavasi, Suparshya Babu Sukhavasi, Khaled Elleithy, Shakour
Abuzneid, Abdelrahman Elleithy. “CMOS Image Sensors in Surveillance System
Applications” published in “Sensors” on 12 January 2021.

[21] Luigi Pagliarini, Henrik Hautop Lund. “The future of Robotics Technology”
published in “International Conference on Artificial Life and Robotics” on January 2017.
[22] Riky Tri Yunardi, Deny Arifianto, Farhan Bachtiar, Jihan Intan Prananingrum.
“Holonomic Implementation of Three Wheels Omnidirectional Mobile Robot using DC
Motors” published in “Journal of Robotics and Control (JRC)” on 2, March 2021.
[23] Campion,WoojinChung. “Wheels of robot” published in “Robot structure” on 2017.
[24] http://www.robotpark.com/academy/all-types-of-robots/wheeled-robots/three-
wheeled-robots/
[25] https://en.wikibooks.org/wiki/Robotics/Types_of_Robots/Wheeled

Appendix I: Plagiarism Report
1_V1
ORIGINALITY REPORT
9%
SIMILARITY INDEX
PRIMARY SOURCES
1 www.ijert.org
Internet 56 words — 2%
2 dev.to
3 wikimili.com
4 technologymoon.com
5 vocal.media
6 www.ncbi.nlm.nih.gov
7 botland.com.pl
8 evontech.com
Internet 15 words — < 1%
9 iarjset.com
10 docshare.tips
Internet
9 words — < 1%
11 www.ijarse.com
EXCLUDE QUOTES OFF EXCLUDE SOURCES OFF

EXCLUDE BIBLIOGRAPHY OFF EXCLUDE MATCHES OFF
ESP32-CAM Wi-Fi+BT SoC Module V1.0
ESP32-CAM Module
Features Overview
- The smallest 802.11b/g/n Wi-Fi BT SoC Module
The ESP32-CAM has a very competitive
- Low power 32-bit CPU,can also serve the
small-size camera module that can operate
application processor
independently as a minimum system with a footprint
- Up to 160MHz clock speed Summary
of only 27*40.5*4.5mm and a deep sleep current of up
computing power up to 600 DMIPS to 6mA.
- Built-in 520 KB SRAM, external 4MPSRAM ESP-32CAM can be widely used in various IoT
- Supports UART/SPI/I2C/PWM/ADC/DAC applications. It is suitable for home smart devices,
- Support OV2640 and OV7670 cameras,Built-in industrial wireless control, wireless monitoring, QR
Flash lamp. wireless identification, wireless positioning system
- Support image WiFI upload signals and other IoT applications. It is an ideal
- Support TF card solution for IoT applications.
- Supports multiple sleep modes. ESP-32CAM adopts DIP package and can be
- Embedded Lwip and FreeRTOS directly inserted into the backplane to realize rapid
- Supports STA/AP/STA+AP operation mode production of products, providing customers with
- Support Smart Config/AirKiss technology high-reliability connection mode, which is convenient
- Support for serial port local and remote firmware for application in various IoT hardware terminals.
upgrades (FOTA)
Page 1 of 4
Product Specifications
Module Model ESP32-CAM

Package DIP-16
Size 27*40.5*4.5 ±0.2 mm
SPI Flash Default 32Mbit
RAM 520KB SRAM +4M PSRAM
Bluetooth Bluetooth 4.2 BR/EDR and BLE standards
Wi-Fi 802.11 b/g/n/
Support interface UART SPI I2C PWM
Support TF card Maximum support 4G
IO port 9
UART Baudrate Default 115200 bps
Image Output Format JPEG( OV2640 support only ),BMP,GRAYSCALE
Spectrum Range 2412 ~2484MHz
Antenna Onboard PCB antenna, gain 2dBi
802.11b: 17±2 dBm (@11Mbps)
Transmit Power 802.11g: 14±2 dBm (@54Mbps)
802.11n: 13±2 dBm (@MCS7)
CCK, 1 Mbps : -90dBm
CCK, 11 Mbps: -85dBm
Receiving Sensitivity 6 Mbps (1/2 BPSK): -88dBm
54 Mbps (3/4 64-QAM): -70dBm
MCS7 (65 Mbps, 72.2 Mbps): -67dBm
Turn off the flash lamp:180mA@5V
Turn on the flash lamp and turn on the brightness to the
maximum:310mA@5V
Power Dissipation Deep-sleep: Minimum power consumption can be achieved
6mA@5V
Moderm-sleep: Minimum up to 20mA@5V
Light-sleep: Minimum up to 6.7mA@5V
Security WPA/WPA2/WPA2-Enterprise/WPS
Power Supply Range 5V
Operating Temperature -20 ~ 85
Storage Environment -40 ~ 90 , < 90%RH
Page 2 of 4
Weight 10g
ESP32-CAM module picture output format rate
Format Size QQVGA QVGA VGA SVGA
JPEG 6 7 7 8
BMP 9 9 - -
GRAYSCALE 9 8 - -
Internal Pin Connect
CAM ESP32 SD ESP32

D0 PIN5 CLK PIN14
D1 PIN18 CMD PIN15
D2 PIN19 DATA0 PIN2
D3 PIN21 DATA1/Flash lamp PIN4
D4 PIN36 DATA2 PIN12
D5 PIN39 DATA3 PIN13
D6 PIN34
D7 PIN35
XCLK PIN0
PCLK PIN22
VSYNC PIN25
HREF PIN23
SDA PIN26
SCL PIN27
POWER PIN PIN32
Page 3 of 4
Minimum system diagram
Page 4 of 4
L293D
® L293DD
PUSH-PULL FOUR CHANNEL DRIVER WITH DIODES
600mA OUTPUT CURRENT CAPABILITY

PER CHANNEL
1.2A PEAK OUTPUT CURRENT (non repeti-
tive) PER CHANNEL
ENABLE FACILITY
OVERTEMPERATURE PROTECTION
LOGICAL "0" INPUT VOLTAGE UP TO 1.5 V
(HIGH NOISE IMMUNITY)
INTERNAL CLAMP DIODES SO(12+4+4) Powerdip (12+2+2)
ORDERING NUMBERS:
DESCRIPTION
The Device is a monolithic integrated high volt- L293DD L293D
age, high current four channel driver designed to
accept standard DTL or TTL logic levels and drive
inductive loads (such as relays solenoides, DC
and stepping motors) and switching power tran-
sistors.
To simplify use as two bridges each pair of chan-
nels is equipped with an enable input. A separate The L293D is assembled in a 16 lead plastic
supply input is provided for the logic, allowing op- packaage which has 4 center pins connected to-
eration at a lower voltage and internal clamp di- gether and used for heatsinking
odes are included. The L293DD is assembled in a 20 lead surface
This device is suitable for use in switching appli- mount which has 8 center pins connected to-
cations at frequencies up to 5 kHz. gether and used for heatsinking.
BLOCK DIAGRAM
July 2003 1/7

L293D - L293DD
ABSOLUTE MAXIMUM RATINGS

Symbol Parameter Value Unit
VS Supply Voltage 36 V
VSS Logic Supply Voltage 36 V
Vi Input Voltage 7 V
Ven Enable Voltage 7 V
Io Peak Output Current (100 µs non repetitive) 1.2 A
Ptot Total Power Dissipation at Tpins = 90 °C 4 W
Tstg, Tj Storage and Junction Temperature – 40 to 150 °C
PIN CONNECTIONS (Top view)
SO(12+4+4) Powerdip(12+2+2)
THERMAL DATA
Symbol Decription DIP SO Unit
Rth j-pins Thermal Resistance Junction-pins max. – 14 °C/W
Rth j-amb Thermal Resistance junction-ambient max. 80 50 (*) °C/W
Rth j-case Thermal Resistance Junction-case max. 14 –
(*) With 6sq. cm on board heatsink.
2/7
L293D - L293DD
ELECTRICAL CHARACTERISTICS (for each channel, VS = 24 V, VSS = 5 V, Tamb = 25 °C, unless

otherwise specified)
Symbol Parameter Test Conditions Min. Typ. Max. Unit
VS Supply Voltage (pin 10) VSS 36 V
VSS Logic Supply Voltage (pin 20) 4.5 36 V
IS Total Quiescent Supply Current Vi = L ; IO = 0 ; Ven = H 2 6 mA
(pin 10) Vi = H ; IO = 0 ; Ven = H 16 24 mA
Ven = L 4 mA
ISS Total Quiescent Logic Supply Vi = L ; IO = 0 ; Ven = H 44 60 mA
Current (pin 20) Vi = H ; IO = 0 ; Ven = H 16 22 mA
Ven = L 16 24 mA
VIL Input Low Voltage (pin 2, 9, 12, – 0.3 1.5 V
19)
VIH Input High Voltage (pin 2, 9, VSS ≤ 7 V 2.3 VSS V
12, 19) VSS > 7 V 2.3 7 V
IIL Low Voltage Input Current (pin VIL = 1.5 V – 10 µA
2, 9, 12, 19)
IIH High Voltage Input Current (pin 2.3 V ≤ VIH ≤ VSS – 0.6 V 30 100 µA
2, 9, 12, 19)
Ven L Enable Low Voltage – 0.3 1.5 V
(pin 1, 11)
Ven H Enable High Voltage VSS ≤ 7 V 2.3 VSS V
(pin 1, 11) VSS > 7 V 2.3 7 V
Ien L Low Voltage Enable Current Ven L = 1.5 V – 30 – 100 µA
(pin 1, 11)
Ien H High Voltage Enable Current 2.3 V ≤ Ven H ≤ VSS – 0.6 V ± 10 µA
(pin 1, 11)
VCE(sat)H Source Output Saturation IO = – 0.6 A 1.4 1.8 V
Voltage (pins 3, 8, 13, 18)
VCE(sat)L Sink Output Saturation Voltage IO = + 0.6 A 1.2 1.8 V
(pins 3, 8, 13, 18)
VF Clamp Diode Forward Voltage IO = 600nA 1.3 V
tr Rise Time (*) 0.1 to 0.9 VO 250 ns
tf Fall Time (*) 0.9 to 0.1 VO 250 ns
ton Turn-on Delay (*) 0.5 Vi to 0.5 VO 750 ns
toff Turn-off Delay (*) 0.5 Vi to 0.5 VO 200 ns
(*) See fig. 1.
3/7
L293D - L293DD
TRUTH TABLE (one channel) Figure 1: Switching Times
Input Enable (*) Output

H H H
L H L
H L Z
L L Z
Z = High output impedance

(*) Relative to the considered channel
Figure 2: Junction to ambient thermal resistance vs. area on board heatsink (SO12+4+4 package)
4/7
L293D - L293DD
mm inch
DIM. OUTLINE AND
MIN. TYP. MAX. MIN. TYP. MAX. MECHANICAL DATA
a1 0.51 0.020
B 0.85 1.40 0.033 0.055
b 0.50 0.020
b1 0.38 0.50 0.015 0.020
D 20.0 0.787
E 8.80 0.346
e 2.54 0.100
e3 17.78 0.700
F 7.10 0.280
I 5.10 0.201
L 3.30 0.130
Powerdip 16
Z 1.27 0.050
5/7
L293D - L293DD
mm inch
DIM. OUTLINE AND
MECHANICAL DATA
MIN. TYP. MAX. MIN. TYP. MAX.
A 2.35 2.65 0.093 0.104
A1 0.1 0.3 0.004 0.012
B 0.33 0.51 0.013 0.020
C 0.23 0.32 0.009 0.013
D 12.6 13 0.496 0.512
E 7.4 7.6 0.291 0.299
e 1.27 0.050
H 10 10.65 0.394 0.419
h 0.25 0.75 0.010 0.030
L 0.4 1.27 0.016 0.050

SO20
K 0˚ (min.)8˚ (max.)
L
h x 45˚
B e K A1 C
H
20 11
1 0
1
SO20MEC
6/7
L293D - L293DD
Information furnished is believed to be accurate and reliable. However, STMicroelectronics assumes no responsibility for the consequences
of use of such information nor for any infringement of patents or other rights of third parties which may result from its use. No license is
granted by implication or otherwise under any patent or patent rights of STMicroelectronics. Specification mentioned in this publication are
subject to change without notice. This publication supersedes and replaces all information previously supplied. STMicroelectronics products
are not authorized for use as critical components in life support devices or systems without express written approval of STMicroelectronics.
The ST logo is a registered trademark of STMicroelectronics
© 2003 STMicroelectronics – Printed in Italy – All Rights Reserved
STMicroelectronics GROUP OF COMPANIES
Australia - Brazil - Canada - China - Finland - France - Germany - Hong Kong - India - Israel - Italy - Japan - Malaysia - Malta - Morocco -
Singapore - Spain - Sweden - Switzerland - United Kingdom - United States.
http://www.st.com
7/7
NCR18650
LITHIUM ION
Features & Benefits Dimensions
• High energy density and voltage
Max 18.6 mm
• Long stable power with flat discharge voltage
• Ideal for portable communications, portable
computing and robotics
Specifications
Capacity: 2.9Ah Typical
(Charge: CVCC, 4.2V, max.
Max 65.2 mm
1925mA, 50mA cutoff, 25°C)
(Discharge: CC, 550mA, 2.5V
cutoff, 25°C)
Nominal Voltage: 3.6V
Weight: Approximately 44.5g
1
Charge Characteristics Discharge Characteristics

5.0 3200 5.0
Charge Condition: Charge Condition: CVCC 4.2V Max 0.7It (1925mA), 5 0mA cut-off at 25˚C
CVCC 4.2V Max 0.7It (1925mA),5 0mA cut-off at 25˚C Discharge Condition: CONSTANT CURRENT, 2.5V cut-off at 25˚C
2800
4.5
4.5
2400
LITHIUMION/NCR18650/6.11V1 | Copyright © 2011 Panasonic Corporation of America. All Rights Reserved.
CAPACITY (mAh)
4.0
CURRENT (MA)
VOLTAGE
VOLTAGE (V)
VOLTAGE (V)
2000 2.0lt (5500mA) 0.2lt (550mA)

4.0
1.0lt (2750mA)
3.5 1600
CAPACITY
1200 3.5
3.0
CURRENT 800
2.5 3.0
400
2.0 0 2.5
0.0 0.5 1.0 1.5 2.0 2.5 3.0 3.5 4.0 4.6 0 500 1000 1500 2000 2500 3000
0
TIME (hour) DISCHARGE CAPACITY (mAh)
Discharge Characteristics Cycle Life Characteristics (25˚C)

5.0 3200
Charge Condition: CVCC 4.2V Max 0.7It (1925mA), 5 0mA cut-off at 25˚C
Discharge Condition: CC 1.0lt (2750mA, 2.5V cut-off at VARIOUS TEMPERATURE
2800
4.5
2400
60˚C
CAPACITY (mAh)
VOLTAGE (V)
45˚C 2000
4.0
25˚C 1600
3.5 1200
800
3.0
-10˚C
0˚C 400 Charge Condition: CVCC 4.2V Max 0.7It (1925mA),5 0mA cut-off at 25˚C
Discharge Condition: CONSTANT CURRENT 1.0lt (2750mA), 2.5V cut-off at 25˚C
Charge/Discharge Rest Time: 20 minutes
2.5 0
0 400 800 1200 1600 2000 2400 2800 0 100 200 300
DISCHARGE CAPACITY (mAh) CYCLE NUMBER
The data in this document is for descriptive purposes only and is not intended to make or imply any guarantee or warranty.
For more information on how Panasonic can assist you with your battery power solution needs call 877-726-2228,
visit www.panasonic.com/industrial/batteries-oem or e-mail oembatteries@us.panasonic.com
ESP8266 NodeMCU
NodeMCU is an open-source Lua based firmware and development board specially

targeted for IoT based Applications. It includes firmware that runs on the ESP8266 Wi-
Fi SoC from Espressif Systems, and hardware which is based on the ESP-12 module.
NodeMCU ESP8266 Specifications & Features
 Microcontroller: Tensilica 32-bit RISC CPU Xtensa LX106

 Operating Voltage: 3.3V
 Input Voltage: 7-12V
 Digital I/O Pins (DIO): 16
 Analog Input Pins (ADC): 1
 UARTs: 1
 SPIs: 1
 I2Cs: 1
 Flash Memory: 4 MB
 SRAM: 64 KB
 Clock Speed: 80 MHz
 USB-TTL based on CP2102 is included onboard, Enabling Plug n Play
 PCB Antenna
 Small Sized module to fit smartly inside your IoT projects
NodeMCU Development Board Pinout Configuration
Pin Name Description

Category
Power Micro-USB, Micro-USB: NodeMCU can be powered through the USB

3.3V, GND, port
Vin
3.3V: Regulated 3.3V can be supplied to this pin to power
the board
GND: Ground pins
Vin: External Power Supply
Control EN, RST The pin and the button resets the microcontroller
Pins
Analog Pin A0 Used to measure analog voltage in the range of 0-3.3V
GPIO Pins GPIO1 to NodeMCU has 16 general purpose input-output pins on

GPIO16 its board
SPI Pins SD1, CMD, NodeMCU has four pins available for SPI communication.
SD0, CLK
UART Pins TXD0, RXD0, NodeMCU has two UART interfaces, UART0 (RXD0 &
TXD2, RXD2 TXD0) and UART1 (RXD1 & TXD1). UART1 is used to
upload the firmware/program.
I2C Pins NodeMCU has I2C functionality support but due to the
internal functionality of these pins, you have to find which
pin is I2C.
Brief About NodeMCU ESP8266
The NodeMCU ESP8266 development board comes with the ESP-12E module
containing the ESP8266 chip having Tensilica Xtensa 32-bit LX106 RISC
microprocessor. This microprocessor supports RTOS and operates at 80MHz to 160
MHz adjustable clock frequency. NodeMCU has 128 KB RAM and 4MB of Flash
memory to store data and programs. Its high processing power with in-built Wi-Fi /
Bluetooth and Deep Sleep Operating features make it ideal for IoT projects.
NodeMCU can be powered using a Micro USB jack and VIN pin (External Supply Pin).
It supports UART, SPI, and I2C interface.
Programming NodeMCU ESP8266 with Arduino IDE
The NodeMCU Development Board can be easily programmed with Arduino IDE since
it is easy to use.
Programming NodeMCU with the Arduino IDE will hardly take 5-10 minutes. All you
need is the Arduino IDE, a USB cable and the NodeMCU board itself. You can check
this Getting Started Tutorial for NodeMCU to prepare your Arduino IDE for NodeMCU.
Uploading your first program
Once Arduino IDE is installed on the computer, connect the board with the computer
using the USB cable. Now open the Arduino IDE and choose the correct board by
selecting Tools>Boards>NodeMCU1.0 (ESP-12E Module), and choose the correct
Port by selecting Tools>Port. To get it started with the NodeMCU board and blink the
built-in LED, load the example code by selecting Files>Examples>Basics>Blink. Once
the example code is loaded into your IDE, click on the ‘upload’ button given on the
top bar. Once the upload is finished, you should see the built-in LED of the board
blinking.
Applications
 Prototyping of IoT devices

 Low power battery operated applications
 Network projects
 Projects requiring multiple I/O interfaces with Wi-Fi and Bluetooth
functionalities
Your specialist in innovating humidity & temperature sensors
Standard AM2302 /DHT22

AM2302/DHT22 AM2302 /DHT22 with big case and wires
AM2302/DHT22
Digital relative humidity & temperature sensor AM2302/DHT22

AM2302/DHT22
Application::
1. Feature & Application
*High precision *Outstanding long-term stability
*Capacitive type *Extra components not needed
*Full range temperature compensated *Long transmission distance, up to 100 meters
*Relative humidity and temperature measurement *Low power consumption
*Calibrated digital signal *4 pins packaged and fully interchangeable
2. Description:
AM2302 output calibrated digital signal. It applys exclusive digital-signal-collecting-technique and humidity
sensing technology, assuring its reliability and stability. Its sensing elements is connected with 8-bit single-chip
computer.
Every sensor of this model is temperature compensated and calibrated in accurate calibration chamber and the
calibration-coefficient is saved in type of programme in OTP memory, when the sensor is detecting, it will cite
coefficient from memory.
Small size & low consumption & long transmission distance(100m) enable AM2302 to be suited in all kinds of
harsh application occasions. Single-row packaged with four pins, making the connection very convenient.
3. Technical Specification:
Model AM2302
Power supply 3.3-5.5V DC
Output signal digital signal via 1-wire bus
Sensing element Polymer humidity capacitor
Operating range humidity 0-100%RH; temperature -40~80Celsius
Accuracy +-2%RH(Max +-5%RH);
humidity +-2%RH temperature +-0.5Celsius
Resolution or sensitivity humidity 0.1%RH; temperature 0.1Celsius
Repeatability humidity +-1%RH; temperature +-0.2Celsius
Humidity hysteresis +-0.3%RH
Long-term Stability +-0.5%RH/year
Interchangeability fully interchangeable
Thomas Liu (Sales Manager) -1-
Email: thomasliu198518@aliyun.com
4. Dimensions: (unit----mm)
AM2302’’s dimensions as above

Standard AM2302
case’’s dimensions as above
Big case
Red wire--power supply, Black wire--GND
Yellow wire--Data output
5. Electrical connection diagram:
6. Operating specifications:
(1) Power and Pins
Power's voltage should be 3.3-5.5V DC. When power is supplied to sensor, don't send any instruction to the sensor
within one second to pass unstable status. One capacitor valued 100nF can be added between VDD and GND for
wave filtering.
(2) Communication and signal
1-wire bus is used for communication between MCU and AM2302. ( Our 1-wire bus is specially designed, it's
different from Maxim/Dallas 1-wire bus, so it's incompatible with Dallas 1-wire bus.)
Illustration of our 1-wire bus:
DATA= 16 bits RH data+

DATA=16 16 bits Temperature data+8 bit
data+16 bitss check-sum
Example: MCU has received 40 bits data from AM2302 as
0000 0010 1000 1100 0000 0001 0101 1111 1110 1110
16 bits RH data 16 bits T data check sum
Here we convert 16 bits RH data from binary system to decimal system,
0000 0010 1000 1100 → 652
Binary system Decimal system
RH=652/10=65.2%RH
Here we convert 16 bits T data from binary system to decimal system,
0000 0001 0101 1111 → 351
Binary system Decimal system
T=351/10=35.1
T=351/10=35.1℃
When highest bit of temperature is 1, it means the temperature is below 0 degree Celsius.
Example: 1000 0000 0110 0101, T= minus 10.1℃
16 bits T data
Sum=0000 0010+1000 1100+0000 0001+0101 1111=1110 1110
Check-sum=the last 8 bits of Sum=1110 1110
Check-sum
When MCU send start signal, AM2302 change from standby-status to running-status. When MCU finishs sending
the start signal, AM2302 will send response signal of 40-bit data that reflect the relative humidity and temperature
to MCU. Without start signal from MCU, AM2302 will not give response signal to MCU. One start signal for one
response data from AM2302 that reflect the relative humidity and temperature. AM2302 will change to standby
status when data collecting finished if it don't receive start signal from MCU again.
See below figure for overall communication process, the interval of whole process must beyond 2 seconds.
------------------------------------------------------------------------------------------------------------------------------------
1) Step 1: MCU send out start signal to AM2302 and AM2302 send response signal to MCU
Data-bus's free status is high voltage level. When communication between MCU and AM2302 begins, MCU will
pull low data-bus and this process must beyond at least 1~10ms to ensure AM2302 could detect MCU's signal, then
MCU will pulls up and wait 20-40us for AM2302's response.
When AM2302 detect the start signal, AM2302 will pull low the bus 80us as response signal, then AM2302 pulls
up 80us for preparation to send data. See below figure:
------------------------------------------------------------------------------------------------------------------------------------
2). Step 2: AM2302 send data to MCU
When AM2302 is sending data to MCU, every bit's transmission begin with low-voltage-level that last 50us, the
following high-voltage-level signal's length decide the bit is "1" or "0". See below figures:
Attention:
If signal from AM2302 is always high-voltage-level, it means AM2302 is not working properly, please check
the electrical connection status.
7. Electrical Characteristics:
Items Condition Min Typical Max Unit
Power supply DC 3.3 5 6 V
Current supply Measuring 1 1.5 mA
Stand-by 40 Null 50 uA
Collecting Second 2 Second
period
8. Attentions of application:
(1) Operating and storage conditions
We don't recommend the applying RH-range beyond the range stated in this specification. The AM2302 sensor
can recover after working in abnormal operating condition to calibrated status, but will accelerate sensors' aging.
(2) Attentions to chemical materials
Vapor from chemical materials may interfere AM2302's sensitive-elements and debase AM2302's sensitivity.
(3) Disposal when (1) & (2) happens
Step one: Keep the AM2302 sensor at condition of Temperature 50~60Celsius, humidity <10%RH for 2 hours;
Step two: After step one, keep the AM2302 sensor at condition of Temperature 20~30Celsius, humidity
>70%RH for 5 hours.
(4) Attention to temperature's affection
Relative humidity strongly depend on temperature, that is why we use temperature compensation technology to
ensure accurate measurement of RH. But it's still be much better to keep the sensor at same temperature when
sensing.
AM2302 should be mounted at the place as far as possible from parts that may cause change to temperature.
(5) Attentions to light
Long time exposure to strong light and ultraviolet may debase AM2302's performance.
(6) Attentions to connection wires
The connection wires' quality will effect communication's quality and distance, high quality shielding-wire is
recommended.
(7) Other attentions
* Welding temperature should be bellow 260Celsius.
* Avoid using the sensor under dew condition.
* Don't use this product in safety or emergency stop devices or any other occasion that failure of AM2302 may
cause personal injury.
HANWEI ELECTRONICS CO ., LTD MQ –7 http://www.hwsensor.com
TECHNICAL DATA MQ-7 GAS SENSOR

FEATURES
* High sensitivity to carbon monoxide
* Stable and long life
APPLICATION
They are used in gas detecting equipment for carbon monoxide(CO) in family and
industry or car.
SPECIFICATIONS
A. Standard work condition
Symbol Parameter name Technical condition Remark
Vc circuit voltage 5V±0.1 Ac or Dc
VH (H) Heating voltage (high) 5V±0.1 Ac or Dc
VH (L) Heating voltage (low) 1.4V±0.1 Ac or Dc
RL Load resistance Can adjust
RH Heating resistance 33Ω±5% Room temperature
TH (H) Heating time (high) 60±1 seconds
TH (L) Heating time (low) 90±1 seconds
PH Heating consumption About 350mW
b. Environment conditions
Symbol Parameters Technical conditions Remark

Tao Using temperature -20℃-50℃
Tas Storage temperature -20℃-50℃ Advice using scope
RH Relative humidity Less than 95%RH
O2 Oxygen concentration 21%(stand condition) Minimum value is over 2%
the oxygen concentration can
affect the sensitivity
characteristic
c. Sensitivity characteristic
symbol Parameters Technical parameters Remark

Rs Surface resistance In 100ppm
Of sensitive body 2-20k Carbon Monoxide
а(300/100ppm) Concentration slope rate Less than 0.5 Rs (300ppm)/Rs(100ppm)
Standard working Temperature -20℃±2℃ relative humidity 65%±5% RL:10KΩ±5%
condition Vc:5V±0.1V VH:5V±0.1V VH:1.4V±0.1V
Preheat time No less than 48 hours Detecting range:
20ppm-2000ppm carbon monoxide
D. Structure and configuration, basic measuring circuit

Structure and configuration of MQ-7 gas sensor is shown as Fig. 1 (Configuration A or B),
sensor composed by micro AL2O3 ceramic tube, Tin Dioxide (SnO2) sensitive layer, measuring
electrode and heater are fixed into a crust made by plastic and stainless steel net. The heater
provides necessary work conditions for work of sensitive components. The enveloped MQ-7 have
TEL:86-371-67169070 67169080 FAX:86-371-67169090 Email: sales@hwsensor.com

6 pin ,4 of them are used to fetch signals, and other 2 are used for providing heating current.
Parts Materials
1 Gas sensing SnO2
layer
2 Electrode Au
3 Electrode line Pt
4 Heater coil Ni-Cr alloy
5 Tubular ceramic Al2O3
6 Anti-explosion Stainless steel gauze
network (SUS316 100-mesh)
7 Clamp ring Copper plating Ni
8 Resin base Bakelite
9 Tube Pin Copper plating Ni
Fig.1
A
A向
Standard circuit:
Heating voltage 5v (High) 60s
As shown in Fig 2, standard measuring circuit of
VRL MQ-7 sensitive components consists of 2 parts. one
VH
is heating circuit having time control function (the

high voltage and the low voltage work
RL
circularly ). The second is the signal output circuit,
Vc it can accurately respond changes of surface
resistance of the sensor.
Heating voltage 1.4v (Low) 90s Fig.2
Electric parameter measurement circuit is shown as Fig.2

E. Sensitivity characteristic curve
100
MQ-7
Fig.3 is shows the typical
sensitivity characteristics of
10 the MQ-7 for several gases.
in their: Temp: 20℃、
Humidity: 65%、
Rs/Ro
1 O2 concentration 21%
RL=10kΩ
CO
H2 Ro: sensor resistance at 100ppm
0.1 LPG CO in the clean air.
CH4
Alcohol Rs: sensor resistance at various
air
concentrations of gases.
0.01
ppm
10 100 1000 10000
Fig.3 sensitivity characteristics of the MQ-7

1.5
MQ-7 Fig.4 is shows the typical
1.4 Fig.4 dependence of the MQ-7 on
1.3 33%RH
1.2 85%RH temperature and humidity.
1.1
Rs/Ro
1 Ro: sensor resistance at 100ppm CO in

0.9 air at 33%RH and 20degree.
0.8
0.7 Rs: sensor resistance at 100ppm CO at
0.6 Temp
0.5 different temperatures and humidities.
-10 0 10 20 30 40 50
OPERATION PRINCIPLE
. The surface resistance of the sensor Rs is obtained through effected voltage signal output of the
load resistance RL which series-wound. The relationship between them is described:
Rs\RL = (Vc-VRL) / VRL
Fig. 5 shows alterable situation of RL signal output measured by using Fig. 2 circuit output
In 100ppmCO In air
In air
VH5v
1.4v 60s 90s
Signal
Fig.5
signal when the sensor is shifted from clean air to carbon monoxide (CO) , output signal
measurement is made within one or two complete heating period (2.5 minute from high voltage
to low voltage ).
Sensitive layer of MQ-7 gas sensitive components is made of SnO2 with stability, So, it has
excellent long term stability. Its service life can reach 5 years under using condition.
SENSITVITY ADJUSTMENT
Resistance value of MQ-7 is difference to various kinds and various concentration gases. So, When
using this components, sensitivity adjustment is very necessary. we recommend that you calibrate the
detector for 200ppm CO in air and use value of Load resistance that( RL) about 10 KΩ(5KΩ to 47 KΩ).
When accurately measuring, the proper alarm point for the gas detector should be determined after
considering the temperature and humidity influence. The sensitivity adjusting program:
a. Connect the sensor to the application circuit.
b. Turn on the power, keep preheating through electricity over 48 hours.
c. Adjust the load resistance RL until you get a signal value which is respond to a certain
carbon monoxide concentration at the end point of 90 seconds.
d. Adjust the another load resistance RL until you get a signal value which is respond to a CO
concentration at the end point of 60 seconds .
Supplying special IC solutions, More detailed technical information, please contact us.

Arduino Nano
Overview:
Arduino Nano is a small, compact and breadboard friendly development board that can be used to
build a wide range of DIY projects, such as robo cs, home automa on, IoT devices, and many others.
It is based on the ATmega328P microcontroller and comes with an integrated USB interface, which
makes it easy to program and communicate with the board. Arduino Nano is compa ble with the
Arduino IDE, which is a popular programming pla orm for embedded systems.
Pin Out:
Features:
- Microcontroller: ATmega328P
- Opera ng Voltage: 5V
- Input Voltage (recommended): 7-12V
- Input Voltage (limits): 6-20V
- Digital I/O Pins: 14 (of which 6 provide PWM output)

Arduino Nano
- Analog Input Pins: 8
- DC Current per I/O Pin: 40 mA
- Flash Memory: 32 KB (ATmega328P) of which 2 KB used by bootloader
- SRAM: 2 KB (ATmega328P)
- EEPROM: 1 KB (ATmega328P)
- Clock Speed: 16 MHz
- Integrated USB interface for programming and communica on
- On-board voltage regulator and power supply protec on
- Compa ble with Arduino IDE and libraries
- Small and compact size for easy integra on into projects
- Breadboard friendly design
Applica ons:
- Robo cs
- Home automa on
- IoT devices
- Wearables
- Automa on systems
- Data loggers
- Sensor networks
- Smart agriculture
- Environmental monitoring
- Educa on and learning

Appendix III: Code
//Control bot
#include "esp_camera.h"
#include <WiFi.h>
#include "esp_timer.h"
#include "img_converters.h"
#include "Arduino.h"
#include "fb_gfx.h"
#include "soc/soc.h" // disable brownout problems
#include "soc/rtc_cntl_reg.h" // disable brownout problems
#include "esp_http_server.h"
// Replace with your network credentials
const char* ssid = "AndroidAPEB93";
const char* password = "Biswarup2001";
#define PART_BOUNDARY "123456789000000000000987654321"
#define CAMERA_MODEL_AI_THINKER
//#define CAMERA_MODEL_M5STACK_PSRAM
//#define CAMERA_MODEL_M5STACK_WITHOUT_PSRAM
//#define CAMERA_MODEL_M5STACK_PSRAM_B
//#define CAMERA_MODEL_WROVER_KIT
#if defined(CAMERA_MODEL_WROVER_KIT)
#define PWDN_GPIO_NUM -1
#define RESET_GPIO_NUM -1
#define XCLK_GPIO_NUM 21
#define SIOD_GPIO_NUM 26
#define SIOC_GPIO_NUM 27
#define Y9_GPIO_NUM 35
#define VSYNC_GPIO_NUM 25
#define HREF_GPIO_NUM 23
#define PCLK_GPIO_NUM 22
#elif defined(CAMERA_MODEL_M5STACK_PSRAM)
#define RESET_GPIO_NUM 15
#elif defined(CAMERA_MODEL_M5STACK_WITHOUT_PSRAM)
#elif defined(CAMERA_MODEL_AI_THINKER)
#define PWDN_GPIO_NUM 32
#define RESET_GPIO_NUM -1
#elif defined(CAMERA_MODEL_M5STACK_PSRAM_B)
#else
#error "Camera model not selected"
#endif
#define MOTOR_1_PIN_1 14
static const char* _STREAM_CONTENT_TYPE = "multipart/x-mixed-replace;boundary="
PART_BOUNDARY;
static const char* _STREAM_BOUNDARY = "\r\n--" PART_BOUNDARY "\r\n";
static const char* _STREAM_PART = "Content-Type: image/jpeg\r\nContent-Length: %u\r\n\r\n";
httpd_handle_t camera_httpd = NULL;
httpd_handle_t stream_httpd = NULL;
static const char PROGMEM INDEX_HTML[] = R"rawliteral(
<html>
<head>
<title>ESP32-CAM Robot</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<style>
body { font-family: Arial; text-align: center; margin:0px auto; padding-top: 30px;}
table { margin-left: auto; margin-right: auto; }
td { padding: 8 px; }
.button {
background-color: #2f4468;
border: none;
color: white;
padding: 10px 20px;
text-align: center;
text-decoration: none;
display: inline-block;
font-size: 18px;
margin: 6px 3px;
cursor: pointer;
-webkit-touch-callout: none;
-webkit-user-select: none;
-khtml-user-select: none;
-moz-user-select: none;
-ms-user-select: none;
user-select: none;
-webkit-tap-highlight-color: rgba(0,0,0,0);
}
img { width: auto ;
max-width: 100% ;
height: auto ;
}
</style>
</head>
<body>
<h1>ESP32-CAM Robot</h1>
<img src="" id="photo" >
<table>
<tr><td colspan="3" align="center"><button class="button"
onmousedown="toggleCheckbox('forward');" ontouchstart="toggleCheckbox('forward');"
onmouseup="toggleCheckbox('stop');"
ontouchend="toggleCheckbox('stop');">Forward</button></td></tr>
<tr><td align="center"><button class="button" onmousedown="toggleCheckbox('left');"
ontouchstart="toggleCheckbox('left');" onmouseup="toggleCheckbox('stop');"
ontouchend="toggleCheckbox('stop');">Left</button></td><td align="center"><button
class="button" onmousedown="toggleCheckbox('stop');"
ontouchstart="toggleCheckbox('stop');">Stop</button></td><td align="center"><button
class="button" onmousedown="toggleCheckbox('right');" ontouchstart="toggleCheckbox('right');"
ontouchend="toggleCheckbox('stop');">Right</button></td></tr>
<tr><td colspan="3" align="center"><button class="button"
onmousedown="toggleCheckbox('backward');" ontouchstart="toggleCheckbox('backward');"
ontouchend="toggleCheckbox('stop');">Backward</button></td></tr>
</table>
<script>
function toggleCheckbox(x) {
var xhr = new XMLHttpRequest();
xhr.open("GET", "/action?go=" + x, true);
xhr.send();
}
window.onload = document.getElementById("photo").src = window.location.href.slice(0, -1) +
":81/stream";
</script>
</body>
</html>
)rawliteral";
static esp_err_t index_handler(httpd_req_t *req){
httpd_resp_set_type(req, "text/html");
return httpd_resp_send(req, (const char *)INDEX_HTML, strlen(INDEX_HTML));
}
static esp_err_t stream_handler(httpd_req_t *req){
camera_fb_t * fb = NULL;
esp_err_t res = ESP_OK;
size_t _jpg_buf_len = 0;
uint8_t * _jpg_buf = NULL;
char * part_buf[64];
res = httpd_resp_set_type(req, _STREAM_CONTENT_TYPE);
if(res != ESP_OK){
return res;
}
while(true){
fb = esp_camera_fb_get();
if (!fb) {
Serial.println("Camera capture failed");
res = ESP_FAIL;
} else {
if(fb->width > 400){
if(fb->format != PIXFORMAT_JPEG){
bool jpeg_converted = frame2jpg(fb, 80, &_jpg_buf, &_jpg_buf_len);
esp_camera_fb_return(fb);
fb = NULL;
if(!jpeg_converted){
Serial.println("JPEG compression failed");
res = ESP_FAIL;
}
} else {
_jpg_buf_len = fb->len;
_jpg_buf = fb->buf;
}
}
}
if(res == ESP_OK){
size_t hlen = snprintf((char *)part_buf, 64, _STREAM_PART, _jpg_buf_len);
res = httpd_resp_send_chunk(req, (const char *)part_buf, hlen);
}
if(res == ESP_OK){
res = httpd_resp_send_chunk(req, (const char *)_jpg_buf, _jpg_buf_len);
}
if(res == ESP_OK){
res = httpd_resp_send_chunk(req, _STREAM_BOUNDARY, strlen(_STREAM_BOUNDARY));
}
if(fb){
esp_camera_fb_return(fb);
fb = NULL;
_jpg_buf = NULL;
} else if(_jpg_buf){
free(_jpg_buf);
_jpg_buf = NULL;
}
if(res != ESP_OK){
break;
}
//Serial.printf("MJPG: %uB\n",(uint32_t)(_jpg_buf_len));
}
return res;
}
static esp_err_t cmd_handler(httpd_req_t *req){

char* buf;
size_t buf_len;
char variable[32] = {0,};
buf_len = httpd_req_get_url_query_len(req) + 1;
if (buf_len > 1) {
buf = (char*)malloc(buf_len);
if(!buf){
httpd_resp_send_500(req);
return ESP_FAIL;
}
if (httpd_req_get_url_query_str(req, buf, buf_len) == ESP_OK) {
if (httpd_query_key_value(buf, "go", variable, sizeof(variable)) == ESP_OK) {
} else {
free(buf);
return ESP_FAIL;
}
} else {
free(buf);
return ESP_FAIL;
}
free(buf);
} else {
return ESP_FAIL;
}
sensor_t * s = esp_camera_sensor_get();
int res = 0;
if(!strcmp(variable, "forward")) {
Serial.println("Forward");
digitalWrite(MOTOR_1_PIN_1, 1);
}
else if(!strcmp(variable, "left")) {
Serial.println("Left");
}
else if(!strcmp(variable, "right")) {
Serial.println("Right");
}
else if(!strcmp(variable, "backward")) {
Serial.println("Backward");
}
else if(!strcmp(variable, "stop")) {
Serial.println("Stop");
}
else {
res = -1;
}
if(res){
return httpd_resp_send_500(req);
}
httpd_resp_set_hdr(req, "Access-Control-Allow-Origin", "*");

return httpd_resp_send(req, NULL, 0);
}
void startCameraServer(){
httpd_config_t config = HTTPD_DEFAULT_CONFIG();
config.server_port = 80;
httpd_uri_t index_uri = {
.uri = "/",
.method = HTTP_GET,
.handler = index_handler,
.user_ctx = NULL
};
httpd_uri_t cmd_uri = {
.uri = "/action",
.method = HTTP_GET,
.handler = cmd_handler,
.user_ctx = NULL
};
httpd_uri_t stream_uri = {
.uri = "/stream",
.method = HTTP_GET,
.handler = stream_handler,
.user_ctx = NULL
};
if (httpd_start(&camera_httpd, &config) == ESP_OK) {
httpd_register_uri_handler(camera_httpd, &index_uri);
httpd_register_uri_handler(camera_httpd, &cmd_uri);
}
config.server_port += 1;
config.ctrl_port += 1;
if (httpd_start(&stream_httpd, &config) == ESP_OK) {
httpd_register_uri_handler(stream_httpd, &stream_uri);
}
}
void setup() {
WRITE_PERI_REG(RTC_CNTL_BROWN_OUT_REG, 0); //disable brownout detector
pinMode(MOTOR_1_PIN_1, OUTPUT);
Serial.begin(115200);
Serial.setDebugOutput(false);
camera_config_t config;
config.ledc_channel = LEDC_CHANNEL_0;
config.ledc_timer = LEDC_TIMER_0;
config.pin_d0 = Y2_GPIO_NUM;
config.pin_xclk = XCLK_GPIO_NUM;
config.pin_pclk = PCLK_GPIO_NUM;
config.pin_vsync = VSYNC_GPIO_NUM;
config.pin_href = HREF_GPIO_NUM;
config.pin_sscb_sda = SIOD_GPIO_NUM;
config.pin_sscb_scl = SIOC_GPIO_NUM;
config.pin_pwdn = PWDN_GPIO_NUM;
config.pin_reset = RESET_GPIO_NUM;
config.xclk_freq_hz = 20000000;
config.pixel_format = PIXFORMAT_JPEG;
if(psramFound()){
config.frame_size = FRAMESIZE_VGA;
config.jpeg_quality = 10;
config.fb_count = 2;
} else {
config.frame_size = FRAMESIZE_SVGA;
config.jpeg_quality = 12;
config.fb_count = 1;
}
// Camera init
esp_err_t err = esp_camera_init(&config);
if (err != ESP_OK) {
Serial.printf("Camera init failed with error 0x%x", err);
return;
}
// Wi-Fi connection
WiFi.begin(ssid, password);
while (WiFi.status() != WL_CONNECTED) {
delay(500);
Serial.print(".");
}
Serial.println("");
Serial.println("WiFi connected");
Serial.print("Camera Stream Ready! Go to: http://");

Serial.println(WiFi.localIP());
// Start streaming web server

startCameraServer();
}
void loop() {
}
//Sensor stack
#include <ESP8266WiFi.h>
#include <ESP8266WebServer.h>
#include <DHT.h>
#include <NTPClient.h>
#include <WiFiUdp.h>
#define DHTPin 14
#define DHTTYPE DHT22
DHT dht(DHTPin, DHTTYPE);
WiFiUDP ntpUDP;
const long utcOffsetInSeconds = 28800;
NTPClient timeClient(ntpUDP, "pool.ntp.org", utcOffsetInSeconds);
unsigned long epochTime = timeClient.getEpochTime();
struct tm *ptm = gmtime ((time_t *)&epochTime);
const char* ssid = "AndroidAPEB93";

const char* password = "Biswarup2001";
ESP8266WebServer server(80);
String SendHTML(float TemperatureWeb,float HumidityWeb, String TimeWeb, String DateWeb,int

adc);
void handle_OnConnect();
void handle_NotFound();
float Temperature;
float Humidity;
String formattedTime;
String Date;
int Day;
int Month;
int Year;
int adcValue ;
int sig;
String stren;
void setup() {
Serial.begin(115200);
pinMode(DHTPin, INPUT);
pinMode(5,INPUT);
Serial.println("Connecting to ");
Serial.println(ssid);
WiFi.begin(ssid, password);
while (WiFi.status() != WL_CONNECTED) {

delay(1000);
Serial.print(".");
}
Serial.println("");
Serial.println("Connected to WiFi");
Serial.print("IP: "); Serial.println(WiFi.localIP());
server.on("/", handle_OnConnect);
server.onNotFound(handle_NotFound);
server.begin();
dht.begin();
timeClient.begin();
}
void loop() {
server.handleClient();
void handle_OnConnect() {
timeClient.update();
unsigned long epochTime = timeClient.getEpochTime();

String formattedTime = timeClient.getFormattedTime();
struct tm *ptm = gmtime ((time_t *)&epochTime);
int monthDay = ptm->tm_mday;

int currentMonth = ptm->tm_mon+1;
int currentYear = ptm->tm_year+1900;
formattedTime = timeClient.getFormattedTime();
Date = String(currentYear) + "-" + String(currentMonth) + "-" + String(monthDay);
Temperature = dht.readTemperature();
Humidity = dht.readHumidity();
adcValue = analogRead(A0);
//Serial.printf("RSSI: %d dBm\n", WiFi.RSSI());
sig = WiFi.RSSI();
server.send(200, "text/html", SendHTML(Temperature,Humidity,formattedTime,sig,adcValue));
}
void handle_NotFound(){
server.send(404, "text/plain", "Not found");
}
String SendHTML(float TemperatureWeb,float HumidityWeb, String TimeWeb,int DateWeb,int adc){

String ptr = "<!DOCTYPE html> <html>\n";
String st1 = "\"refresh\"";
String st2 = "\"10\"";
ptr = ptr + "<head><meta http-equiv="+st1+"content="+st2+">\n";

ptr +="<title>SENSOR VALUE</title>\n";
ptr +="</head>\n";
ptr +="<body>\n";
ptr +="<div id=\"webpage\">\n";
ptr +="<h1>ENVIROMENTAL SENSOR VALUE</h1>\n";
ptr +="<p>Signal Strength: ";
ptr +=(String)DateWeb;
ptr +="dBm</p>";
//ptr +="<p>Time: ";
//ptr +=(String)TimeWeb;
//ptr +="</p>";
ptr +="<p>Temperature: ";
ptr +=(int)TemperatureWeb;
ptr +="C</p>";
ptr +="<p>Humidity: ";
ptr +=(int)HumidityWeb;
ptr +="%</p>";
ptr +="<p>GAS: ";

ptr +=(int)adc;
ptr +="%</p>";
ptr +="</div>\n";
ptr +="</body>\n";
ptr +="</html>\n";
return ptr;
}
Appendix IV: Bill of Material
Sr. No Product Name Cost per unit Quantity Total Cost
1 Esp32 cam module 900 1 900
2 Esp8266 400 1 400
3 L239N Motor 150 1 150
4 Motor 54 2 108
5 Chassis 450 1 450
6 Top plate 120 1 120
7 Roller wheel 40 1 40
8 FTDI 250 1 250
9 MQ-7 300 1 300
10 DHT 22 220 1 220
11 Batteries 20 1 20
12 Cable and connector 1 --
13 Power Bank 1500 1 1500
Total 4458
Appendix V: Project Outcome
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Challenge: "Efficient ways to measure temperature at multiple points"
Title
Robot to measure temperature at multiple points
Please Share your Solution *
To measure the temperature at different point we can use a robot which can go to multiple points and measure the given
temperature as well as will allow for multiple other environmental values to be captured like humidity or any gas concentration.
2751 characters left

What have been the flaws in current solution? *
The current method need 2 person to continuously to remove the flue gas cap and measure the temperature during which they are
exposed to harmful gases as well as extremes of temperatures which is harmful for them and less efficient.
667 characters left
Define the problem statement as understood by you *
Based on the provided information, the problem statement is that the current process of measuring flue gas temperature in coke
ovens is manual, time-consuming, and hazardous for the operators. The process requires two operators to open the flue caps and
use a thermal camera to measure the temperature of 32 heating flues in each of the 90 heating chambers in the coke oven battery.
The operators are exposed to high temperatures, toxic gases, and dust hazards. The objective is to automate the flue gas
temperature measurement process to improve safety, accuracy, and efficiency.
20 characters left
Positive and unique results do we expect to see from your solution? *
This robot can be operated remotely over a WLAN network by a human operator at a safe place without being exposed to high
ranges of temperatures and toxic gasses.
By automating the flue gas temperature measurement process, the risks associated with manual measurements can be
eliminated. This solution can also improve the accuracy of temperature measurements, reduce downtime, and increase operational
efficiency.
486 characters left
Estimated investment required to implement your solution at our end? *:
For converting this prototype into a working product an estimated cost up to 15000-20000 rupees will be needed
490 characters left
Co-Solvers Details:
# Name Mail Id
1 Biswarup Chaki biswarup.chaki19@pccoepune.org
Uploaded Files
Attachment 1 (https://tatainnoverse.com/public/solutionimages/Report_1680189025.pdf) ,
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Title
efficiency.
Co-Solvers Details:
# Name Mail Id
1 Gunjan Lunkad glunkad007@gmail.com
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Title
efficiency.
Co-Solvers Details:
# Name Mail Id
1 Shivraj Rajgure shivrajgrss2000@gmail.com
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CONFERENCE FOR THE STUDENTS BY THE STUDENTS
Technically Sponsored By
IEEE Signal Processing Society, Pune Chapter

Organized By
Department of Electronics & Telecommunication, PCCOE, Pune
CERTIFICATE OF PARTICIPATION
This is to certify that

Biswarup Chaki , Gunjan Lunkad, Shivraj Rajgure
has presented a paper at Abhiyantrix'23 a department level conference organized by Department of
Electronics & Telecommunication, Pimpri Chinchwad College of Engineering, Nigdi, Pune
on 10th - 11th April, 2023
Vaishnavi Gadhave Pushkar Mahajan Guruprasad Deshpande Dr. M. T. Kolte

General Co-Chair General Co-Chair General Chair HOD, E&TC

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A Project Report On

Robot for exploration and surveillance

Gunjan Lunkad B190333128

Under the Guidance of Project Guide

Department Of ELECTRONICS & TELECOMMUNICATION

PIMPRI CHINCHWAD COLLEGE OF ENGINEERING

Project Phase -I Report

Gunjan Lunkad B190333128

Mrs. Sangita Patil Dr. M.T. Kolte Dr. G.N. Kulkarni

Pimpri Chinchwad College of Engineering,

Gunjan Lunkad Shivraj Rajgure Biswarup Chaki

2022-2023 i Department of E&TC PCCOE

Figure Number Description Page Number

Fig. 1 Block Diagram 19

Fig. 15 Control of robot on mobile phone 35

Fig. 16a Sensor Stack 36

Fig. 16b Sensor Stack Output 36

Fig. 17 Final Result 37

Table Number Description Page Number

Table No. 1 Literature review 3-15

2022-2023 ii Department of E&TC PCCOE

2022-2023 iii Department of E&TC PCCOE

2022-2023 iv Department of E&TC PCCOE

3.1 Block Diagram………………………………………………………………………...19

3.2 Elements of Block Diagram& Explanation…………………………………………...19

6. Testing & Troubleshooting………………………………………………………………....32-37

2022-2023 Department of E&TC PCCOE

Appendix II: Datasheets………………………………………………………………………………………………….46-72

Appendix III: Code………………………………………………………………………………………………………….73-90

Appendix IV: Bill of Material……………………………………………………………………………………………90-91

Appendix V: Project Outcome…………………………………………………………………………………………92-99

2022-2023 Department of E&TC PCCOE

2022-2023 1 Department of E&TC PCCOE

1.3 Project Specifications

2022-2023 2 Department of E&TC PCCOE

Sr. Title of the Year of Publisher Methodology Conclusion

2 Onboard 25 January IEEE Robotics This details the The method

3 DC Motor 4 Dec 2021 International In this system, All the discussion

2022-2023 4 Department of E&TC PCCOE

4 Performance September IEEE It is difficult to In this study,

2022-2023 5 Department of E&TC PCCOE

2022-2023 6 Department of E&TC PCCOE

2022-2023 7 Department of E&TC PCCOE

2022-2023 8 Department of E&TC PCCOE

2022-2023 9 Department of E&TC PCCOE

2022-2023 10 Department of E&TC PCCOE

12 Robots and 27 October Springer Open Robots can be Robots are

2022-2023 11 Department of E&TC PCCOE

13 Wheels of 2017 Robot structure Thepurposeofth The number of

2022-2023 12 Department of E&TC PCCOE

14 The future of January 2017 7 International Environmental In the last two

2022-2023 13 Department of E&TC PCCOE

15 WiFi signal 23 October 2014 IEEE Due to the In this paper,

2022-2023 14 Department of E&TC PCCOE

2022-2023 15 Department of E&TC PCCOE

Summary of Literature survey

 “A Technology Review of Smart Sensors with Wireless Networks for

 The fifth literature survey that we studied is “Performance of Low-Latency HTTP-

 As our project is related to surveillance so to understand the importance of

2022-2023 16 Department of E&TC PCCOE

 This Camera-Realistic Robotics Simulator is for Cinematographic Purposes in this

 The last paper that we review is “Holonomic Implementation of Three Wheels