Major Project Report

VISVESVARAYA TECHNOLOGICAL UNIVERSITY
“Jnana Sangama”, Belagavi– 590018, Karnataka, India
PROJECT REPORT
On
“CAMOUFLAGE ROBOT FOR MILITARY APPLICATIONS”

Submitted in partial fulfilment of the requirement for the award of the Degree
BACHELOR OF ENGINEERING
in
ELECTRONICS AND COMMUNICATION ENGINEERING
By
AKSHAYA VP 1DA19EC011
JAGADISH 1DA19EC053
SATISH PATIL 1DA20EC417
SHASHI KUMAR KG 1DA20EC419
Under the Guidance of

SIDDESHA K
Assistant Professor, Department of ECE, Dr. AIT, Bengaluru-560056
DEPARTMENT OF ELECTRONICS AND COMMUNICATION ENGINEERING

Dr. AMBEDKAR INSTITUTE OF TECHNOLOGY
Mallathahalli, Outer Ring Road, Bengaluru – 560056
2022-23
DR. AMBEDKAR INSTITUTE OF TECHNOLOGY
(An Autonomous Institute Affiliated to VTU, Belagavi, Accredited by NAAC with A Grade)
Near Jnana Bharathi Campus, Bengaluru – 560056
CERTIFICATE
Certified that the project work entitled “CAMOUFLAGE ROBOT FOR MILITARY
APPLICATIONS” carried out by Mr. AKSHAYA VP, Mr. JAGADISH, Mr. SATISH
PATIL, Mr. SHASHI KUMAR KG, bearing USN 1DA19EC011, 1DA19EC053,
1DA20EC417, 1DA20EC419 respectively, a bonafide student of Dr. Ambedkar Institute of
Technology, Bengaluru-560056, in partial fulfillment for the award of Bachelor of
Engineering in Electronics and Communication Engineering of Visvesvaraya
Technological University, Belagavi during the year 2022-23. It is certified that all the
corrections/suggestions indicated during the Internal Assessment have been incorporated in the
report deposited in the departmental library. The project report has been approved as it
satisfies the academic requirements in respect of the project work prescribed for the said
degree.
Signature of the Guide Signature of the Signature of the Principal

Siddesha K HOD Dr. M. Meenakshi
Assistant professor Dr. Ramesh S Principal
Prof. and Head
VIVA-VOCE
Name of the Examiners Signature with Date
1.
2.
DR. AMBEDKAR INSTITUTE OF TECHNOLOGY
(An Autonomous Institute Affiliated to VTU, Belagavi, Accredited by NAAC with A Grade)
Near Jnana Bharathi Campus, Bengaluru – 560056
DECLARATION
We, AKSHAYA VP, JAGADISH, SATISH PATIL, SHASHI KUMAR KG, bearing
USN: 1DA19EC011, 1DA19EC053, 1DA20EC0417, 1DA20EC419 respectively, hereby
declare that, the project work entitled “CAMOUFLAGE ROBOT FOR MILITARY
APPLICATIONS”, submitted to Dr. Ambedkar Institute of Technology, Bengaluru-
560056 is a record of an original work carried out by us under the guidance of
SIDDESHA K, Assistant professor, Department of Electronics and Communication
Engineering, Dr. Ambedkar Institute of Technology, Bengaluru-560056.
The project work is submitted in partial fulfillment of the requirement for the award of
Bachelor of Engineering in Electronics and Communication Engineering during the
academic year 2022-2023. The results embodied in this report have not been submitted to any
other University or Institute for the award of degree. [I hereby also declare that the project
report submitted to the department and that subjected to plagiarism check are same in all
respects].
Place: Bangalore AKSHAYA VP [1DA19EC011]
Date: JAGADISH [1DA19EC053]
SATISH PATIL [1DA20EC417]
SHASHI KUMAR KG [1DA20EC419]

ACKNOWLEDGEMENT
The satisfaction that accompanies the successful completion of this project would be
complete only with the mention of the people who made it possible, whose support rewarded
our effort with success.
We consider ourselves privileged to express our gratitude and respect towards

all those who guided us through the project, “Camouflage Robot for Military
Applications”.
I would like to express our gratitude to Dr. Meenakshi M, Principal, Dr. A.I.T.,
for providing us the congenial environment to work for our project.
We would like to express our profuse gratitude to Dr. Ramesh S, HOD, Dept. of
Electronics & Communication Engineering, Dr. AIT, for giving us the support,
encouragement and providing us the required lab facilities that was necessary for the
completion of this project.
As a token of gratitude, we would like to acknowledge our sincere gratitude to the

internal guide Siddesha K, Asst. Prof, Dept. of ECE, Dr. AIT. for his unlimited support
and encouragement provided throughout the process.
I am also indebted to all the staff members of the department of Electronics

and Communication Engineering for support and guidance were invaluable.
Finally, I would like to thank my parents and friends for all support they provided
during the development of this project work.
AKSHAYA VP [1DA19EC011]
JAGADISH [1DA19EC053]
SATISH PATIL [1DA20EC417]
SHASHI KUMAR KG [1DA20EC419]

ABSTRACT
Nowadays, many expenses are made in the field of defence in adopting primitive security
measures to protect the border from the trespassers. Some military organizations take the help
of robot in the risk prone areas which are not that effective when done by army men. These
Army robots are confining with the camera, sensors, metal detector, video screen and
camouflaged. The main objective of our system is to get camouflaged including some
additional parameters like WIFI for real time data processed by the camera at the video
screen and IR sensor to trace the intruders. Thus, the proposed system using WIFI reduces
errors at defence and keeps the nation secure from the foe.
TABLE OF CONTENTS
Chapter No. Heading Page
no.
Chapter 1 Introduction 1
1.1 Objective
1.2 Problem identification
Chapter 2 Literature Survey 4

Chapter 3 Proposed Work 12
3.1 Existing system

3.2 Proposed system
3.3 Scope of the Project
Chapter 4 METHODOLIGY 14
4.1 Hard-wired surveillance system

4.2 Remote access systems
4.3 Land mine detection
4.4 Working
4.5 Block diagram
4.6 Software description
4.7 Prototype
Chapter 5 System Requirement Specification 43
5.1 Hardware requirements

5.2 Software requirements
5.3 Functional requirements
5.4 Non-functional requirements
Chapter 6 Applications and Advantages 45
6.1 Applications
6.2 Advantages
6.3 Limitations
CONCLUSION 46
REFERENCES 47
LIST OF FIGURES
Figure No. Title Page No.

4.5.1 ESP32 18
4.5.2 Power Supply 21
4.5.3 Infrared Sensor 22
4.5.4 Relay 22
4.5.5 DC Motor 23
4.5.6 H-Bridge 24
4.5.7 Proximity Sensor 25
4.5.8 Battery 26
4.5.9 Color Sensor 27
4.6.1 Embedded C 37
LIST OF TABLES
Figure No. Title Page No.

4.5 Block Diagram 16
4.6 Software Description 28
4.7 Prototype 41
5.1 Hardware Requirement 43

Camouflage Robot for Military Applications
CHAPTER 1
INTRODUCTION
The Camouflage Robot is an advanced robotic creation designed for military applications. It
possesses the ability to blend seamlessly into any environment, mimicking its surroundings and
remaining virtually invisible to adversaries. With its intelligence-gathering capabilities and
tactical advantages, it provides enhanced stealth, reconnaissance, and decision-making support
on the battlefield. Equipped with various sensors and autonomous navigation, it can gather
critical intelligence and perform covert operations. The Camouflage Robot represents a
significant innovation in military technology, demonstrating the military's commitment to
leveraging cutting-edge robotics for strategic advantage.
A robot is an automatic mechanical device often resembling a human or animal. Modern robots
are usually guided by a computer program or electronic circuitry. Robots have replaced
humans in performing repetitive and dangerous tasks. Basically, Army Robot is capable of
performing tasks such as Face detection, missile detection, and camouflage. If any obstacle is
detected, that will be notified and robot will stop moving. So, in all the proposed system
provides a helping hand to our security forces in detection of intruders. Robots are enhanced to
be robust and sturdier giving the guarantee of success in the risk prone environment.
This project aims to contribute to the ongoing efforts in modernizing military operations by
introducing a game-changing technology capable of transforming the way soldiers navigate and
operate in hostile environments. The Camouflage robot for military applications holds the
potential to greatly reduce casualties, enhance operational effectiveness, and ultimately increase
mission success rates.
In the realm of modern warfare, technological advancements have played a pivotal role in
enhancing the capabilities of armed forces. Among the cutting-edge innovations, the
development of camouflage robots has emerged as a remarkable stride in military applications.
These sophisticated machines combine advanced robotics, artificial intelligence, and state-of-
the-art camouflage technologies to revolutionize the concept of stealth operations on the
battlefield.
The primary objective of camouflage robots is to mimic their surroundings, effectively blending
into the environment and providing invaluable tactical advantages to military forces.
Electronics and Communication Engineering, Dr. AIT, Bengaluru (2022-23). Page 1

The prior concept of Automatic Gun targeting System is to detect and target the living object or
any movement in highly secured area such as Border by using automation. The automation is
sensor base automated gun targeting system target the living object within the range of sensor.
The automatic gun targeting is primary base on PIR sensors, microcontroller and RF
transmitting and receiving unit with targeting gun. Until then, border is done by Iron Spike
wires, and a watch tower from which a person continuously flashing the light over the border
area day and night. Those persons are fully responsible for border security. Automatic Gun
targeting System will not fully remove the responsibility from their soldiers, but shares the
maximum responsibility and will reduce human mistake on the border. The sensors will sense
any living object within the provide range. The signal of sensor is provided to ESP32, it
generates the code and it will transmit that code using RF transmitter to the watch tower where
the RF receiver receives the code. The microcontroller at receiver side control targeting gun,
buzzer and motor drivers circuit as per received code and targeting gun at receiver will target the
living object. The buzzer will indicate that target is sensed by sensor. So, the person on watch
tower can easily interpret the location of the object. The automatic gun targeting system will
enhance the border security using automation which may reduce the human efforts to large
extents. In future the system can further implement with the help of face recognition and
Bluetooth technology and so that system will work more efficiently. The goal is to implement
the system (model) for a particular face. And distinguish it from a large number of stored faces
with some real-time variations as well. It gives us efficient way to find the lower dimensional
space. Further this algorithm can be extended to recognize the gender of a person or to interpret
the facial expression of a person. This system that consists of a mobile robot, controlled by
Internet, which has camera mounted and a PIR sensor for detecting the living bodies. User will
be able to control the robot through internet, thus, providing the wireless control of robot.
A robot is an automatic mechanical device often resembling a human or animal.
Modern robots are usually guided by a computer program or electronic circuitry. Robots have
replaced humans in performing repetitive and dangerous tasks.
Basically, Army Robot is capable of performing tasks such as Face detection, missile detection,
and camouflage.
If any obstacle is detected, that will be notified and robot will stop moving. So, in all the
proposed system provides a helping hand to our security forces in detection of intruders.
Robots are enhanced to be robust and sturdier giving the guarantee of success in the risk prone
environment.

1.1 OBJECTIVE
➢ To capture and identify unknown enemy/foe and trigger an automated gun or laser
against the enemy.
➢ To blend with a present environment by enabling camouflage mode.
➢ To detect metal objects like mines and bombs from the ground and report.
➢ To detect the friendlies or enemies by the camera and PIR sensor.
➢ To control the movement of the robot by the smartphone.
1.2 PROBLEM IDENTIFICATION
➢ From the above survey, we identified that all the methodologies used in the literature
survey are not combined together in one system.
➢ There are two separate systems for camouflage and target metal detection which we are
combining together in a system.
➢ Previously they used Bluetooth for the communication whereas we use WIFI for
improved communication in our system.

CHAPTER 2
LITERATURE SURVEY
[1] According to Cristina Cică ,Lucian Filipoaia, Sustainability enabling
research methods for development of integrated border security systems.
One of the main priorities for an effective and sustainable Security Union refers to the
improvement of information exchange, strengthening information systems and enhancing
security at the external borders of the European Union (EU). Recent research projects financed
at EU level under Security theme calls are approaching the development of modern technologies
and concepts, either for border surveillance and control, or for enhancing IT&C interoperability
and common sharing environment enabling for law enforcement agencies. This paper addresses
specific new Research Development (R&D) projects types (i.e. pre-operational validation and
pre-commercial procurement), aiming to validate them as sustainability enabling research
methods for the development of integrated border security systems. In this sense, the paper
applies the sustainable development definition elaborated in previous work and provides some
specific general Key Performance Indicators (KPIs) / Measures of Effectiveness (MoEs).
[2] According to Mosad Khatami ,LubnaAlazzawi,Ali Elkateeb, Large scale

border security systems modeling and simulation with OPNET.
Most aliens who manage to get across borders undetected are known to end up in cities,
and comprise some of the greatest security challenges a country can face. Safety in cities
requires critical security measures that ensure that no aliens operate from across the border to
avoid local enforcement. To control the border effectively, countries must deploy an effective
detection system that enables real-time surveillance of border integrity. Events such as border
crossings need to be monitored in real time so that any border entries can be noted by border
security forces and destinations marked for apprehension. Wireless Sensor Networks (WSNs)
are ideal for national and city border security because they enable enforcement teams to monitor
events in the physical environment. Using the OPNET to simulate a WSN will make the WSN
nodes robust and efficient by optimizing geographical coordination and network design. They
developed a open network simulation and modeling there are two general methods of
communication network simulation.

[3] According to Ross S. Eaton ,Stan German,Arjuna Balasuriya, Maritime Border

Security using Sensors, Processing, and Platforms to Detect Dark Vessels.
Maritime security is critical to national prosperity, but with a large area to be secured
and limited resources available, our current maritime situational awareness is not sufficient to
secure our borders. This challenge is compounded by the fact that many bad actors intentionally
avoid using transponders to obscure their location and actions for nefarious purposes. New
solutions are required to detect these “dark” vessels in the expansive maritime domain and
thereby enable increased maritime situational awareness and security. In this paper, we present a
concept for increased maritime situational awareness, specifically designed to secure our
borders against dark vessels using a novel combination of existing technologies. Our concept is
Sensors and Platforms for Unmanned Detection of Dark Ships (SPUDDS), which consists of
our intelligent ship detection and classification software integrated onboard our autonomous
long-duration sensor buoy, which provides long-range passive detection of non-emitting dark
vessels for maritime situational awareness.
[4] According to Axel Weissenfeld.AndreasZoufal. Andreas ZoufalBernhard

StroblGustavo, Towards Mobile Contactless 4-Fingerprint Authentication for
Border Control.
In the last years the importance of biometric authentication in border control procedures
increased in a way that biometrics have become the core of most border management systems.
Current commercial products for mobile border control have not satisfactorily solved both the
demand for increasing security checks and the user requirements driven by security personnel
such as border guards yet. Due to their flexibility, portable devices are commonly desired during
the control process. This paper presents on-going work of an advanced mobile device for border
control focusing on usability and integrating new technologies to envision next-generation of
mobile devices. The device is based on the MobilePass device but significantly improved. A
key technology of the new device is a contactless 4-fingerprint authentication instead of only
one in existing solutions. Results based on real data shows the advantages of 4-fingerprint
versus 1-fingerprint authentication.
[5] By Mr. Rodabasannavar Sharanabasappa, Ms. Shilpa Patil, Ms. Priti

Chandagad, Ms. Anuja Patil, Automatic target detection using PIR sensors.
According to our survey the reviewed system contains automatic target system and
shooting gun is to detect and target any living object or any movement within range. The
automation totally depends on pir sensor, ultrasonic sensor and Arduino controller. Arduino
satisfy all necessary requirements of automation the Arduino controls gives command and
instruction and gun. pir sensor detects the motion of the objects. ultrasonic sensor calculates the
distance between object and gun . when a object tries to cross the border it generates the signal
and transmit to the Arduino. Arduino satisfies all necessary requirements of automation.
Arduino controls, gives commands and instructions to sensors and gun. PIR sensor detects the
motion of the objects. If object tries to cross the boundary, then PIR generates signal and gives
to Arduino and it produces alert message. If object continues to go further then Arduino gives
command to shoot that object. The main advantage is automatic target detection and shooting
gun is wirelessly.
[6] According to N. Jayanthi, S. Indu Comparison of Image Matching Techniques.

The authors Jayanthi proposed various image recognition and tracking algorithms
perform on various datasets. A wide range of datasets have been chosen, ranging from hand
gestures to shapes and objects to handwritten manuscript text The algorithms whose
performance is being analyzed are namely Blob detection method, Template matching algorithm
and S.U.R.F Algorithm., processing speed, flexibility to use for various data sets, invariance to
rotation, scale and illumination, every image is identified using its unique set of features. These
features are exclusive for each image and hence help in subsequent identification. The
discrimination between images. Features can be characterized as the interest focuses or an
"interesting" part of a picture, which are utilized as a beginning stage for some computer vision
calculations computer vision and image processing the idea of feature identification alludes to
techniques that go for figuring deliberations of picture data and settling on nearby choices at
each image point whether there is an image feature of a given sort by then or not three image
matching techniques for performance comparison.
[7] According to R. Padilla, Costa Filho, M. G. F. Costa, Evaluation of Haar

Cascade Classifiers Designed for Face Detection.
In this system they made research on the human face contains important features that can
be used by vision-based automated systems in order to identify and recognize individuals. in
order to detect the location of faces and objects in a given image. Face detection classifiers are

shared by public communities, such as OpenCV. An evaluation of these classifiers will help
researchers to choose the best classifier for their particular need. This work focuses of the
evaluation of face detection classifiers minding facial landmarks. face recognition is non-
invasive, and does not need physical contact of the individual with the system, making it a very
acceptable biometric. Vision-base automated systems applied to face recognition can be divided
into 4 steps: face detection, image pre-processing, feature extraction and matching Face
detection is a hard task, once faces form a similar class of objects and their features, such as
eyes, mouth, nose and chin, have, in general, the same geometrical configuration. The captured
image of the face may be pre-processed to overcome illumination variations Feature extraction
is the process where a geometrical. Is obtained gathering the characteristics presented on the
face.
[8] According to Visakha K, Sidharth S Prakash, Detection and Tracking of

Human Beings in a Video using Haar Classifier.
The design of a video surveillance system is directed on automatic identification of
events of interest, especially on tracking and classification of moving objects. A video
surveillance system consists of three phases: moving object recognition, tracking, and decision
making. This paper focuses on detection of human beings in a scene, and tracking those people
as long as they stay in the scene by identifying individual persons. Automating the video
surveillance process will help in effortless monitoring of the sensitive areas with less human
resource utilization. Detection and tracking of moving objects for video surveillance involves
taking the video, identifying particular entities, tracking and understanding their actions and
responding appropriately. Automatic video surveillance is becoming increasingly important in
many areas. the aim of the researcher is arrive at a software solution which automatically detects
and tracks the individual human being captured from the cameras and provide a warning
message in this the authors mainly focuses on the two modules human detection and human
tracking Haar cascade classifier is used to detect the human beings from the frame.
[9] According to YadnikaWarangTejaliMahadikSupriya Ojha Asha Rawat

Camouflage Robot-A Color Changing Spy Robot.
The robot basically consists of a vehicle mounted with two cameras, one camera which
captures the images and detects color accordingly as part of camouflaging feature and the other
camera is used for surveillance purposes. As a new trend we have used wireless transceiver

ZigBee to increase the range of communication between transmitter and receiver. The robot can
quietly enter into enemy area and send information via camera to the controller. One of the
salient features of this robot is camouflaging i.e., the camera captures the image and the color of
the surrounding will be detected at the backend and according to that robot will change its color.
Because of this feature the robot cannot be easily detected by enemies. The movement of the
robot is wirelessly controlled via PC or laptop These robots used in military are usually
employed with the integrated system, including video screens, sensors, gripper and cameras.
The main motive behind Camouflage Robot is to reduce human losses in military operations or
terrorist attacks. Camouflage Robot acts as a virtual spy and can be sent into the strategic
locations of military importance for observation and warfare purpose.
[10] According to Hitesh Shinde, Kirti Sonawane, Pranit Rane, Atharva Pathak,
SumitaChandak, Camouflage Color Changing Robot.
According to the survey, the reviewed systems the camouflage robot is the solution for
reducing loss of human life by replacing it in such operations. The proposed system consists one
camera for surveillance & one camera for color sensing purpose. The robot senses the color of
the surrounding through this camera & changes its color to in with it. This makes difficult to be
spotted by the unaided enemy eyes. The robot can be remotely controlled via a computer &
wireless Trans Receiver is used to establish the connection between them system analyses the
surrounding area & also provides live footage to the observer. creates a range issue for the
system. Metal & gas detectors were used in some systems, but to keep the weight and
complexity of this system low both the metal and gas detectors are neglected. The color sensor
detects the color of surrounding surfaces & determines the color of surrounding First, input
devices like cameras & ZigBee Trans Receiver should be connected to the computer & then run
the MATLAB software Double click on the image to apply the blob detection algorithm, then
the color-based thresholding algorithm is applied to evaluate the intensity of each primary color
in the selected blog. Repeat this procedure for all three primary colors RGB & record the sample
intensities for each. Now click Start Tracking button to start the tracking process.
[11] According to Ghanem Osman Elhaj Abdalla, T. Veeramanikandasamy,

Implementation of Spy Robot for A Surveillance System using Internet Protocol
of ESP 32.
An essential requirement of this situation is a robot which automatically detects

trespasser in the border and report nearby board security control unit with remote monitoring
and control algorithm through Internet of Things (IoT)has been developed which will save
human live, reduces manual error and protect the country from enemies. The spy robot system
comprises the ESP 32 (small single-board computer), night vision pi camera and sensors. The
information regarding the detection of living objects by PIR sensor is sent to the users through
the web server and pi camera capture the moving object which is posted inside the webpage
simultaneously. The design and implementation cost of a robot is very less than hiring a human
caregiver. to produce the movement of spy robot and the motor driver module is used to supply
enough current to drive two gear motors which protects the Raspberry-pi module from the
damage. The major advantage of using the minimum number of gear motor is minimizing the
power consumption. Robot has two infrared sensors which are used to sense the obstacles
coming on both sides of robot path. It will move in a particular direction and when the obstacle
coming in its path, it will turn to the opposite direction. Besides, the PIR sensor is used to detect
the presence of living object in the robotic environment.
[12] According to Long Bao, Karen Panetta, SosAgaian, Fast Color Transfer for
Camouflage Applications.
In this paper the author proposed a color transfer algorithm Color transfer technique
have been widely developed to manipulate color information of image data in many
applications. In this paper, color transfer research is presented for camouflage applications,
along with the challenges facing many state-of-the-art color transfer methods. This new fast
color transfer algorithm follows a classical color transfer framework, consisting of two parts:
domain color extraction and color replacement. However, unlike other existing color transfer
algorithms, this algorithm performs domain color extraction using a sampling process to reduce
the dataset size of the classification process within the algorithm. Once the dataset size of the
information to be classified is reduced, corresponding computational cost is largely decreased,
thus improving the speed of the color transfer algorithm. Following previous domain color
extraction process to collected domain color information, color replacement is conducted to
change the color distribution of the target images camouflage images to be similar to those of
the source images operational background images. The entire algorithm is processed in a
luminance-chrominance-independent (Lαβ) color model space. This new fast color transfer
algorithm can be divided into two parts: domain color extraction and color replacement for the
domain color extraction, sampling is utilized to reduce the dataset size for the classification

process that follows the sampling procedure. This will largely reduce computational cost and
improve the algorithm’s speed. Color replacement is then conducted on the target images using
the collected domain color information obtained during the sampling phase from both the target
and source images. Here, all images are in a Lαβ color model, a luminance-chrominance-
independent color model. All the processes are conducted only on the chrominance components
(α component and β component).
[13] According to Archana Rajesh Date, Sanjeev ani Kiran Shah, Camouflage
moving object detection.
In this review paper, different techniques using various features for camouflaged moving
object detection were proposed Moving object detection is an important and basic step in any
video surveillance application. Detected object has used an input to higher level tasks such as
tracking, event detection, and behavioral analysis. There are several challenges in moving object
detection such as illumination changes, occlusion, shadow, bootstrap, dynamic background etc.
Detection of moving object having similar color as background structure is called as
camouflage, which is another big challenge. The method of detecting camouflage moving object
is known as DE camouflaging. In recent years, the researchers are attracted towards the
camouflage moving object detection due to its application in the military, the first step of
information extraction in any video surveillance application is the detection of a moving object.
Moving object detection aims to separate moving foreground objects from background contents.
It is an active research area with several challenges such as dynamic background, bootstrap,
occlusion, illumination changes, shadows etc. Camouflage is the challenging task as the object
and background are difficult to distinguish. It is most important due to its application in the
military. Camouflaging is very useful to the soldiers that help them to protect themselves against
enemies.
Bayes classification and Gaussian mixture model were used by HongxingGuo et al. to separate
foreground and background in visual surveillance field. Naive Bayes conditional probability
model is given as In background subtraction method, due to camouflage, threshold
determination is very difficult while separating mostly, when considering visual surveillance
applications, when the color properties of foreground object are identical to background image
frame. As a result of this, a method is proposed to reduce variances in background image frame
by averaging all the video frames serially.

[14] According to K. IyshwaryaRatthi, V. Nithya, Yogameena, K. Menaka,

Foreground Segmentation Using Motion Vector for Camouflaged Surveillance
Scenario.
The work extracts motion information using optical flow algorithm to detect the moving
object and Motion Assisted Matrix Restoration (MAMR) for foreground segmentation in fully
camouflaged surveillance method involves detection of moving objects and removal of
camouflage in the surveillance videos. The video is first converted into required number of
frames that has the target. The motion vector is found for each target frame by optical flow
method using Lucas kanade algorithm. The motion information extracted from optical flow
method is given as input to the background subtraction method carried out by MAMR
algorithm. The first frame is taken as the initial anchor frame. Followed by, mapping of motion
information into a weighing matrix recognizing each pixel neither as background nor
foreground. Thus, the problem of background and foreground occlusion/merging due to similar
color will be rectified which is nothing but the camouflage the proposed system is detection of
motion vector. Motion estimation is the process of determining motion vectors that describes the
transformation from one 2-D image to another. Estimation is the process of determining the
velocity of image structures from one frame to another in a particular time period. The motion
estimation is classified into two categories namely motion segmentation and motion parameter
estimation. Motion parameter estimation is the process of identifying moving object’s boundary.
The parameters respectively are rotation, rigid bodies, illumination, translation movement etc.
The 2 dimensional projections are the optical flow. Generally, there are three types of motion
namely, forward, horizontal and rotation. Motion vector always relates an image or its parts of
portions such as pixels and blocks. The Lucas kanade optical flow algorithm is a simple
technique that provides an estimation of the movement of interesting features in frames of an
image scene.

CHAPTER 3
PROPOSED WORK
“DESIGN AND IMPLEMENTATION OF SMART SURVEILLANCE SYSTEM

AND CAMOUFLAGE USING COLOUR SENSOR AND BOMB DETECTION”
3.1 EXISTING SYSTEM
Basically, Army Robot is capable of performing tasks such as locomotion, sensing the
harmful gas, sensing the humans beneath the surface, metal detection. Army robot is an
autonomous robot comprising of wireless camera which can be used as a spy and
Bluetooth used to control it wireless. the border security is totally depending on
soldiers. The security forces are patrolling the border in hostile conditions
The existing systems suffered many problems like high cost to set up communication
between robot and rescue control unit, noisy wireless communication link between
robot and control unit which ultimately stopped robot to function etc. In these systems,
distance is a limiting factor because the Bluetooth has a specified range that cannot be
increased. The manual operation of the gun turret—there must be an operator sitting on
the vehicle controlling the gun turret manually.
3.2 PROPOSED SYSTEM
The system consists of one colour sensor camera as part of camouflaging feature and
for surveillance purpose. because of this feature this robot can’t be easily detected by
enemies. We have used Wireless transceiver for communication between transmitter
and receiver. This robot can quietly enter into enemy area and send us the information
via camera. The movement of this robot is wirelessly controlled computer. This project
is entirely battery operated. The proposed system consists of one colour sensor camera
as part of camouflaging feature and other camera for surveillance purpose. Colour
sensor senses the color of surface and according to that robot it changes its colour.
Because of this feature this robot can’t be easily detected by enemies. We have used

Wireless transceiver for communication between transmitter and receiver.
3.3 SCOPE OF THE PROJECT
Until now the border security was totally depending on soldier. In highly secured area
the soldier detected the enemy and targets him. So, for the increasing the security level
microcontroller based automatic gun targeting system is introduced. The basic purpose
of this automatic gun targeting system is to secure the border using automation and
this will reduce the human effort. Current system is capable to detect any PIR radiation
in the range of border and automatically target its position. The introduced system is
based on PIR sensor The PIR sensor senses the temperature differences and then these
signals are coded by microcontroller and transmitted toward the receiver on watch
tower.

CHAPTER 4
METHODOLOGY
Our project basically consists of ESP32 Wi-Fi module and microcontroller. The
camouflage system consists of a colour sensor which captures the surrounding colour and
after processing, the signals are send to ESP32 module which decides which LED array to
glow by actuating a relay module, there by matching the surrounding environment. There
are various sensors such as Smoke Sensor: detects for toxic gases, IR Sensor: Detects
motion, Metal detector: searches for underground mines, L293D IC: for driving the dc
motors for motion control. ESP32 module collects data from these sensors and sends to
TCP/UDP app in your smartphone. Through the TCP/UDP app the motion of the robot can
be controlled. When the IR sensor is triggered, the ESP32 cam takes a picture and provide
live streaming, which can be accessed through internet.
4.1 Hard-wired surveillance systems:
These systems use wires to connect the cameras, motion detectors, metal detectors, power
supply.
4.2 Remote Access Systems:

These systems have the capability to monitor and control a security system from a
location away from the surveillance area through android device.
4.3 Land mine Detection:
Landmine removal is a critical problem faced by many countries around the world, and the
situation can be compounded by natural disasters or land development. Therefore, it is an
urgent issue to detect landmines in the ground and remove them safely. The process of
landmine removal starts with the detection of landmines in the ground. For safe detection,
non-touch-based detection methods are required. These methods involve the detection of
landmines in the signals obtained by non-touch-based sensors, such as metal detectors and
radars. Among those sensors, ground penetrating radars, or GPRs, are an attractive choice for
landmine detection due to their advantages over other sensors. The GPR can be used as a
stand-alone sensor or as a complementary sensor to a metal detector.

It can detect both metal and nonmetal landmines. Moreover, its weight can be made light, so
that it can be installed in a hand-held system or in a vehicle-mounted system in the form of
an array of multiple antenna elements. The landmine detection step may be followed by
landmine identification, which is a process to identify the types of landmines and their burial
depths. This additional information can help detect and remove landmines more efficiently.
Identification involves more steps than detection and has not been significantly investigated
in the related field.
4.4 WORKING:
Rover Movement
ESP 32 is used for two modes of action. The Remote-Control mode, where the
rover is controlled manually from remote International Journal of Pure and Applied
Mathematics Special Issue 69 device through the web server connecting it with an
internet connection. This is done when the signal is passed from the ESP 32 and being
the master controls the movement of the rover. The movement of the robot is controlled
with keys for all four directions besides with start and stop function in the web server.
During autonomous mode the rover is programmed through the ESP 32 while the
ultrasonic sensor detects in case of any obstacle and changes its direction accordingly.
A direct current, or DC, motor is the most common type of motor. DC motors
normally have just two leads, one positive and one negative. If you connect these two
leads directly to a battery, the motor will rotate. If you switch the leads, the motor will
rotate in the opposite direction. To control the direction of the spin of DC motor,
without changing the way that the leads are connected, you can use a circuit called an
H-Bridge.
An H bridge is an electronic circuit that can drive the motor in both directions. H-bridges
are used in many different applications, one of the most common being to control motors
in robots. It is called an H-bridge because it uses four transistors connected in such a way
that the schematic diagram looks like an "H."
You can use discrete transistors to make this circuit, but for this tutorial, we will be using
the L298 H-Bridge IC. The L298 can control the speed and direction of DC motors and

stepper motors and can control two motors simultaneously. Its current rating is 2A for
each motor. At these currents, however, you will need to use heat sinks.
4.5 BLOCK DIAGRAM:
Color sensor
IR sensor ESP32 CAM
MQ6 smoke RGB led

sensor Relay
array
ESP32
Proximity
sensor DC Motor
WIFI Buzzer
TCP/UDP
Application
Fig.4: Block Diagram of Camouflage robot
In the above block diagram of Camouflage robot there is use of various sensors, description
of the sensors is as follows:
• Colour sensor: - The primary function of a colour sensor is to measure the intensity
of light reflected from an object and determine its colour. It typically consists of a
light source, a sensor, and a signal processing unit. The light source emits light onto
the object, and the sensor measures the reflected light. The sensor can be designed
to detect specific wavelengths of light or a broad spectrum of colours.
• IR sensor: - An IR (infrared) sensor, also known as an infrared detector or IR
receiver, is a device that detects and responds to infrared radiation. Infrared
radiation has longer wavelengths than visible light and is not visible to the human
eye.

• MQ6 smoke sensor: -The MQ6 sensor module utilizes a tin oxide (SnO2)
semiconductor to detect the target gases. When the sensor comes into contact with
the gas, it undergoes a chemical reaction that changes its electrical conductivity.
The module includes a heating element that maintains the sensor at an elevated
temperature to improve its sensitivity and response time.
• Proximity sensor: -A proximity sensor is a device that detects the presence or
absence of an object within its sensing range without physical contact. Here it is
used as metal detector that is a device used to detect the presence of metallic objects
in various materials or the surrounding environment. It operates by generating a
magnetic field and then sensing changes in that field caused by the presence of
metal.
• WIFI: -Wi-Fi (Wireless Fidelity) is a technology that allows devices to wirelessly
connect to local area networks (LANs) and access the internet. It enables data
transmission between devices using radio waves, eliminating the need for physical
wired connections.
• ESP32: - The ESP32 is a highly popular and versatile microcontroller module
designed for embedded systems and Internet of Things (IoT) applications. It is
developed by Espressif Systems, based on the Xtensa LX6 microprocessor, and is a
successor to the ESP8266 module. It is a low-cost, low-power system on chip with
Wi-Fi and Bluetooth capabilities for wide range of applications.
• Relay: -A relay is an electrical switch that is operated by an electromagnet. It is
used to control the flow of electric current in a circuit by opening or closing its
contacts in response to an electrical signal.
• ESP32 cam: -The ESP32-CAM is a development board that combines an ESP32
microcontroller and a camera module. It provides a platform for building projects
that involve capturing images or streaming video over a network.
• RGB led array: -An RGB LED array is a collection of RGB (Red, Green, Blue)
LEDs arranged in a matrix or an array format. It allows for individual control of
each LED's colour and brightness, providing a wide range of colour possibilities.
• Buzzer: - A buzzer is an electronic device that produces sound or an audible tone
when an electrical current is applied to it. It is commonly used in various
applications, including alarms, notifications, electronic games, and communication
devices.

4.5.1 ESP 32:
ESP32 bit Micro-Controller

ESP32 is a microcontroller board. ESP32 devkit has 36 pins and 18 on each
side of the board as shown in the picture above. It has 34 GPIO pins and
each pin has multiple functionalities which can be configured using specific
registers. There are many types of GPIOs available like digital input, digital
output, analog input, and analog output, capacitive touch, UART
communication and USB cable.
A ESP32, consist of two functions:
setup(): This function is called once when a sketch starts after power-up or
reset. It is used to initialize variables, input and output pin modes, and other
libraries needed.
loop(): After setup() is called, this function is called repeatedly by a program

loop in the main program. It controls the board until it is powered off or is
reset.
ESP32 is 32-bit microcontroller, provides low power & connectivity, WIFI
& Bluetooth for low energy consumption and Low power system on chip
(SOC), clock speed of ESP32 can be controlled independently. ESP32 has
dual core processor, one is application CPU which handles code and another
is protocol CPU which handles WIFI and indicative peripheral for A2D
controller and D2A controller. Below mentioned are the traits of suggested
imitation:
(i). Collection of health data: In order to determine the health status of a
patient, we need to consider various health parameters and instead of using
different devices for the collection of data, this single IOT device will collect
real time and accurate data.
(ii). Analyzing the data: The data collected will be stored in the cloud. The
variations in the data for specific duration can be plotted as graphs.
(iii). Prediction of recovery rate: After Analyzing the data, we can predict the
recovery rate of the Patient accurately in real-time using Machine-Learning
Algorithm considering the dataset.

Fig 4.1: ESP32 Micro -Controller
Regulated power supply:
Transformer:
A transformer is a device that transfers electrical energy from one circuit to another
through inductively coupled conductors without changing its frequency. A varying current in
the first or primary winding creates a varying magnetic flux in the transformer's core, and
thus a varying magnetic field through the secondary winding. This varying magnetic field
induces a varying electromotive force (EMF) or "voltage" in the secondary winding. This
effect is called mutual induction. If a load is connected to the secondary, an electric current
will flow in the secondary winding and electrical energy will be transferred from the primary
circuit through the transformer to the load. This field is made up from lines of force and has
the same shape as a bar magnet. If the current is increased, the lines of force move outwards
from the coil. If the current is reduced, the lines of force move inwards. If another coil is
placed adjacent to the first coil then, as the field moves out or in, the moving lines of force
will "cut" the turns of the second coil. As it does this, a voltage is induced in the second coil.
With the 50 Hz AC mains supply, this will happen 50 times a second. This is called
MUTUAL INDUCTION and forms the basis of the transformer.

Rectifier:
A rectifier is an electrical device that converts alternating current (AC) to direct
current (DC), a process known as rectification. Rectifiers have many uses including as
components of power supplies and as detectors of radio signals. Rectifiers may be made of
solid-state diodes, vacuum tube diodes, mercury arc valves, and other components. A device
that it can perform the opposite function (converting DC to AC) is known as an inverter.
When only one diode is used to rectify AC (by blocking the negative or positive portion of
the waveform), the difference between the term diode and the term rectifier is merely one of
usage, i.e., the term rectifier describes a diode that is being used to convert AC to DC.
Almost all rectifiers comprise a number of diodes in a specific arrangement for more
efficiently converting AC to DC than is possible with only one diode. Before the
development of silicon semiconductor rectifiers, vacuum tube diodes and copper (I) oxide or
selenium rectifier stacks were used.
Filter:
The process of converting a pulsating direct current to a pure direct current using
filters is called as filtration. Electronic filters are electronic circuits, which perform signal-
processing functions, specifically to remove unwanted frequency components from the
signal, to enhance wanted ones.
Regulator:
A voltage regulator (also called a ‗regulator‘) with only three terminals appears to
be a simple device, but it is in fact a very complex integrated circuit. It converts a varying
input voltage into a constant ‗regulated ‘output voltage. Voltage Regulators are available in
a variety of outputs like 5V, 6V, 9V, 12V and 15V. The LM78XX series of voltage
regulators are designed for positive input. For applications requiring negative input, the
LM79XX series is used. Using a pair of ‗voltage-divider‘ resistors can increase the output
voltage of a regulator circuit. It is not possible to obtain a voltage lower than the stated
rating. You cannot use a 12V regulator to make a 5V power supply. Voltage regulators are
very robust. These can withstand over-current draw due to short circuits and also over-
heating. In both cases, the regulator will cut off before any damage occurs. The only way to
destroy a regulator is to apply reverse voltage to its input. Reverse polarity destroys the
regulator almost instantly. Fig: 3u shows voltage regulator.

4.5.2 Power Supply
There are many types of power supply. Most are designed to convert high voltage
AC mains electricity to a suitable DC voltage supply for electronic circuits and other
devices. A power supply can by broken down into a series of blocks, each of which
performs a particular function. DC voltages are required to operate various electronic
equipment . These voltages are 5V, 9V or 12V which cannot be obtained directly. Thus the
input to the circuit is applied from the regulated power supply. A power supply takes the
AC from the wall outlet, converts it to unregulated DC, and reduces the voltage using an
input power transformer, typically stepping it down to the voltage required by the load. For
safety reasons, the transformer also separates the output power supply from the mains
input.
A power supply is an electrical device that supplies electric power to an electrical

load. The primary function of a power supply is to convert electric current from a source to
the correct voltage, current, and frequency to power the load. As a result, power supplies
are sometimes referred to as electric power converters. Some power supplies are separate
standalone pieces of equipment, while others are built into the load appliances that they
power. Examples of the latter include power supplies found in desktop computers and
consumer electronics devices. Other functions that power supplies may perform include
limiting the current drawn by the load to safe levels, shutting off the current in the event of
an electrical fault, power conditioning to prevent electronic noise or voltage surges on the
input from reaching the load, power-factor correction, and storing energy so it can continue
to power the load in the event of a temporary interruption in the source power.
Fig 4.2 Power Supply

4.5.3 Infrared Sensor
It is an electronic instrument. It is used to sense certain characteristics in its

surroundings by emitting infrared radiations. Capable of measuring heat and detection of
moving object.
Fig 4.3 IR Sensor
This type of sensor measures only infrared radiation, rather than emitting it.
Specifications: Size:3mm TX: Transmitter RX: Receive The living or non-living
object can be detected using this sensor by sensing the heat from the object . It has 4
pins, vcc, gnd and out. The operating voltage is 5V.
An IR sensor can measure the heat of an object as well as detects the motion.
These types of sensors measure only infrared radiation, rather than emitting it that is
called as a passive IR sensor. Usually in the infrared spectrum, all the objects radiate
some form of thermal radiations.
4.5.4 Relay
A relay is an electrically operated switch. Current flowing through the coil of the
relay creates a magnetic field which attracts a lever and changes the switch contacts. The
coil current can be on or off so relays have two switch positions and they are double throw
(changeover) switches. The relay’s switch connections are usually labeled COM(POLE),
NC and NO. In order to trigger the laser, we use driver relay.

Fig 4.4 Relay
Many relays use an electromagnet to mechanically operate a switch, but other

operating principles are also used, such as solid-state relays. Relays are used where it is
necessary to control a circuit by a separate low-power signal, or where several circuits must
be controlled by one signal.
The first relays were used in long distance telegraph circuits as amplifiers: they
repeated the signal coming in from one circuit and re-transmitted it on another circuit.
Relays were used extensively in telephone exchanges and early computers to perform
logical operations.
4.5.5 DC Motor
DC motors convert electrical into mechanical energy and they consist of permanent
magnets and loops of wire inside, when current is applied, the wire loops generate a
magnetic field, which reacts against the outside field of the static magnets. The
interaction of the fields produces the movement of the shaft/armature. Thus,
electromagnetic energy becomes motion.
Fig 4.5 DC Motor

Here we use two DC motors for the movement of rover. A DC motor is any of a class
of rotary electrical machines that converts direct current electrical energy into mechanical
energy. The most common types rely on the forces produced by magnetic fields. Nearly all
types of DC motors have some internal mechanism, either electromechanical or electronic,
to periodically change the direction of current flow in part of the motor. DC motors were
the first form of motor widely used, as they could be powered from existing direct-current
lighting power distribution systems. A DC motor's speed can be controlled over a wide
range, using either a variable supply voltage or by changing the strength of current in its
field windings. Small DC motors are used in tools, toys, and appliances.
4.5.6 H-Bridge
An H bridge is an electronic circuit that switches the polarity of a voltage applied

to a load. These circuits are often used in robotics and other applications to allow DC
motors to run forwards or backwards. The H-bridge arrangement is generally used to
reverse the polarity/direction of the motor, but can also be used to 'brake' the motor, where
the motor comes to a sudden stop, as the motor's terminals are shorted, or to let the motor
'free run' to a stop, as the motor is effectively disconnected from the circuit.
An H Bridge is a set of four switches that are assembled in such a way that an
arbitrary load impedance is decoupled from a direct current (DC) power rail and ground.
These switches can then be used to control the direction of current running from the DC
source to ground in either direction across the connected impedance. The “H” in H Bridge
comes from the shape of the bridge, where either side of the H is different two switches in
series between the DC rail and ground while the centerline of the H is an arbitrary
impedance. An example of a simple H Bridge with four switches and single load
impedance is shown in Figure 1 to the right. Each of the switches in this figure are
independent from each other and only have two positions, either conducting current (ON)
or blocking current (OFF).
H Bridges can be found in many different applications where there is a desire to

have control over the direction current can flow. Some common examples of this would
be controlling the direction an electric motor can turn by allowing current to flow in one
direction and then reversing that direction in the bridge, thus causing the motor to turn in
the opposite direction.

This is done by reversing the direction of current flow across the load impedance
at a frequency of 60 Hz which in turn results in an alternating current signal at the same
frequency of typical line current in the United States.
Fig 4.6 H-Bridge
4.5.7 Proximity Sensor for Landmine Detection
Inductive proximity sensors operate under the electrical principle of inductance.

Inductance is the phenomenon where a fluctuating current, which by definition has a
magnetic component, induces an electromotive force (emf) in a target object. To amplify a
device’s inductance effect, a sensor manufacturer twists wire into a tight coil and runs a
current through it. An inductive proximity sensor has four components; the coil, oscillator,
detection circuit and output circuit. The oscillator generates a fluctuating magnetic field the
shape of a doughnut around the winding of the coil that locates in the device’s sensing face.
When a metal object moves into the inductive proximity sensor’s field of detection, Eddy
circuits build up in the metallic object, magnetically push back, and finally reduce the
Inductive sensor’s own oscillation field. The sensor’s detection circuit monitors the
oscillator’s strength and triggers an output from the output circuitry when the oscillator
becomes reduced to a sufficient level.
Connection details:
• BROWN-VCC
• BLACK-OUTPUT
• BLUE- GND

NOTE: while Selection, Select in Diameter 12 MM, 18 MM as the sensitivity varies High in
maximum DIA
Features
• Operating Voltage - 5 - 30Volts DC Available - PNP / NO

• PNP - Positive O/p Logic High
• 12 MM -12 DIA / Sensitivity - 4 MM
• 18 MM - 18 DIA / Sensitivity - 8 MM
• Application - Counters, metal Detection
Fig 4.7 Proximity Sensor
4.5.8 Battery
A battery is a device consisting of one or more electrochemical cells with external

connections provided to power electrical devices such as flashlights, smartphones,
and electric cars. When a battery is supplying electric power, its positive terminal is
the cathode and its negative terminal is the anode.
The terminal marked negative is the source of electrons that will flow through an
external electric circuit to the positive terminal. When a battery is connected to an external
electric load, a redox reaction converts high-energy reactants to lower-energy products,
thin cells used in smartphones, to large lead acid batteries or lithium-ion batteries in
vehicles, and at the largest extreme, huge battery banks the size of rooms that provide
standby or emergency power for telephone exchanges and computer data centers.

Fig 4.8 Battery
The free-energy difference is delivered to the external circuit as electrical energy. Batteries
come in many shapes and sizes, from miniature cells used to power hearing aids and wristwatches to
small, thin cells used in smartphones, to large lead acid batteries or lithium-ion batteries in vehicles,
and at the largest extreme, huge battery banks the size of rooms that provide standby or emergency
power for telephone exchanges and computer data centers.
4.5.9 Color Sensor
Color Sensor, based on TCS3200, is a complete color detector capable of detecting static color. The
output of the sensor is a square wave with frequency directly proportional to incident light intensity. It
also supports fill light by on board LEDs. It includes a TAOS TCS3200 RGB sensor chip and 4 white
LEDs. The TCS3200 can detect and measure a nearly limitless range of visible colors. Applications
include test strip reading, sorting by color, ambient light sensing and calibration, and color matching, to
name just a few.
The TCS3200 Color Sensor board makes it very easy to sense and record the light intensity of the
general red, green, and blue spectrums of visible light while rejecting IR from light sources. You can
then use these color sensor readings for the purposes of logging and finding patterns, or creatively
calculate and make control decisions in your electronic projects.
The TCS3200 GBB Color Sensor for Arduino has an array of photo detectors, each with either a red,
green, or blue filter, or no filter (clear). The filters of each color are distributed evenly throughout the
Electronics and Communication Engineering, Dr. AIT (2022-23) Page 27

array to eliminate location bias among the colors. Internal to the device is an oscillator which
produces a square-wave output whose frequency is proportional to the intensity of the chosen
color.
Features: -
• Single-Supply Operation (2.7V to 5.5V)
• High-Resolution Conversion of Light Intensity to Frequency
• Programmable Color and Full-Scale Output Frequency
• Power Down Feature
• Communicates Directly to 5V Microcontroller
• S0~S1: Output frequency scaling selection inputs
• S2~S3: Photodiode type selection inputs
• OUT Pin: Output frequency
• OE Pin: Output frequency enable pin (active low), can be impending when using
• Support LED lamp light supplement control
4.6 Software Description
Arduino IDE
Arduino is a prototype platform (open-source) based on an easy-to-use hardware and software. It

consists of a circuit board, which can be programed (referred to as a microcontroller) and a ready-made
software called Arduino IDE (Integrated Development Environment), which is used to write and upload
the computer code to the physical board.
Arduino provides a standard form factor that breaks the functions of the micro-controller into a more
accessible package.

A program for Arduino may be written in any programming language for a compiler that produces
binary machine code for the target processor. Atmel provides a development environment for their
microcontrollers, AVR Studio and the newer Atmel Studio.
The Arduino project provides the Arduino integrated development environment (IDE), which is a
cross-platform application written in the programming language Java. It originated from the IDE
for the languages Processing and Wiring. It includes a code editor with features such as text
cutting and pasting, searching and replacing text, automatic indenting, brace matching, and syntax
highlighting, and provides simple one-click mechanisms to compile and upload programs to an
Arduino board. It also contains a message area, a text console, a toolbar with buttons for common
functions and a hierarchy of operation menus.
A program written with the IDE for Arduino is called a sketch. Sketches are saved on the
development computer as text files with the file extension. ion. Arduino Software (IDE) pre-1.0
saved sketches with the extension. pde.
The Arduino IDE supports the languages C and C++ using special rules of code structuring. The
Arduino IDE supplies a software library from the Wiring project, which provides many common
input and output procedures. User-written code only requires two basic functions, for starting the
sketch and the main program loop, that are compiled and linked with a program stub main() into
an executable cyclic executive program with the GNU toolchain, also included with the IDE
distribution.
A minimal Arduino C/C++ sketch, as seen by the Arduino IDE programmer, consist of only two
functions:
• setup(): This function is called once when a sketch starts after power-up or reset. It is used to
initialize variables, input and output pin modes, and other libraries needed in the sketch.
• loop(): After setup() has been called, function loop() is executed repeatedly in the main
program. It controls the board until the board is powered off or is reset.

Fig 4.9 Software interface
Arduino - Installation
After learning about the main parts of the Arduino UNO board, we are ready to learn how to set up the
Arduino IDE. Once we learn this, we will be ready to upload our program on the Arduino board.
In this section, we will learn in easy steps, how to set up the Arduino IDE on our computer and prepare
the board to receive the program via USB cable.
Step 1 − First you must have your Arduino board (you can choose your favorite board) and a USB
cable. In case you use Arduino UNO, Arduino Duemilanove, Nano, Arduino Mega 2560, or Diecimila,
you will need a standard USB cable (A plug to B plug), the kind you would connect to a USB printer as
shown in the following image.
Fig 4.10 Standard USB cable (A to B plug)
In case you use Arduino Nano, you will need an A to Mini-B cable instead as shown in the following

image.
Fig 4.11 Standard USB cable (A to Mini B plug)
Step 2 − Download Arduino IDE Software.
You can get different versions of Arduino IDE from the Download page on the Arduino Official
website. You must select your software, which is compatible with your operating system (Windows,
IOS, or Linux). After your file download is complete, unzip the file.
Fig 4.12 Arduino zip file

Step 3 − Power up your board.
The Arduino Uno, Mega, Duemilanove and Arduino Nano automatically draw power from either, the
USB connection to the computer or an external power supply. If you are using an Arduino Diecimila,
you have to make sure that the board is configured to draw power from the USB connection. The power
source is selected with a jumper, a small piece of plastic that fits onto two of the three pins between the
USB and power jacks. Check that it is on the two pins closest to the USB port.
Connect the Arduino board to your computer using the USB cable. The green power LED
(Labeled PWR) should glow.
Step 4 − Launch Arduino IDE.
After your Arduino IDE software is downloaded, you need to unzip the folder. Inside the folder,
you can find the application icon with an infinity label (application.exe). Double-click the icon to
start the IDE.
Fig 4.13 Arduino file launch

Step 5 − Open your first project.
Once the software starts, you have two options −
• Create a new project.
• Open an existing project example.
To create a new project, select File → New.
To open an existing project example, select File → Example → Basics → Blink.
Fig 4.14 Creating new project

Here, we are selecting just one of the examples with the name Blink. It turns the LED on and off with
some time delay. You can select any other example from the list.
Fig 4.15 Selecting Blink
Step 6 − Select your Arduino board.
To avoid any error while uploading your program to the board, you must select the correct Arduino
board name, which matches with the board connected to your computer.
Go to Tools → Board and select your board.

Fig 4.16 Selecting Arduino board
Here, we have selected Arduino Uno board according to our tutorial, but you must select the
name matching the board that you are using.
Step 7 − Select your serial port.
Select the serial device of the Arduino board. Go to Tools → Serial Port menu. This is likely to
be COM3 or higher (COM1 and COM2 are usually reserved for hardware serial ports). To find

out, you can disconnect your Arduino board and re-open the menu, the entry that disappears
should be of the Arduino board. Reconnect the board and select that serial port.
Fig 4.17 Selecting serial port
Step 8 − Upload the program to your board.
Before explaining how we can upload our program to the board, we must demonstrate the
function of each symbol appearing in the Arduino IDE toolbar.

Fig 4.18 Arduino IDE toolbar
A − Used to check if there is any compilation error.
B − Used to upload a program to the Arduino board.
C − Shortcut used to create a new sketch.
D − Used to directly open one of the example sketches.
E − Used to save your sketch.
F − Serial monitor used to receive serial data from the board and send the serial data to the
board.
Now, simply click the "Upload" button in the environment. Wait a few seconds; you will see
the RX and TX LEDs on the board, flashing. If the upload is successful, the message "Done
uploading" will appear in the status bar.
Note − If you have an Arduino Mini, NG, or other board, you need to press the reset button
physically on the board, immediately before clicking the upload button on the Arduino
Software.
4.6.1 Embedded C
Embedded C is one of the most popular and most commonly used Programming Languages in
the development of Embedded Systems.

Embedded C is perhaps the most popular languages among Embedded Programmers for
programming Embedded Systems. There are many popular programming languages like
assembly, BASIC, C++ etc. that are often used for developing Embedded Systems but
Embedded C remains popular due to its efficiency, less development time and portability.
What is an Embedded System?
An Embedded System can be best described as a system which has both the hardware and
software and is designed to do a specific task. A good example for an Embedded System, which
many households have, is a Washing Machine.
Embedded Systems can not only be stand-alone devices like Washing Machines but also be a
part of a much larger system. An example for this is a Car. A modern-day Car has several
individual embedded systems that perform their specific tasks with the aim of making a smooth
and safe journey.
Some of the embedded systems in a Car are Anti-lock Braking System (ABS), Temperature
Monitoring System, Automatic Climate Control, Tyre Pressure Monitoring System, Engine Oil
Level Monitor, etc.
Programming Embedded Systems
As mentioned earlier, Embedded Systems consists of both Hardware and Software. If we

consider a simple Embedded System, the main Hardware Module is the Processor. The
Processor is the heart of the Embedded System and it can be anything like a Microprocessor,
Microcontroller, DSP, CPLD (Complex Programmable Logic Device) and FPGA (Field
Programmable Gated Array).
All these devices have one thing in common: they are programmable i.e. we can write a
program (which is the software part of the Embedded System) to define how the device actually
works.
Embedded Software or Program allow Hardware to monitor external events (Inputs) and control
external devices (Outputs) accordingly. During this process, the program for an Embedded
System may have to directly manipulate the internal architecture of the Embedded Hardware
(usually the processor) such as Timers, Serial Communications Interface, Interrupt Handling,

and I/O Ports etc.
From the above statement, it is clear that the Software part of an Embedded System is equally
important to the Hardware part. There is no point in having advanced Hardware Components
with poorly written programs (Software).
There are many programming languages that are used for Embedded Systems like Assembly
(low-level Programming Language), C, C++, JAVA (high-level programming languages),
Visual Basic, JAVA Script (Application-level Programming Languages), etc.
In the process of making a better embedded system, the programming of the system plays a vital
role and hence, the selection of the Programming Language is very important.
Factors for Selecting the Programming Language
The following are few factors that are to be considered while selecting the Programming
Language for the development of Embedded Systems.
• Size: The memory that the program occupies is very important as Embedded Processors
like Microcontrollers have a very limited amount of ROM.
• Speed: The programs must be very fast i.e. they must run as fast as possible. The
hardware should not be slowed down due to a slow running software.
• Portability: The same program can be compiled for different processors.
• Ease of Implementation
• Ease of Maintenance
• Readability
When designing software for a smaller embedded system with the 8051, it is very
common place to develop the entire product using assembly code. With many projects, this is a
feasible approach since the amount of code that must be generated is typically less than 8
kilobytes and is relatively simple in nature. If a hardware engineer is tasked with designing both
the hardware and the software, he or she will frequently be tempted to write the software in
assembly language.

The trouble with projects done with assembly code can is that they can be difficult to
read and maintain, especially if they are not well commented. Additionally, the amount of code
reusable from a typical assembly language project is usually very low. Use of a higher-level
language like C can directly address these issues. A program written in C is easier to read than
an assembly program.
Since a C program possesses greater structure, it is easier to understand and maintain.

Because of its modularity, a C program can better lend itself to reuse of code from project to
project. The division of code into functions will force better structure of the software and lead to
functions that can be taken from one project and used in another, thus reducing overall
development time. A high order language such as C allows a developer to write code, which
resembles a human’s thought process more closely than does the equivalent assembly code. The
developer can focus more time on designing the algorithms of the system rather than having to
concentrate on their individual implementation. This will greatly reduce development time and
lower debugging time since the code is more understandable.
By using a language like C, the programmer does not have to be intimately familiar with
the architecture of the processor. This means that someone new to a given processor can get a
project up and running quicker, since the internals and organization of the target processor do
not have to be learned. Additionally, code developed in C will be more portable to other systems
than code developed in assembly. Many target processors have C compilers available, which
support ANSI C.

4.7 PROTOTYPE: -
A. B.
C. D.
Fig.4.19: A. Front view of robot B. Back view of robot C. Side view of robot D. TCP/UDP
app interface
A-Image that is showing the front view of the robot in which there is presence of camera beside
a colour sensor of white colour followed by a battery of black colour and led array.
B-In this image it is showing the back view of the robot in which there is presence of proximity
sensor by which the detection of land mines, bombs is possible and led array is as followed

C-This is the side view in which we are able to see the relay of blue colour by which the
operation of the RGB led array takes place through the ESP32 microcontroller which is powered
by the power supply by battery.
D -This is the app interface of TCP/UDP app in which we should on the hotspot and configure
the device IP address and then the robot gets connected as shown, if and object or person gets
though the IR sensor then Intruder detected message is shown, and if and metal object is
detected by proximity senor then metal detected message is shown, and the moment of the robot
is controlled by giving commands like F:for forward movement, B:for backward movement,
R:for right movement, L:for left movement and S:to stop.

CHAPTER 5
SYSTEM REQUIREMENT SPECIFICATION
5.1 Hardware Requirements
➢ ESP32 Wi-Fi & Micro controller module

➢ ESP32 Cam
➢ Smoke sensor
➢ IR sensor
➢ Colour sensor
➢ LED array
➢ Motor Driver & DC motors
➢ Proximity sensor
➢ Buzzer
➢ Relay
➢ L293D H-Bridge
5.2 Software Requirements
➢ Embedded C
➢ TCP/UDP application
➢ Arduino IDE
5.3 Functional Requirements:
➢ Robot Should Automatically Change the color according to Color sensor Input
➢ Robot Should Automatically Detect Landmines Using Proximity Sensor
5.4 Non – Functional Requirements:

Usability
➢ Easy Interface
➢ Reliability
➢ Easy Handling
➢ Secured and Theft Proof
Performance
➢ Should not take excessive time in Targeting the Enemy
➢ Should Take Minimum Time in Landmine Detection
Supportability
➢ Contain easy to understand code with provisions for future enhancement.

CHAPTER 6
APPLICATIONS AND ADVANTAGES
6.1 APPLICATIONS:
• In military application to detect the presence of human being.
• In rescue operation where human reach is not possible.
• In war fields, to control the unmanned aerial vehicle.
• Tracking system
• In Medical applications to detect motion.
6.2 ADVANTAGES:
• This System is an effective and a safe system to ensure that there are no humans left
behind in a rescue operation.
• The System is safe even for the user because of the use of robotics and no manual work
• The system uses wifi and this makes the system both accurate and reliable
6.3 LIMITATIONS:
Using robots in place of humans finds some limitations or issues such as:
• Sensors are improved but cost will increase

• The angle of camera movement is limited
• Speed is slow of robot
• Video quality is ok

CONCLUSION AND FUTURE SCOPE
CONCLUSION:
The proposed system is a substitution to human life. As Human life is always more prioritize
this proposed robot helps to act as a security system and also a life savior. It enacts and plays an
important role of keeping eye on the war field areas and captures the surroundings. As it is
based on the Chameleons color changing effect, the robot changes its color according to the
surrounding environment and is hidden from the enemy’s insight. Robot to robot
communication enables operation in out of coverage area. Moreover, the camouflaging feature
makes it difficult to detect the robot by naked human eye. So, in all the proposed system
provides a helping hand to our security forces in detection of intruders. The robot can also be
used in high altitude areas where human cannot survive.
FUTURE SCOPE:
Our project is mainly intended to operate a robot using PC. The system also to detects the
metallic presence and the PIR sensor detects any human presence in its way and if any human
presence is being detected it stops and buzzers an alarm system. The micro controller is
programmed in such a way that the depending on the pressed key the robot will move
intelligently and with the help of metal detection sensor it detects the presence of metallic
objects in mines and alerts through buzzer alarm system. The drawback of this project is that the
status of robot is not known. This can eliminate by having a GSM module, which gives the
status of robot working.
Here by using camera we can see the opposite target and we can fire the target from personal
computer by pressing selected button and we can easily handle the situations like Mumbai
terrorist’s attack without loss of human life’s and we can decrease our soldier’s effort too.

REFERENCES
[1]. R. Padilla, C. F. F. Costa Filho and M. G. F. Costa, Evaluation of Haar Cascade Classifiers
Designed for Face Detection, International Journal of Computer, Electrical, Automation,
Control and Information Engineering Vol:6, No:4, 2012
[2]. A. M. Siddek, “Depth-level based camouflaging using RGB-D sensor,” 2017 IEEE
International Conference on Systems, Manand Cybernetics (SMC), Banff, AB, pp.2349-
2354,2017.
[3]. Ghanem Osman Elhaj Abdalla and T Veeramanikandasamy “Implementation of Spy Robot
for A surveillance Systems using Internet Protocol of Raspberry Pi” 2017 2nd IEEE
International conference On Recent Trends in Electronics Information & Communication
Technology, May 19-20,2017, India
[4]. “Integrated IOT based design and Android operated Multi-Purpose Field Surveillance Robot
for Military Use” 1M. Ashok Kumar, 2Dr.T. Thirumurugan Department of Electronics and
Communication Engineering IEEE 2018.
[5]. “A survey in adaptive hybrid wireless Sensor Network for military operations” Wichai
Pawgasame IEEE 2019.
[6]. “A Novel Approach for Border Security; Surveillance Drone with Live Intrusion
Monitoring” Ekra Bin Syed Mojib; A.K.M. BahalulHaque; Md. NafisRaihan; Mahbubur
Rahman; Fahad Bin Alam2019 IEEE International Conference on Robotics, Automation,
Artificial-intelligence and Internet-of-Things (RAAICON) Year: 2019 | Conference Paper
Publisher: IEEE.
[7]. “Development of a Framework for Effective Surveillance and Human Intrusion Detection in
Border regions covered with Dry leaves” D Arjun; P K Indukala; K A
UnnikrishnaMenon2020 Fourth International Conference on Inventive Systems and Control
(ICISC) Year: 2020 | Conference Paper | Publisher: IEEE.
[8]. “Design of IOT Based Multifunctional Camouflage Military Robot” P. Kavipriya; G Jagan:
Edara Venkat; Deevi Nikhil Ranganadh; Year: 2021 | Conference Paper | Publisher: IEEE.

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VISVESVARAYA TECHNOLOGICAL UNIVERSITY

“Jnana Sangama”, Belagavi– 590018, Karnataka, India

“CAMOUFLAGE ROBOT FOR MILITARY APPLICATIONS”

Under the Guidance of

DEPARTMENT OF ELECTRONICS AND COMMUNICATION ENGINEERING

DEPARTMENT OF ELECTRONICS AND COMMUNICATION ENGINEERING

Signature of the Guide Signature of the Signature of the Principal

Name of the Examiners Signature with Date

DEPARTMENT OF ELECTRONICS AND COMMUNICATION ENGINEERING

Place: Bangalore AKSHAYA VP [1DA19EC011]

Date: JAGADISH [1DA19EC053]

SATISH PATIL [1DA20EC417]

SHASHI KUMAR KG [1DA20EC419]

We consider ourselves privileged to express our gratitude and respect towards

As a token of gratitude, we would like to acknowledge our sincere gratitude to the

I am also indebted to all the staff members of the department of Electronics

SATISH PATIL [1DA20EC417]

SHASHI KUMAR KG [1DA20EC419]

Chapter 2 Literature Survey 4

3.1 Existing system

4.1 Hard-wired surveillance system

Chapter 5 System Requirement Specification 43

5.1 Hardware requirements

Chapter 6 Applications and Advantages 45

Figure No. Title Page No.

4.5.2 Power Supply 21

4.5.3 Infrared Sensor 22

4.5.7 Proximity Sensor 25

4.5.9 Color Sensor 27

Figure No. Title Page No.

4.6 Software Description 28

5.1 Hardware Requirement 43

Electronics and Communication Engineering, Dr. AIT, Bengaluru (2022-23). Page 1

Electronics and Communication Engineering, Dr. AIT, Bengaluru (2022-23). Page 2

1.2 PROBLEM IDENTIFICATION

Electronics and Communication Engineering, Dr. AIT, Bengaluru (2022-23). Page 3

[2] According to Mosad Khatami ,LubnaAlazzawi,Ali Elkateeb, Large scale

Electronics and Communication Engineering, Dr. AIT, Bengaluru (2022-23). Page 4

[3] According to Ross S. Eaton ,Stan German,Arjuna Balasuriya, Maritime Border

[4] According to Axel Weissenfeld.AndreasZoufal. Andreas ZoufalBernhard

[5] By Mr. Rodabasannavar Sharanabasappa, Ms. Shilpa Patil, Ms. Priti

[6] According to N. Jayanthi, S. Indu Comparison of Image Matching Techniques.

[7] According to R. Padilla, Costa Filho, M. G. F. Costa, Evaluation of Haar

Electronics and Communication Engineering, Dr. AIT, Bengaluru (2022-23). Page 6

[8] According to Visakha K, Sidharth S Prakash, Detection and Tracking of

[9] According to YadnikaWarangTejaliMahadikSupriya Ojha Asha Rawat

Electronics and Communication Engineering, Dr. AIT, Bengaluru (2022-23). Page 7

[11] According to Ghanem Osman Elhaj Abdalla, T. Veeramanikandasamy,

Electronics and Communication Engineering, Dr. AIT, Bengaluru (2022-23). Page 8

Electronics and Communication Engineering, Dr. AIT, Bengaluru (2022-23). Page 9

Electronics and Communication Engineering, Dr. AIT, Bengaluru (2022-23). Page 10

[14] According to K. IyshwaryaRatthi, V. Nithya, Yogameena, K. Menaka,

Electronics and Communication Engineering, Dr. AIT, Bengaluru (2022-23). Page 11

“DESIGN AND IMPLEMENTATION OF SMART SURVEILLANCE SYSTEM

3.1 EXISTING SYSTEM

3.2 PROPOSED SYSTEM

Electronics and Communication Engineering, Dr. AIT, Bengaluru (2022-23). Page 12

Wireless transceiver for communication between transmitter and receiver.

3.3 SCOPE OF THE PROJECT

Electronics and Communication Engineering, Dr. AIT, Bengaluru (2022-23). Page 13

4.1 Hard-wired surveillance systems:

4.2 Remote Access Systems:

4.3 Land mine Detection: