Surveillance Robot for Military Application Using ARM

INTERNATIONAL JOURNAL FOR TRENDS IN ENGINEERING & TECHNOLOGY VOLUME 4 ISSUE 2 – APRIL 2015 - ISSN: 2349 - 9303

Surveillance Robot for Military Application Using ARM Kamalesh.V

KarthickRaj.C

Sri Ramakrishna Engineering College, Department of ECE, Kamalesh.1102075@srec.ac.in

Sri Ramakrishna Engineering College, Department of ECE, Karthickraj.1102067@srec.ac.in

Abstract— In the modern day robotics development in many field as too that enrich in military applications also as per that this robot SURVEILLANCE MONITORING ROBOT FOR MILITARY APPLCATION USING ARM monitor the defense area that is in our country borders. It is an forest area and every time commanders were not available in same area they move over different places at that time terrorist can easily enter into our nation. This robot perform main role there that PIR sensor in the robot will send the intimation and danger warning to the control room that unauthorized person entering that time we alert our soldiers to move to that place this operation were control using ARM7 controller. Another important component GPS exactly say which position the robot is now monitoring then it will be easy to soldiers to survey the area soon.And for communicating between control room and robot we are using ZIGBEE.Another one sensor TEMPERATURE SENSOR LM35 is used to monitor temperature in that area that is used to intimate us what is the temperature level in that area if any BOMB BLAST OR FIRE ACCIDENT in that area.

Index Terms—ARM7(LPC2148),PIR,ZIGBEE, GPS,TEMPERATURE SENSOR LM35,IR SENSOR.

INTRODUCTION

A

robot may define as an electro-mechanical device, which is

capable of sensing its surrounding and taking its decision (command).In general, robot must be able to move (by mechanical movement), it must be able to sense (by transducer) and it should be take decision (by remote control or artificial intelligence).A robo vehicle which perform similar function as a soldiers.

A robot vehicle plays a vital role in a defense area to MONITOR the DEFENCE AREA and send information to the control room.Its bring our defense area more stronger. It also survey the forest area from BOMB BLAST and FIRE ACCIDENT.We can also operate.robot vehicle from our control room which brings more advantage to defense area. The main goal of this paper is to make more strong the defense area and save our nation from terrorist attacks

Few popular vehicle are

2.1.110

First Look

Route/Building Clearance The regimented and thorough sweep of a route between points or in a specific area or building is based on predictive intelligence and the ability to identify risks and threats as quickly as possible.

Unmanned ground vehicle technology from iRobot is equipped with a mature set of cameras, two-way audio capabilities and can be configured with numerous external sensors and tools to provide much needed predictive intelligence in the sweep of a route or building and saves time on-task for responders

2. RELATED WORK Today, there are a number of robotic vehicle used in ARMY with unique features and design criteria. In this section, brief of some recent widely-used and/or Influential robotic vehicle is given.

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Fig. 1.First Look

2.2.510 PackBot

II. HARDWARE ARCHITECTURE

Bomb Disposal/ Explosive Ordnance Disposal (EOD)

TABLE 1 - COMPARISON OF LOCALIZATION METHODS

Unmanned ground vehicle systems have integrated into military and public safety teams to increase the safe-distance for the operator and enable the controlled neutralization of the device.

Each of iRobot’s unmanned ground vehicle systems are able to perform Bomb Disposal/EOD actions and have been deployed for the safe detonation of devices by the military and Public Safety Bomb Disposal and Bomb Squad teams. Each of our tactical robots support a variety ofdisruptors with secure firing circuits, or deliver charges to neutralize the risk.

A. Wireless Communication Platform WPIR system is a system-on-chip for wireless sensor networkingZigBeeIEEE 802.15.4 solutions. Texas Instrument (TI) CC2431 is suitable for systems, where ultralow power consumption is required.

B. Pyroelectric Sensor Module The PIR sensor transforms incident IR radiation into an electricalsignal. Fig. 3 shows that PIR detects changes in temperature coinciding with movement of a person (or object) in the detection area. A human walking through a PIR sensor detecting region and the corresponding output signal is shown in Fig. 3.

Fig. 3. Operation of a pyroelectric motion sensor.

Fig. 2.PackBot

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INTERNATIONAL JOURNAL FOR TRENDS IN ENGINEERING & TECHNOLOGY VOLUME 4 ISSUE 2 – APRIL 2015 - ISSN: 2349 - 9303 communication protocols used to create personal area networks built from small, low-power digital radios. ZigBee is based on an IEEE 802.15 standard though its low powerconsumption limits transmission distances to 10–100 meters line-of-sight depending on power output and environmental characteristics, ZigBee devices can transmit data over long distances by passing data through a mesh network of intermediate devices to reach more distant ones. ZigBee is typically used in low data rate applications that require long battery life and secure networking (ZigBee networks are secured by 128 bit symmetric encryption keys.) ZigBee has a defined rate of 250 Kbit/s, best suited for intermittent data transmissions from a sensor or input device APPLICATIONS Fig. 4. Experimental platform integrated with CC2431 and a PIR sensor.

      

C. Wireless and Pyroelectric Sensor System In this study, we develop a WPIR system with a CC2431 wirelesstransceivermodule and a PIR sensor, as shown in Fig. 4.

Further details of the design principle can be found in [24].

Home Entertainment and Control Wireless sensor networks Industrial control Embedded sensing Medical data collection Smoke and intruder warning Building automation

3. MICROCONTROLLER ARM 7 TDMI microcontroller is used as hardware platform.It is controlling unit to all othercomponents(GPS,motors,ZIGBEE,LM35,PIR,IR SENSOR) are interfaced.Two microcontrollers are used in this project one at Transmitting end(PIC) and one at Receving end (ARM).

Fig. 5. Pin Diagram Zigbee Module

5. GPS MODULE A GPS navigation device is a device that accurately calculates geographical location by receiving information from GPS satellites. Initially it was used by the United States military, but now most receivers are in automobiles and smartphones.The Global Positioning System (GPS) is a satellite-based navigation system made up of a network of 24 satellites placed into orbit by the U.S. Department of Defense. Military actions was the original intent for GPS, however in the 1980s, the U.S. government decided to allow the GPS program to be used by civilians. The satellite data is free and works anywhere in theworld.

6.TEMPERATURE SENSOR(LM 35) Fig. 4. Pin Diagram LPC2148

4. ZIGBEE MODULE ZigBee is a specification for a suite of high-level

LM35 is a precision IC temperature sensor with its output proportional to the temperature (in oC). The sensor circuitry is sealed and therefore it is not subjected to oxidation and other processes.

With LM35, temperature can be measured more accurately than with a thermistor. It also possess low self heating and does not cause more than 0.1 oC temperature rise in still air. The operating temperature range is from -55°C to 150°C. The output voltage varies by 10mV in

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INTERNATIONAL JOURNAL FOR TRENDS IN ENGINEERING & TECHNOLOGY VOLUME 4 ISSUE 2 – APRIL 2015 - ISSN: 2349 - 9303 response to every oC rise/fall in ambient temperature, i.e., its scale factor is 0.01V/ oC.

8.RF LOCALIZATION SYSTEM A. Received Signal Strength RSS is defined as the voltage measured from RSS indicator circuit. RSS signals can be measured via the receiver without additional energy requirements while communication is established. RSS measurement is a relatively inexpensive and easy implementation method. It is very useful in localization research.

1)Statistical Model: The most widely used signal propagation model is based on a variety of empirical results [25]–[28] and analyses of evidence [29]:

Fig. 6. Pin Diagram LM 35

Pd  Pd  10np logd / d 0  X __________(1).

7. CONTROL ROOM SETUP In the control room normal pc is used to communicate with robot using interface of pic and Zigbeeand simple .net coding is return for simple user inter face and that screen consist of    

Motor control Camera rotation control Temperature status Location of robot

as path loss exponent typically between 2 and 4 [25], and Xσis a Gaussian random variable with zero mean and σ2 variance.

The d and d0 in (1) is defined as estimated distance and reference distance, respectively.

2) Cram´er–Rao Bound Formulation:The Cram´er–Rao bound (CRB) calculates a lower bound on the covariance of any unbiased location estimator, which is useful to the developer.

The CRB can be used to test localization algorithms and the bound’s functional dependence. A detailed derivation of the CRBis provided in [30]. The most notable advantage of theCRB is that the lower bound on estimation variance can be calculated.

All that is required is to calculate a CRB of the random measurements.

The CRB can be written as follows:

Cov   E ^2 / ^2Inf Z /  ^1 _____(2). whereCov(ˆθ) is the covariance of the estimator, E[・] indicates expected value, f(Z|θ) is the probability density function, Z is the random measurement, and θ are the parameters that are to be estimated from the measurements.

9. PIR DETECTION SYSTEM The operation principle of PIR sensor is to detect the thermal variation in its detection region. We test several scenarios and record the response of the PIR sensor while the human or robot moves under its detection region. The horizontal axis is time stamps and vertical axis is the voltage response from the PIR sensor, as shown in Figs. 3–5.

Fig. 7. Control Room Screen.

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Fig. 8. Human movement testing result. (a) Slow walk (0.5 m/s). (b) Faster walk (1 m/s). (c) Run (2m/s).

Fig. 9. Robot movement testing result. (a) 20 cm/s. (b) 40 cm/s. (c) 70 cm/s.

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10. CONCLUSION Thus our paper brings our army more stronger in defense area. And protect our nation and to save our country people and soldiers. Many interfacing devices may give research opportunity. This type of vehicle brings more stronger for the military and effective in searching the TERRORIST with the help of army man. The below diagrams shows the tracking in human with the help of PIR sensor and multi level tracking are also available.

Fig. 10. RF error bound.

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Fig.9. PIR sensing system.

Fig. 8. Find CoG from WPIR system.

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