A Synopsis On

IoT Based Wireless Multifunctional Robot

for Military Applications
Academic Year: 2016-17
Group Id: 05

Sr.no.

Name of Student

Roll No.

1.

Borse Mayuri Bhaga

11

2.

Mate Vishal Lalu

40

3.

Komal Patalpure

50

4.

Bhagyashree Pawar

56

Project Guide:
Prof. J.Y.Kapadnis

Department of Computer Engineering

P.V.G. Collage of Engineering, Nashik

OBJECTIVES:
The aim of the proposed work is to present a security integrated system, based on
IoT cloud for Remote monitoring and control military robot at war field and saves
the human lives.
PRROBLEM DEFINATION:
To help the military persons in monitoring war field and perform the various
operations like diffusing the unexplode bomb, detect landmines, detect alive human
on war field from the remote location.
THEORY:
In todays world ROBOTICS is a fast growing and interesting field. ROBOT
has sufficient intelligence to cover the maximum area of provided space. It has an
infrared sensor which is used to sense the obstacles coming in between the path of
ROBOT. It will move in a particular direction and avoid the obstacle which is coming
in its path. Autonomous Intelligent Robots are robots that can perform desired tasks
in unstructured environments without continuous human guidance.
The minimum number of gear motor allows the walking robot to minimize the
power consumption while construct a program that can produce coordination of
multi-degree of freedom for the movement of the robot. It is found that two gear
motors are sufficient to produce the basic walking robot and one voltage regulators
are needed to control the load where it is capable of supplying enough current to drive
two gear motors for each wheel.

INTRODUCTION
Now a days Robotics is part of todays communication & communication is
part of advancement of technology, so we decided to work on ROBOTICS field, and
design something which will make human life todays aspect. There are different types
of mobile robots which can be divided into several categories consists of wheeled
robot, crawling robot and legged robot. This project deals with a wheeled autonomous
ROBOT. It is the part of Automation; Robot has sufficient intelligence to cover the

maximum area. This robot uses infrared sensor to detect the obstacle in between the
path and then avoid them to complete its objective. The IR transmitter continuously
generate an Infrared signal of 38KHz, when an obstacle comes in the path the infrared
signal reflected back from the object and is received by the IR sensor TSOP1738 and
then generate a positive high signal with the help of the receiver circuit that is there is
an obstacle in the path. In such away the robot is able to detect obstacles of provided
space and able to avoid obstacles coming in between the path of ROBOT with the
help microcontroller board and complete its journey.
The main motto of designing such type of Robot or the technology is that this
technology can be used in todays very fast transportation to avoid the accident
generally happen in congested or the Metro Politian Areas by applying emergency
break. If we use this technology in the car or any vehicle, it will automatically sense
the obstacles then it will take a side to the available free space. An obstacle may be a
living things or any object. Autonomous Intelligent Robots are robots that can perform
desired tasks in unstructured environments without continuous human guidance.
Thus by using this technology in vehicles we make the drive safe.

Figure 1 System Architecture

DESCRIPTION:
Basically System Consist of following Blocks:
1. Sensors
2. Microprocessor - ARM Cortex-A53, 1.2GHz Quad core (Raspberry Pi 3)
3. Microcontroller - ATmega328P (Arduino Uno)
4. Communication Network Wi-Fi / Internet / IoT Cloud
5. Robot Mechanism
a. Gear Motor
b. Gripper
c. Cutter
d. Servo Motor
e. Automatic Gun
1. Sensors: - In our project we are using the various types of sensors like PIR
sensor, Heart beat sensor, Metal Detector, Ultrasonic sensor, LDR,
Temperature sensor etc. for sensing the various parameters. Following are the
brief description of each sensor.
a. PIR Sensor: The Robot will have the PIR sensor, which will help to
detect the alive human beings. The human body radiates infrared waves
with wavelengths of 8 to 12 micrometers. Whenever any human being
comes in the vicinity of the system the IR system gives the Signal.
b. Heart Beat Sensor: The heartbeat sensor is based on the principle of
photo plethysmography. It measures the change in volume of blood
through any organ of the body which causes a change in the light intensity
through that organ (a vascular region). The robot will detect the live
human in war field.
c. Metal Detector: The proximity sensor is used as a metal detector in our
project. Magnetic metals are pretty straightforward when it comes to
selecting a sensor, as any inductive proximity switch will detect this type
of metal. However, nonmagnetic metals can get a little more difficult, as
you would need to take into account the decreased sensing range found
with these targets. The factor by which the sensing range is reduced,
based on the target material, is called the reduction factor.
d. Ultrasonic Sensor: Ultrasonic sensors are based on measuring the
properties of sound waves with frequency above the human audible
range. They are based on three physical principles: time of flight, the

Doppler effect, and the attenuation of sound waves. Ultrasonic sensors

are non-intrusive in that they do not require physical contact with their
target, and can detect certain clear or shiny targets otherwise obscured to
some vision-based sensors. On the other hand, their measurements are
very sensitive to temperature and to the angle of the target.
e. LDR: LDRs are employed to sense the Fire; here we use powerful and
sensitive "LDR" (Light Dependent Resistor) for the flame detection.
Normally LDR senses all the lights. But in our case we have to sense only
Blue and Yellow flame and reject sunlight and other luminaries.
f. Temperature Sensor: The temperature sensor is used to measure the
temperature of live human detection and measure the temperature at war
field.
2. Microprocessor (Raspberry pi 3): - In our project we are using the Raspberry
Pi for the processing. Raspberry pi controls the all operations of the system.
The Raspberry Pi 3 Model B is the third generation Raspberry Pi. This
powerful credit-card sized single board computer can be used for many
applications and supersedes the original Raspberry Pi Model B+ and Raspberry
Pi 2 Model B. Whilst maintaining the popular board format the Raspberry Pi
3 Model B brings you a more powerful processer, 10x faster than the first
generation Raspberry Pi. Additionally, it adds wireless LAN & Bluetooth
connectivity making it the ideal solution for powerful connected designs.

Fig: - Raspberry Pi 3 Model B

Specifications of Raspberry Pi 3 Model B:

Processor

Broadcom BCM2387 chipset. 1.2GHz Quad-Core

ARM Cortex-A53 802.11 b/g/n Wireless LAN and
Bluetooth 4.1 (Bluetooth Classic and LE)

GPU

Dual Core VideoCore IV Multimedia CoProcessor. Provides Open GL ES 2.0, hardwareaccelerated OpenVG, and 1080p30 H.264 highprofile decode. Capable of 1Gpixel/s, 1.5Gtexel/s or
24GFLOPs with texture filtering and DMA
infrastructure.

Memory

1GB LPDDR2

Operating System

Boots from Micro SD card, running a version of the

Linux operating system or Windows 10 IoT.

Dimensions

85 x 56 x 17mm

Power

Micro USB socket 5V1, 2.5A

3. Microcontroller (Arduino Uno R3): - In this project we are using the Arduino
Uno R3 for control the Actuators like Motors, Gun, Gripper etc. The Arduino
Uno is a microcontroller board based on the ATmega328. It has 14 digital
input/output pins (of which 6 can be used as PWM outputs), 6 analog inputs, a
16 MHz crystal oscillator, a USB connection, a power jack, an ICSP header,
and a reset button. It contains everything needed to support the
microcontroller; simply connect it to a computer with a USB cable or power it
with a AC-to-DC adapter or battery to get started. The Uno differs from all
preceding boards in that it does not use the FTDI USB-to-serial driver chip.
Instead, it features the Atmega8U2 programmed as a USB-to-serial converter.

Technical Specifications:
Microcontroller:
Operating Voltage:
Input Voltage (recommended)
Input Voltage (limits)
Digital I/O Pins
Analog Input Pins
DC Current per I/O Pin
DC Current for 3.3V Pin
Flash Memory
SRAM
EEPROM
Clock Speed

ATmega328
5V
7-12V
6-20V
14 (of which 6 provide PWM output)
6
40 mA
50 mA
32 KB
2 KB
1 KB
16 MHz

Fig: Raspberry Pi 3 model B

4. Communication Mechanism: - Wireless communication involves transferring

information from your controller to a robot without them being physically
connected to the controller. Wireless communication range can be as short as
few centimeters to as long as millions of kilometers depending on the
technology used. Most wireless communication uses radio waves for
communication. There are various technologies present for communication
Like Infrared(IR), Radio Frequency modules (RF communication), Bluetooth,
Wi-Fi (802.11), satellite Communication, Cellular etc. But We are using the
Wi-Fi (802.11) in our System. This is the latest talk in the robotics world. Using
Wi-Fi, you can control your robot through the internet. In this type of
communication, a wireless network adapter in a computer coverts digital data
into radio signals and the Wi-Fi unit on your robot (another network adapter)
converts these signals into digital data. Institute of Electrical and Electronics
Engineers (IEEE) has come up with a set of standards for these wireless
networks with the title IEEE 802.11. Hence Wi-Fi communication is
generally referred as IEEE 802.11. Wi-Fi modules offer greater data transfer
speeds which means you can communicate more with your robot. In case you
plan to attach a camera to your robot, then Wi-Fi communication should be an
ideal choice.
5. Robot Mechanism: - Robotics mechanism consist Wheels, servo motors,
Geared motor, Chassis, Robotic Arm/Gripper, Gun Mechanism etc. the
Geared motors are used to move the robot and the servo motors are used to
move the gun, gripper is used to hold bomb and cut the wires of bomb.

SYSTEM DESIGN:
UML Diagrams
UML is a standard language for specifying, visualizing, constructing, and documenting
the artifacts of software systems. UML is not a programming language but tools can be
used to generate code in various languages using UML diagrams. UML has a direct
relation with object oriented analysis and design. After some standardization UML is
become an OMG (Object Management Group) standard.
1. UML Use Case Diagrams

The following is a use case diagram representing the Military Robot.

2. Class Diagram:
The class diagram is a static diagram. It represents the static view of an
application. Class diagram is not only used for visualizing, describing and
documenting different aspects of a system but also for constructing executable
code of the software application.
The purpose of the class diagram is to model the static view of an application.
The class diagrams are the only diagrams which can be directly mapped with
object oriented languages and thus widely used at the time of construction.

The UML diagrams like activity diagram, sequence diagram can only give the
sequence flow of the application but class diagram is a bit different. So it is the
most popular UML diagram in the coder community.

So the purpose of the class diagram can be summarized as:

Analysis and design of the static view of an application.
Describe responsibilities of a system.
Base for component and deployment diagrams.
Forward and reverse engineering.

3. Activity Diagram: Activity diagram is another important diagram in UML to describe dynamic
aspects of the system.

Fig: - Activity Diagram

IMPLEMENTATION DETAILS:

Modules:
1. Authentication Module
2. Connecting Raspberry Pi to IoT cloud
3. Processing and Transmission of data
4. Receiving and Execution of controls by Robotic unit
5. Controlling and Monitoring the Robot remotely.

The brief description of each module is as follows:

1. Authentication Module: Obtaining the identification credentials such as
username and the password from a user and validating those credentials against
the value stored in the database. If valid credentials, the display control panel
of user.
2. Connecting Raspberry Pi to IoT cloud: In this module we are generating the
API keys and authentication details for connecting raspberry pi to IoT cloud
and generating the unique device identification number to identify the device
on the Internet.
3. Processing and Transmission of the data: Processing of data is done by the
Raspberry pi. Raspberry pi collects data from the various sensors with the help
of Arduino and processes on it and also control the hardware with the help of
Arduino. In this project we are using Wi-Fi (802.11) for the communication.
4. Receiving and Execution of controls by Robotic unit: the command received
from the user is accepted by the server (Raspberry pi) and server send control
signal to the controller (Arduino) and Arduino controls the actual hardware.

5. Controlling and Monitoring the Robot remotely: after completing the all
hardware and the software configurations the we can control the hardware.

PROPOSED SYSTEM:
Here in our existing system there are only remote monitoring for robots are
available. Here in our system we are going to control the robot from remote location
in addition to remote monitoring (i.e. User Mode). Our system also has an automatic
mode in which it can take its own decision for combating. In addition to this we are
also including some of the features like bomb detection, bomb diffusion, fire
detection, intruder detection. Thus our system is more reliable to combat the enemy
than the existing system. We are going to control the robot from remote location by
using a computer. Our robot is also capable of detecting and diffusing the bombs more
quickly. It can either be done through automatic mode or by user mode. Our system
also contains fire detection module and intruder detection module which is being
carried out by using facial recognition techniques.

MINIMUM REQUIREMENT:
At Server side:
1. Software Requirements
a. Raspbian Operating System
b. Apache Webserver
c. IBMs IoTF
d. Bluemix packages
e.
2. Hardware Requirements
a. Raspberry pi 3
b. Arduino Uno
c. Sensors and Actuator
d. Other Components
At Client Side:
1. Software Requirements
a. Any Mobile / Desktop Operating System.
b. Latest Browser
2. Hardware Requirements
a. Any Desktop / Laptop / Tablet / Smartphone

APPLICATIONS:
Robotics have been a staple of advanced manufacturing for over half a century. As
robots and their peripheral equipment become more sophisticated, reliable and
miniaturized, these systems are increasingly being utilized for military and law
enforcement purposes.
1.
2.
3.
4.
5.
6.

To deal with Explosives

Land mines detection
Defused live bombs
Monitor war field
Live human detection in war field
Target detection and shoot the target

CONCLUSION:
The proposed system is aimed towards the welfare infantry to minimize the
causalities to a great extent. This also helps on remote bomb detonation and automatic
bomb detection. Our robot also has terrain climbing facility so that it can be used in
hilly regions. Hence, 7th SENSE is sure to create a revolution in its own field and
ensure complete support from people of different societies.

REFFERANCES:
1. http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=4460380
2. http://ieeexplore.ieee.org/Xplore/login.jsp?url=/iel5/4555642/4558717/045
58731.pdf?temp=x
3. http://www.army-technology.com/features/feature1720/
4. http://www.informatik.uni-trier.de/~ley/db/conf/iswc/iswc2000.html
5. Digit Magazine -JULY 2013
6. http://www.en.wikipedia.org/wiki/Wearable_computer
7. http://www.global-defence.com/

Sr.No
1.
2.
3.
4.

Name of the Group Member

Mayuri B. Borse
Vishal L. Mate
Bhagyashree pawar
Komal Patalpure

Name of Guide
(Prof. J.Y.Kapadnis)

Date

Sign

H.O.D.
(Prof. M.T.Jagtap)