PROGRESS REPORT ON

HUMAN AND BOMB DETECTOR ROBOTIC VEHICLE

Prepared for
Dr. M. K. Satyarthi
Project supervisor
Training and Placement Officer
USICT, GGSIP University

Prepared by
Subodh Kumar Sharma
08116412812
Vipin Kumar
07616412812
The Department of Electronic and Communication Engineering
USICT, GGSIP University

GGSIP University, Electronic and Communication

Engineering Department

UNIVERSITY SCHOOL OF INFORMATION AND

COMMUNICATION TECHNOLOGY GGSIP UNIVERSITY,
DWARKA SEC-16C, NEW DELHI-110078

TITLE:- HUMAN AND BOMB DETECTOR ROBOTIC VEHICLE

TEAM:- SUBODH KUMAR SHARMA(08116412812)
VIPIN KUMAR (07616412812)
PHONE NO.:- 9540441425
E-MAIL:- SKSHARMAUSCT@GMAL.COM

OBJECTIVE:- The goal of this research is to provide a low cost rescue robot
for human as well bomb detection in a disaster environment. Though, the existing
Urban Search and Rescue Robots are equipped with various sensors, but the
problem with them is the cost. The sensors used in the development of this project
are easily available and cost effective.

TECHNICAL DETAILS:- In this project, a new method for detecting

surviving humans in destructed environments using simulated autonomous robot is
proposed. The robot uses two levels of sensing in order to achieve higher costeffectiveness in the detecting process in terms of the actual cost of equipment, the
processing cost, the communication cost, the storage cost, and the power cost. The
first level is a PIR sensor used with a temperature sensor, that is used as the
primary sensor in order to detect the existence of living humans in a scene. The
second level is a carbon dioxide sensor. This level uses to detect high concentration
level of carbon dioxide in order to confirm the existence of a living human. The
robot is assumed to be equipped with a simple Temperature sensor in order to
detect fire in Rescue scenario and a wireless communication link in order to

communicate with the rescue team whenever a need arises. The is also connected
to a lcd display to show the current status of the Robot.

INNOVATIVNESS AND USEFULNESS:1. In military applications to detect the presence of human being.
2. In Rescue operations where human reach is not possible.
3. In War fields, to control unmanned aerial vehicles (UAV).

CURRENT STATUS OF DEVELOPMENT:1. Trial design and prototype development is completed.

2. Testing of various variables using the prototype is going on. .

FUTURE ENHANCEMENT:1. Since the system developed is a low cost system therefore it has a wide
future scope.
2. Though many systems with a wide range of sensors have been developed,
but there are many problems faced by them such as cost, size, environment
difficulties etc.

FUTURE WORKS:1.
2.
3.
4.

Detail study about the microcontroller to be used.

Interfacing the peripheral devices with microcontroller.
Detail study on the sensors to be used and their interfacing.
Connection of the circuits used with sensors and microcontroller unit.

Acknowledgement
I would like to offer my special and endless thanks to my supervisor Dr.
M. K. Satyarthi,Training and Placement Officer, USICT,GGSIP University for his
help, guidance, support and encourage throughout my study.

Certificate
It is Certified that the project work entitled
HUMAN AND BOMB DETECTOR ROBOTIC VEHICLE
is a bonafide work carried out by
Mr. SUBODH KUMAR SHARMA (08116412812)
in partial fulfillment for the award of degree of Bachelor of Engineering in
Electronics and Communication Engineering of USICT, GGSIPU University,
Dwarka sec-16c, New Delhi-110078 during the year 2015-2016. It is certified that,
all corrections/suggestions indicated for internal assessment have been
incorporated in the report. The project report has been approved as it satisfies the
academic requirements with respect of Project work prescribed for the mentioned
degree.

TABLE OF CONTENTS

1. CHAPTER 1
INTRODUCTION
1.1.Overview
1.2.Problem Statement
1.3. Aims and Objectives
1.4.Idea of resource requirement
1.5.Security constrain of project
1.6.Background
1.7.Features
1.8.Requirements
2.

CHAPTER 2

ARCHITECTURE AND DESIGN:

2.1.Basic design and system circuitry
2.2.System circuitry
2.3.Control System
2.4.Transmitter side
2.5.Reciever
3. CHAPTER 3
CONSITITUENT ELEMENTS
3.1.Passive Infrared Sensor
3.2.DC drives
3.3.Servomotor
3.4.LM 317 Voltage regulator
3.5.PIC atmega 328P-pu
3.6.Battery
3.7.Transreciever
3.8.Buzzer
3.9.CO2 Sensor
4. CHAPTER 4
METHODOLOGY GUI
4.1.GUI
4.2.Arduino
5. CHAPTER 5
CONCLUSION AND FUTURE WORK
5.1.Conclusion
5.2.Limitations overcome and advancement

5.3.Future work
REFERENCES

ABSTRACT:
Technological revolution, earnest endeavors in latest high-speed technology and
also the advancements in the capabilities of modern computers lead to a realistic
chance for brand new robot controls and enlightened upon the latest strategies of

control theory. This technical advancement and the necessity for top performance
and efficient robots created quicker, accurate and a lot of intelligent robots
exploitation new robots control devices, new drives and advanced control
algorithms. There are always limitations to every technological reform, No matter
how advance technology may get, Natural disasters cannot be stopped from
happening, however we the human race is getting more and more aware and
cautious within the conception of intelligent rescue operations in such disastrous
areas, precious life and material are often rescued even though such disastrous
situations cannot be avoided. But there still exists possibilities of countless
disasters that are inevitable to occur and Earthquake is one such issue. Earthquakes
after math is devastating and the impact is long lasting and such disasters are
immune to distinct between human and material the impact is equal for whatever
comes in their way. Because of this predicament perpetually humans are buried
among the left over debris and it is very difficult or sometime nearly impossible to
sight them.

CHAPTER # 1
INTRODUCTION:

1.1 OVERVIEW:
This robot is being developed as a Final year project prototype. The demonstration
requires the robot to portray abilities to move in either directions, sensor
prediction, and interfacing with the operator as it searches for the victims. The
main objective of the project is to detect humans in need of help who are unable to
move in disastrous area. the objective of the project depicts a very simple idea
detection which follows a rescuer operation.
A PIR is utilized in the project which emits infrared rays in order to detect live
humans. As an alive human (body) emits thermal radiation. This thermal radiation
is detected by the PIR sensor in order to detect live humans.
Upon detection the person in need of help is located, at the receiver side it
immediately provides an audio alert (buzzer) visual alerts (video streaming) to the
concerned authorities so that person in need of help whether buried or unable to
move can be reached abruptly.
This PIR (Passive infrared) sensor is placed in front of the moving robot that can
move in all the directions. The robot moves in either direction with the rotation of
the geared dc motor for optimum torque and minimum speed and motor derives
with relays for turning and movement in forward and reverse directions with
accuracy.
The motor derive is a two wheel geared drive with DC motors attached to perform
movements in either forward or reverse directions. On a contrary note Detection of
alive human by designated rescue workers is tiring, reliable but very time
consuming. Therefore, achieving our aim will enable us to make a robot capable of
autonomously human detection from earthquake and other disastrous areas.

1.2 PROBLEM STATEMENT:

The question that arises in research an implementation of the project is as follows:
How much efficient a robot can be made to detect live human from
disastrous areas autonomously.
An autonomous robot must be capable of avoiding obstacle and take its own
decisions regarding its further proceedings, when it encounters with an
obstacle.
For the disaster prone areas it is unlikely to be a bright site or on other hand
if performing operation in the night in addition to sensor how a robot can
have a sight of view.
How user friendly is the robot, GUI (graphical user interface) is to made
easier to user, which hides irrelevant on screen information on the user side.

 How effective a communication system is to be established between a

receiver and the transmitter side which communicates without any
interference of the surrounding frequencies which may result in obstruction
or complete annihilation of channel.

1.3 AIMS AND OBJECTIVE:

A PIR (Passive Infrared sensor) is utilized in the project which emits IR (infrared
rays) in order to detect live humans. As an alive human (body) emits thermal
radiation. This thermal radiation is detected and manipulated accordingly by the
PIR sensor in order to detect live humans. Upon detection the person in need of
help is located, at the receiver side it immediately provides an audio alert (buzzer)
visual alerts (video streaming) to the concerned authorities so that person in need
of help whether buried or unable to move can be reached abruptly. This PIR
(Passive infrared) sensor is placed in front of the moving robot that can move in all
the directions. The robot moves in either direction with the rotation of the geared
dc motor for optimum torque and minimum speed and motor derives with relays
for turning and movement in forward and reverse directions with accuracy. The
motor derive is a two wheel geared drive with DC motors attached to perform
movements in either forward or reverse directions. On a contrary note Detection of
alive human by designated rescue workers is tiring, reliable but very time
consuming; therefore, using the human detection robot for earthquake and other
disastrous areas is much more beneficial for detection which is then followed by a
rescue operation upon detection.
1.4 IDEA OF RESOURCE REQUIREMENT:
In this project instead of metal detector and other previously used sensors that are
used much too often a PIR sensor is used which makes the system much effective
and an advanced system. It holds a great advantage over others because of the PIR
sensor helps to detect the Human (Body) radiations emitting from a live human
being. With that it also supports a videos transmitting feature which not only
enables the receiver to locate but have a better understanding of the surroundings,
as it moves around the disastrous and earthquake prone areas and any other field
desired, it helps reducing the work in the field as it already detects and locates the
person to be rescued, Manually checking a person if alive one must check the
pulse, heart beat but with the help of this robot, itself checks whether the person is
alive or not.

1.5 SECURITY CONSTRAIN OF PROJECT:

Security constrain of the project:
This robot is being developed as a Final year project prototype. The
demonstration requires the robot to portray abilities to move in direction,
sensor prediction and interfacing with the operator as it searches for the
dummy victims. Hence no real victim is used in the demonstration thus
preventing from any ethical violation concern.
All the channels of communication used are within the excessive range of
legal band of operation.
The bands of communications such as GSM and zigbee are not used instead
a much simpler and legal range of RF band is used.
The robot is equipped with not a single constituent that might be used as
weaponry to harm any Individual. Unlike other targeting and striking robots
this robot objective is to save lives rather than taking lives.
In an unconditional environment where a robot comes across a situation
where it might come in contact of fire or other rugged condition, upon
contact robot battery and other electronic equipment have a very rare chance
to explode, and even if it explodes, the explosion will not be capable of
harming anything in the surroundings.

1.6 BACKGROUND:
With the advancement in the technology and especially in the field of robotics, in
the few years ago of work is done on robotics to facilitate mankind. These earnest
endeavors lead to a whole new race of robotics where manual control of robot took
a step ahead to autonomous robotics Similarly sensor with better performance and
other parameters were introduced, one idea lead to another and todays modern
electronics enables us to facilitate human race in every possible way.
Previously used sensors like metal detector or infrared of low proficiency were
used much too often but with unsatisfactory results. A PIR sensor is now used
which makes the system much effective and an advanced system.
It holds a great advantage over others because of the PIR sensor helps to detect the
Human (Body) radiations emitting from a live human being. Previously a manual
control was provided to the robot which required a designated person presence all
the time. However using ultrasonic sensor a robot now steers its own path avoiding
the obstacles. Another drawback was the oblivious state of rescue team about the

surroundings of person to rescued, so videos transmitting feature which not only

enables the receiver to locate but have a better understanding of the surroundings,
as it moves around the disastrous and earthquake prone areas and any other field
desired, it helps reducing the work in the field.

1.7 FEATURES:
The main features of the robot are as follows:
Avoid obstacle and steer it way through the desired field of operation.
Detects thermal radiation from humans in need of help and a sound alert is
sent to receiver side.
User friendly GUI at receiver end providing control of robot and its actions.
Works both automatically and manually. Manually if, the robot is stuck or in
situation where further movement is impossible an audio alert is again sent
to receiver for manual operation.
Continuous video streaming which enable the receiver for manual steering,
identification of the radiation source, better understanding of surroundings
before deploying a rescue team.
A reset switch (false alarm reset) in case if a radiation is detected but the
source is not human but any other animal, the receiver may provide the robot
with a reset signal which ignores that radiation source considering it as a
obstacle and again starts to detect for radiations.
1.8 REQUIREMENTS:

The basic requirements of the project are

To Design and implement the robot (vehicle).
Co-ordination of Dc motor and motor drive controls.
Design and implementation of the receiver side circuit.
Design and implementation of the transmitter side circuit.
Programming and synchronization of the micro-controller
with other electronic equipments.
Design and implementation wireless video transmission and
other instructions (control).

CHAPTER # 2
ARCHITECTURE AND DESIGN:
2.1 BASIC DESIGN AND SYSTEM CIRCUITRY:
There are two basic designs
>hard ware structure

Hard ware structure:

Hard ware structure deals with the outlook design of the robot which is very
important section of the robot holding all the equipments. Considering this
structure many other sections involve like movement of mobile robot under trough
circumstances and performing action having a safe side for robot model.
There are many probabilities in way along which the robot can move when
considering the field of action so the only hardware design is the only one section
which help to make robot efficient under that condition because appropriate design
is not fruitful in field of action. This design based on the raw fact and figure
assuming from the field of action for example in movement when the wheel
structure designed it will notice that weather they are appropriate for that condition
or not.
A smart outlook structure makes a robot more efficient considering the hurdles in
field where the robot is working.

2.2 SYSTEM CIRCUITRY:

There are basically two circuit boards of the project:
Transmitter side Circuitry
Transmitter side circuitry is that end which is in the field in simple robot
containing that circuitry it performs many actions which is time by time
executing and at some target achieving it directly communicate with the
receiver end.
3 Ultrasonic sensors placed on robot which is one by one sending signal to
executing point through which the robot avoid all hurdles and keep moving
along the open way by keeping its search ON at any object achievement
which is possible wit PIR sensor a executing section deliver signal to
receiver end for further procedure.
Receiver side Circuitry
At receiver side when the signal received a buzzer give the navigation about
the object achievement and then the further procedure start at that end a
human which is monitoring and controlling the whole procedure makes a
decision according to the condition.
Probably it is possible that the signal is robot stuck or in a situation where
further movement is impossible an audio alert is again send to the receiver
for manual operation.

2.3 CONTROL SYSTEM:

The system has two main functions:

Monitoring
Controlling
First of all the video camera attached with the extinguish vehicle will send real
time video signals to our monitoring device i.e., monitor. The video camera is
wireless. After watching the video on the monitor, the operator can make his own
decision and take an action accordingly.
After the user had made his decision, he sends the control commands via serial
communication to the PIC micro controller which processes the digital data input.
This control signal is then transmit through RF module. At the receiver end the
transmitted signal is again processed and signal is given to motor driver circuit to
perform the required control action. The user observes the real time video by
computer software.
2.4

TRANSMITTER SIDE:

The transmitter side of the circuit is the robot itself the vital constituent elements of
the transmitter side are sensors (PIR and Ultrasonic), Microprocessor, wireless
video camera, Dc motor and the motor derives. Future more the trainmaster circuit
constitute element like opto-coupler, bridge rectifier, capacitors and resistor and
voltage regulators for over all control of the voltage signal. Transceiver for two
way communication between transmitter and receiver. For the automatic operation
the main input is to the micro-controller is from the Ultrasonic sensor which
provide the directions to the robot to steer through the desired field of operation.
The readings from the ultrasonic sensor is continuously sent to the microcontroller
which processes the input signals and provide a required output signal sent to
motor derives which further drive the movements of robot. The other sensor is the
Biosensor which detects the thermal radiation on 180 degree angle range. The
output of PIR acts as the input for the microprocessor and the signal is transmitted
to the receiver side for further action. The video camera has its own module for
transmitting its video therefore no output of the camera acts as an input for
microcontroller.
2.5

RECEIEVER:

At target achievement when the transmitter send signal and at receiver end it is
received by RF transverse and send it to the PIC for execution at receiver end a
simple circuitry is involved to give a audio alert.
In this circuitry a PIC controller is directed with transceiver and personal computer
with serial communication.
Through GUI when a user operate robot manually a single command is execute
time by time and send to the robot through RF transceiver. All commands from
GUI left, right, forward, backward all are send to execution center PIC and send to
execute and send to robot to make some action regarding these commands.

Chapter # 3
CONSITITUENT ELEMENTS:
3.1 Passive Infrared Sensor:

It is a type of infrared sensor that works by detecting any kind of infrared radiation
emitting objects in their field of observation. Normally everything that is alive or
moveable emits infrared signatures but vary in the magnitude, some objects emits
high signature some emits low thus when a moveable object passes the path of a
PIR sensor it emits the infrared rays that can be detected by the sensor and it works
accordingly. Normally we have a misconception that PIR sensor emits rays but its
the opposite it detect rays. PIR sensors are made of pyro electric materials that
work on the principle of generating energy when exposed to heat. Materials
commonly used in PIR sensors are made of gallium nitride, polyvinyl
fluorides,cobalt phthalocyanine and caesium nitrate. These sensors are mostly
manufactured as integrated circuits. There are wide range of PIRs which have 180
degree or 360 degree view of site, this is made possible by using different type of
lenses in from of sensor e.g. Fresnel lenses or mirror segments. More over
differential detection method is also used in PIR sensors where pairs of PIR
sensors may be wired to a differential amplifiers as opposites inputs thus when a
body passes the IR energy that is normal condition was cancelling the effect of the
paired sensors now show some reading thus detected.
3.2 DC drives:
DC drives or adjustable speed drives are the systems used to control the speed of
dc motor through suitable design circuitry majorly consisting of thyristors which
make a bridge and operate in a four quadrant mode in order to perform
acceleration, forward breaking, reverse breaking and regeneration. More over the
direction of rotation of a dc motor can also be change through dc drive. There are
two ways to change the direction of a dc motor reverse armature polarity and
reverse field polarity. Main principle of varying speed of a dc motor is by varying
voltage but the applied voltage should not be more than the rated voltage of the
motor defined. Basic operation of a dc drive is that it supply voltage to the motor
while the motor draws the current as per the load applied thus it is obvious that if
we apply more than rated load at the motor the motor will draw more current and
gets burned or malfunctions. Majorly the power circuit of a dc drive consists of six
thyristors and six free whiling diodes in case of 3 phase dc drive and 3 thyristors
and 3 freewheeling diode in case of single phase dc drive. Its operation is
performed in 4 different quadrants where thyrisotrs operates according to the
current and voltage polarity. Thyristors operations depend upon their firing time
and angles which are controlled by programmed microcontrollers.
3.3 SERVO MOTOR:
a servomotor is a servomechanism. a control signal that represents a output
position of the servo shaft, and apply power to its DC motor until its shaft turns to

that OUTPUT position . It uses the position-sensing device to determine the

rotational position of the shaft, so it knows which way the motor must turn to move
the shaft to the commanded position. The shaft typically does not rotate freely
round and round like a DC motor, but rather can only turn 200 degrees or so back
and forth. Servomotors are used in applications LIKE robotics, CNC machinery or
automated manufacturing.
3.4 LM 317 VOLTAGE REGULATORS:
A voltage regulator maintains constant voltage level automatically .
it may be a simple "feed-forward" design or may include negative
feedback control and may use an electromechanical mechanism, or electronic
components.
LM317
The LM317 is a popular adjustable linear voltage regulator.It was invented by
Robert C. Dobkin and Robert J. Widlar in 1970The LM317 has three pins: INput,
OUTput, and ADJustment.The device is an op amp with a relatively high output
current capacity. The LM317 is an adjustable 3-terminal positive voltage
regulatorcapable of supplying in excess of 1.5 A over an output voltage range of1.2
V to 37 V. This voltage regulator easy to use andrequires only two external
resistors to set the output voltage. Further, itemploys internal current limiting,
thermal shutdown and safe areacompensation, making it essentially blow-out proof
This device can also be used to make a programmableoutput regulator, or by
connecting a fixed resistor between theadjustment and output, the LM317 can be
used as a precision current regulator.
Features:
Output Current in Excess of 1.5 A
Output voltage Adjustable between 1.2 V and 37 V
Internal Thermal Overload Protection
Internal Short Circuit Current Limiting Constant with Temperature
Output Transistor Safe-Area Compensation
Floating Operation for High Voltage Applications
Guaranteed 1% Output Voltage Tolerance
Guaranteed max. 0.01%/V Line Regulation
Guaranteed max. 0.3% Load Regulation
Min. 1.5A Output Current
100% Burn-in in Thermal Overload
Applications:
Wide Range Power Supplies
Constant Current Supplies
Voltage Programmable Supplies

3.5 PIC ATMEGA328P-PU:

atmega328p-pu is a 8 bit microcontroller which has clock frequency of 20 mhz and
program memory size is 32kb. it is manufactured by Atmel. This is an integrated
circuit that converts signals from its serial port to signals Suitable for use in TTL
compatible digital logic circuits. this has 28 pins and operate at almost 5 v.this is
dataeprom type and has data rom size 1 kb. Operate at min 1.8 v and max 5.8
v.This has high performance, low power and belongs to Atmel avr 8-bit
microcontroller family
I/O and Packages
23 Programmable I/O Lines
28-pin
Operating Voltage:
1.8 - 5.5V
Temperature Range:
-40?C to 85?C
Speed Grade:
0 - 4MHz@1.8 - 5.5V, 0 - 10MHz@2.7 - 5.5.V, 0 - 20MHz @ 4.5 - 5.5V
Power Consumption at 1MHz, 1.8V, 25?C
Active Mode: 0.2mA
Power-down Mode: 0.1A
Power-save Mode: 0.75A (Including 32 kHz RTC)
FEATURES:
32 general-purpose working registers, serial programmable USART, execute
powerful instructions in a single clock cycle designed for use in industrial
automation and home and building automation.
3.6 Battery:
They provide DC voltage to the motors. Batteries are used to provide power to dc
motors mainly. The battery used for this project is simple one DC battery of 12v
and 1.5 amps. These batteries are providing approximately 7V to DC motors which
are moving the robotic case it moves itself depending upon the conditions.
3.7 TRANSCEIVER:
A device which has both transmitter and receiver and and share common circuit is
known as transceiver.while RF Transceiver uses RF modules for high speed data
transmission. The objective of transceivers is to bring digital value closer to the
antenna at the receiving and transmitting ends using software defined
radio.programmable digital processors used in circuit allow conversion between
digital signal and analog RF signal. Transceivers are mostly used to define the

equipments in LANs that send signals to the network wire and at the same time
detects signals passing through the wire. Transceiver is a two way radio that
combines transmitter and receiver exchanging information in half-duplexmode.
Integrated circuit allows high performance circuit to built at lesser cost and with
significant amount of space saving.
RF Transceivers
RF transceiver is a device that receives and demodulates (RF) signals, and then
modulates and transmits new signal. They are used in many different videos, voice
and data application. RF transceiver consists of an antenna to receive transmitted
signal and tuner to separate a specific signal from all of other signals that the
antenna receives. Detectors or demodulators gather information that encoded
before transmission. Radio techniques are used to limit localized noise. To
transmit new signal, oscillator creates sin wave which is encoded and broadcast as
radio signals.
Specifications:
RF transceiver includes data rate, sensitivity, output power, communication
interface, operating frequency, measurement resolution, and maximum
transmission distance. Data rate is the number of bits per second that can be
transmitted. Sensitivity is the minimum input signal required. Communication
interface is the method used to output data to computers. General-purpose interface
bus (GPIB) is the most common parallel interface. Universal serial bus (USB),
RS232 and RS485 are common serial interfaces. Operating frequency is the range
of signals that can be broadcast and received. Measurement resolution is the
minimum digital resolution. Maximum transmission distance is the largest distance
by which the transmitter and receiver can be separated. Additional considerations
when selecting RF transceivers include power source, supply voltage, supply
current, transmitter inputs, receiver inputs, and RF connector types.
3.8 BUZZER:
A device which provides audio signaling function is known as buzzer. The devices
may be mechanical or electronic or it can be combination of the both .They are
designed to emit sound over a wide area or to provide more specialized functions.
It takes some input and emits sound in result of it. Buzzer uses various ways to
produce the sound; everything from metal clappers to electromechanical devices. A
buzzer needs to have some way of taking in energy and converting it to acoustic
energy. The buzzer may be battery powered so that it will go off in the event of a
mains outage. Some devices that provide emergency power have buzzers on them
so that the user knows that they are running on backup power and not on mains
power. Buzzers are used for user or operator an audio indication of the stage of a
mechanical device. For instance, buzzing someone in refers to opening an
electromechanical lock on a door, which emits a buzz, indicating that the lock has

been moved to the open position. Buzzers are used on computers, most often to
indicate error conditions. These buzzers may go off if there is a faulty component
on the device. Computers usually use beepers for this purpose, as well. These are
usually piezoelectric buzzers.
3.9 CO2 SENSORS:These sensor allows to detect the carbon dioxide emission, and then the breathing
cycle of a victim. It is possible to determine if he is still alive. According to , the
response time of a CO2 sensor is very slow. The sensor has to be very close to the
victim to have useful data because it is very directional. Indeed, it depends much
on the air conditions like humidity, temperature, Diploma Work Human Detection
for Robotic Urban Search and Rescue 26/02/04 12 / 61 Steve Burion wind, and
dust. So it is quite difficult to use it in a disaster area. Moreover, it is not easy to
buy only the sensor. It is often sold with outside monitoring equipment (screen,
case) because it is usually used in the medical field. Finally, it is a quite expensive
device and bulky with the monitoring.

CHAPTER # 4
METHODOLOGY:
4.1 GUI (Graphical User Interface):

It takes a general perspective of encouraging powerful access to an advanced asset

and afterward looks at all the more nearly the issues of convenience and after that
availability. It is expected to be useful to gathering supervisors wishing to concede
access to an advanced asset.
Human Robot Interface:
The Graphical Client Interface (GUI), through which the robot administrator will
be given data from the robots on-board instruments, for example, its cams, will be
produced in an Article Situated Programming dialect, for example, C++. It is
expected that the Scaleform GUI pack will give a structure through which to build
up the GUI for the robot control interface. Scale form gives a vector representation
rendering motor used to show Glimmer based client interfaces, HUDs and works
on Microsoft Windows, Macintosh OS-X and Linux working frameworks.
The robot control interface is proposed to be produced in a secluded approach in
C++ as to let separate segments, to be swapped out separately to be tried and
enhanced. The automated control interface will send all orders to the robot by
means of TCP/IP attachment messages ignored the remote system, where the
essential control framework on the robot will decipher these messages and forward
them to their separate sub-frameworks on the robot. The individual robotframework messages, for example, "drive forward at half-speed", will be sent to
the different subsystems on the robot by means of different interchanges measures,
for example, serially through the RS-232 correspondences standard.
Base Station:
The base station, which will be a general PC framework, will get inputs from the
controllers and procedure them in the robot control interface.
4.2 ARDUINO:
Introduction:
An Arduino is an open-source microcontroller advancement board. In plain
English, you can utilize the Arduino to peruse sensors and control things like
engines and lights. This permits you to transfer projects to this board which can
then connect with things in this present reality. With this, you can make gadgets
which react and respond to the world on the loose.
The conceivable outcomes of the Arduino are just about boundless. Arduino is a
device for appearing well and good and control a greater amount of the physical
world than your desktop PC. It's an open-source physical registering stage in light
of a straightforward microcontroller board, and an improvement domain for
composing programming for the board.
WHY ARDUINO:

Cheap - Arduino sheets are generally reasonable contrasted with other

microcontroller stages. Straightforward, clear programming environment - The
Arduino programming environment is anything but difficult to-use for amateurs,
yet sufficiently adaptable for cutting edge clients to exploit also.
Open source and extensible equipment - The Arduino is taking into account
Atmel's ATMEGA8 and ATMEGA168 microcontrollers. Indeed, even generally
unpracticed clients can construct the breadboard variant of the module to see how
it functions and spare cash.

CHAPTER # 5
CONCLUSION AND FURTHER WORK:
5.1 CONCLUSION:

This robot is developed as field efficient by using the structure and theme of this
proto-type robot with optimization in design and working principle.
For more positives results change its outlook structure with the change in circuitry
and equipments that are using in proto-type robot. Advance equipments and rugged
structure make it more field effective keeping in mind the whole scenario of
earthquake disaster area.
5.2 LIMITATION OVERCOME AND ADVANCEMENT:
This robot requires so much optimization in its design and structure to overcome
the limitation that is occurring in proto-type design. Major advancement is in
movement and speed by using wheel structure for the trough and terrain surface as
well as the high volt battery and high tech motors to load the heavy weight and to
increase speed and movement.
Advance logic in wheel structure make its turning so fast and time efficient which
limits the basic angle of turning and robot turn at 360 degree by keeping its
position constant.
All sensing devices are majorly affected according to environment change like
temperature, humid, pressure etc in field this will overcome with using more high
tech sensing devices which avoid the error occurring during change in
environment. PIR sensor detect only in the front field of 180 degree, it must be
Fresnel PIR which work at 360 which is costly but more appropriate for the field
scenario.
Straight view camera focus at least at 100 degree but for more 260 degree robot
change its direction which is little but time consuming and it effect the efficiency
but minor.
5.3 FUTURE WORK:
This circuit is mainly using in land rovers by making its movement more effective
on trough surface and in advance this will also use in drone applying the same
circuit and idea with advance techniques.
This circuit and structure is also use with different idea, in war field it helps to
locate and hit the living enemy targets and a camera on top gave the sight of view
of current situation ahead. By adding voice command it helps to communicate with
receiver end designated officers with the field war troops. It helps to locate the
positions of enemy troops and make easy targeting.
More optimization which include image processing trough this technique it
recognize the victims with their face reorganization and finger print analysis
technique which is directed to NADRA data base to get whole information about
the victim that is our target of rescue. It will help to make search more narrow for
example, if 3 persons of family is missing and 1 is

recovered else of 2 are probably near to target 1 this figure emphasis to research in
surround it will give fast result if they are alive rescue or they are dead move on for
next.

REFERENCE
1. WIKIPEDIA
2. http://www.cs.cmu.edu/afs/cs/project/retsina31/www/Report/Final%20Report.pdf

3. http://www.instructables.com/id/PIR-Motion-SensorTutorial/