ISSN 2249-6343 International Journal of Computer Technology and Electronics Engineering (IJCTEE) Volume 2, Issue 1

Wireless Control & Monitoring of Robotic Arm (SWORDS)

R.A. Kadu, Prof. V.A. More, P.P. Chitte, J.G. Rana, M.R. Bendre
Abstract- Robot warriors have already seen action in Iraq, and the US Army plans to replace one-third of its armored vehicles and weapons with robots by 2015. These killing machines may one day come equipped with an artificial conscience even to the extent of disobeying immoral orders. The US Army's latest recruits are 1 meter (about 3 feet) tall, wear desert camouflage and are armed with black M249 machine guns. They also move on caterpillar tracks and thanks to five camera eyes can even see in the dark. The fearless fighters are three robot soldiers who, unnoticed by the general public, were deployed in Iraq in mid-June, charged with hunting down insurgents. As if guided by an unseen hand, they hone in on their targets and fire at them with their machine guns. It's the future of war and it's already here. SWORDS or the Special Weapons Observation Reconnaissance Detection System, "It's the first weaponized robot in the history of warfare," says Charles Dean, an engineer with Waltham, Massachusetts-based Foster-Miller, the manufacturer of the new devices. Dean and the 70 employees in his department are eager to find out how their three protgs are holding up on the front. Because the three robots, dubbed "Swords," are being used in a secret mission, their creators have no idea whether the devices have already killed enemy fighters in combat. Index Terms SWORDS, PDA, Robot, Encoder, Decoder, Transmitter, Receiver. I. INTRODUCTION A. Aim More than 50 years after author Isaac Asimov argued in his classic novel "I, Robot" that a robot should never be allowed to do harm to people, the development of automated killers has become unstoppable. Swords and Gladiator are the harbingers of a new type of warfare, in which killing will increasingly be left up to machines. According to an internal US Army memo, armed machines "are making their way onto today's battlefields and will be extremely widespread on the battlefields of the future." The Pentagon's budget already includes up to $200 billion for a modernization program dubbed "Future Combat System." Under the program, robots will replace one third of armored vehicles and weapons by 2015. Automated warfare is also making inroads in Israel, where the military deploys robots along the country's 60-kilometer (37-mile) border with the Gaza Strip. The stationary "See-Shoot" system developed by Rafael, an Israeli weapons manufacturer, includes machine guns and cameras, and has a range of 1,500 meters (4,921 feet). From a military standpoint, there are many reasons to support the growing use of steel soldiers. For one, fear and fatigue are non-issues. Robots kill without hesitating and, unlike flesh-and-blood soldiers, losing them is merely a financial loss. A new Sword goes for about $150,000. Regardless of whether robots hurtle through the air or serve as mechanical infantrymen on the ground, until now human operators have decided whether they are permitted to shoot. The fear that the machines could suddenly start letting loose on their own troops is still too great. Before Swords fires its first salvo at terrorists in Iraq, it needs the permission of two human operators. A supervisor presses a button on his remote control, which makes the machine gun operational. At the same time, another soldier must activate two red switches on this control unit to allow the robot to begin shooting. B. Brief History "SWORDS" or the Special Weapons Observation Reconnaissance Detection System, "It's the first weaponized robot in the history of warfare," says Charles Dean, an engineer with Waltham, Massachusetts-based Foster-Miller, the manufacturer of the new devices. Dean and the 70 employees in his department are eager to find out how their three proteges are holding up on the front. Because the three robots, dubbed "Swords," are being used in a secret mission, their creators have no idea whether the devices have already killed enemy fighters in combat. It seems only a matter of time before the three combat robots will get some reinforcements. The American military is currently testing the Gladiator, an unmanned mobile device developed by engineers at the Carnegie Mellon University Robotics Institute in Pittsburgh, Pennsylvania. Gladiator weighs more than a ton and comes equipped with rubber tires that enable it to scurry up inclines of up to 60 percent. The US military has already mounted a targeting camera and a remote-controlled M240 machine gun on a prototype. "We've already done plenty of shooting with the machine gun," says Col. Terry Griffin, who heads the joint US Army and Marine Corps robot program. If further tests are successful, a four-wheel version of the Gladiator could be headed for Iraq next year assuming US troops are still in the country.

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ISSN 2249-6343 International Journal of Computer Technology and Electronics Engineering (IJCTEE) Volume 2, Issue 1 According to Griffin, the combat robot is capable of Withstands repeated decontamination Demonstrated at disbanding groups of undesirables. There are three stages Ground Zero after 2001 World Trade Center attack in New of escalation: First Gladiator issues warnings through a York City. Electronics withstood 45 straight days of being loudspeaker, then it fires rubber bullets and, finally, it starts decontaminated twice a day without failing. Long battery firing its machine gun life TALON robots have the longest battery life of all manportable robots. Best service history Easy to maintain and C. Recent Trends and Development in the Fields sustain; best spare parts, service and repair history. TALON FAMILY OF MILITARY, EOD, MAARS, HAZMAT, SWAT AND DRAGON RUNNER ROBOTS b. EOD Robots TALON EOD robots have been in continuous, active a. Talon Family Of Military military service since 2000 when they were successfully TALON Operations is in the process of building used in Bosnia for the safe movement and disposal of live several distinct "families" of robots that will be able to grenades. They were the only American-made robots perform a variety of tasks, and will all be operated with one successfully used at Ground Zero in search and recovery universal control unit. Today, TALON Ground Robotics efforts after the September 11 attack on the World Trade includes four "families" that are easily distinguished by Center and the only robots to last through the entire mission size: small, medium, large and extra large. Their names are without requiring a major repair. Dragon Runner (15 to 50 lb), TALON (80 to180 lb), TALON EOD robots were the first military robots taken MAARS (300 to 400 lb)and TAGS-CX (5,000 to 6,000 into Afghanistan during action against the Taliban and lb) and they are all controlled with one new Digital Control Osama bin Laden in February 2002. They initially Unit (DCU). accompanied the Special Forces on a Classified mission, and are still there now doing EOD work. They were on the ground in Kuwait when coalition forces massed in 2003 and have been in Iraq ever since performing EOD/IED (improvised explosive device) missions. SWORDS Robots Editor's Note, April 14, 2008: Contrary to what you may have read on other web sites, three SWORDS robots are still deployed in Iraq and have been there for more than a year of uninterrupted service. There have been no instances of uncommanded or unexpected movements by SWORDS robots during this period, whether in-theater or elsewhere. (A few years ago, during the robot's development, there were several minor movement issues that were expected, identified and addressed during rigorous stateside testing --prior to the Army's safety confirmation back in 2006. Any comments made after that timeframe about "setbacks" related to the robotics industry are hypothetical -- never in response to some nonexistent SWORDS incident after the safety confirmation.) There has been no withdrawal of funding from the SWORDS program. The Army funded three robots, and that's what they are using today in Iraq. TALON Robot Operations has never "refused to comment" when asked about SWORDS. For the safety of our war fighters and due to the dictates of operational security, sometimes our only comment is, "We are unable to comment on operational details." SWORDS' successor, the new and improved SWORDS 2.0, is the robot we have named MAARS. HAZMAT ROBOTS TALON Hazmat robots use JAUS (Joint Architecture Unmanned Systems) software to make it possible to "plug and play" up to seven detection devices mounted on a quick-release universal mounting tray for easy removal. d. c.

Fig.1: Talon robot [5] How are TALON military robots different from other robots on the market? Man-portable -- At about 115 lb (52 kg), TALON can be easily transported and is instantly ready for operation. Rugged -- TALON robots can take a punch and stay in the fight. One was blown off the roof of a Humvee in Iraq while the Humvee was crossing a bridge over a river. TALON flew off the bridge and plunged into the river below. Soldiers later used its operator control unit to drive the robot back out of the river and up onto the bank so they could retrieve it. Fast -- TALON is the fastest robot on the market today easily keeping pace with a running soldier. High payload capacity Long-term system versatility optimizes investment. TALON has the highest payload capacity and payload-to-weight ratio, allowing for the incorporation of a broad array of sensor packages. Mobile Climbs stairs, negotiates rock piles, overcomes concertina wire, and plows through snow. Intuitive Easiest robot to operate; joystick controls; quad screen display. Outstanding situational awareness can hold up to four color cameras, including night vision, thermal and zoom options.

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ISSN 2249-6343 International Journal of Computer Technology and Electronics Engineering (IJCTEE) Volume 2, Issue 1 In addition, the personal digital assistant (PDA) at the operator control unit (OCU) has been upgraded to include audio and visual alarms if any of the mounted detection devices exceed preset limits, so operators can concentrate on maneuvering the robot and not be distracted by having to constantly monitor the sensors. Talon Swat/Mp TALON's multi-mission family of robots now includes one specifically equipped for scenarios frequently encountered by police SWAT units and MPs in all branches of the military. TALON SWAT/MP can be configured with a loudspeaker and audio receiver, night vision and thermal cameras and a choice of weapons for a lethal or lessthan-lethal response. f. MAARS ROBOT Foster-Miller's latest innovation in robotics, MAARS (Modular Advanced Armed Robotic System) introduces a new modular design to its popular family of TALON and SWORDS robots for military and first responders.MAARS uses the more powerful M240B medium machine gun and has significant improvements in command and control, situational awareness, maneuverability, mobility, lethality and safety compared to its SWORDS predecessor. MAARS and SWORDS are ROV's (remotely operated vehicles). They are not autonomous. e.

Fig.3: Dragon runner[5] h. TAGS-CX UNMANNED VEHICLE In September 2005, the U.S. Army's Tank-Automotive Research, Development, and Engineering Center (TARDEC) instituted a robotics systems integration and evaluation laboratory "skunk works." The first unmanned system in the skunk works was the TAGS-CX (Tactical Amphibious Ground Support System - Common experimental) platform with Applied Perception, a subsidiary of Foster-Miller, as the prime contractor. This modified COTS platform was developed with modularity and interoperability as the key design requirements. The overall TAGS-CX concept is to have one general purpose, high-mobility platform that provides a standardized mechanical, electrical, and messaging interface to allow numerous heterogeneous "plug-and-play" payloads to be installed. By standardizing at each of these levels, TAGS-CX can be easily configured for a number of different missions, a capability not provided by any currently available unmanned ground system. i. NEW TALON ATTACHMENTS Universal Disruptor Mount -- Allows multiple types of recoiling disruptors to be mounted on the upper arm.

Fig.2:Talon SWAT/MP[5] g. DRAGON RUNNER FIELD TRANSFORMABLE SUGV The Dragon Runner small tactical robot was originally developed for the U.S. Marines by Automatika, which became a Foster-Miller subsidiary in 2007. The basic model weighs 14 lb and measures only 12.2 x 16.6 x 6 in. The basic Dragon Runner gives users the ability to "see around corners" in urban environments. Over the course of the past year, engineers and roboticists at Foster-Miller and Automatika have worked on enhancements that now make it possible to take that basic Dragon Runner and add whatever combination of treads, flippers, cameras, sensors and/or arms a mission requires.

Fig.4: TAGS-CX unmanned vehicle[5] Thermal Camera Upgrade Packages-- Two thermal camera enhancement packages so users can view thermal images through the operator control unit.

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ISSN 2249-6343 International Journal of Computer Technology and Electronics Engineering (IJCTEE) Volume 2, Issue 1 Magnetic Antenna Mount Kit -- Position remote Different weapons can be interchanged on the system antennas for the operator control unit on the outside of the M16, the 240, 249 or 50-caliber machine guns, or the a vehicle so robot can be operated from inside the M202 -A1 with a 6mm rocket launcher. Soldiers operate it vehicle. by remote control, from up to 1,000 meters away. The Scraper, Blade and Ski -- Uncover buried explosive system runs off AC power, lithium batteries or Singars devices with the scraper, push munitions and other rechargeable batteries. The control box weighs about 30 objects out of the way with the blade, make it easier for pounds, with two joysticks that control the robot platform TALON to climb the stairs with the ski. and the weapon and a daylight viewable screen. SWORDS were recently named one of the most amazing inventions of 2004 by Time Magazine. There are four SWORDS in D. Literature Survey And Technological Survey existence; 18 have been requested for service in Iraq, Soldiers may have armed robots as battle buddies by Tordillos said. So far, each system has cost about $230,000 early next year, according to industry and military officials to produce, said Bob Quinn, lead integrator for the project. attending the biennial Army Science Conference. When they go into production, Quinn estimates the cost per The Special Weapons Observation Reconnaissance unit will drop to the range of $150,000 to $180,000. Quinn Detection System, or SWORDS, will be joining Stryker credits soldiers with getting the project started. Quinn Said Brigade soldiers in Iraq when it finishes final testing, said "It's a classic boot-strap effort," Tordillos fielded a variety Staff Sgt. Santiago Tordillos, a bomb disposal test and of questions while showing off the system in the exhibit evaluation noncommissioned officer in charge with the hall. Soldiers wanted to know what military occupational Explosive Ordnance Disposal Technology Directorate of speciality they have to sign up for in order to work with the the Army's Armament Research, Development and system. There is no specific (military occupational Engineering Center at Picatinny Arsenal, N.J. "We're specialty) for it, he said. Other questions were more thought hoping to have them there by early 2005," Tordillos said. provoking. Does he envision a day when armed robots "The soldiers I've talked to want them yesterday." outnumber humans on the battlefield? Tordillos firmly said The system consists of a weapons platform mounted on a no. "You'll never eliminate the soldier on the ground" he Talon robot, a product of the engineering and technology said "There'll be a mix, but there will always be soldiers out development firm Foster-Miller. there."

Fig.6: Control panel[5] II. THEORETICAL DETAILS OF TOPIC AND ANALYSIS Features controlled by the swords i.e. armed robot to march into battle: Robot locomotion. Climbing on stair case / inclined plane. Robotic arm with gripper Wireless video transmitter Gun Fire detection Mines detection Rocket launcher

Fig.5: SWORDS The Talon began helping with military operations in Bosnia in 2000, deployed to Afghanistan in early 2002 and has been in Iraq since the war started, assisting with improvised explosive device detection and removal. Talon robots have been used in about 20,000 missions in Iraq and Afghanistan, according to Foster-Miller reports. "It's not a new invention; it's just bringing together existing systems,"Said Tordillos, who has been involved with the project since its inception about a year and a half ago.

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ISSN 2249-6343 International Journal of Computer Technology and Electronics Engineering (IJCTEE) Volume 2, Issue 1 A. Robot Locomotion Step 2 Robot locomotion is a very important point in 1. Extended crawler will move from its original position exploring the arenas as we should be ready to tackle any to the tip of the next step. This position is achieved possible obstacle. We are working on swords with different with the help of the dc motor which is interfaced with locomotion methods, but until the seminar report, a mixture the extended crawler. of what we are think- ing to get to is ready and successfully Step 3 implemented. Here we go through the details of the system: 1. Dc motor will apply the force on the wheel attached to Differential steering is the type of locomotion chosen the extended crawler and due to this front wheel will float for the robot. In each side of the robot, wheels are with support of the back wheel and the wheel attached to connected with a timing belt. In this type of locomotion, the extended crawler. spinning on the robot's axis is accomplished by moving one 2. After reaching this position motor attached to the wheel i n one direction and the other in the opposite extended crawler comes into stand still state. direction. A sharp turn is accomplished by stopping one 3. With the help of the motor attached to the back wheel wheel while moving the other and a shallower turn is also swords move in the accessible by moving one wheel at a lower speed making upward direction or will climb the stair case/ inclined the robot to turn in the direction of the slower wheel. The plane. timing belts, in addition to be a part of differential steering, help the robot climb blocks easily C. Robotic Arm With Gripper B. Climbing On Stair Case / Inclined Plane The simple task of moving a mines or object from one location to another within the work area is one of the most Climbing on stair case / inclined plane is a very common applications for robots today. Often, it is important point in exploring the unstructured environment necessary to acquire a part from a remote location and to or battle field as we should be ready to tackle any possible place it in a compartmentalized (e.g. a rectangular array) obstacle. We are working on swords with different box or carton. techniques, but until the seminar report, a mixture of what we are thinking to get to is ready and successfully implemented. Here we go through the details of the system.

Fig.8: Robotic arm with Gripper[5] The application or task is often a danger one of a human beings and so is ideally suited for a robot Swords. 18 GRIPPER Grippers are the most common end-effectors. They provide the equivalent of a thumb and an opposing finger, allowing the robot to grasp small parts Fig.7: Extended crawler[5] Its operation is divided into three steps Step 1 1. From the schematic diagram front wheel is attached with the extended crawler as shown in the diagram. 2. Pair of dc motor attached to the front and back wheel. 3. Motor attached to the front wheel is interfaced with the extended crawler. D. Wireless Video Transmitter A camera has been integrated into the swords in order for the user to receive a live video feedback. The image seen from the video camera is transmitted through a 900 MHz video transmitter and received by a standard television antenna. The TV connected to the antenna must be set to cable mode and turned to AV mode in order to view the transmitted image.

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ISSN 2249-6343 International Journal of Computer Technology and Electronics Engineering (IJCTEE) Volume 2, Issue 1 A. Transmitter Section
PC (Computer) ENCODER REMOTE RF Transmitter Antenna

Fig.9: Schematic diagram of Robotic arm and Gripper[11] Successful video transmission is capable up to 1000 feet away through walls, floors and windows. The video camera is attached to two different modified servos. One servo turns the camera left or right at a range of 180-degrees. The other servo tilts the camera up or down also at a range of 180-degress. This allows for a large field of vision. III. ALGORITHM Step1- Start Step2- Initialize the controller Step3- First data is encoded Step4- Data received by receiver is decoded Step5- Switch relay as per decoder data Step6- Wait for half second Step7- Control of robotic arm or mine detection Step8- Stop

Fig.11: Block diagram of transmitter section B. Receiver Section

DECODER RF Receiver Antenna

Clock Reset

Microcontroller

Power Supply Arms & Weapons

Relay Driver

Relay Board

Fig.12: Block diagram of receiver section The above diagram shows the logical connection of the circuit. One battery cell is connected to the accelerometer, which is connected to the accelerometer's Vcc connection. The 89s51 IC is directly connected to the battery on the battery clip. The signal from the accelerometer is inputted into the MCU's analog to digital converter. The x-axis output is sent into port A0, and the y-axis output is sent into port A1 on the MCU. After several calculations are made, the MCU sends the appropriate commands to the stepper motors and DC motor. The DC motors are connected to two 6V 4500mAh battery pack due to the current demands of the motors. Two DC motors are used to drive the robotic vacuum, so wheels are attached to the axels. Another DC motor controls the spinning carpet sweeper brush. The Robotic vacuum can be controlled by the PC. This requires an RF Transmitter-Receiver system as shown in the diagram below. The Transmitter section is based on HT12E Encoder chip. This chip accepts the parallel data from the computer using a parallel port connector cable. The Transmitter transmits the data serially using an ASK modulation. The receiver will receive the data from the transmitter and again converts it into parallel form. This parallel data is given as an input to the MCU. The MCU will take the corresponding action based on the data that it receives. The controls that the computer can manage are basically divided into two sections: Normal mode Auto mode

Fig.10: Flow chart In the normal mode, the computer uses the following functions. 1. Forward: This function drives the robot in the forward direction.

IV. BLOCK DIAGRAM DESCRIPTION

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ISSN 2249-6343 International Journal of Computer Technology and Electronics Engineering (IJCTEE) Volume 2, Issue 1 2. Reverse: This function drives the robot in the backward A.1 SM RX - 433 RECEIVER MODULE direction. 3. Left: This function drives the robot in the left direction. 4. Right: This function can drive the robot in the right direction. 5. Up: This function drives the carpet sweeper in forward direction. 6. Down: This function drives the carpet sweeper in reverse direction In the normal mode, the MCU ignores the input from the Accelerometer till collision is detected after the detection the MCU ignores the input from the computer and takes into account the input from the accelerometer. The robot is programmed to sense the direction of a collision with an obstacle using an onboard accelerometer. If the robotic vacuum hits an object head-on, it backs up and changes direction. If an obstacle is hit at an off-angle, the robotic Fig.13: RWS-434 (Rx) pin diagram[10] vacuum turns away from the direction of the impact. The robot is programmed to drive straight until an obstacle is RWS-434: The receiver also operates at 433.92MHz, and hit. At that point, it will turn and continue driving straight has a sensitivity of 3uV. The RWS-434 receiver operates until another obstacle is hit, and so on. from 4.5 to 5.5 volts-DC, and has both linear and digital The robotic vacuum uses a rotating brush underneath the outputs. unit to vacuum a carpet as it passes over it. Two DC motors, Note: For maximum range, the recommended antenna aligned across the center axis of the robot, are used to should be approximately 35cm long. To convert from accurately drive the robotic vacuum around a room. Two centimeters to inches -- multiply by 0.3937. For 35cm, the free-spinning chair wheels are located at the forward and length in inches will be approximately 35cm x 0.3937 = rear of the robot to keep it balanced. 13.7795 inches long. We tested these modules using a 14", V. SYSTEM DESIGN A. Transmitter/ Receiver Design a. SM TX - 433 AM / ASK TRANSMITTER MODULE The TWS-434 and RWS-434 are extremely small, and are excellent for applications requiring short-range RF remote controls. The transmitter module is only 1/3 the size of a standard postage stamp, and can easily be placed inside a small plastic enclosure. TWS-434: The transmitter output is up to 8mW at 433.92MHz with a range of approximately 400 foot (open area) outdoors. Indoors, the range is approximately 200 foot, and will go through most walls. The TWS-434 transmitter accepts both linear and digital inputs, can operate from 1.5 to 12 Volts-DC, and makes building a miniature hand-held RF transmitter very easy. The T434 is approximately the size of a standard postage stamp. Key Features 1. Frequency: 433.92 MHz 2. 5 - 12V Single Supply Operational 3. OOK / ASK Data Format 4. Up to 9.6 kbps data rate 5. 4 Pin compact size module 6. + 5 dbm out put power ( 12 V, Vcc ) solid, 24 gauge hobby type wire, and reached a range of over 400 foot, results may vary depending on surroundings. Features 1. Miniature Size 2. Wide Operating Range 3. Low Power Consumption 4. Improved Data Transmission 5. No Alignment Required 6. No External Components PIN Configuration and Size B. Parallel Port Interfacing Parallel port is a simple and inexpensive tool for building computer controlled devices and projects. The simplicity and ease of programming makes parallel port popular in electronics hobbyist world. The parallel port is often used in Computer controlled robots, Atmel/PIC programmers, home automation etc. The pin outs of DB25 connector is shown in the picture below

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ISSN 2249-6343 International Journal of Computer Technology and Electronics Engineering (IJCTEE) Volume 2, Issue 1 D. Microcontroller The 89C51 microcontroller The AT89C51 is a low-power, high-performance CMOS 8-bit microcomputer with 4K bytes of Flash programmable and erasable read only memory (PEROM). The device is manufactured using Phillips's high-density nonvolatile memory technology and is compatible with the industry-standard MCS-51 instruction set and pin out. The on-chip Flash allows the program memory to be reprogrammed in- system or by a conventional nonvolatile memory programmer. By combining a versatile 8-bit CPU with Flash on a monolithic chip, the Phillips AT89C51 is a Fig.14: Parallel port[10] powerful microcomputer which provides a highly-flexible and cost-effective solution to many embedded control The lines in DB25 connector are divided in to three groups, applications. they are Features of 89C51 As the name refers, data is transferred over data lines, 1)Compatible with MCS-51 Products Control lines are used to control the peripheral and of 2)4K Bytes of In-System Reprogrammable Flash Memory course, the peripheral returns status signals back computer Endurance: 1,000 Write/Erase Cycles through Status lines. These lines are connected to Data, 3)Fully Static Operation: 0 Hz to 24 MHz Control And Status registers internally. 4)Three-level Program Memory Lock 5)128 x 8-bit Internal RAM C. Relay Driver ULN2803 6)32 Programmable I/O Lines 7)Two 16-bit Timer/Counters 8)Six Interrupt Sources 9)Programmable Serial Channel 10)Low-power Idle and Power-down Modes

Fig.15: ULN2803 Relay driver[10] The eight NPN Darlington connected transistors in this family of arrays are ideally suited for interfacing between low logic level digital circuitry (such as TTL, CMOS or PMOS/NMOS) and the higher current/voltage requirements of lamps, relays, printer hammers or other similar loads for a broad range of computer, industrial, and consumer applications. All devices feature open-collector outputs and free wheeling clamp diodes for transient suppression. The ULN2803 is designed to be compatible with standard TTL families while the ULN2804 is optimized for 6 to 15 volt high level CMOS or PMOS. Features 1.Eight Darlington with common emitters. 2.Output current to 500 mA. 3.Output voltage to 50 V. 4.Integral suppression diodes. 5.Versions for all popular logic families. 6.Output can be paralleled. 7.Inputs pinned opposite outputs to simplify board layout.

Fig.16: 89C51 pin diagram[10] E. Encoder The 212 encoders are a series of CMOS LSIs for remote control system applications. They are capable of encoding information which consists of N address bits and 12_N data bits. Each ad-dress/ data input can be set to one of the two logic states. The programmed addresses/data are transmitted together with the header bits via an RF or an infrared transmission medium upon receipt of a trigger signal. The capability to select a TE trigger on the HT12E or a DATA 31trigger on the HT12A further enhances the application flexibility of the 2 12 series of encoders. The HT12A additionally provides a 38kHz carrier for infrared systems. Operating voltage 2.4V~5V for the HT12A 2.4V~12V for the HT12E Low power and high noise immunity CMOS technology Low standby current: 0.1_A (typ.) at VDD=5V HT12A with a 38kHz carrier for infrared transmission medium Minimum transmission word

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ISSN 2249-6343 International Journal of Computer Technology and Electronics Engineering (IJCTEE) Volume 2, Issue 1 These are produced either by a winding of coils carrying a current, or by permanent magnets. If the field is a coil of wire, this may be connected in a variety of ways, which produces different motor characteristics. Segments and the current then goes around the loop in the opposite direction. The force though is still in the same direction, and the loop continues to both side to rotate. This is how DC motors work. In a real motor, there are many wire loops (windings) all at varying angles around a solid iron core. Each loop has its own pair of commutator segments. This block of core and wire loops is called the rotor because it rotates, or the armature. A four pole motor is shown above. This shows how the magnetic field is generated by the poles and flows through Fig.17: HT12E (Encoder) pin diagram[10] the rotor: If you can imagine getting the cylindrical rotor of a starter a. Decoder motor, and unrolling it, the wires would look something The 212 decoders are a series of CMOS LSIs for remote like this: control system applications. They are paired with Holtek _ c. Keil (Vision 2) s 212 series of encoders (re-fer to the encoder/decoder The Keil C51 Cross Compiler is an ANSI C Compiler cross reference table). For proper operation, a pair of that is written specifically to generate fast, compact code encoder/decoder with the same number of ad-dresses and for the 8051 microcontroller family. The C51 Compiler data format should be chosen. generates object code that matches the efficiency and speed The decoders receive serial addresses and data from a of assembly programming. programmed 2 12 series of encoders that are transmitted by Software Development Cycle in Keil a carrier using an RF or an IR transmission medium. They When we use the Keil Software tools, the project compare the se-rial input data three times continuously with development cycle is roughly the same as it is for any other their local addresses. If no error or unmatched codes are software development project. found, the input data codes are de-coded and then transferred to the output pins. The VT pin also goes high to d. Visual Basic indicate a valid transmission. The 2 12 series of decoders Welcome to Microsoft Visual Basic, the fastest and are capable of decoding information that consist of N bits easiest way to create applications for Microsoft of ad-dress and 12 _ N bits of data. Of this series, the Windows.Whether you are an experienced professional or brand new to Windows programming, Visual Basic HT12D is arranged to provide 8 address bits and 4 data provides you with a complete set of tools to simplify rapid bits, and HT12F is used to decode 12 bits of address application development. information. So what is Visual Basic? The "Visual" part refers to the method used to create the Graphical User Interface (GUI). Features Rather than writing numerous lines of code to describe the 1) Operating voltage: 2.4V~12V appearance and location of interface elements, you simply 2) Low power and high noise immunity CMOS technology add prebuilt objects into place on screen. If you've ever 3) Low standby current used a drawing program such as Paint, you already have 4) Capable of decoding 12 bits of information most of the skills necessary to create an effective user 5) Pair with Holteks 212 series of encoders interface. 6) Binary address setting The "Basic" part refers to the BASIC (Beginners 7) Received codes are checked 3 times All-Purpose Symbolic Instruction Code) language, a 8) Address/Data number combination language used by more programmers than any other 9) HT12D: 8 address bits and 4 data bits language in the history of computing. Visual Basic has 10) HT12F: 12 address bits only evolved from the original BASIC language and now contains several hundred statements, functions, and b. D.C. Motor:- Introduction keywords, many of which relate directly to the Windows This topic describes how DC motors work, and how we GUI. Beginners can create useful applications by learning can use them to build the traction system of a robot. It just a few of the keywords, yet the power of the language covers both permanent magnet motors, and series wound allows professionals to accomplish anything that can be motors (such as car starter motors). accomplished using any other Windows programming Motor principles language. All motors require two magnetic fields, one produced by the stationary part of the motor (the stator, or field), and one by the rotating part (the rotor, or armature).

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ISSN 2249-6343 International Journal of Computer Technology and Electronics Engineering (IJCTEE) Volume 2, Issue 1 VI. EXPECTED RESULTS Such machines have many potential useful applications in medicine, defense, industry and even the home so that the A. Application design of such machines is a challenge with great potential rewards. Even though intelligent systems may have 1. This robotic vehicle is mainly use for military symbiotic closure that permits them to make a decision or operation like Shooting, bonbong etc. take an action without external inputs, sensors such as 2. It can be use for pick up injured soldier from war vision permit sensing of the environment and permit station and dropping them in safe place.It can carry precise adaptation to changes. Sensing and adaptation extra material like as bombs, misiles,blanketes etc. define a reactive system. However, in many applications 3. It can be use for search & rescue type operations. some form of learning is also desirable or perhaps even 4. In bomb defusing. required. A further level of intelligence called 5. We also use this robot for animal tracking in forest. understanding may involve not only sensing, adaptation B. Advantages and learning but also creative, perceptual solutions 1. It reduces human casulties. involving models of not only the eyes and brain but also the 2. Different weapons can be interchanged on the system mind. the M16, the 240, 249 or 50-caliber machine guns, or B. Multipoint Hand Posture Based Interaction the M202 -A1 with a 6mm rocket launcher. Soldiers The proposed work is part of a project that aims at the operate it by remote control, from up to 1,000 meters control of a robot based on hand gesture recognition. This away. goal implies the restriction of real-time response and the C. Limitations use of unconstrained environments. In this we present a 1. This robot is not an a autonomus robot, but in future it new algorithm to track and recognize hand gestures for can be possible. interacting with a robot. This algorithm is based on three 2. One time manufacturing cost is high. main steps: hand segmentation, hand tracking and gesture 3. Margin of error in sighting, it can engage while on the recognition from hand features. For the hand segmentation move but it is not accurate. step we use the colour cue due to the characteristic colour values of human skin, its invariant properties and its VII. CONCLUSION computational simplicity. To prevent errors from hand segmentation we add the hand tracking as a second step. The design of "Armed robots to march into battle" Tracking is performed assuming a constant velocity model (SWORDS) is a challenging task however several learning and using a pixel labeling approach. From the tracking methods were described in theoretical analysis that process we extract several hand features that are fed into a provides solution for the point to point and control path finite state classifier which identifies the hand motion even in an unstructured environment. configuration. The hand can be classified into one of the We are working on "Armed robots to march into four gesture classes or one of the four different movement battle"(swords) with different locomotion methods as directions. Finally, the system's performance is evaluated follows:by showing the usability of the algorithm in a robot Robot locomotion. environment. Climbing on stair case / inclined plane. Robotic arm with gripper REFERENCES Wireless video transmitter [1] Shigley, Joseph Edward Mechanical Engineering Design, 6th Gun edn. McGraw-Hill 2001 Fire detection [2] Martin George Henry Kinematics and Dynamics of Machines Mines detection [3] McComb, Gordon: The Robot Builders Bonanza, McGraw-Hill, Rocket launcher 2000 But until the seminar report, a mixture of what we are thinking is in a process. [4] Oberg, Erik: Machinery Handbook, 26th edn. , Industrial Press, The goal of building SWORDS is a challenge and further 2000 MSDN library, Microsoft corporations research is needed to realize the full potential of safe and [5] TALON Military Robots, EOD, SWORDS, and Hazmat Robots useful machines. Foster- Miller. (WWW. fostermiller. com/l emming.) "As per the present scenario, human dependencies on [6] How much does it cost to train a United states cadet to become a technology and future trends robots are going to be used as soldier? "First Armed Robots on Patrol in Iraq (Updated)". Wired. a perfect replacement for human being in all aspects of life" (WWW.blog.wired.com/defense/2007/08) VIII. FUTURE SCOPE A. Intelligent Mobile Robots Intelligent mobile robots must often operate in an unstructured environment cluttered with obstacles and with many possible action paths to accomplish a variety of tasks.
[7] "The Inside Story of the SWORDS Armed Robot "Pullout" in Iraq: Update". Popular Mechanics (2008-04-15). [8] Army Technology - Foster-Miller - TALON Robots for Nuclear / Chemical Detection, EOD, IED, Weaponization and Reconnaissance.) [9] The 8051 microcontroller and Embedded System,Mohmad Ali Mazidi.

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ISSN 2249-6343 International Journal of Computer Technology and Electronics Engineering (IJCTEE) Volume 2, Issue 1
[10] A semiautonomous sprawl robot based on remote wireless control, HongKai Li; ZhenDong Dai;Inst. of Bio-inspired Struct. & Surface Eng., Nanjing Univ. of Aeronaut. & Astronaut., Nanjing, China,This paper appears in: Robotics and Biomimetics (ROBIO), 2010 IEEE International Conference on .Issue Date: 14-18 Dec. 2010 [11] Camera-in-hand robotic system for remote monitoring of plant growth in a laboratory , Seelye, M.; Sen Gupta, G.; Seelye, J.; Mukhopadhyay, S.C.; Sch. of Eng. & Adv. Technol. (SEAT), Massey Univ., Palmerston North, New Zealand ,This paper appears in: Instrumentation and Measurement Technology Conference (I2MTC), 2010 IEEE ,Issue Date: 3-6 May 2010 [12] Multifunctional Sensor Networks for Automation, Process Monitoring and Robotic Applications , Balakrishnan, G.; Hiremath, S.S.; Dept. of Mech. Eng., Indian Inst. of Technol. Madras, Chennai, India,This paper appears in: Robotics in Alpe-Adria-Danube Region (RAAD), 2010 IEEE 19th International Workshop on Issue Date: 24-26 June 2010 [13] A New Household Security Robot System Based on Wireless Sensor Network, Wen Jie Tian; Yu Geng; Autom. Inst., Beijing Union Univ., Beijing, China ,This paper appears in: Future Information Technology and Management Engineering, 2009. FITME '09. Second International Conference on ,Issue Date: 13-14 Dec. 2009

Mr. Ranjeet A Kadu received B.E. degree in E & TC from university of Pune, Pune, India in 2007 and pursuing M.E. Electronics from J.N.E.C. Aurangabad, India

Prof.Ms.V.A.More is working as Assistant Professor in J.N.E.C. Aurangabd, India.

Mr. Pankaj P. Chitte received B.E. degree in E&TC from university of Pune,Pune,India in 2007 and persuing M.E. in Electronics from J.N.E.C.Aurangabad India.

Prof.J.G.Rana is working as HOD & Professor in E & TC Deparment in J.N.E.C.Aurangabad,India.

Mr. Mininath R. Bendre received B.E. degree in Information Technology from Pune University, Pune, India in 2007 and pursuing M.Tech. degree in Computer Science and Engineering from R.G.P.V. Bhopal, India

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