B4 Main

VIRTUAL TELEPRESENCE ROBOT USING VR
CHAPTER 1
INTRODUCTION TO PROJECT
1.1 INTRODUCTION
As for current scenario stepping out of your home have been a difficult
task so, the one who have to surveillance the condition outside or to enjoy the view of
any place is difficult not only that but also those who cannot travel to a place faces
problem to see that place. To solve this problem, we have designed a robot which can
travel wherever you want and can give a virtual view of the place where you want to
surveillance. The robot can move around the place and give a virtual experience of the
particular area by only letting you on a single place, it is not only convenient but also
an innovative way of experiencing the world.
The robot uses its camera to give output to your device by an IP address that
mobile runs the video of the camera captured at the same time by placing it in the VR
headset gives a virtual experience, additionally with the gesture sensor present on the
headset can control the movement of the camera to change viewing angles
automatically, and we can also control the movement of robot by using a remote
control to travel from one place to another with the help of motors.
This setup will give you a virtual telepresence of anywhere in the world by
only sitting on a place. A telepresence robot is nothing but it is a remote-controlled,
fixed with wheeled device with a display which is used to enable the video streaming
that enables the participants to view remote locations, as if they were there in the
environment where the robot is placed. This project consists of a virtual reality
headset, with a smartphone in dual screen used to experience the virtual reality fixed
with 4 wheeled robotic vehicles.
The movement of the Robot is controlled using a remote controller. The

motion of the camera of the robot is controlled by the accelerometer and
magnetometer data processed by Arduino at headset unit. Through head movement
we can control the robot and we will use virtual reality headset for 3D view. Remote
users will be able to gain a visceral understanding of the environment while operating
the robot.
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Tele-presence refers to a set of technologies which allow a person to feel as if they

were present, to give the appearance of being present, or to have an effect, via tele-
robotics, at a place other than their true location. Tele-presence requires that the users'
senses be provided with such stimuli as to give the feeling of being in that other
location. Additionally, users may be given the ability to affect the remote location. In
this case, the user's position, movements, actions, voice, etc. may be sensed,
transmitted and duplicated in the remote location to bring about this effect. Therefore,
information may be travelling in both directions between the user and the remote
location. The target of this project is to develop a system that helps people with
disability to extend their social interactions with the society. When one is sick in bed
or unable to move out of a restricted environment this system can help the user to
observe and experience the world outside.. Tele-presence requires that the users'
senses be provided with such stimuli as to give the feeling of being in that other
location. Additionally, users may be given the ability to affect the remote location. In
this case, the user's position, movements, actions, voice, etc. may be sensed,
transmitted and duplicated in the remote location to bring about this effect. Therefore,
information may be travelling in both directions between the user and the remote
location.
1.2 Real Time
Systems:
Telepresence robot:
Telepresence refers to a set of technologies which allow a person to feel as if

they were present, to give the appearance of being present, or to have an effect,
via telerobotic, at a place other than their true location.
Telepresence requires that the users' senses be provided with such stimuli as to
give the feeling of being in that other location. Additionally, users may be given the
ability to affect the remote location. In this case, the user's position, movements,
actions, voice, etc. may be sensed, transmitted and duplicated in the remote location
to bring about this effect. Therefore, information may be traveling in both directions
between the user and the remote location.
A popular application is found in telepresence videoconferencing, the highest
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possible level of videotelephony. Telepresence via video deploys greater technical
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sophistication and improved fidelity of both sight and sound than in traditional
videoconferencing. Technical advancements in mobile collaboration have also
extended the capabilities of videoconferencing beyond the boardroom for use
with hand-held mobile devices, enabling collaboration independent of location.
Telepresence robots can be also considered for social interactions during pandemic
crisis such as COVID-19.
1.3 Application Areas
1.3.1 Trying to avoid major health catastrophes like burns:
Burn injury is a major public health issue in developing countries, with most
injuries being largely associated with the use of kitchen stoves. This study details the
development of a cost-effective gesture and voice recognition controlled (GVC)
system to be used by individuals with disabilities to reduce the likelihood of burn
injury and improve their quality of life. The device replaces conventional dial controls
with voice and hand gesture recognition sensors and software which are designed to
be easily implemented into a household kitchen. Preliminary evaluation of the GVC
system's performance in gesture and voice recognition, gas leak detection and ignition
control International Journal of Research in Advent Technology, Vol.6, No.8, August
2018 E-ISSN: 2321-9637 Available online at www.ijrat.org 1961 tests were
conducted using a Bunsen burner as a stove top surrogate. The voice and gesture
recognition tests yielded sensitivities of 88% and 100%, respectively. These results
suggest that the GVC system may be a promising solution for burn injury prevention
pending further work to improve its reliability and robustness.
1.3.2 ENTERTAINMENT
To provide a virtual telepresence to any user by providing a view of the place

where a user wants to visit, travel and provide the best experience of that place and
make it feel like is for real there
1.3.3. Defence
Surveillance, Espionage or spying involves individual obtaining the

information is considered as secret or confidential without the permission of the
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holder’s information and Surveillance in military ground of the Enemy activities. A

robot is virtual or mechanical artificial agent. In practice, it is usually an electro
mechanical system which, by its appearance or movements, conveys a sense that it
has intent or agency of its own. Our aim in building this project is to create a wireless
controlled Surveillance Robot vehicle.
1.3.4 Mining
Mining is considered as one of the life-threatening jobs as in the very

beginning the employees are made sure that their lives are at risk and might take their
lives as well. So particularly in such fields robot’s telepresence robots are efficient
when compared to human beings and by using telepresence and gesture control their
efficiency can be increased as they’ll be following our directions.
1.3.5 Making education
interesting Intel is using it in classrooms to make education more enjoyable

and interactive. Intel created an application, called Agripedia to provide students with
a digital exploration of the encyclopaedia. It too uses gesture control recognition to
show, for an example, functions allowing the user to interact with hand gestures. This
is making the education enjoyable rather making it boring.
1.3.6 Helping doctors
During surgery a nurse or doctor may not be able to touch a screen or track
pad that controls a system, for health and safety reasons, but with gesture control
technology, hand or finger movements can be used as a virtual mouse to control the
device. Despite the opinions on how technology advances are creating a lazy, inert
society, gesture control technology is not something we should be criticizing. It is part
of a new wave of electronic innovations which are improving aspects of life in terms
of efficiency, safety and education
1.4 AIM OF THE PROJECT

The aim of the project is to provide a virtual experience of any place where a
human can go or cannot go, it can travel at any place to provide the experience of
anywhere in the world, the project is applicable for all the categories such as military,
hospital, communication, rescue operations, discoveries, exploring new places,
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entertainment, traveling, surveillance, patrolling, space, forest, deserts, oceans, island,

etc. It not only shows you the plane image but it gives a visual reality according to
your head movement, and make you feel your present at that place.
By using this system, we can replace all the other present available telepresence
devices that only gives an experience at some point. By using this provides a enhance
experience with more exploration capacity to observe more of any place, it provides
all control of the system to the best of our ability for the user
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CHAPTER 2
PROPOSED WORK
2.1 Proposed work:
The model proposed deals with a virtual telepresence robot which is also
known as remote-controlled, wheeled device with a camera to enable video
conferencing. In this model the rover is controlled by hand gestures from a distant
place. This proposed robot gives us a realization of being present at place other than
their true location with the help of telepresence. This can be made possible by
combining virtual reality and IOT using Raspberry pi. In the recent years hand
gestures is getting so much attention as it makes interaction between humans and
robot easy. Gesture controlling is very helpful for International Journal of Research in
Advent Technology, handicapped and physically disabled people to achieve certain
tasks, such as driving a vehicle. Gestures can be used to control interactions for
entertainment purposes such as gaming to make the game player's experience more
interactive or immersive. the proposed model thegesture-controlled robot works on
the principle of accelerometer where the hand movements are recorded and then it
transfers the data x, y, z antilog values to the Arduino which converts analogy to
digital and hence the information is then transferred to an encoder which makes it
ready for RF transmission. Finally, by using RF pair the information can be
communicated wirelessly. On the receiving end, the information is received wirelessly
with the help of RF, which is then decoded by the decoder and then passed onto the
motor driver. Also, to make a robot move in a specific direction, various decisions are
made by the motor driver based on the received information which triggers the motors
in different configurations. The hand gesture controlling directions are given from the
visuals available on the phone from the Picam which is interfaced with the Raspberry
pi 3. Here the live video is streamed by using raspberry pi 3 which acts as host and
YouTube acting as server. Here in this method of live streaming the video is possible
from anywhere provided there is Internet. Another method for video streaming can be
done on VLC player in mobile which is transmitted through Wi-Fi module the range
for this only method is within Wi-Fi range.
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2.2 LIMITATIONS
1) produces more radio frequency waves
2) complicated and very sensitive device
3) should be used in restrictions, can be cause privacy issues
2.3 ADVANTAGES
 It can be used as instead of travelling any where

 It takes less time to react on user gesture
 It provides full overall control to the user
 Project have very high number of applications in almost all fields
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CHAPTER 3
PROJECT DISCRIPTION:
3.1 BLOCK DIAGRAM (HEAD UNIT):
The block diagram consists of MPU6050 that is a gesture sensor which is

connected to an Arduino nano and Arduino Uno and it is transferring data from RF
transmitter. This system is attached on a VR box that contains a smart phone to give
us image.
MPU 6050 ARDUINO NANO RF TRANSMITT ER
VR BOX
(Smart phone)
Fig 3.1: block diagram of head unit
3.2 BLOCK DIAGRAM (ROBOT UNIT):
The robot unit consists of an ESP32 camera with RF receiver and two servo motors
and a 4channel transmitter and receiver connected to a motor driver with two gear
motor.
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ESP32 4
RF CHANNEL
RECEIV
ARDUINO UNO
UART SERVO
SERVO
MOTO 4 CHANNEL RECEIVER

MOTOR DRIVER
MOTO
Fig 3.2 Robot unit block diagram
3.2 working principle
A Telepresence robot is the next step of evolution in the field of digital

interactive communication. It combines high quality video conferencing capabilities
with robotics. The robot is designed to create a much more interactive experience
when video conferencing. Though this is a very promising technology, it has found
applications in few sectors such as the corporate and medical industry. In the business
domain, telepresence robots are used to conduct more convenient and efficient online
video conferences in scenarios as the user can participate in the conference with an
enhanced interaction with the environment as the user can move the robot to observe
the participants or the space which is being recorded and transmitted live by a high-
resolution camera. In the medical domain, telepresence robots are used by doctors to
oversee surgeries as they require the doctor to observe various aspects during the
operation such as the patient itself, various monitors that show data regarding the vital
signs such as heart rate, blood pressure etc. But due to the limited observation
capabilities and unintuitive controls, telepresence robotics is a dormant market with
only a handful of products available in the market. The integration of Virtual reality
opens up new doors in the field of telepresence robotics. Virtual Reality offers better
observation capabilities of the environment and better intuitiveness in control. Many
major breakthroughs in research are emerging with this new approach to designing
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VIRTUAL TELEPRESENCE ROBOT USING
telepresence robots. Virtual reality can be used in various sectors like agriculture,
education, medicine. A remote controlled, wheeled telepresence robot with a display
to enable video streaming allows the participants to view remote locations, as if they
were there. In this case the movement of the robot is controlled by a remote
controller. The main challenge of existing telepresence robots is to provide the user
the experience of exploring the remote areas in the natural way i.e., to control the
motions of the robot in the remote environment while walking in the local
environment. This major challenge can be overcome by using a walking approach.
Virtual reality with telepresence robots can be used to create virtually inclusive
classrooms that provide better educational opportunities for homebound students with
disabilities. A robotic arm can be controlled by Raspberry Pi using an application
built in the android platform using Wi-Fi protocol. A signal generated from the
android app will be received by the Raspberry Pi board and the robotic arm works
according to the predefined program. In most of the existing VR telepresence robots,
the motion of the robot is controlled by using conventional controllers like joysticks,
remote controllers etc. This prevents the user from getting an immersive and natural
experience. This problem is overcome in the proposed system by mapping the robot’s
motion with that of the user’s natural motion.
The VR telepresence robot consists of a 4 wheeled robot as the basic structure.

A camera mount with servo motors is attached at the top of the robot in order to
capture the live video footage of the environment where it is present. This video is
displayed on the smartphone placed in the VR headset worn by the user. The user’s
motion is mapped into the robot for its movement in that particular
environment.Block diagram the overall system of the Virtual Interactive Reality
Telepresence robot can be split up into VR section, robotics section and user section.
The VR section has a Raspberry Pi 3 Model B+ at its heart. The Video footage is
taken by a 5 MP 1080p Raspberry Pi camera module. The pan and tilt movement of
the camera module can be achieved with the help of two SG-90 servo motors
connected to the Raspberry Pi. This camera movement corresponds to the user’s head
movement. The Robotics section is basically a 4 wheeled Robot with an Arduino
Mega 2560 as it’s brain. It uses 4 geared motorsto drive the 4 wheels. The motors are
driven by an L293D motor driver shield which is powered by the 173 Government
College of Engineering Kannur (GCEK) Electronic copy available at:
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https://ssrn.com/abstract=3791104 Arduino Mega. The robot movement is made to
correspond to the user movement using data transmitted via HC-05 Bluetooth module.
The User Section consists of the wearable VR headset holding an android smartphone
running the dual screen app. The Android phone displays the camera footage received
from the camera module of the Raspberry Pi. The user head movement data is sent
from the Wireless IMU app in the smartphone to the Raspberry Pi via Wi-Fi. The
User Section also comprises a smartphone installed with the dabble application. Step
count is taken by manipulating the phone sensor values. This “step data” is then
transmitted to the Arduino Mega of the Robot wirelessly via Bluetooth.
The workflow is described as follows: The first stage of the work focuses on
the Arduino based four wheeled robots. The board that will be used is an Arduino
coupled to 4 geared motors which power the wheels. The Bluetooth module will also
be connected to the Arduino board. First stage of testing would involve controlling the
robot using a basic Bluetooth enabled controller. Building the pedometer comes in the
second stage. The values obtained from the accelerometer contain unwanted noise
signals. It may badly affect the step counting. The accelerometer values are
continuously monitored for each user and finally a threshold value is determined and
was set in the program code. If a user takes a step and if the filtered accelerometer
values cross the threshold, then it is counted as a step and the robot moves
accordingly. Since the determination of threshold experiment is conducted in many
peoples, the advantage is that even the minor movements in the legs or hands will not
result in step counting. The rotation of the robot according to the user's motion is
controlled using the magnetometer values from the smartphone worn by the user. All
the computations are performed with respect to the Earth’s magnetic field. The robot
is coded in such a way that when it is powered on, it initially checks the user direction
and changes its direction accordingly. For example, when the robot is powered on,
assume the user is standing in the north-east direction while the robot is facing the
north direction. The robot detects a mismatch in direction and in order to correct it
turns to the right by 45 degrees. After matching the directions, it will continue to
move like the user. After every movement the robot direction is compared with the
user direction to check whether the user has turned right or left and if any mismatch is
found the robot corrects its direction accordingly. Once the pedometer is tested for
accurate step counting, it is then connected to the robot via Bluetooth and the code is
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modified to act as the controller. Third stage involves integrating Virtual Reality
using a Raspberry Pi board to which the camera module is connected. The camera
module is rotated by a servo motor arrangement. A camera mount with two servo
motors to enable both pan and tilt movement is attached at the top of the robot that
resembles the user's head.
3.3 SCHMATIC CIRCUIT DIAGRAM
Fig 3.3 receiver circuit diagram
Fig 3.4 transmitter circuit diagram
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CHAPTER 4
HARDWARE REQUIREMENT
4.1 Embedded system:
4.1.1 What is an embedded system?
An embedded System is a combination of computer hardware and software,

and perhaps additional mechanical or other pars, designed to perform a specific
function. An embedded system is a microcontroller-based, software driven, reliable,
real-time control system, autonomous, or human or network interactive, operating on
diverse physical variables and in diverse environments and sold into a competitive
and cost-conscious market.
An embedded system is not a computer system that is used primarily for

processing, not a software system on PC or UNIX, not a traditional business or
scientific application. High-end embedded & lower end embedded systems, High-end
embedded system generally 32-bit, 64-bit controllers used with OS. Examples
personal Digital Assistant and mobile phones etc… Lower embedded system –
generally 8, 16-bit controllers used with a minimal operating system and hardware
layout designed for the specific purpose.An embedded system is one kind of a
computer system mainly designed to perform several tasks like to access, process, and
store and also control the data in various electronics-based systems. Embedded
systems are a combination of hardware and software where software is usually known
as firmware that is embedded into the hardware. One of its most important
characteristics of these systems is, it gives the o/p within the time limits. Embedded
systems support to make the work more perfect and convenient. So, we frequently use
embedded systems in simple and complex devices too. The applications of embedded
systems mainly involve in our real life for several devices like microwave,
calculators, TV remote control, home security and neighbourhood traffic control
systems, etc. Please follow the below link for Embedded system basics; block
diagram, types, and applications.
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4.1.2 Embedded Systems Designed Cycle
Syste Syste
Rapid Hardwar
Targeting
Fig 4.1.1: Embedded Systems Designed Cycle
4.1 Characteristics of Embedded System
An embedded system is any computer system hidden inside a product other

than a computer. They will encounter a number of difficulties when writing embedded
system software in addition to those we encounter when we write application.
Throughput – our system may need to handle a lot of data in short period of time.
Response-our system may need to react to events quickly. Testability-setting up
equipment to test embedded software can be difficult. Debug ability-without a screen
or a keyboard, finding out what the software is doing wrong (other than not working)
is a troublesome problem. Reliability – embedded system must be able to handle any
situation without human intervention.
Memory space – memory is limited on embedded systems, and you must make
the software and the data fit into whatever memory exists. Program installation – you
will need special tools to get your software into embedded system. Power
consumption – portable systems must run on battery power, and the software in these
systems must conserve power. Processor hogs – computing that requires large amount
if CPU time can complicate the response problem. Cost – reducing the cost of the
hardware is a concern in many embedded system projects; software often operates on
hardware that is barely adequate for the job. Embedded systems have a
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microprocessor/ microcontroller and a memory. Some have a serial port or a network
connection. They usually do not have keyboards, screens or disk drives.
4.1.4. Applications
 Military and aerospace embedded software applications.

 Communication applications.
 Industrial automation and process control software.
 Mastering the complexity of applications.
 Reduction of product design time.
 Real time processing of ever-increasing amounts of data.
 Intelligent, autonomous sensors.
4.1.5 Categories of Embedded Systems
Based on functionality and performance requirements, embedded systems can be

categorized as:
 Stand-alone embedded systems.

 Real-time systems.
 Networked information appliances.
 Mobile devices.
4.1.6 CPU Platform
Embedded processors can be broken into two different categories

microprocessors and microcontrollers. Microcontrollers have built in peripherals on
the chip, reducing the size of the system. There are many different CPU architectures
used in embedded designs such as ARM, MIPS, Cold fire/68k, PowerPC, x86, PIC,
8051, Atmel AVR, Rennes as H8, SH, V850, FR-V, M32R, Z80, Z8, etc. A common
configuration for very high-volume embedded systems is the systems on a chip an
application specific integrated circuit for which the CPU core was purchased and
added as a part of the chip design.
4.1.7 Peripherals
Embedded Systems talk with the outside world via peripherals, such as:
 Serial communication interfaces

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 Synchronous serial communication interface
 Universal serial bus
 Networks: controller area network, Lon works, etc.
 Timers: Capture/compare and time processing units
 Discrete IO: general purpose input output
4.2 Arduino Uno:
Figure 4.1: Arduino Uno
The Arduino is a development board on the Microchip ATmega328P

microcontroller and developed by Arduino.cc. The board is equipped with sets of
digital and analogy input/output (I/O) pins that may be interfaced to various
expansion boards (shields) and other circuits. The board has 14 digital I/O pins (six
capable of PWM output), 6 analogy I/O pins, and is programmable with the Arduino
IDE (Integrated Development Environment), via a type B USB cable. It can be
powered by the USB cable or by an external 9-volt battery, though it accepts voltages
between 7 and 20 volts. It is similar to the Arduino Nano and Leonardo. The hardware
reference design is distributed under a Creative Commons Attribution Share-Alike 2.5
license and is available on the Arduino website. Layout and production files for some
versions of the hardware are also available.
The word "Uno" means "one" in Italian and was chosen to mark the initial
release of Arduino Software the Uno board is the first in a series of USB-based
Arduino boards; it and version 1.0 of the Arduino IDE were the reference versions of
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Arduino, which have now evolved to newer releases. The ATmega328 on the board
comes preprogramed with a boot loader that allows uploading new code to it without
the use of an external hardware programmer.
While the Uno communicates using the original STK500 protocol, it differs
from all preceding boards in that it does not use the FTDI USB-to-serial driver chip.
Instead, it uses the Atmega16U2 (Atmega8U2 up to version R2) programmed as
a USB-to-serial converter
4.2.1 General pin functions
 LED: There is a built-in LED driven by digital pin 13. When the pin is high
value, the LED is on, when the pin is low, it is off.
 VIN: The input voltage to the Arduino board when it is using an external power
source (as opposed to 5 volts from the USB connection or other regulated power
source). You can supply voltage through this pin, or, if supplying voltage via the
power jack, access it through this pin.
 5V: This pin outputs a regulated 5V from the regulator on the board. The board
can be supplied with power either from the DC power jack (7 - 20V), the USB
connector (5V), or the VIN pin of the board (7-20V). Supplying voltage via the
5V or 3.3V pins bypasses the regulator, and can damage the board.
 3V3: A 3.3-volt supply generated by the on-board regulator. Maximum current
draw is 50 mA.
 GND: Ground pins.
 IOREF: This pin on the Arduino board provides the voltage reference with which
the microcontroller operates. A properly configured shield can read the IOREF
pin voltage and select the appropriate power source, or enable voltage translators
on the outputs to work with the 5V or 3.3V.
 Reset: Typically used to add a reset button to shields that block the one on the
board
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Figure 4.2: Arduino Uno pin out
4.2.2 Technical specifications:
 Microcontroller: Microchip ATmega328P

 Operating Voltage: 5 Volts
 Input Voltage: 7 to 20 Volts
 Digital I/O Pins: 14 (of which 6 can provide PWM output)
 PWM Pins: 6 (Pin # 3, 5, 6, 9, 10 and 11)
 UART: 1
 Analog Input Pins: 6
 DC Current per I/O Pin: 20 mA
 DC Current for 3.3V Pin: 50 mA
 Flash Memory: 32 KB of which 0.5 KB used by bootloader
 SRAM: 2 KB
 EEPROM: 1 KB
 Clock Speed: 16 MHz
 Length: 68.6 mm
 Width: 53.4 mm
 Weight: 25 g
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 ICSP Header: Yes
 Power Sources: DC Power Jack & USB Port
4.3 Arduino nano:
Figure 4.3:Arduinonano
The Arduino Nano is a small, complete, and breadboard-friendly board based

on the ATmega328P released in 2008. It offers the same connectivity and specs of
the Arduino Uno board in a smaller form factor.
The Arduino Nano is equipped with 30 male I/O headers, in a DIP30-like

configuration, which can be programmed using the Arduino Software integrated
development environment (IDE), which is common to all Arduino boards and running
both online and offline. The board can be powered through a type-B micro-USB cable
or from a 9 V battery.
In 2019, Arduino released the Arduino Nanoevery, a pin-equivalent evolution

of the Nano. It features a more powerful ATmega4809 processor and twice the RAM.
Figure4.4: Arduino Nano Pin diagram
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Figure4.5: Arduino nano pin out
Arduino Nano has a total of 36 pins. Out of these 8 are analogy input pins and
14 digital input/output pins (of which 6 can be used as PWM outputs). Nano has a 16
MHz SMD crystal resonator, a mini-USB-B port, an ICSP header, 3 RESET pins and,
a RESET button.
4.3.1 Technical specifications:
 Microcontroller: Microchip ATmega328P

 Operating voltage: 5 volts
 Input voltage: 6 to 20 volts
 Digital I/O pins: 14 (6 optional PWM outputs)
 Analog input pins: 8
 DC per I/O pin: 40 mA
 DC for 3.3 V pin: 50 mA
 Flash memory: 32 KB, of which 0.5 KB is used by bootloader
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 SRAM: 2 KB
 EEPROM: 1 KB
 Clock speed: 16 MHz
 Length: 45 mm
 Width: 18 mm
 Mass: 7 g
 USB: Micropubs Type-B
 ICSP Header: Yes
 DC Power Jack: No
4.4 BATTERY:
Figure 4.6: Battery
The lead–acid battery was invented in 1859 by French physicist

GastonPlante and is the oldest type of rechargeable battery. Despite having a very low
energy-to-weight ratio and a low energy-to-volume ratio, its ability to supply
high surgecurrents means that the cells have a relatively large power-to-weightratio.
These features, along with their low cost, make it attractive for use in motor vehicles
to provide the high current required by automobilestartermotors.
As they are inexpensive compared to newer technologies, lead-acid batteries

are widely used even when surge current is not important and other designs could
provide higher energydensities. Large-format lead-acid designs are widely used for
storage in backup power supplies in cellphone towers, high-availability settings like
hospitals, and stand-alonepowersystems. For these roles, modified versions of the
standard cell may be used to improve storage times and reduce maintenance
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requirements. Gel-cells and absorbed glass-mat batteries are common in these roles,
collectively known as VRLA (valve-regulated lead-acid) batteries.
Lead–acid battery sales account for 40–45% of the value from batteries sold
worldwide (1999, not including China and Russia), a manufacturing market value of
about US$15 billion.
Using a gel electrolyte instead of a liquid allows the battery to be used in

different positions without leakage. Gel electrolyte batteries for any position date
from 1930s and even in late 1920s portable suitcase radio sets allowed the cell vertical
or horizontal (but not inverted) due to valve design (see third Edition of Wireless
Constructor's Encyclopaedia by
constituent parts.
The battery's open-circuit voltage can also be used to gauge the state of
charge. If the connections to the individual cells are accessible, then the state of
charge of each cell can be determined which can provide a guide as to the state of
health of the battery as a whole.
Figure 4.7: battery connected to a two-wheeler vehicle
The lead–acid cell can be demonstrated using sheet lead plates for the two
electrodes. However, such a construction produces only around one ampere for
roughly postcard-sized plates, and for only a few minutes.
Camille Alphonse Faure invented a pasted-plate construction now typical of

automotive batteries. Each Faure plate consists of a rectangular lead grid alloyed with
antimony or calcium to improve the mechanical characteristics. The holes of the grid
are filled with a paste of red lead and 33% dilute sulphuric acid. (Different
manufacturers vary the mixture). The paste is pressed into the holes in the grid, which
are slightly tapered on both sides to better retain the paste. This porous paste allows
the acid to react with the lead inside the plate, increasing the surface area many folds.
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Once dry, the plates are stacked with suitable separators and inserted in the battery
container. An odd number of plates are usually used, with one more negative plate
than positive. Each alternate plate is connected.
The positive plates are the chocolate-brown colour of lead dioxide, and the
negative are the slate-Gray of "spongy" lead at the time of manufacture. In this
charged state the plates are called "formed".
One of the problems with the plates is that the plates increase in size as
the active material absorbs sulphate from the acid during discharge and decrease as
they give up the sulphate during charging. This causes the plates to gradually shed the
paste. It is important that there is room underneath the plates to catch this shed
material. If it reaches the plates, the cell short-circuits.
The alloying element has a great effect on the life and water consumption of
the batteries. Antimony-alloyed plates provide longer life but calcium-alloyed plates
are much preferred over antimony for their eight times lower water consumption.
About 60% of the weight of an automotive-type lead–acid battery rated around

60 Ash (8.7 kg of a 14.5 kg battery) is lead or internal parts made of lead; the balance
is electrolyte, separators, and the case.
Separators between the positive and negative plates prevent short-circuit

through physical contact, mostly through dendrites ("treeing"), but also through
shedding of the active material. Separators obstruct the flow of ions between the
plates and increase the internal, cellulose, and PVC or polyethylene plastic have been
used to make separators. Wood was the original choice, but deteriorated in the acid
electrolyte. Rubber separators are stable in battery acid. Rubber provides valuable
electrochemical advantages that other materials cannot.
An effective separator must possess a number of mechanical properties; such

as permeability, porosity, pore size distribution, specific surface area, mechanical
design and strength, electrical resistance, ionic conductivity, and chemical
compatibility with the electrolyte. In service, the separator must have good resistance
to acid and oxidation. The area of the separator must be a little larger than the area of
the plates to prevent material shorting between the plates. The separators must remain
stable over the battery's operating temperature range.
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In the absorbed glass mat design, or AGM for short, the spacer between the
cells is replaced by a glass fibre mat soaked in electrolyte. There are only enough
electrolytes in the mat to keep it wet, and if the battery is punctured the electrolyte
will not flow out of the mats. Likewise, the mat greatly reduces evaporation, to the
point that the batteries do not require periodic refilling of the water. This combination
of features allows the battery to be completely sealed, which makes them useful in
portable devices and similar roles.
To address the formation of hydrogen gas during discharge, calcium is added

to the plates to absorb the gas. This only works during slow discharges and gas build-
up remains a problem when the battery is deeply or rapidly discharged. To deal with
these events, AGMs often include a one-way blow-off valve, and are often known as
"valve regulated lead-acid", or VRLA, designs.
Another advantage to the AGM design is that the electrolyte becomes the
separator material, and mechanically strong. This allows the plate stack to be
compressed together in the battery shell, slightly increasing energy density compared
to liquid or gel versions. AGM batteries often show a characteristic "bulging" in their
shells when built in common rectangular shapes.
The mat also prevents the vertical motion of the electrolyte within the battery.
When a normal wet cell is stored in a discharged state, the heavier acid molecules
tend to settle to the bottom of the battery, causing the electrolyte to stratify. When the
battery is then used, the majority of the current flows only in this area, and the bottom
of the plates tend to wear out rapidly. This is one of the reasons a conventional car
battery can be ruined by leaving it stored for a long period and then used and
recharged. The mat significantly prevents this stratification, eliminating the need to
periodically shake the batteries, boil them, or run an "equalization charge" through
them to mix the electrolyte. Stratification also causes the upper layers of the battery to
become almost completely water, which can freeze in cold weather, AGMs are
significantly less susceptible to damage due to low-temperature use.
During the 1970s researchers developed the sealed version or "gel battery",
which mixes a silica gelling agent into the electrolyte (Silica gel-based lead Acid
batteries used in Portable Radios from early 1930s were not fully sealed). This
converts the formerly liquid interior of the cells into a semi-stiff paste, providing
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many of the same advantages of the AGM. Such designs are even less susceptible to
evaporation and are often used in situations where little or no periodic maintenance is
possible. Gel cells also have lower freezing and higher boiling points than the liquid
electrolytes used in conventional wet cells and AGMs, which makes them suitable for
use in extreme conditions.
Wet cell stand-by (stationary) batteries designed for deep discharge are
commonly used in large backup power supplies for telephone and computer
centres, grid energy storage, and off-grid household electric power systems. [13] Lead–
acid batteries are used in emergency lighting and to power sump pumps in case
of power failure.
Traction (propulsion) batteries are used in golf carts and other battery electric
vehicles. Large lead–acid batteries are also used to power the motors in diesel-
electric (conventional) submarines when submerged, and are used as emergency
power on nuclear submarines as well. Valve-regulated lead acid batteries cannot spill
their electrolyte. They are used in back-up power supplies for alarm and smaller
computer systems (particularly in uninterruptible power supplies ("UPS")) and
for electric scooters, electric wheelchairs, electrified bicycles, marine applications,
battery electric vehicles or micro hybrid vehicles, and motorcycles.
Lead–acid batteries were used to supply the filament (heater) voltage, with 2
V common in early vacuum tube (valve) radio receivers.
Portable batteries for miners' cap lamps headlamps typically have two or three cells.
Lead-acid batteries designed for starting automotive engines are not designed
for deep discharge. They have a large number of thin plates designed for maximum
surface area, and therefore maximum current output, but which can easily be damaged
by deep discharge. Repeated deep discharges will result in capacity loss and
ultimately in premature failure, as the electrodes disintegrate due to mechanical
stresses that arise from cycling. Starting batteries kept on continuous float charge will
have corrosion in the electrodes which will result in premature failure. Starting
batteries should be kept open circuit but charged regularly (at least once every two
weeks) to prevent sulphating.
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Starting batteries are lighter weight than deep cycle batteries of the same
battery dimensions, because the cell plates do not extend all the way to the bottom of
the battery case. This allows loose disintegrated lead to fall off the plates and collect
under the cells, to prolong the service life of the battery. If this loose debris rises high
enough it can touch the plates and lead to failure of a cell, resulting in loss of battery
voltage and capacity.
Specially designed deep-cycle cells are much less susceptible to degradation

due to cycling, and are required for applications where the batteries are regularly
discharged, such as photovoltaic systems, electric vehicles (forklift, golf cart, electric
cars and other) and uninterruptible power supplies. These batteries have thicker plates
that can deliver less peak current, but can withstand frequent discharging.
Some batteries are designed as a compromise between starter (high-current)

and deep cycle batteries. They are able to be discharged to a greater degree than
automotive batteries, but less so than deep cycle batteries. They may be referred to as
"Marine/Motor home" batteries, or "leisure batteries".
Figure4.8: Fast and slow charge and discharge
The capacity of a lead–acid battery is not a fixed quantity but varies according
to how quickly it is discharged. An empirical relationship between discharge rate and
capacity is known as Peaker’s law.
When a battery is charged or discharged, only the reacting chemicals, which

are at the interface between the electrodes and the electrolyte, are initially affected.
With time, the charge stored in the chemicals at the interface, often called "interface
charge" or "surface charge", spreads by diffusion of these chemicals throughout the
volume of the active material.
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In a valve regulated lead acid battery (VRLA) the hydrogen and oxygen
produced in the cells largely recombine into water. Leakage is minimal, although
some electrolyte still escapes if the recombination cannot keep up with gas evolution.
Since VRLA batteries do not require (and make impossible) regular checking of the
electrolyte level, they have been called maintenance free batteries. However, this is
somewhat of a misnomer. VRLA cells do require maintenance. As electrolyte is lost,
VRLA cells "dry-out" and lose capacity. This can be detected by taking regular
internal resistance, conductance or impedance measurements. Regular testing reveals
whether more involved testing and maintenance is required. Recent maintenance
procedures have been developed allowing "rehydration", often restoring significant
amounts of lost capacity.
VRLA types became popular on motorcycles around 1983, because the acid
electrolyte is absorbed into the separator, so it cannot spill. The separator also helps
them better withstand vibration. They are also popular in stationary applications such
as telecommunications sites, due to their small footprint and installation flexibility.
The electrical characteristics of VRLA batteries differ somewhat from wet-cell

lead–acid batteries, requiring caution in charging and discharging.
Figure 4.9: Sulphated plates from 12V 5Ah battery
Lead–acid batteries lose the ability to accept a charge when discharged for too
long due to sulphating, the crystallization of lead sulphate. They generate electricity
through a double sulphate chemical reaction. Lead and lead dioxide, the active
materials on the battery's plates, react with sulphuric acid in the electrolyte to
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form lead sulphate. The lead sulphate first forms in a finely divided, amorphous state,
and easily reverts to lead, lead dioxide and sulphuric acid when the battery recharges.
As batteries cycle through numerous discharges and charges, some lead sulphate is
not recombined into electrolyte and slowly converts to a stable crystalline form that
no longer dissolves on recharging. Thus, not all the lead is returned to the battery
plates and the amount of usable active material necessary for electricity generation
declines over time.
Sulphating occurs in lead–acid batteries when they are subjected to

insufficient charging during normal operation. It impedes recharging; sulphate
deposits ultimately expand, cracking the plates and destroying the battery. Eventually
so much of the battery plate area is unable to supply current that the battery capacity
is greatly reduced. In addition, the sulphate portion (of the lead sulphate) is not
returned to the electrolyte as sulphuric acid. It is believed that large crystals physically
block the electrolyte from entering the pores of the plates. Sulphating can be avoided
if the battery is fully recharged immediately after a discharge cycle. A white coating
on the plates may be visible (in batteries with clear cases, or after dismantling the
battery). Batteries that are sulphated show a high internal resistance and can deliver
only a small fraction of normal discharge current. Sulphating also affects the charging
cycle, resulting in longer charging times, less efficient and incomplete charging, and
higher battery temperatures.
DE sulphation is the process of reversing the sulphating of a lead-acid battery.

It is believed that DE sulphation can be achieved by high current pulses produced
between the terminals of the battery. It is believedthat this technique, also called pulse
conditioning, breaks down the sulphate crystals that are formed on the battery
plates. Pulses must last longer than the resonant frequency of the battery. Short pulses
simply feed energy wastefully into the resistive components of this resonant circuit
and virtually none into the battery. Electronic circuits are used to regulate the pulses
of different widths and frequency of high current pulses. These can also be used to
automate the process since it takes a long period of time to disulphate a battery fully.
Battery chargers designed for desolating lead-acid batteries are commercially
available. A battery will be unrecoverable if the active material has been lost from the
plates, or if the plates are bent due to over temperature or over charging.
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Batteries which have sat unused for long periods of time can be prime
candidates for DE sulphation. A long period of self-discharge allows the sulphate
crystals to form and become very large. Some typical cases where lead acid batteries
are not used frequently enough are planes, boats (esp. sail boats), old cars, and home
power systems with battery banks that are underutilized.
SLI batteries (starting, lighting, ignition; i.e., car batteries) suffer most
deterioration because vehicles normally stand unused for relatively long periods of
time. Deep cycle and motive power batteries are subjected to regular controlled
overcharging, hence eventually succumb to corrosion of the positive plate grids, not to
sulphating.
Extreme weather can also cause sulphating in batteries. Extreme heat in the
summer increases the number of sulphates that come from batteries. Electronic
components putting a constant drain on a battery also increase the amount of
sulphating. Keeping a battery in a cool location and keeping it charged help prevent
this.
A typical lead–acid battery contains a mixture with varying concentrations of

water and acid. Sulphuric acid has a higher density than water, which causes the acid
formed at the plates during charging to flow downward and collect at the bottom of
the battery. Eventually the mixture will again reach uniform composition by diffusion,
but this is a very slow process. Repeated cycles of partial charging and discharging
will increase stratification of the electrolyte, reducing the capacity and performance of
the battery because the lack of acid on top limits plate activation. The stratification
also promotes corrosion on the upper half of the plates and suffocation at the bottom.
Figure4.10: car battery after explosion
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Accumulated hydrogen and oxygen sometimes ignite in an internal explosion.
The force can burst the plastic casing or blow the top off the battery, spraying acid
and casing fragments. An explosion in one cell may ignite the combustible gas
mixture in remaining cells. In a poorly ventilated area, connecting or disconnecting a
closed circuit (such as a load or an operating charger) directly to the battery terminals
may cause an explosion as the sparks produced ignite the gas mixtures vented from
the cells.
The cell walls of VRLA batteries typically swell when the internal pressure
rises. The deformation varies from cell to cell, and is greater at the ends where the
walls are unsupported by other cells. Such over-pressurized batteries should be
carefully isolated and discarded. Personnel working near batteries at risk for explosion
should protect their eyes and exposed skin from burns due to spraying acid and fire by
wearing a face shield, overalls, and gloves. Using goggles instead of a face
shield sacrifices safety by leaving one's face exposed to acid and heat from a potential
explosion.
According to a 2003 report entitled "Getting the Lead Out", by Environmental

Défense and the Ecology Centre of Ann Arbor, Mich., the batteries of vehicles on the
road contained an estimated 2,600,000 metric tons (2,600,000 long tons; 2,900,000
short tons) of lead. Some lead compounds are extremely toxic. Long-term exposure to
even tiny amounts of these compounds can cause brain and kidney damage, hearing
impairment, and learning problems in children.[24] The auto industry uses over
1,000,000 metric tons (980,000 long tons; 1,100,000 short tons) every year, with 90%
going to conventional lead-acid vehicle batteries. While lead recycling is a well-
established industry, more than 40,000 metric tons (39,000 long tons; 44,000 short
tons) ends up in landfills every year. According to the federal Toxic Release
Inventory, another 70,000 metric tons (69,000 long tons; 77,000 short tons) are
released in the lead mining and manufacturing process.
Attempts are being made to develop alternatives (particularly for automotive

use) because of concerns about the environmental consequences of improper disposal
and of lead smelting operations, among other reasons. Alternatives are unlikely to
displace them for applications such as engine starting or backup power systems, since
the batteries are low-cost although heavy.
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Lead–acid battery recycling is one of the most successful recycling programs
in the world. In the United States 99% of all battery lead was recycled between 2009
and 2013. An effective pollution control system is a necessity to prevent lead
emission. Continuous improvement in battery recycling plants and furnace designs is
required to keep pace with emission standards for lead smelters.
Chemical additives have been used ever since the lead-acid battery became a
commercial item, to reduce lead sulphate build up on plates and improve battery
condition when added to the electrolyte of a vented lead–acid battery. Such treatments
are rarely, if ever, effective.
Two compounds used for such purposes are Epsom salts and EDTA. Epsom
salts reduces the internal resistance in a weak or damaged battery and may allow a
small amount of extended life. EDTA can be used to dissolve the sulphate deposits of
heavily discharged plates. However, the dissolved material is then no longer available
to participate in the normal charge/discharge cycle, so a battery temporarily revived
with EDTA will have a reduced life expectancy. Residual EDTA in the lead–acid cell
forms organic acids which will accelerate corrosion of the lead plates and internal
connectors.
The active materials change physical form during charge/discharge, resulting

in growth and distortion of the electrodes, and shedding of electrode into the
electrolyte. Once the active material has fallen out of the plates, it cannot be restored
into position by any chemical treatment. Similarly, internal physical problems such as
cracked plates, corroded connectors, or damaged separators cannot be restored
chemically.
Corrosion of the external metal parts of the lead–acid battery results from a
chemical reaction of the battery terminals, lugs and connectors.
Corrosion on the positive terminal is caused by electrolysis, due to a mismatch

of metal alloys used in the manufacture of the battery terminal and cable connector.
White corrosion is usually lead or zinc sulphate crystals. Aluminium connectors
corrode to aluminium. Copper connectors produce blue and white corrosion crystals.
Corrosion of a battery's terminals can be reduced by coating the terminals with
petroleum jelly or a commercially available product made for the purpose.
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If the battery is over-filled with water and electrolyte, thermal expansion can
force some of the liquid out of the battery vents onto the top of the battery. This
solution can then react with the lead and other metals in the battery connector and
cause corrosion.
Ammonia can neutralize spilled battery acid. Surplus ammonia and water
evaporate, leaving an ammoniumsulphate residue. Sodium bicarbonate (baking soda)
is also commonly used for this purpose.
Some vendors append a suffix, indicating the terminal types, terminal

locations, and battery dimensions. Batteries for passenger motor vehicles usually use
BCI sizing nomenclature.
4.5 ESP32-CAM:
Figure 4.11: ESP 32-CAM
The ESP32-CAM is a very small camera module with the ESP32-S chip that
costs approximately $10. Besides the OV2640 camera, and several GPIOs to connect
peripherals, it also features a micro-SD card slot that can be useful to store images
taken with the camera or to store files to serve to clients.
The ESP-32CAM doesn’t come with a USB connector, so you need an FTDI
programmer to upload code through the U0R and U0T pins (serial pins).
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Figure 4.12: pin diagram of ESP-32 CAM
4.5.1 Features:
Here is a list with the ESP32-CAM features:
 The smallest 802.11b/g/n Wi-Fi BT Sac module

 Low power 32-bit CPU, can also serve the application processor
 Up to 160MHz clock speed, summary computing power up to 600 DMIPS
 Built-in 520 KB SRAM, external 4MPSRAM
 Supports UART/SPI/I2C/PWM/ADC/DAC
 Support OV2640 and OV7670 cameras, built-in flash lamp
 Support image Wi-Fi upload
 Support TF card
 Supports multiple sleep modes
 Embedded Lip and Free RTOS
 Supports STA/AP/STA+AP operation mode
 Support Smart Configuration/Air Kiss technology
 Support for serial port local and remote firmware upgrades (FOTA)
During the chip’s system reset release (power-on-reset, RTC watchdog reset
and brownout reset), the latches of the strapping pins sample the voltage level
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as strapping bits of ”0” or ”1”, and hold these bits until the chip is powered
down or shut down. The strapping bits configure the device’s boot mode, the
operating voltage of VDD_SDIO and other initial system settings. Each
strapping pin is connected to its internal pull-up/pull-down during the chip
reset. Consequently, if a strapping pin is unconnected or the connected
external circuit is high-impedance, the internal weak pull-up/pull-down will
determine the default input level of the strapping pins. To change the strapping
bit values, users can apply the external pull-down/pull-up resistances, or use
the host MCU’s GPIOs to control the voltage level of these pins when
powering on ESP32.
4.5.2 ESP32-CAM Pin out:
The following figure shows the ESP32-CAM pin out (AI-Thinker module).
Figure 4.13: pin configuration of ESP-32 CAM
There are three GND pins and two pins for power: either 3.3V or 5V.
GPIO 1 and GPIO 3 are the serial pins. You need these pins to upload code to your
board. Additionally, GPIO 0 also plays an important role, since it determines whether
the ESP32 is in flashing mode or not. When GPIO 0 is connected to , the ESP32 is in
flashing mode.
The following pins are internally connected to the microSD card reader:
 GPIO 14: CLK
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 GPIO 15: CMD
 GPIO 2: Data 0
 GPIO 4: Data 1 (also connected to the on-board LED)
 GPIO 12: Data 2
 GPIO 13: Data 3
4.5.6 Video Streaming Server
Follow the next steps to build a video streaming web server with the ESP32-
CAM that you can access on your local network.
1. Install the ESP32 add-on
In this example, we use Arduino IDE to program the ESP32-CAM board. So, you
need to have Arduino IDE installed as well as the ESP32 add-on. Follow one of the
next tutorials to install the ESP32 add-on, if you haven’t already:
2. Camera Web Server Example Code
In your Arduino IDE, go to File > Examples > ESP32 > Camera and open the Camera
WebServer example.
The following code should load.
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Before uploading the code, you need to insert your network credentials in the
following variables:
Cost char* said = "REPLACE_WITH_YOUR_SSID";

Cost char* password = "REPLACE_WITH_YOUR_PASSWORD";
Then, make sure you select the right camera module. In this case, we’re using the AI-
THINKER Model.
3. ESP32-CAM Upload Code
Connect the ESP32-CAM board to your computer using an FTDI programmer.

Follow the next schematic diagram:
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Figure 4.14: module connections
Many FTDI programmers have a jumper that allows you to select 3.3V or 5V. Make
sure the jumper is in the right place to select 5V.
4.6 MPU6050:
The MPU6050 module is a Micro Electro-Mechanical Systems (MEMS) which

consists of a 3-axis Accelerometer and 3-axis Gyroscope inside it. This helps us to
measure acceleration, velocity, orientation, displacement and many other motions
related parameter of a system or object.
Figure4.15: MPU6050 and pin out
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4.6.1 MPU6050 Pin out Configuration
Pin No Pin name Description
1 Vic Provides power for the module, can be +3V to +5V.

Typically +5V is used
2 Ground Connected to Ground of system
3 Serial Clock Used for providing clock pulse for I2C Communication
(SCL)
4 Serial Data Used for transferring Data through I2C communication

(SDA)
5 Auxiliary Serial Can be used to interface other I2C modules with

Data (XDA) MPU6050. It is optional
6 Auxiliary Serial Can be used to interface other I2C modules with

Clock (XCL) MPU6050. It is optional
7 AD0 If more than one MPU6050 is used a single MCU, then

this pin can be used to vary the address
8 Interrupt (INT) Interrupt pin to indicate that data is available for MCU
to read.
Table No 4.1: MPU6050 Pin out Configuration
4.6.2 MPU6050 Features:
 MEMS 3-aixs accelerometer and 3-axis gyroscope values combined

 Power Supply: 3-5V
 Communication: I2C protocol
 Built-in 16-bit ADC provides high accuracy
 Built-in DMP provides high computational power
 Can be used to interface with other IIC devices like magnetometer
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 Configurable IIC Address
 In-built Temperature sensor
4.6.3 Interfacing MPU6050 with Arduino:
Once you have added this library to you Arduino IDE, follow the below
schematics to establish an IIC connection between your Arduino and MPU6050.
Figure 4.16: pin connections
The library provides two example programs, which can be found at File ->
Examples -> MPU6050. In these two examples one will give raw values while the
other will give optimized values using the DMP. The following data values can be
obtained using this example program. Out of all these data, the Yaw, Pitch, roll us
commonly used.. Once the program is uploaded, open serial monitors and set it to
115200 baud rate and you should see the data being printed on the screen.
Applications
 Used for IMU measurement

 Drones / Quad copters
 Self-balancing robots
 Robotic arm controls
 Humanoid robots
 Tilt sensor
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4.7 DC Motor:
Figure 4.17: Dc Motor

In any electric motor, operation is based on simple electromagnetism. A
current-carrying conductor generates a magnetic field; when this is then placed in an
external magnetic field, it will experience a force proportional to the current in the
conductor, and to the strength of the external magnetic field. As you are well aware of
from playing with magnets as a kid, opposite (North and South) polarities attract,
while like polarities (North and North, South and South) repel. The internal
configuration of a DC motor is designed to harness the magnetic interaction between
a current-carrying conductor and an external magnetic field to generate rotational
motion.
Let's start by looking at a simple 2-pole DC electric motor (here red represents
a magnet or winding with a "North" polarization, while green represents a magnet or
winding with a "South" polarization).
Figure 4.18: Simple 2-Pole Dc Electric Motor
Every DC motor has six basic parts -- axle, rotor (a.k.a., armature), stator,
commutate, field magnet(s), and brushes. In most common DC motors (and all that
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Beamers will see), the external magnetic field is produced by high-strength permanent
magnets. The stator is the stationary part of the motor -- this includes the motor
casing, as well as two or more permanent magnet pole pieces. The rotor (together with
the axle and attached commutate) rotates with respect to the stator. The rotor consists
of windings (generally on a core), the windings being electrically connected to the
commutator. The above diagram shows a common motor layout -- with the rotor
inside the stator (field) magnets.
The geometry of the brushes, commutator contacts, and rotor windings are
such that when power is applied, the polarities of the energized winding and the stator
magnet(s) are misaligned, and the rotor will rotate until it is almost aligned with the
stator's field magnets. As the rotor reaches alignment, the brushes move to the next
commutator contacts, and energize the next winding. Given our example two-pole
motor, the rotation reverses the direction of current through the rotor winding, leading
to a "flip" of the rotor's magnetic field, driving it to continue rotating.
In real life, though, DC motors will always have more than two poles (three is
a very common number). In particular, this avoids "dead spots" in the commutator.
You can imagine how with our example two-pole motor, if the rotor is exactly at the
middle of its rotation (perfectly aligned with the field magnets), it will get "stuck"
there. Meanwhile, with a two-pole motor, there is a moment where the commutator
shorts out the power supply (i.e., both brushes touch both commutator contacts
simultaneously). This would be bad for the power supply, waste energy, and damage
motor components as well. Yet another disadvantage of such a simple motor is that it
would exhibit a high amount of torque "ripple" (the amount of torque it could produce
is cyclic with the position of the rotor).
The use of an iron core armature (as in the Mabuchi, above) is quite common,
and has a number of advantages. First off, the iron core provides a strong, rigid
support for the windings -- a particularly important consideration for high-torque
motors. The core also conducts heat away from the rotor windings, allowing the
motor to be driven harder than might otherwise be the case. Iron core construction is
also relatively inexpensive compared with other construction types.
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But iron core construction also has several disadvantages. The iron armature has a
relatively high inertia which limits motor acceleration. This construction also results
in high winding inductances which limits brush and commutator life.
In small motors, an alternative design is often used which features a 'coreless'
armature winding. This design depends upon the coil wire itself for structural
integrity. As a result, the armature is hollow, and the permanent magnet can be
mounted inside the rotor coil. Coreless DC motors have much lower armature
inductance than iron-core motors of comparable size, extending brush and
commutator life.
Figure 4.19: Diagram courtesy of Micro Motor
The coreless design also allows manufacturers to build smaller motors;

meanwhile, due to the lack of iron in their rotors, coreless motors are somewhat prone
to overheating. As a result, this design is generally used just in small, low-power
motors. Beamers will most often see coreless DC motors in the form of pager motors.
Again, disassembling a coreless motor can be instructive -- in this case, my hapless
victim was a cheap pager vibrator motor. The guts of this disassembled motor are
available for you to see here (on 10 lines / cm graph paper). This is (or more
accurately, was) a 3-pole coreless DC motor.
4.8 RF MODULE:
Radio frequency (RF) is a frequency or rate of oscillation within the range of
about 3 Hz to 300 GHz. This range corresponds to frequency of alternating current
electrical signals used to produce and detect radio waves. Since most of this range is
beyond the vibration rate that most mechanical systems can respond to, RF usually
refers to oscillations in electrical circuits or electromagnetic radiation
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4.8.1 PROPERTIES OF RF:
Electrical currents that oscillate at RF have special properties not shared by
direct current signals. One such property is the ease with which it can ionize air to
create a conductive path through air. This property is exploited by 'high frequency'
units used in electric arc welding. Another special property is an electromagnetic
force that drives the RF current to the surface of conductors, known as the skin effect.
Another property is the ability to appear to flow through paths that contain insulating
material, like the dielectric insulator of a capacitor. The degree of effect of these
properties depends on the frequency of the signals.
4.8.2 DIFFERENT RANGES PRESENT IN RF AND APPLICATIONS IN

THEIR RANGES?
Extremely low frequency (ELF) 3 to 30 Hz
10,000 km to 100,000 km
Directly audible when converted to sound, communication with submarines
Super low frequency (SLF) 30 to 300 Hz
1,000 km to 10,000 km
Directly audible when converted to sound, AC power grids (50 hertz and 60 hertz)
Ultra-low frequency (ULF) 300 to 3000 Hz
100 km to 1,000 km
Directly audible when converted to sound, communication with mines
Very low frequency (VLF) 3 to 30 kHz
10 km to 100 km
Directly audible when converted to sound (below ca. 18-20 kHz; or "ultrasound" 20-
30+ kHz)
Low frequency (LF) 30 to 300 kHz
1 km to 10 km
AM broadcasting, navigational beacons, low
Medium frequency (MF) 300 to 3000 kHz
100 m to 1 km
Navigational beacons, AM broadcasting, maritime and aviation communication
High frequency (HF) 3 to 30 MHz
10 m to 100 m
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Shortwave, amateur radio, citizens' band
radio Very high frequency (VHF) 30 to 300
MHz 1 m to 10 m
FM broadcasting broadcast television, aviation, GPR
Ultra-high frequency ( UHF) 300 to 3000 MHz
10 cm to 100 cm
Broadcast television, mobile telephones, cordless telephones, wireless networking,
remote keyless entry for automobiles, microwave ovens, GPR.
Super high frequency ( SHF) 3 to 30 GHz
1 cm to 10 cm
Wireless networking, satellite links, microwave links, Satellite television, door
openers.
Extremely high frequency (EHF) 30 to 300 GHz
1 mm to 10 mm
Microwave data links, radio astronomy, remote sensing, advanced weapons systems,
advanced security scanning
4.8.3 BRIEF DESCRIPTION OF RF:

Radio frequency (abbreviated RF) is a term that refers to alternating current
(AC) having characteristics such that, if the current is input to an antenna, an
electromagnetic (EM) field is generated suitable for wireless broadcasting and/or
communications. These frequencies cover a significant portion of the electromagnetic
radiation spectrum, extending from nine kilohertz (9 kHz), the lowest allocated
wireless communications frequency (it's within the range of human hearing), to
thousands of gigahertz (GHz).
When an RF current is supplied to an antenna, it gives rise to an electromagnetic field
that propagates through space. This field is sometimes called an RF field; in less
technical jargon it is a "radio wave." Any RF field has a wavelength that is inversely
proportional to the frequency. In the atmosphere or in outer space, if f is the frequency
in megahertz and sis the wavelength in meters, then
The frequency of an RF signal is inversely proportional to the wavelength of
the EM field to which it corresponds. At 9 kHz, the free-space wavelength is
approximately 33 kilometres (km) or 21 miles (mi). At the highest radio frequencies,
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the EM wavelengths measure approximately one millimetre (1 mm). As the frequency
is increased beyond that of the RF spectrum, EM energy takes the form of infrared
(IR), visible, ultraviolet (UV), X rays, and gamma rays.
Many types of wireless devices make use of RF fields. Cordless and cellular
telephone, radio and television broadcast stations, satellite communications systems,
and two-way radio services all operate in the RF spectrum. Some wireless devices
operate at IR or visible-light frequencies, whose electromagnetic wavelengths are
shorter than those of RF fields. Examples include most television-set remote-control
boxes some cordless computer keyboards and mice, and a few wireless hi-fi stereo
headsets.
The RF spectrum is divided into several ranges, or bands. With the exception
of the lowest-frequency segment, each band represents an increase of frequency
corresponding to an order of magnitude (power of 10). The table depicts the eight
bands in the RF spectrum, showing frequency and bandwidth ranges. The SHF and
EHF bands are often referred to as the microwave spectrum.
4.8.4 RF Advantages:
1. No line of sight is needed.
2. Not blocked by common materials: It can penetrate most solids and pass-
through walls.
3. Longer range.
4. It is not sensitive to the light;
5. It is not much sensitive to the environmental changes and weather conditions.
6. Highly portable – ideal for tour groups.
7. Easy to install/low installation cost.
8. Can cover large seating areas.
9. Several channels available for multiple systems installed in adjacent rooms as
well as for language translation and audio description for the blind.
10. Suitable for indoors and outdoors.
4.8.5 RF Disadvantages:
1. Interference: communication devices using similar frequencies - wireless phones,
scanners, wrist radios and personal locators can interfere with transmission
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2. Lack of security: easier to "eavesdrop" on transmissions since signals are spread
out in space rather than confined to a wire
3. Higher cost than infrared
4. Federal Communications Commission (FCC) licenses required for some products
5. Lower speed: data rate transmission is lower than wired and infrared transmission
4.8.6 WHAT ARE THE MAIN REQUIREMENTS FOR THE
COMMUNICATION USING RF?
 RF Transmitter
 RF Receiver
 Encoder and Decoder

4.8.7 RF Transmitter:
Figure4.20: RF transmitter
 The STT-433 is ideal for remote control applications where low cost and
longer range is required.
 The transmitter operates from a1.5-12V supply, making it ideal for battery-
powered applications.
 The transmitter employs a SAW-stabilized oscillator, ensuring accurate
frequency control for best range performance.
 The manufacturing-friendly SIP style package and low-cost make the STT-
433 suitable for high volume applications.
4.8.8 Features:
 433.92 MHz Frequency
 Low Cost
 1.5-12V operation
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 Small size
4.8.9 PIN DESCRIPTION:
Figure 4.20: pin description

Transmitter ground. Connect to ground plane
DATA
Digital data input. This input is CMOS compatible and should be driven with CMOS
level inputs.
VCC. Operating voltage for the transmitter. VCC should be bypassed with a .01uF
ceramic capacitor and filtered with a 4.7uF tantalum capacitor. Noise on the power
supply will degrade transmitter noise performance.
ANT
50-ohm antenna output. The antenna port impedance affects output power and
harmonic emissions. Antenna can be single core wire of approximately 17cm length
or PCB trace antenna.
4.8.10 APPLICATION:
The typical connection shown in the above figure cannot work exactly at all
times because there will be no proper synchronization between the transmitter and the
microcontroller unit. i.e., whatever the microcontroller sends the data to the
transmitter, the transmitter is not able to accept this data as this will be not in the radio
frequency range. Thus, we need an intermediate device which can accept the input
from the microcontroller, process it in the range of radio frequency range and then
send it to the transmitter.
4.9 MOTOR DRIVER L298N:
This L298N Motor Driver Module is a high-power motor driver module for
driving DC and Stepper Motors. This module consists of an L298 motor driver IC and
a 78M05 5V regulator. L298N Module can control up to 4 DC motors, or 2 DC
motors with directional and speed control.
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Figure 4.21: motor driver L298N
4.9.1 L298N Module Pin out Configuration

Pin Name Description
IN1 & IN2 Motor A input pins. Used to control the spinning direction of
Motor A
IN3 & IN4 Motor B input pins. Used to control the spinning direction of
Motor B
ENA Enables PWM signal for Motor A
ENB Enables PWM signal for Motor B
OUT1 & Output pins of Motor A
OUT2
OUT3 & Output pins of Motor B
OUT4
12V 12V input from DC power Source
5V Supplies power for the switching logic circuitry inside L298N IC
GND Ground pin
TABLE 4.2: L298N Module Pin out Configuration
4.9.2 L298 Module Features & Specifications:
 Driver Model: L298N 2A

 Driver Chip: Double H Bridge L298N
 Motor Supply Voltage (Maximum): 46V
 Motor Supply Current (Maximum): 2A
 Logic Voltage: 5V
 Driver Voltage: 5-35V
 Driver Current:2A
 Logical Current:0-36mA
 Maximum Power (W): 25W
 Current Sense for each motor
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 Heat sink for better performance
 Power-On LED indicator
78M05 Voltage regulator will be enabled only when the jumper is placed. When
the power supply is less than or equal to 12V, then the internal circuitry will be
powered by the voltage regulator and the 5V pin can be used as an output pin to power
the microcontroller. The jumper should not be placed when the power supply is greater
than 12V and separate 5V should be given through 5V terminal to power the internal
circuitry.
ENA & ENB pins are speed control pins for Motor A and Motor B while IN1&
IN2 and IN3 & IN4 are direction control pins for Motor A and Motor B.
4.10 Servo Motor:
Figure 4.22: servo motors
4.10.1 Wire Configuration:
Wire Wire Description

Number Colour
1 Brown Ground wire connected to the ground of system
2 Red Powers the motor typically +5V is used
3 Orange PWM signal is given in through this wire to drive the motor
4.10.2 Features:
 Operating Voltage is +5V typically

 Torque: 2.5kg/cm
 Operating speed is 0.1s/60°
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 Gear Type: Plastic
 Rotation: 0°-180°
 Weight of motor: 9gm
 Package includes gear horns and screws
4.10.4 Selecting your Servo Motor:

There are lots of servo motors available in the market and each one has its
own speciality and applications. The following two paragraphs will help you identify
the right type of servo motor for your project/system.
Most of the hobby Servo motors operates from 4.8V to 6.5V, the higher the voltage
higher the torque we can achieve, but most commonly they are operated at +5V.
Almost all hobby servo motors can rotate only from 0° to 180° due to their gear
arrangement so make sure you project can live with the half circle if no, you can
prefer for a 0° to 360° motor or modify the motor to make a full circle. The gears in
the motors are easily subjected to wear and tear, so if your application requires
stronger and long running motors you can go with metal gears or just stick with
normal plastic gear.
Next comes the most important parameter, which is the torque at which the
motor operates. Again, there are many choices here but the commonly available one is
the 2.5kg/cm torque which comes with the Torpor SG90 Motor. This 2.5kg/cm torque
means that the motor can pull a weight of 2.5kg when it is suspended at a distance of
1cm. So if you suspend the load at 0.5cm then the motor can pull a load of 5kg
similarly if you suspend the load at 2cm then can pull only 1.25. Based on the load
which you use in the project you can select the motor with proper torque. The below
picture will illustrate the same.
Figure 4.23: servo motor using weights
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4.10.5 How to use a Servo Motor
After selecting the right Servo motor for the project, comes the question how
to use it. As we know there are three wires coming out of this motor. The description
of the same is given on top of this page. To make this motor rotate, we have to power
the motor with +5V using the Red and Brown wire and send PWM signals to the
Orange colour wire. Hence, we need something that could generate PWM signals to
make this motor work, this something could be anything like a 555 Timer or other
Microcontroller platforms like Arduino, PIC, ARM or even a microprocessor like
Raspberry Pie. Now, how to control the direction of the motor? To understand that let
us a look at the picture given in the datasheet.
From the picture we can understand that the PWM signal produced should
have a frequency of 50Hz that is the PWM period should be 20ms. Out of which the
On-Time can vary from 1ms to 2ms. So when the on-time is 1ms the motor will be in
0° and when 1.5ms the motor will be 90°, similarly when it is 2ms it will be 180°. So,
by varying the on-time from 1ms to 2ms the motor can be controlled from 0° to 180°
4.10.6 Applications:
 Used as actuators in many robots like Biped Robot, Hexapod, robotic arm etc.
 Commonly used for steering system in RC toys
 Robots where position control is required without feedback
 Less weight hence used in multi DOF robots like humanoid robot.
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CHAPTER 5
SOFTWARE REQUIREMENT
5.1 Software Requirements
• Arduino software
• Proteus software
5.1.1 Arduino Software:
Proteus is computer code for microchip simulation, schematic capture, and

computer circuit board (PCB) style. it's developed by Lab center physical science.
The X Game Station Small Edition was designed victimization PCB layout tools and
Proteus schematic entry.
5.1.2 System Components
ISIS Schematic Capture - a tool for getting into styles. PROSPICE Mixed
Mode SPICE Simulation – business normal SPICE3F5 machine combined with a
digital machine.
ARES PCB Layout – PCB style system with automatic part alluvial sediment, rip-up
and rehear auto-router and interactive style rule checking.
VSM – Virtual System Modelling lets co-simulate embedded computer code for
well-liked micro-controllers aboard hardware style.
System edges Integrated package with common interface and absolutely context
sensitive facilitate.
PROTUES combines advanced schematic capture, mixed mode SPICE simulation,

PCB layout and motorcar routing to create a whole electronic style system
The PROTEUS product vary conjointly includes our revolutionary VSM technology
to perform the system desired task.
Product Features:
• ISIS Schematic Capture a straightforward to use however and intensely

powerful tool for getting into your style PROSPICE Mixed mode SPICE
Simulation business normal SPICE3F5 machine
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• ARES – layout designing in this tool
• All modules are standardized Graphical interface.
• Runs on Windows 98/ME/2000/XP or Later
• Technical Support direct kind the author
• Rated best overall product
5.1.3 Intelligent Schematic Input System (ISIS):
ISIS lies right at the guts of the PROTUES system and is way over simply another
schematic package. it's powerful setting to regulate most aspects of the drawing look.
whether or not your demand is that the speedy entry of complicated style for simulation
& PCB layout, Or the creation of engaging Schematic for publication ISIS is that the
right tool for the work Product.
Features:
• Produces publication quality schematic
• Style templates enable customization of equipped library
• Mouse driven context sensitive interface
• Automatic wire routing and junction dot placement
• Full support for buses as well as sub- circuit ports and bus pins
• Large and growing part library of over 8000 elements
5.1.4 VSM (Virtual System Modelling):
Proteus VSM is associate degree extension of the PROSPICE machine that facilities
co-simulation of microchip primarily based style as well as all the associated
physical science. what is more, you'll move with the microcontroller computer code
through the employment of animated keypads, switches, buttons, LEDs, lamps and
even alphanumeric display displays.
Features:
•CPU models offered for several well-liked microcontrollers as well as PIC, AVR,
HC11 and Arduino.
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• Interactive device models embody semiconductor diode and alphanumeric
display displays, RS232 terminal, universal input device and a spread of switches,
buttons, pots.
• Extensive debugging facilities as well as register and memory contents,

breakpoints and single step modes.
• Source level debugging for elect development tools as well as IAR C-SPY and
5.1.5 Keil u Vision.
Embedded “C” Compiler.
• ANSI C - full featured and moveable
• Reliable - mature, field-proven technology
• Multiple C optimization levels
• An optimizing computer program,
• Full linker, with overlaying of native variables to attenuate RAM usage
• Comprehensive C library with all ASCII text file provided
• Includes support for 24-bit and 32-bit IEEE floating purpose and 32-bit long
information sorts
• Mixed C and computer program programming
• Unlimited range of supply files
• Listings showing generated computer program
• Compatible - integrates into the MPLAB IDE, MPLAB ICD and most 3rd-
party development tools.
5.1.6 Embedded System Tools:
A computer program is a translating programing language basically, illustration

of machine language into computer code. A cross computer program produces code
for one variety of processor, however runs on another. The process step wherever
an, computer program is run is thought as assembly time. Translating assembly
instruction method into opcodes, assemblers give the flexibility to use symbolic
names for memory locations and macro facilities for performing arts matter
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substitution usually won’t to inscribe common short sequences of directions to run
inline rather than in an exceedingly subprogram.
speed:
Assembly language programs are usually the quickest programs around.
Space:
Assembly language programs are typically the littlest.
5.1.7“Arduino” what does it mean?
Arduino is an open-source prototyping platform based on easy-to-use hardware

and software. Arduino boards are able to read inputs - light on a sensor, a finger on a
button, or a Twitter message - and turn it into an output - activating a motor, turning
on an LED, publishing something online. You can tell your board what to do by
sending a set of instructions to the microcontroller on the board. To do so you use the
Arduino programming language (based on Wiring), and the Arduino Software (IDE),
based on Processing.
5.1.8 Why Arduino?
Thanks to its simple and accessible user experience, Arduino has been used in
thousands of different projects and applications. The Arduino software is easy-to-use
for beginners, yet flexible enough for advanced users. It runs on Mac, Windows, and
Linux. Teachers and students use it to build low, cost scientific instruments, to prove
chemistry and physics principles, or to get started with programming and robotics.
 Inexpensive - Arduino boards are relatively inexpensive compared to other

microcontroller platforms.
 Cross-platform - The Arduino Software (IDE) runs on Windows, Macintosh

OSX, and Linux operating systems. Most microcontroller systems are limited
to Windows.
 Simple, clear programming environment - The Arduino Software (IDE) is

easy-to-use for beginners, yet flexible enough for advanced users to take
advantage of as well.
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5.1.9 How to Download the Arduino Software (IDE):
Get the latest version from the download page. You can choose between the
Installer (.exe) and the Zip packages. We suggest you use the first one that installs
directly everything you need to use the Arduino Software (IDE), including the
drivers. With the Zip package you need to install the drivers manually.
5.1.10 Proceed with board specific instructions:
When the Arduino Software (IDE) is properly installed you can go back to the
Getting Started Home and choose your board from the list on the right of the page.
Figure:5.1 Software program selection
Fig: 5.2: program detailed check
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The Arduino Integrated Development Environment (IDE) is a cross-platform
application (for Windows, macOS, Linux) that is written in the programming
language Java. It is used to write and upload programs to Arduino compatible
boards, but also, with the help of 3rd party cores, other vendor development boards.
The source code for the IDE is released under the GNU General Public License,
version 2. The Arduino IDE supports the languages C and C++ using special rules of
code structuring. The Arduino IDE supplies a software library from the Wiring
project, which provides many common input and output procedures.
The IDE environment is mainly distributed into three sections
● Menu Bar
● Text Editor
● Output Pane
5.1.11 Arduino IDE Introduction:
The bar appearing on the top is called Menu Bar that comes with five different
options as follows.
Fig.5.3: Menu Bar of Arduino IDE

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5.1.12 File Description:
You can open a new window for writing the code or open an existing one.
Following table shows the number of further subdivisions the file option is
categorized into. Creating file descriptors. As you go to the preference section and
check the compilation section, the Output Pane will show the code compilation as
you click the upload button.
Fig.5.4: File Description
Fig.5.5: Compilation Screen
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As you go to the preference section and check the compilation section, the Output
Pane will show the code compilation as you click the upload button And at the end of
compilation, it will show you the hex file it has generated for the recent sketch that
will send to the Arduino Board for the specific task you aim to achieve.
Fig.5.6: Hex File Generation
5.1.13 Edit Description:
Used for copying and pasting the code with further modification for font
5.1.14 Sketch Description:
For compiling and programming
5.1.15 Tools Description:
Mainly used for testing projects. The Programmer section in this panel is
used for burning a boot loader to the new microcontroller.
5.1.16 Help Description:
In case you are feeling skeptical about software, complete help is available
from getting started to troubleshooting.
The Six Buttons appearing under the Menu tab are connected with the running
program as follows.
While Arduino IDE is highly-rated by users according to ease of use, it is also

capable of performing complex processes without taxing computing resources.
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Fig:5.7 Menu Tab
• The check mark appearing in the circular button is used to verify the code. Click
this once you have written your code.
• The arrow key will upload and transfer the required code to the Arduino board.
• The dotted paper is used for creating a new file.
• The upward arrow is reserved for opening an existing Arduino project.
• The downward arrow is used to save the current running code.
• The button appearing on the top right corner is a Serial Monitor – A separate
pop-up window that acts as an independent terminal and plays a vital role for
sending and receiving the Serial Data.
\
Figure5.8 Connecting to board
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The main screen below the Menu board is known as a simple text editor used for
writing the registrations.
Fig.5.9: Text Editor on code
The bottom of the main screen is described as an Output Pane that mainly highlights
the compilation status of the running code: the memory used by the code, and errors
occurred in the program. You need to fix those errors before you intend to upload
the hex file into your Arduino Module.
Fig.5.10 Outputwindow
More or less, Arduino C language works similar to the regular C language used for
any embedded system microcontroller, however, there are some dedicated libraries
used for calling and executing specific functions on the board.
5.1.17 Libraries:
Libraries are very useful for adding the extra functionality into the Arduino Module.
There is a list of libraries you can add by clicking the Sketch button in the menu bar
and going to Include Library. The Arduino environment can be extended through the
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use of libraries, just like most programming platforms. Libraries provide extra
functionality for use in sketches, e.g., working with hardware or manipulating data.
To use a library in a sketch, select it from Sketch > Import Library.
A number of libraries come installed with the IDE, but you can also download or
create your own. See these instructions for details on installing libraries. There's also
a tutorial on writing your own libraries. See the API Style Guide for information on
making a good Arduino-style API for your library
Fig.5.11: Arduino IDE Library
As you click the Include Library and Add the respective library it will on the top
of the sketch with a #include sign. Suppose, I Include the EEPROM library, it will
appear on the text editor.
5.1.18 Making Pins Input or Output:
The digital Read and digital Write commands are used for addressing and
making the Arduino pins as an input and output respectively.
These commands are text sensitive i.e., you need to write them down the exact way
they are given like digital Write starting with small “d” and write with capital “W”.
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Writing it down with Digital write or digital write won’t be calling or addressing any
function.
5.1.19 How to Select the Board:
On the online IDE we are able to automatically detect the kind of board and
the port it is connected to without you having to individually select them. In, order to
upload sketch, you need to select the relevant board you are using and the ports for
that operating system.
As you click the Tools on the Menu it will open like the figure below. You'll need to
select the entry in the Tools > Board menu that corresponds to your Arduino board.
Select, the serial device of the board from the Tools | Serial Port menu. This is likely
to be COM3 or higher (COM1 and COM2 are usually reserved for hardware serial
ports). To find out, you can disconnect your board and re-open the menu; the entry
that disappears should be the Arduino board. Reconnect the board and select that
serial port.
Fig.5.12: Selection of Board
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Just go to the “Board” section and select the board you aim to work on. Similarly,
COM1, COM2, COM4, COM5, COM7 higher are reserved for the serial and USB
board. You can look for the USB serial device in the port section of the Windows
Device Manager.
Following figure shows the COM4 that I have used for my project, indicating the
Arduino Uno with COM4 port at the bottom right corner of the screen.
Fig.5.13: Example
● After correct selection of both Board and Serial Port, click the verify and then
upload button appearing in the upper left corner of the six-button section or you can
go to the Sketch section and press verify/compile and then upload.
● The sketch is written in the text editor and is then saved with the file extension
It is important to note that the recent Arduino Modules will reset automatically as
you compile and press the upload button the IDE software, however, older version
may require the physical reset on the board.
● Once you upload the code, TX and RX LEDs will blink on the board, indicating
the desired program is running successfully.
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Note: The port selection criteria mentioned above is dedicated for Windows
operating system only, you can check this Guide if you are using a MAC or Linux.
The amazing thing about this software is that no prior arrangement or bulk of mess
is required to install this software, you will be writing your first program within 2
minutes after the installation of the IDE environment.
5.2 PROTEUS SOFTWARE:
Proteus is computer code for microchip simulation, schematic capture, and

computer circuit board (PCB) style. it's developed by Lab center physical science.
The X Game Station Small Edition was designed victimization PCB layout tools
and Proteus schematic entry.
5.2.1 System Components
ISIS Schematic Capture - a tool for getting into styles.
PROSPICE Mixed Mode SPICE Simulation – business normal SPICE3F5 machine

combined with a digital machine.
ARES PCB Layout – PCB style system with automatic part alluvial sediment, rip-
up and rehear auto-router and interactive style rule checking.
VSM – Virtual System Modelling lets co-simulate embedded computer code for
well-liked micro-controllers aboard hardware style.
System edges integrated package with common interface and absolutely context
sensitive facilitate.
PROTUES combines advanced schematic capture, mixed mode SPICE simulation,

PCB layout and motorcar routing to create a whole electronic style system
The PROTUES product vary conjointly includes our revolutionary VSM

technology to perform the system desired task.
Product Features:
• ISIS Schematic Capture a straightforward to use however and intensely

powerful tool for getting into your style
• PROSPICE Mixed mode SPICE Simulation business normal SPICE3F5

machine
MIST- Page
• ARES – layout designing in this tool
• All modules are standardized Graphical interface.
• Runs on Windows 98/ME/2000/XP or Later
• Technical Support direct kind the author
• Rated best overall product.
Fig:5.14 Intelligent Schematic Input System (ISIS):
ISIS lies right at the guts of the PROTUES system and is way over simply another
schematic package. it's powerful setting to regulate most aspects of the drawing look.
Whether or not your demand is that the speedy entry of complicated style for
simulation & PCB layout, Or the creation of engaging Schematic for publication ISIS
is that the right tool for the work Product
Features:
• Produces publication quality schematic
• Style templates enable customization of equipped library
• Mouse driven context sensitive interface
• Automatic wire routing and junction dot placement
• Full support for buses as well as sub- circuit ports and bus pins
• Large and growing part library of over 8000 elements
MIST- Page
VSM (Virtual System Modeling):
Proteus VSM is associate degree extension of the PROSPICE machine that facilities
co-simulation of microchip primarily based style as well as all the associated
physical science. what is more, you'll move with the microcontroller computer code
through the employment of animated keypads, switches, buttons, LEDs, lamps and
even alphanumeric display displays.
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CHAPTER-6
PROJECT RESULTS
6.1Working:
Here is this project we successfully executed the output and the whole procedure is
working as per the results. The results of the project are shown below.
Project developed kit diagram
Fig-6.1: Poject KIT
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CHAPTER 7
CONCLUSION & FUTURE SCOPE

7.1 Conclusion
A popular application is found in telepresence videoconferencing, the highest

possible level of videotelephony. Telepresence via video deploys greater technical
sophistication and improved fidelity of both sight and sound than in traditional
videoconferencing. Technical advancements in mobile collaboration have also
extended the capabilities of videoconferencing beyond the boardroom for use
with handheld mobile devices, enabling collaboration independent of location.
A telepresence robot is nothing but it is a remote-controlled, fixed with

wheeled device with a display which is used to enable the video streaming that
enables the participants to view remote locations, as if they were there in the
environment where the robot is placed. This project consists of a virtual reality
headset, with a Smartphone in dual screen used to experience the virtual reality fixed
with 4 wheeled robotic vehicles. The movement of the Robot is controlled using a
remote controller. The motion of the camera of the robot is controlled by the gesture
sensor the data is processed by Arduino at head.
7.2 Future Scope
The work has scope in different applications like for office purposes,
industries, education, driver less automobiles, hospitals. Further the camera
movement can be with respect to the head movement of the operator by which again
the telepresence feel will be improve.
7.3 Limitations
1) produces more radio frequency waves

2) complicated and very sensitive device
3) should be used in restrictions, can be cause privacy issues
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7.4 Advantages
 It can be used as instead of travelling any where
 It takes less time to react on user gesture
 It provides full overall control to the user
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REFERENCES
[1] Elizabeth Cha, Samantha Chen, and Maja J Matric, “Designing Telepresence
Robots for K12 Education””,2017, 26th IEEE International Symposium on Robot and
Human Interactive Communication (RO-MAN) Lisbon, Portugal, Aug 28 - Sept 1,
2017
[2] K. M. Tsui and H. A. Yanko, “Design Challenges and Guidelines for Social
Interaction Using Mobile Telepresence Robots”, Reviews of Human Factors and
Ergonomics, 9(1):227–301, 2013. International Journal of Research in Advent
Technology, Vol.6, No.8, August 2018 E-ISSN: 2321-9637 Available online at
www.ijrat.org 1965
[3] Xiao, Y., J. Yuan, and D. Thalmann, “HumanVirtual Human Interaction by
Upper Body Gesture Understanding”, In Proceedings ofthe 19th Acm Symposium on
Virtual Reality Software and Technology”,2013, ACM: Singapore.
[4] Keng Peng Tee, Rui Yan, Yuanwei Chua, Zhiyong Huang, Somchaya
Liemhetcharat, “Gesture-Based Attention Direction for A Telepresence Robot:
Design And Experimental Study”, 2014 IEEE/RSJ International Conference on
Intelligent Robots and Systems (IROS 2014), September 14- 18, 2014, Chicago, IL,
USA.
[5] J. Imai T. Suwannathat and M. Kaneko, “OmniDirectional Audiovisual Speaker
Detection for Mobile Robot”, in Proc. IEEE Int. Conf. Robot and Human Interactive
Communication, 2007.
[6] Adalgeirsson, Sigurdur O. “MeBot: A robotic platform for socially embodied
telepresence” S.M. Thesis, Massachusetts Institute of Technology, School of
Architecture and Planning, Program in Media Arts and Sciences, 2009.
[7] D. Barber, “MANTRAN: A Symbolic Language for Supervisory Control of an
Intelligent Manipulator”, 1967, J. H. Black, Factorial Study of Remote Manipulation
with Transmission Delay, 1970.
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APPENDIX
PROJECT SOURCE CODE:
TRANSMITTER-
#include <SPI.h>
#include "RF24.h"
#include "Wire.h"
#include "I2Cdev.h"
#include "MPU6050.h"
MPU6050 mpu;
int16_t ax, ay, az;
int16_t gx, gy, gz;
int data [2];
RF24 radio(9,10);
const uint64_t pipe = 0xE8E8F0F0E1LL;
void setup(){
Wire.begin();
mpu.initialize();
Serial.begin(9600);
radio.begin();
radio.openWritingPipe(pipe);
}
void loop(){
mpu.getMotion6(&ax, &ay, &az, &gx, &gy, &gz);
data[0] = map(ax, 10, 17000, 2,178);
data[1] = map(ay, 10, 17000, 2,178);
radio.write(data,sizeof(data));
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{
Serial.println(data[0]);
}
}
RECEIVER-
#include <Servo.h>
#include <SPI.h>
#include "RF24.h"
Servo Servo_motor_x,Servo_motor_y;
RF24 radio(9,10);
const uint64_t pipe = 0xE8E8F0F0E1LL;
int data[2];
void setup()
{
Serial.begin(9600);
Servo_motor_x.attach(5);
Servo_motor_y.attach(6);
radio.begin();
radio.openReadingPipe(1,pipe);
radio.startListening();
}
void loop()
{
if (radio.available())
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{
bool done = false;
while (!done){
done = exit;
radio.read(data, sizeof(data));
Servo_motor_x.write (data[0]);
Servo_motor_y.write (data[1]);
}
{
}
}}
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CAMERA ESP32-
#include "esp_camera.h"
#include <WiFi.h>
//
// WARNING!!! PSRAM IC required for UXGA resolution
and high JPEG quality
// Ensure ESP32 Wrover Module or other board with
PSRAM is selected
// Partial images will be transmitted if image exceeds
buffer size
//
// Select camera model

//#define CAMERA_MODEL_WROVER_KIT // Has
PSRAM
//#define CAMERA_MODEL_ESP_EYE // Has PSRAM
//#define CAMERA_MODEL_M5STACK_PSRAM // Has
PSRAM
//#define CAMERA_MODEL_M5STACK_V2_PSRAM //
M5Camera version B Has PSRAM
//#define CAMERA_MODEL_M5STACK_WIDE // Has
PSRAM
//#define CAMERA_MODEL_M5STACK_ESP32CAM //
No PSRAM
#define CAMERA_MODEL_AI_THINKER // Has PSRAM
//#define CAMERA_MODEL_TTGO_T_JOURNAL // No
PSRAM
#include "camera_pins.h"
const char* ssid = "Ace";

const char* password = "asdfghjkl";
void startCameraServer();
void setup() {
Serial.begin(115200);
Serial.setDebugOutput(true);
Serial.println();
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camera_config_t config;
config.ledc_channel = LEDC_CHANNEL_0;
config.ledc_timer = LEDC_TIMER_0;
config.pin_d0 = Y2_GPIO_NUM;
config.pin_xclk = XCLK_GPIO_NUM;
config.pin_pclk = PCLK_GPIO_NUM;
config.pin_vsync = VSYNC_GPIO_NUM;
config.pin_href = HREF_GPIO_NUM;
config.pin_sscb_sda = SIOD_GPIO_NUM;
config.pin_sscb_scl = SIOC_GPIO_NUM;
config.pin_pwdn = PWDN_GPIO_NUM;
config.pin_reset = RESET_GPIO_NUM;
config.xclk_freq_hz = 20000000;
config.pixel_format = PIXFORMAT_JPEG;
// if PSRAM IC present, init with UXGA resolution and

higher JPEG quality
// for larger pre-allocated frame buffer.
if(psramFound()){
config.frame_size = FRAMESIZE_UXGA;
config.jpeg_quality = 10;
config.fb_count = 2;
} else {
config.frame_size = FRAMESIZE_SVGA;
config.jpeg_quality = 12;
config.fb_count = 1;
}
#if defined(CAMERA_MODEL_ESP_EYE)
pinMode(13, INPUT_PULLUP);
pinMode(14, INPUT_PULLUP);
#endif
// camera init
esp_err_t err = esp_camera_init(&config);
MIST- Page
if (err != ESP_OK) {
Serial.printf("Camera init failed with error 0x%x", err);
return;
}
sensor_t * s = esp_camera_sensor_get();
// initial sensors are flipped vertically and colors are a bit
saturated
if (s->id.PID == OV3660_PID) {
s->set_vflip(s, 1); // flip it back
s->set_brightness(s, 1); // up the brightness just a bit
s->set_saturation(s, -2); // lower the saturation
}
// drop down frame size for higher initial frame rate
s->set_framesize(s, FRAMESIZE_QVGA);
#if defined(CAMERA_MODEL_M5STACK_WIDE) ||
defined(CAMERA_MODEL_M5STACK_ESP32CAM)
s->set_vflip(s, 1);
s->set_hmirror(s, 1);
#endif
WiFi.begin(ssid, password);
while (WiFi.status() != WL_CONNECTED) {

delay(500);
Serial.print(".");
}
Serial.println("");
Serial.println("WiFi connected");
startCameraServer();
Serial.print("Camera Ready! Use 'http://");

Serial.print(WiFi.localIP());
Serial.println("' to connect");
}
void loop() {
// put your main code here, to run repeatedly:
delay(10000);
}
MIST- Page

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VIRTUAL TELEPRESENCE ROBOT USING VR

The movement of the Robot is controlled using a remote controller. The

Tele-presence refers to a set of technologies which allow a person to feel as if they

1.2 Real Time

Telepresence refers to a set of technologies which allow a person to feel as if

A popular application is found in telepresence videoconferencing, the highest

1.3 Application Areas

1.3.1 Trying to avoid major health catastrophes like burns:

To provide a virtual telepresence to any user by providing a view of the place

Surveillance, Espionage or spying involves individual obtaining the

holder’s information and Surveillance in military ground of the Enemy activities. A

Mining is considered as one of the life-threatening jobs as in the very

1.3.5 Making education

interesting Intel is using it in classrooms to make education more enjoyable

1.3.6 Helping doctors

1.4 AIM OF THE PROJECT

entertainment, traveling, surveillance, patrolling, space, forest, deserts, oceans, island,

2.1 Proposed work:

1) produces more radio frequency waves

2) complicated and very sensitive device

3) should be used in restrictions, can be cause privacy issues

 It can be used as instead of travelling any where

3.1 BLOCK DIAGRAM (HEAD UNIT):

The block diagram consists of MPU6050 that is a gesture sensor which is

MPU 6050 ARDUINO NANO RF TRANSMITT ER

Fig 3.1: block diagram of head unit

3.2 BLOCK DIAGRAM (ROBOT UNIT):

MOTO 4 CHANNEL RECEIVER

Fig 3.2 Robot unit block diagram

3.2 working principle

A Telepresence robot is the next step of evolution in the field of digital

The VR telepresence robot consists of a 4 wheeled robot as the basic structure.

3.3 SCHMATIC CIRCUIT DIAGRAM

Fig 3.3 receiver circuit diagram

Fig 3.4 transmitter circuit diagram

4.1 Embedded system:

4.1.1 What is an embedded system?

An embedded System is a combination of computer hardware and software,

An embedded system is not a computer system that is used primarily for

4.1.2 Embedded Systems Designed Cycle

Fig 4.1.1: Embedded Systems Designed Cycle

4.1 Characteristics of Embedded System

An embedded system is any computer system hidden inside a product other

 Military and aerospace embedded software applications.

4.1.5 Categories of Embedded Systems

Based on functionality and performance requirements, embedded systems can be

 Stand-alone embedded systems.

4.1.6 CPU Platform

Embedded processors can be broken into two different categories

 Serial communication interfaces

4.2 Arduino Uno:

Figure 4.1: Arduino Uno

The Arduino is a development board on the Microchip ATmega328P

4.2.1 General pin functions

Figure 4.2: Arduino Uno pin out

4.2.2 Technical specifications:

 Microcontroller: Microchip ATmega328P

4.3 Arduino nano:

The Arduino Nano is a small, complete, and breadboard-friendly board based

The Arduino Nano is equipped with 30 male I/O headers, in a DIP30-like

In 2019, Arduino released the Arduino Nanoevery, a pin-equivalent evolution

Figure4.4: Arduino Nano Pin diagram