Paper robot

A Descriptive Study and simple design of Anti-
terrorist robots
Akhil .A
Dept.of Computer Science,
Saveetha School Of Engineering
Saveetha University,
Chennai, India.
akhilfebr14@gmail.com
D Venkata Subramanian
Professor, Dept. of Computer Science & Engineering
Saveetha School Of Engineering,
Saveetha University,
Chennai, India.
bostonvenkat@yahoo.com
Abstract - The objective of this paper is to minimize human
casualties in terrorist attacks happening in and around the
world. The anti terrorist robots [1] have been designed to tackle
such a cruel terror attacks. This type of robot is radio operated,
self-powered, and has all the controls like a normal car. A
wireless camera has been installed on it, so that it can monitor
enemy remotely when required. It can silently enter into enemy
area and send us all the information through its’ tiny Camera
eyes. This spy robot can be used in star hotels, shopping malls,
Jeweler show rooms, etc where there can be threat from
intruders or terrorists. Since human life is always precious, these
robots are the replacement of fighters against terrorist in war
areas.
Index Terms— Robot; Wireless camera; Terror attack; Radio
Operated; Self-Powered; Intruders
I. INTRODUCTION
The global focus on terrorism and security may have
geared up following the 9/11 attacks in the USA. The risk of
terrorist attack can perhaps never be eliminated, but sensible
steps can be taken to reduce the risk. The word “Robot” was
first used in a 1921 play titled R.U.R. Rossum’s Universal
Robots, by Czechoslovakian writer Karel Capek . Robot is a
Czech wordmeaning “worker.”
Merriam-Webster defines robot [2] as “a machine that
looks like a human being and perform various complex acts; a
device that automatically performs complicated, often
repetitive tasks; a mechanism guided by automatic controls.”
ISO describes a robot as “an automatically controlled
reprogrammable, multipurpose manipulator programmable in
three or more axes, which may be either fixed in place or
mobile for use in industrial automation applications”.
Yet, all these definitionsdo give us a rough idea about what
comprises a robot, which needs to sense the outside world and
act accordingly. There are motors, pulleys, gears, gearbox,
levers, chains, and many more mechanical systems, enabling
locomotion. There are sound, light, magnetic field and other
sensors that help the robottocollect information about its
environment. There are Processors powered by powerful
software that help the robot make sense environmental data
captured and tell it what to do next and also microphones,
speakers, displays , etc that help the robot interact with
humans. Robots have traditionally been put to use in
environments that are too hazardous for man. Robots also
work under precarious conditions, for search and rescue after
disasters. A host of robots built by the University of South
Florida’s Centre for robot assisted search and rescue were in
action at the world trade centre site within hours after the
disaster to delve into the rubble and rescue survivors.
Similarly, robots are also put to work in underground mines. A
lot of research today is focused on improving rescue functions
of robots. The faithful robots do not hesitate to tread even the
dreaded terrain of battle fields [3]. Their use in Afghanistan
and Iraq wars make us wonder if robots have indeed become
intelligent! Battle robots of various shapes and sizes were
deployed to defuse landmines, search for criminal shading in
caves, search for bombs under cars and in building, for
espionage and what not! These robots were controlled by
humans. We aim to develop a model which will be efficiently
used to minimize terrorist causality. Being able to achieve
reliable long distance communication is an important open
area of research to robotics as well as other technology areas.
As interest in robotics continues to grow, robots are
increasingly being integrated into everyday life. The results of
this integration are end-users possessing less and less technical
knowledge of the technologies [4]. Currently, the primary
mode for robot communication uses RF. RF is an obvious
choice for communication since it allows more information to
be transferred at high speed and over long distance.This
paperexplores the use of readymade RF networks for
communication and device control. This eliminates the need
of a new infrastructure and detailed technical research.
I. HARDWARE IMPLEMENTATION
The block diagram of the hardware implementation of the
entire system is as shown in the Figure1. This robot is radio
operated,self-poweredand has all the controls like a normal
car. A pair of laser gun has been installed on it, so that it can
fire on enemy remotely when required. Wireless camera will

send real time video and audio signals, which could be seen on
a remote monitor, and action can be taken accordingly.
Figure 1: Block Diagram of Intelligent Combat Robot
Micro controlleracts as master controller decodes all the
commands received from the transmitter and give commands
to slave microcontroller. It also acts as Slave microcontroller
which is responsible for executing all the commands received
from the master and also generating PWM pulses for the speed
control. Based on the input codes master will give command
to slave microcontroller and robot will behave as follows.
• moves in forward direction
• moves in reverse direction,
• speed controls in both the direction
• it can even turn left or right while moving forward or
in reverse direction.
A. Transmitting unit
Here a variable frequency oscillator1 is used for
modulating the frequency i.e. to be transmitted and has its
output to a high frequency oscillator 2 for generating a carrier
wave. The carrier wave is then radiated into space by the
antenna. B. Receiving Unit
The receiving antenna is connected to a tuned wave
detecting circuit for detecting the waves transmitted by
transmitter antenna.Theoutput of the tuned wave
detectingcircuit is connected to amplifierwhich in turn has its
output connected to the input of the high pass frequency as
well as the filter to a low pass frequency filter.
The outputs of amplifiers are connected to separate motors
and other side ofmotors are connected to voltage potential
.The high pass frequencyfilterextracts the higher frequency
components of the outputsignals from the amplifierand the
low pass frequency filter extracts the lower frequency
components of the output signal from the amplifier
II. COMPONENTS OR SUBSYSTEMS DESCRIPTION
A. Microcontroller circuit (AT89S52)
It is the heart of the system which controls all the activities
of transmitting and receiving. The IC used is AT89S52. The
AT89S52 Microcontroller[6]is an 8-bit microcontroller with
8K Bytes ofIn-System Programming Flash Memory. The
device is manufactured using Atmel’s high-density nonvolatile
memory technology and is compatible with the industry
standard 80C51 instruction set and pin out. The on-chip Flash
allows the program memory to be reprogrammed in-system or
by a conventional nonvolatile memory programmer.
By combining a versatile 8-bit CPU with in-system
programmable Flash on a monolithic chip, the Atmel
AT89S52 is a powerful microcontroller which provides a
highly-flexible and cost-effective solution to many embedded
control applications. The Idle Mode stops the CPU while
allowing the RAM, timer/counters, serial port, and interrupt
system to continue functioning. The Power-down mode saves
the RAM contents but freezes the oscillator, disabling all other
chip functions until the next interrupt or hardware reset.
B. Power supply circuit
The main building block of any electronic system is
the power supply to provide required power for their operation
and is as shown in the Figure 4. For the microcontroller,
keyboard, LCD, RTC, GSM, +5V are required & for driving
buzzer +12V is required. The power supply[7]provides
regulated output of +5V & non-regulated output of +12V. The
threeterminalsIC7805 meets the requirement of +5V
regulated. The secondary voltage from the main transformer is
rectified by electronic rectifier & filtered by capacitor. This
unregulated DC voltage is supplied to the input pin of
regulator IC. The IC used are fixed regulator with internal
short circuit current limiting& thermal shutdown capability.
B. Decoder HT-12D
The decoders [8] are a series of CMOS LSIs for remote
control system applications. They are paired
withHoltek212series of encoders. For proper operation, a pair
of encoder/decoder with the same number of addresses and
data format should be chosen.
The decoders receive serial addresses and data from a
programmed 212series of encoders that are transmitted by a
carrier using an RF or an IR transmission medium. They
compare the serial input data three times continuously with
their local addresses. If no error or unmatched codes are
found, the input data codes are decoded and then transferred to
the output pins.
The VT pin also goes high to indicate a valid
transmission. The 212series of decoders are capable of
decoding information’sthat consist of N bits of address and
12_N bits of data. Of this series, the HT12D is arranged to
provide 8 address bitsand 4 data bits, and HT12F is usedto
decode 12 bits of address information
D. Encoder HT-12E

The 212encoders are a series of CMOS LSIs for
remote control system applications. They are capable of
encoding information which consists of N address bits and
12_N data bits. Each address/datainput can be set to one of the
two logic states. The programmed addresses/data are
transmitted together with the header bits via an RF or an
infrared transmission medium upon receipt of a trigger signal.
The capability to select a TE trigger on the HT12E [8] further
enhances the application flexibility of the 212series of
encoders.
E. DC Motors
For the movement of our robot, we are using DC
motors[9]. It is operated by 12VDC power supply. In any
electricmotor, operation is based on simple electromagnetism.
A current carrying conductor generates a magnetic field;
whenthis 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.
F. Motor Driver L293D
The Device is a monolithic integrated high voltage,
high current four channel driver designed to accept standard
DTL or TTL logic levels and drive inductive loadsand
switching power transistors. To simplify use as two bridges
each pair of channels is equipped with an enable input.
A separate supply input is provided for the logic, allowing
operation at a lower voltage and internal clamp diodes are
included. This device is suitable for use in switching
applications at frequencies up to 5 kHz. The L293D is
assembled in a 16 lead plastic package which has 4 center pins
connected together and used for heat sinking.The chip is
designed to control 2 DC motors. There are 2 Input and 2
output pins for each motor.
G. Transmitter for Laser Gun
The transmitter is constituted by AT90S2323
microcontroller and TLP434 RF transmitter module at
418MHz. Transmitter is designed for more battery economy
and safe transmission of the data.
H. Receiver for Laser Gun
The receiver constituted by RF receiver module
RLP434A at 418MHz, the microcontroller
AT90S2313[10]and the two relays whichcan handle any
electric (or electronic) device up to 10 Amps (the contacts of
my relays are 10Amp at 250Volts). The RLP434A is an RF
receiver module with receipt frequency at 418MHz with ASK
modulation. There are 2 outputs from this module, the digital,
with levels from 0v to VCC (5 volts in our case) and the
analog output. Analog output is not used. The transmitter
sends 4 bytes with 2400bps 4 times and the receiver RLP-
434A collects them and moves them to AT90S2313 to RxD
pin, PD0.
I. RF Communication
Radio frequency (RF) is a rate of oscillation in the
range of about 3 kHz to 300 GHz, which corresponds to the
frequency of radio waves, and the alternating currents which
carry radio signals. RF usually refers to electrical rather than
mechanical oscillations.The energy in an RF current can
radiate off a conductor into space as electromagnetic waves
(radio waves);this is the basis of radio technology.
J. JMK AV Receiver with Wireless Camera
It is mini wireless monitoring video camera and
wireless receiver set for home and small business surveillance
and is used here for demonstration purpose. Simply install the
wireless camera in the room where we want to monitor and set
the wireless receiver in the next room (up to 15 meters away)
and hook it up to a TV or DVR to watch the action or record
the footage for the security records.
Here we are placing this wireless camera in the combat
robot.Depiction of AV Receiver wireless camera is as shown
in Figure 7.
K. TV Capture card
A TV capture card is a computer component that
allows television signals to be received by a computer. It is a
kind of television tuner.Most TV tuners also function as video
capture cards, allowing them to record television programs
onto a hard disk. Digital TV tuner card is as shown in the
Figure 8.
A. Flow charts
The flowcharts depicting the Robot Movement and its
Delay are shown in Figure9, 10and 11.
1) Robot Movement

2) Robot for Particular Movement
3) Delay Flowchart
V. RESULTS AND DISCUSSION
Remotecontrollersare designed to direct the
orientation of robot and to operate the laser gun. Robot
keeps on moving in two modes i.e., Manual mode and self-
mode. It’s brought under user’s control in the case of
manual mode. In self-mode, robot starts moving over
surface and takes action according to the scenario. To detect
the obstacles, we have deployed Infrared sensors (left sensor
and right sensor) in the front portion of the module. While
moving on the surface, if the left sensor is detected, robot
takes back the position for a moment and moves right. If the
right sensor is detected, robot gets back and moves left. The
front view and top view of designed combat robots are
shown in the figures 12 and 13.
Figure 12: Front view of designed anti terrorist robots
Figure 13: Top view of designed anti terrorist robots
VI. APPLICATIONS
Can be adequately implemented in national defense through
military-industrial partnership. Can be vastly applied in
Resorts, borders of noted buildings. Installation of combat
robots in the stadiums, sacred places, government and non
government organizations assures top security.
VII. DESIGN AND CODIFICATION
The sensing bot will be made with the help of Launchpad
MSP430 and it sense the Black line using line array sensor

which is the combination of some LED’s and LDR’s. The
MSP430 Launchpad can be programmed by Energia IDE and
it will interface with PC to power the microcontroller. The bot
can traverse the track with wheel movement which can be
done by using motors. L293D motor driver chip is used to
control the motor speed accurately. The Blind bot will be
made with same mechanism except the use of sensors. It will
receive the transmitted data from the Sensing Bot. CC110L
RF Booster Pack is a transceiver which is placed in the Blind
Bot. Blind Bot will not move when the Sensing Bot is sense
any obstacles and it will start after the bot senses the black
line. The combination of this two bots will behave like swarm
operation. A simplified design can use scrap materials like
CD, Boxes etc.., for making the chassis for both the Sensing
Bot and Blind Bot. The following has the list of components
and quantity required:
• BO Motors 2
• Wheels 2
• Castor Wheel 1
• Sensors, Clamp, Chassis, Nuts, Bolds etc..,
2 each
<<include the pictures>>
Pseudo code
#define EN1 9
#define M1 10
#define EN2 12
#define M2 11
int LeftSensor = A4;
int RightSensor = A7;
int leftvalue;
int rightvalue;
int treshold = 720;
int MotorSpeed = 30;
void setup()
{
pinMode(EN1, OUTPUT);
pinMode(EN2, OUTPUT);
pinMode(M1, OUTPUT);
pinMode(M2, OUTPUT);
MotorLeft(20);
MotorRight(20);
Serial.begin(9600);
}
void loop()
{
leftvalue = analogRead(600);
rightvalue = analogRead(600);
if (leftvalue>treshold && rightvalue>treshold)
{/
MotorLeft(25);
MotorRight(25);
}
else if
{
MotorLeft(0);
MotorRight(25);
}
<<explanation>>
VII. CONCLUSION
As we all know, these days India is sick off massive
terror attacks, bomb explosions at plush resorts. To avoid such
disasters TECHNOLOGICAL power must exceed HUMAN
power. Human life and time are priceless.
It’s our onus to take an initiative to design a model of an apt
robot that meets combatant needs. So to avoid terror attacks,
to ensure more security at the border and high density areas
it’s wise to maintain a world class military technology in
accordance with combatant needs.
REFERENCES
[1] Pete Miles & Tom Carroll, Build Your Own Combat Robot, (2002). [2]
K.S.Fu , R.C.Gonzalez , C.S.G..Lee, Tutorials Robotics.
[3] Asaro,P. How just could a robot war be?, Frontiers in Artificial
Intelligence and Applications, 75, 50-64.
[4] S. Y. Harmon & D. W. Gage, “Current Technical Research Issues of
Autonomous Robots Employed In Combat”, 17th Annual Electronics and
Aerospace Conference.
[5] www.Atmel.com
[6]Atmeldatasheets
http://www.keil.com/dd/docs/datashts/atmel/at89s52_ds.pdf
[7] Robert L.Boylestad and Louis Nashelsky, “Electronic Devices and Circuit
Theory”, 8th Edition, 2006
[8]DecoderHT-12D,EncoderHT-12E http://robokits.co.in/shop/index.php?
main_page=product_info& cPath=14_15&products_id=76>
[9] A. Khamis, M. Pérez Vernet, K. Schilling, “A Remote Experiment On
Motor Control Of Mobile Robots”, 10thMediterranean Conference on Control
and Automation – MED2002.
[10] Receiver for Laser Gun www.alldatasheet.com/datasheet-
pdf/pdf/169605/.../RLP434A.htm

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