NRF Based Rocker Bogie Vehicle With Mattel Detector

Project Title

NRF Based Rocker Bogie Vehicle With Mattel Detector

Project Area of Specialization RoboticsProject Summary

 An obstacle avoiding refers to the ability of a robot to detect the obstacel in its way if there are any and thus make its own obstacel free path • Metal detectors are devices that use electromagnetic fields to detect and signal the presence of metallic or ferromagnetic objects. • In this robot we have used bluetooth connectivity (HC-05 module) to operate the metal detecting robot through an ANDROID APP. • In this robot we use a microcontroller, motor driver I.C. ,PIR sensors ,metal detector circuit, bluetooth module(HC-05).COMPONENTS OF ROBOT • AUTOMATION THROUGH PIR SENSOR AND MOTOR DRIVER IC’S CONNECTED TO THE BOARD • A BLUETOOTH DEVICE CONNECTED IN PARALLEL TO THE BOARD • A METAL DETECTOR CIRCUIT

1. Microcontroller (ATmega8)….. • It is a micro computer chip which stores our programs executes them and takes necessary action. The chip used here is Atmel popular AVR micro controller. • It is a 8-bit single chip microcontroller
2. 7. Motor driver I.C. L293D…… • Whenever a robotics hobbyist talk about making a robot, the first thing comes to his mind is making the robot move on the ground. And there are always two options in front of the designer whether to use a DC Motor or a stepper motor. • DC motors are always preferred over stepper motors. • In this part we will learn to interface a DC motor with a microcontroller. Usually H-bridge is preferred way of interfacing a DC motor. • L293D is most used H-Bridge driver IC. H-bridge can also be made with the help of transistors and MOSFETs etc. • Rather of being cheap, they only increase the size of the design board, which is sometimes not required so using a small 16 pin IC is preferred for this purpose • L293 series of chips are power H-bridge motor drivers. The L293D chip is in 16- pins dip packages, and has two h-bridge drivers. An H bridge is typically capable of running one DC motor bidirectional (forward, backwards, off), or two separate motors unidirectional (forward, off).
3. Metal detector……. • The operation of metal detectors is based upon the principles of electromagnetic induction. • When the magnetic field of the coil moves across metal, such as the coin, the field induces eddy currents in the coin. • The single-coil detector is the one used in a real metal detector. • The eddy currents induce their own magnetic field, which generates an opposite current in the coil, which induces a signal indicating the presence of metal. • We can also use an inductive proximity sensor, which can detect only metal.
4. BLUETOOTH MODULE • HC-05 module is an easy to use Bluetooth SPP (Serial Port Protocol) module, designed for transparent wireless serial connection setup • Hardware Features: Typical -80dBm sensitivity , Up to +4dBm RF transmit power , Low Power 1.8V Operation ,1.8 to 3.6V I/O , With edge connector • Software Features: Default Baud rate: 38400, Data bits:8, Stop bit:1,Parity:No parity, Auto-connect to the last device on power as default. • Permit pairing device to connect as default.

Project Objectives

A method for kinematics modeling of a six-wheel Rocker-Bogie mobile robot is described in detail. The forward kinematics is derived by using wheel Jacobian matrices in conjunction with wheel-ground contact angle estimation. The inverse kinematics is to obtain the wheel velocities and steering angles from the desired forward velocity and turning rate of the robot. Traction Control is also developed to improve traction by comparing information from onboard sensors and wheel velocities to minimize wheel slip. Finally, simulation of a small robot using rocker-bogie suspension has been performed and simulate in two conditions of surfaces including climbing slope and travel over a ditch.

•In this project, the objective is to design, implement and build a low cost mobile robot for dangerous task. There are several sub-objectives need to accomplish in order to successfully achieve our target which are as below:

•

•Define, design and construct the structure of the robot.

•Define the moving mechanism of the robotic car.

•Define the grasping mechanism of the robot hand.

•Define the control mechanism of the remote controlling for the mobile robot.

•Construct the RF remote controlling for the robot .By the end of this project, a mobile robot with hand is developed and it can be control by mobile wirelessly. The mobile robot is able to capture the environment video using camera mounted on top of the mobile robot and send it back to user’s laptop wirelessly.

Project Implementation Method

The effectiveness of a wheeled mobile robot has been proven by NASA by sending a semi-autonomous rover "Sojourner" landed on Martian surface in 1997 [1]. Future field mobile robots are expected to traverse much longer distance over more challenging terrain than Sojourner, and perform more difficult tasks. Other examples of rough terrain applications for robotic can be found in hazardous material handling applications, such as explosive ordnance disposal, search and rescue. Corresponding to such growing attention, the researches are varying from mechanical design, performance of the robot, control system, navigation systems, path planning, field test and so on. However, there are very few concerning dynamics of the robot. This is because the field robots are considered too slow to encounter dynamic effect. And the high mobility of the robot, moving in 3 dimensions with 6 degrees of freedom (X, Y, Z, pitch, yaw, roll), makes the kinematics modeling a challenging task than the robots which move on flat and smooth surface  degrees of freedom : X, Y, rotation about Z axis). In rough terrain, it is critical for mobile robots to maintain maximum traction. Wheel slip could cause the robot to lose control and trapped. Traction control for low-speed mobile robots on flat terrain has been studied by Reister and Unseren using pseudo velocity to synchronize the motion of the wheels during rotation about a point. Sreenivasan and Wilcox have considered the effects of terrain on traction control by assume knowledge of terrain geometry, soil characteristics and real-time measurements of wheelground contact forces. However, this information is usually unknown or difficult to obtain directly. Quasistatic force analysis and fuzzy logic algorithm have been proposed for a rocker-bogie robot Knowledge of terrain geometry is critical to the traction control. A method for estimating wheel-ground contact angles using only simple on-board sensors has been proposed . A model of load-traction factor and slip-based traction model has been developed. The traveling velocity of the robot is estimated by measure the PWM duty ratio driving the wheels. , In this project, robotic car consists of 4 wheels is choose as the moving based for the mobile robot. Each wheel is control by a dc motor to rotate clockwise or anticlockwise. The basic circuitry for each dc motors rotating direction control is based on H-bridge method in which is shown below. 

•Robotic hand:

   One of the interesting parts of this project is that it is equipped with one robotic hand. The robotic hand in this project is human-like hand, in which consists of three fingers and can perform action almost like a normal human’s hand. According to our analysis, using human hand-like robotic hand takes advantage in holding or grasps the object more tightly and perfect fit compare to other pattern of robotic hand. The general structure of each robotic hand’s finger.

Benefits of the Project

Robotic cars cause less accidents, The human error supposedly causes 93% of all car accidents, They will have faster reaction times compared to the human drivers, They will drive faster due to the increased safety, The speed limits can be increased to reflect the safer driving, shortening the journey times.

The inter-vehicle communication rolls out on the wider scale, each robot take better defensive actions, Robot cars cause less traffic, They will be able to eliminating the gap that usually occurs when the human drivers stop in traffic and they will reduce the car theft.

Robot cars can eliminate distracted drivers, You can text, sleep, watch a movie, play video games while driving, They offers better accessibility, The blind people can now drive, There are no more parking issues, There will be no bad drivers and there will be less mistakes on the roads.

The robot cars are programmed not to break the laws, If they are safer than the human drivers, they may be less dangerous to the bikes on the road, There may be an opportunity to create wider bicycle lanes and better infrastructure.

The computer is an ideal motorist, most of car crashes are the result of human error, The computers use the complicated algorithms to determine the appropriate stopping distance which reduces the chances of car accidents,  The human driven cars come at a very high cost in terms of danger.

There is a cost savings associated with the time, When the computer takes over the driving responsibilities, The drivers can use that time to do the other things such as catch up on reading or chat with the passengers.

Self-driving cars will improve the traffic conditions and congestion, They will reduce the commute times for the drivers in high-traffic areas but to maximize on gasoline usage, They will communicate with one another to operate most efficiently, helping to identify the traffic problems or road risks.

Many cars are equipped with the features in the first stage of automatic driving such as autonomous braking, self-parking, or the sensors that clue the driver in to a nearby obstacle, The sensors allow the vehicles to ride closer together that causes less traffic.

Robotic cars can double the capacity of roads, They will be less likely to the crash, They are lighter and they reduce the fuel consumption, They can eliminate all 93% of the human errors, They helps the people who have difficulties with driving such as disabled people and older citizens.

Technical Details of Final Deliverable

The RoboLaw project was devoted  to investigate the ways in which emerging technologies 
in the field of bio-robotics have a bearing on the national and European legal systems,  challenging 
traditional legal categories and qualifications, posing risks to fundamental rights and freedoms that 
have to be considered, and more generally demanding a regulatory ground on which they could be 
developed and eventually launched. After  a comprehensive analysis of the current state-of-the-art 
of regulation pertaining to robotics in different legal systems has been carried out throughout the 
research, the present document tries to respond to the question whether new regulation is needed 
or  the  problems  posed  by  robotic  technologies  can  be  handled  within the  framework  of  existing 
laws. 

The report has been prepared through a combination of desk research, empirical research 
and expert consultation. Desk research was carried out through an extensive analysis of the existing 
literature  in  the  domains  of  robotics  and  roboethics,  Science  and  Technology  Studies  and 
Philosophy  of  Technology,  and  of  the  relevant  law.  According  to  the  ELSI  approach,  aimed  at 
analyzing  the  ethical,  legal  and  social  issues  raised  by  robotic  applications  in  view  of  their 
consideration  in  public  policy  deliberations,  the  theoretical  and  conceptual  exercise  has   been 
accompanied  by  an  investigation  on  empirical  data,  collected  through  surveys  targeted  at  the 
general  public  and  aimed  at  understanding  the  perception  of  robotics  in  society.hapter one provides an introduction to the relationship between regulation and robotics, 
by clarifying where the need for a legal appraisal and intervention comes from and explaining how 
the  RoboLaw  project  has  corresponded  to  it.  The  paths  explored  and  the  lines  of  investigation 
undertaken in the project are here synthesized, in order to highlight the driving themes that cross cut the entire research. Since robotics is a wide domain, and robotic technologies differ from one 
another,  a  case-by-case  approach  was  adopted  and  four  diverse  technological  applications  have 
been examined in depth in the following chapters. While chapter 2 deals with autonomous vehicles 
issue, chapter 3 (surgical robots), 4 (prosthetics) and 5 (care robots) e xamine robotic applications 
that  are  destined  to  be  deployed  in  the  healthcare  sector,  and  contribute  to  cluster  applications, 
that qualify for a  homogeneous and distinctive treatment. Each  of these chapters is structured in 
four parts: an introduction to  the topic; a technological overview of the state-of-the-art pertaining 
to  the  technology  examined;  an  ethical  analysis;  and  a  legal  analysis,  that  end s  with 
recommendations for policy makers. The Conclusions highlight the research’s main proposals and 
try to generalize its findings to other type of emerging technologies.

Final Deliverable of the Project Hardware SystemType of Industry IT Technologies RoboticsSustainable Development Goals Industry, Innovation and InfrastructureRequired Resources

Item Name	Type	No. of Units	Per Unit Cost (in Rs)	Total (in Rs)
			Total in (Rs)	28500
mq5	Equipment	1	450	450
DHT2	Equipment	1	300	300
JOYSTICK	Equipment	1	650	650
L298	Equipment	1	400	400
WHEEL	Equipment	6	200	1200
AURDINO	Equipment	2	1300	2600
GEAR MOTOR	Equipment	6	900	5400
GEAR HAND	Equipment	1	7500	7500
METAL DETECTOR	Equipment	1	2700	2700
CAMERA	Equipment	1	2500	2500
METAL FRAME	Equipment	1	2400	2400
NRF24L	Equipment	2	1200	2400