Abstract:: Camouflage Technique Based Multifunctional Army Robot

CAMOUFLAGE TECHNIQUE BASED MULTIFUNCTIONAL ARMY ROBOT
ABSTRACT:
Nowadays, many expenses are made in the field of defense in adopting primitive
security measures to protect the border from the trespassers. Some military organizations
take the help of robot in the risk prone areas which are not that effective when done by army
men. These army robots are confining with the camera, sensors, metal detector and video
screen. The main objective of our system is to get camouflaged including PIR sensor to trace
the intruders. Thus the proposed system also uses IR sensor for obstacle detection.
Dept. of ECE, BITM, Ballari Page 1

INTRODUCTION

Chapter 1
Introduction
A robot is an automatic mechanical device often resembling a human or animal.
Modern robots are usually guided by a computer program or electronic circuitry. Robots
have replaced humans in performing repetitive and dangerous tasks. Basically Army Robot is
capable of performing tasks such as locomotion, sensing the harmful gas, sensing the humans
beneath the surface, metal detection. Army Robot is an autonomous robot comprising of
wireless camera which can be used as a spy. This Army robot is more efficient compared to
the soldiers. The main aim of the paper is to implement a Camouflaged technology based
Wireless multifunctional Army Robot which can be controlled through PC using CC2500.
1.1 Camouflage Technology
Active camouflage or adaptive camouflage is camouflage that adapts, often rapidly,

to the surroundings of an object such as an animal or military vehicle. In theory, active
camouflage could provide perfect concealment from visual detection. Active camouflage is
used in several groups of animals, including reptiles on land, and cephalopod mollusks and
flatfish in the sea. Animals achieve active camouflage both by color change and (among
marine animals) by counter illumination. Military counter illumination camouflage was first
investigated during World War II for marine use. More recent research has aimed to achieve
crypsis by using cameras to sense the visible background, and by controlling panels or
coatings that can vary their appearance.
Study the development and possibility of camouflage technology usage in military

sector. Current systems began with a United States Air Force program which placed low-
intensity blue lights on aircraft as counter illumination camouflage. As night skies are not
pitch black, a 100 percent black-colored aircraft might be rendered visible. By emitting a
small amount of blue light, the aircraft blends more effectively into the night sky. Active
camouflage may now develop using organic light-emitting diodes (OLEDs) and other
technologies which allow for images to be projected onto irregularly shaped surfaces. Using
visual data from a camera, an object could perhaps be camouflaged well enough to avoid
detection by the human eye and optical sensors when stationary. Camouflage is weakened by

motion, but active camouflage could still make moving targets more difficult to see.
However, active camouflage works best in one direction at a time, requiring knowledge of
the relative positions of the observer and the concealed object. Active camouflage technology
exists only in theory and proof-of-concept prototypes.
In 2003 researchers at the University of Tokyo under Susumu Tachi created a

prototype active camouflage system in which a video camera images the background and
displays it on a cloth using an external projector. Phased array optics (PAO) would
implement active camouflage, not by producing a two dimensional image of background
scenery on an object, but by computational holography to produce a three-dimensional
hologram of background scenery on an object to be concealed. Unlike a two dimensional
image, the holographic image would appear to be the actual scenery behind the object
independent of viewer distance or view angle. In 2011, BAE Systems announced their
Adaptive infrared camouflage technology. It uses about 1000 hexagonal panels to cover the
sides of a tank. The panels are rapidly heated and cooled to match either the temperature of
the vehicle's surroundings, or one of the objects in the thermal cloaking system's "library"
such as a truck, car or large rock.
1.2 STEALTH TECHNOLOGY
Stealth technology also termed LO technology (low observable technology) is a sub-

discipline of military tactics and passive electronic countermeasures, which cover a range of
techniques used with personnel, aircraft, ships, submarines, missiles and satellites to make
them less visible (ideally invisible) to radar, infrared, sonar and other detection methods. It
corresponds to camouflage for these parts of the electromagnetic spectrum.
1.3 ACOUSTICS STEALTH
A control system based on an algorithm composed of IF … THEN … rules. A fuzzy

logic operation may be used in the construction of the rule.(More than one rule may fire at
the same time) Fuzzy logic is the logic which takes a Continuum value from 0 to 1. The
major objective of the scheme is to enable the computer to make human like decision.

1.4 VISUAL STEALTH
The simplest stealth technology is visual camouflage, the use of paint or other
materials to color and break up the lines of the vehicle or person. Most stealth aircraft use
matte paint and dark colors, and operate only at night. Lately, interest in daylight Stealth
(especially by the USAF) has emphasized the use of gray paint in disruptive schemes and it is
assumed that Yehudi lights could be used in the future to mask shadows in the airframe (in
daylight, against the clear background of the sky, dark tones are easier to detect than light
ones) or as a sort of active camouflage. The original B-2 design had wing tanks for a contrail-
inhibiting chemical, alleged by some to be chlorofluorosulfonicacid, but this was replaced in
the final design with a contrail sensor from Ophir that alerts the pilot when he should change
altitude and mission planning also considers altitudes where the probability of their formation
is minimized.
1.5 HOW CLOAKING WORKS
To achieve the feat of 'cloaking' an object, they have developed what are known as
metamaterials, some of which can bend electromagnetic radiation, such as light, around an
object, giving the appearance that it isn’t there at all. The first examples only worked with
long wavelength radiation such as microwaves. One small device that made small objects
invisible to near-infrared radiation and worked in three dimensions was unveiled by
physicists from the UK and Germany earlier this year. Now, researchers at Boston University
and Tufts University claim that they have come up with an invisibility cloak that works
within the terahertz band – the radiation between infrared and radio wavelengths – but could
be modified to work with visible light. Intriguingly, it is made out of silk. Metamaterials:
Such invisibility cloaks rely on metamaterials, which are a class of material engineered to
produce properties that don’t occur naturally. Light is electromagnetic radiation, made up of
perpendicular vibrations of electric and magnetic fields. Natural materials usually only affect
the electric component – this is what is behind the optics that we’re all familiar with such as
ordinary refraction. But metamaterials can affect the magnetic component too, expanding the
range of interactions that are possible. The metamaterials used in attempts to make
invisibility cloaks are made up of a lattice with the spacing between elements less than the
wavelength of the light we wish to ‘bend’. The silk-based cloak recently announced uses
‘split-ring resonators' – concentric pairs of rings with splits at opposite ends. 10,000 gold
resonators were initially attached to a one-centimeter-square piece of silk. As silk is not
rejected by the human body, it is thought that they could be used to coat internal organs so
that surgeons can easily see what lies behind them.
The figures shows how metmaterials bend the light rays around them, and makes the material
inside invisible.Thus achieving absolute invisibility.
1.6 CC2500 (RF TRANSCEIVER)

The CC2500 is a low-cost 2.4 GHz transceiver designed for very low-power wireless
applications. The circuit is intended for the 2400-2483.5 MHz ISM (Industrial, Scientific and
Medical) and SRD (Short Range Device) frequency band. The RF transceiver is integrated
with a highly configurable baseband modem. The modem supports various modulation
formats and has a configurable data rate up to 500 kBaud.CC2500 provides extensive
hardware support for packet handling, data buffering, burst transmissions, clear channel
assessment, link quality indication and wake-on-radio. The main operating parameters and
the 64-byte transmit/receive FIFOs of CC2500 can be controlled via an SPI interface. In a
typical system, the CC2500 will be used together with a microcontroller and a few additional
passive components.
1.7 Purpose
The main motive behind Camouflage Robot is to reduce human losses in military
operations or terrorist attacks. Camouflage Robot acts as a virtual spy and can be sent into
the strategic locations of military importance for observation and warfare purpose. Since it's
very hard to detect it by a naked human eye, the Camouflage robot can be also used to test
the various security systems developed in the market and act as a measure to evaluate its
efficiency. The idea of the Camouflage Robot is based on the chameleon’s camouflage
techniques. The aim of the project is to design, manufacture and operate a robot via PC, used
as remote control device, a small mobile robot which can duplicate the colors where it moves
on, hence being camouflaged to the outside world. To achieve these goals, we used a LED
matrix (RGB) which can diffuse uniform colors. Initially, the robot can camouflage itself in
red, green and blue color.

LITERATURE SURVEY

CHAPTER 2
Literature survey
Camouflage Robot plays a vital role in saving human loses as well as the damages
that occur during disasters. Thus it will gain more importance in the upcoming era.
[1] Premkumar .M “UNMANNED MULTI-FUNCTIONAL ROBOT USING ZIGBEE

ADOPTER NETWORK FOR DEFENSE APPLICATION” International Journal of
Advanced Research in Computer Engineering & Technology (IJARCET)Volume 2, Issue 1,
January 2013.
Most of the military organization now takes the help of robots to carry out many risky
jobs that cannot be done by the soldier. These robots used in military are usually employed
with the integrated system, including video screens, sensors, gripper and cameras. The
military robots also have different shapes according to the purposes of each robot. Here the
new system is proposed with the help of low power Zigbee wireless sensor network to trace
out the intruders (unknown persons) and the robot will take the necessary action
automatically. Thus the proposed system, an Intelligent Unmanned Robot (IUR) using
Zigbee saves human live and reduces manual error in defense side. This is specially designed
robotic system to save human life and protect the country from enemies.
[2] AkashRavindran and AkshayPremkumar “CAMOFLAGE TECHNOLOGY”

International Journal of Emerging Technology in Computer Science & Electronics
(IJETCSE) ISSN: 0976-1353 Volume 8 Issue 1 –APRIL 2014
In this paper, we are going to study about military robot. Most of the military
organization now takes the help of robots to carry out many risky tasks that cannot be done
with the help of the soldier. These robots used in military application are usually employed
with the integrated system, including video screens, sensors and cameras. A robot is basically
an electro-mechanical machine which is guided by computer and electronic programming.
Many robots have been built for manufacturing application and can be found in factories
around the world. In most of the recent up-set ROBOT which can be controlling utilizing by
an APP for android versatile. We are developing the remote buttons in the app by which we

can control the robot motion with them. We use Bluetooth communication to interface
controller and android. Controller can be interfaced using the Bluetooth module though
UART protocol. According to commands received from android the robot motion can be
controlled. The correspondent output of a robotic system along with quality and repeatability
are unmatched. It also has the ability to re-establish contact with main station if any
movement or position is tracking .The robot can silently enter into an enemy area and send us
all the information through its camera eyes and also through GPS & GSM. Wireless cameras
will send back real time video inputs which can be seen on a remote monitor in the base
station with the help of computer & the robot is being controlled and necessary actions can
be taken accordingly.
[3] P. Hymavathi, T. Jyothy “Surveillance Alive Human Detection Robot using

ZigbeeTechnology”SSRG International Journal of Electronics and Communication
Engineering (SSRG-IJECE) – volume issue 4 June 2014.
The wireless communication technologies are rapidly spreading to new areas,

including automation, data acquisition, building control, monitoring systems and many more.
Autonomous robotic system is an outstanding innovation of a modern technology. It has been
able to provide significant support to mankind by accomplishing arduous tasks that are
apparently infeasible for human beings to perform. The existing system suffered many
problems like high cost to set up communication between robot and rescue control unit, noisy
wireless communication link between robot and control unit which ultimately stopped robot
to function etc. The proposed system is able to solve all these problems. The proposed
embedded robotic system detects alive human body in the catastrophic environments which
is very helpful for rescue operations. Disasters can be of two kinds- natural and human-
induced. Natural disasters are not under the control of human beings. The main aim of the
paper is to implement a Wireless multipurpose Robot which can be controlled through PC
using Zigbee interface and navigates around the disaster areas and tries to find the humans
who need help and tries to identify the forest fire.
[4] Dr. S. Bhargavi, S. Manjunath, “Design of an Intelligent Combat Robot for war fields”,
Department of Electronics and Communication Engineering, S.J.C.I.T, Chikballapur,
Karnataka, India

The objective of this paper is to minimize human casualties in terrorist attack such as 26/11.
The combat robot has been designed to tackle such a cruel terror attacks. This 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, jewellary 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.
[5] Jean Schultz, Jill L. Drury, Holly A. Yanco "Evaluation of Human-Robot Interaction
Awareness in Search and Rescue"IEEE, 2004, PP. 2327-2332
In this paper we report on the analysis of critical incidents during a robot urban
search and rescue competition where critical incidents are defined as a situation where
the robot could potentially cause damage to itself, the victim, or the environment. We
look at the features present in the human-robot interface that contributed to success in
different tasks needed in search and rescue and present guidelines for human-robot
interaction design.
Table:2.1 Literature Survey
Robot ARM7 Microcontroller Camouflage

Name Control Based Robot
Controlled Terrorist Technique Based
of the Design Controlled By An
Fighting Robot Multifunctional
paper Based On Android Mobile
Smartphone Utilizing Bluetooth Army Robot
Abhinav Kumar Xiao Lu, DipakPatil ,
Wenjun Liu,
Singh., B.RangaRaju&M.Satish HimaliPatil ,
Authors Haixia
NilayaMitashShanker., Kumar AbhijeetPatil ,
Wang, Qia
AnandPrakashYadav Sunil Kalal
Sun
Year January-June 2010 Jun 2013 June2014 February 2015
two barrel turret
Bluetooth,Camer
Features through Bullet can be WI-FI Bluetooth
a,PIR Sensor
fired, radio camera

SYSTEM ANALYSIS

Chapter 3
System analysis
3.1 BLOCK DIAGRAM
3.1.1 VEHICLE MODULE(TRANSCIVER)

3.1.2 DRIVER COMPUTER(TRANSCIVER)
3.2 Existing System

Basically Army Robot is capable of performing tasks such as locomotion, sensing the
harmful gas, sensing the humans beneath the surface, metal detection. Army robot is an
autonomous robot comprising of wireless camera which can be used as a spy and Bluetooth
used to control it wireless. The existing systems suffered many problems like high cost to set
up communication between robot and rescue control unit, noisy wireless communication link
between robot and control unit which ultimately stopped robot to function etc.In these
systems, distance is a limiting factor because the Bluetooth has a specified range that cannot
be increased.
3.3 Proposed System
The idea of the Army Robot is based on the camouflage technique. The aim of the
project is to design, manufacture and operate via a Smart phone, used as remote control
device can reproduce the color accordingly with the ground surface where it will be moving
on, hence being camouflaged to the outside world. On the one hand, in order to achieve these
goals, we used a LED (RGB) which can diffuse uniform colors, coupled to sensors that can
precisely identify ground colors. This robot is designed in such a way that it can reproduce
the color independently at various areas each area being able to reproduce color with
specific spots of the ground surface which allow the robot to mock up as a checkerboard of
multiple colors – the various colors it drives over. On the other hand, we also created a
system which can be used to receive the data using CC2500 RF Transceiver.

3.4 System Requirements

3.4.1 Hardware Requirements
 Arduino Mega
 Colour sensor
 PIR sensor
 IR sensor
 Metal sensor
 GAS sensor
 Relay
 Camera
 CC2500(RF Transceiver).
 Power supply system
3.4.2 Software Requirements
 Arduino IDE
 PC
3.5 Merits and Demerits
3.5.1 Merits
 Vehicle is hided in the war field.

 Easy for observing war field illegal activity and saves soldiers life.
 Low cost.
3.5.2 Demerits
 It can’t detect the objects too quick while vehicle moving.

SYSTEM DESIGN

Chapter 4
System design
System design is the process of defining the architecture, components, modules,
interfaces, and data for a system to satisfy specified requirements. Systems design could be
seen as the application of systems theory to product development.
4.1 Architectural Design

System architecture is a conceptual model that defines the structure and behaviour of
the system. It comprises of the system components and the relationships describing how they
work together to implement the overall system.
Figure 5.1:Architectural diagram of Camouflage Army Robot
4.2 Data Flow Diagram

A data flow diagram is a graphical representation of the "flow" of data through an
information system, modelling its process aspects. A DFD is often used as a preliminary step

to create an overview of the system without going into great detail, which can later be
elaborated. DFDs can also be used for the visualization of data processing.
A DFD shows what kind of information will be input to and output from the system,
how the data will advance through the system, and where the data will be stored. It does not
show information about the timing of process or information about whether processes will
operate in sequence or in parallel unlike a flowchart which also shows this information.
Figure 4.2:Data flow diagram
Fig 4.2 represents the data flow diagram of the camouflage army robot. It contains
four sensors. An obstacle sensor, PIR sensor, Colour sensor, Metal detector and a gas sensor.
In the course of robot movement if any obstacle is sensed then first it detected the colour by
using colour sensor and that particular colour is displayed in the RGB colour matrix. If any
human comes that is detected by PIR sensor and as soon as the human is detected camera and
GPS turns on and that particular live video is sent to the android app.

If any landmines are present then metal detector detects it and through GPS
information will be sent to the android app. If any leakage of gases are present then those
gases are detected by gas sensor and that particular information is sent to the android app.
4.3 Class Diagram
Class diagram is a static diagram. It represents the static view of an application. Class
diagram is not only used for visualizing, describing, and documenting different aspects of a
system but also for constructing executable code of the software application.Class diagram
shows a collection of classes, interfaces, associations, collaborations, and constraints. It is
also known as a structural diagram.
Figure 4.3:Class diagram

4.4 Use Case Diagrams
A use case diagram at its simplest is a representation of a user's interaction with the
system that shows the relationship between the user and the different use cases in which the
user is involved. A use case diagram can identify the different types of users of a system and
the different use cases and will often be accompanied by other types of diagrams as well.
Figure 4.4:Use Case diagram
While a use case itself might drill into a lot of detail about every possibility, a use-
case diagram can help provide a higher-level view of the system. It has been said before that
"Use case diagrams are the blueprints for your system". They provide the simplified and
graphical representation of what the system must actually do.

4.5 Sequence Diagram
A sequence diagram shows object interactions arranged in time sequence. It depicts

the objects and classes involved in the scenario and the sequence of messages exchanged
between the objects needed to carry out the functionality of the scenario. Sequence diagrams
are typically associated with use case realizations in the Logical View of the system under
development. Sequence diagrams are sometimes called event diagrams or event scenarios.
A sequence diagram shows, as parallel vertical lines (lifelines), different processes or

objects that live simultaneously, and, as horizontal arrows, the messages exchanged between
them, in the order in which they occur. This allows the specification of simple runtime
scenarios in a graphical manner.
Sensors Arduino Cloud PC
Sending data
Tx of data
Broadcasts information
Configures collected data

SYSTEM
IMPLEMENTATION

Chapter 5
System Implementation
System Implementation uses the structure created during architectural design and the
results of system analysis to construct system elements that meet the stakeholder
requirements and system requirements developed in the early life cycle phases. These system
elements are then integrated to form intermediate aggregates and finally the complete
system-of-interest (SoI).Implementation is the process that actually yields the lowest-level
system elements in the system hierarchy (system breakdown structure). System elements are
made, bought, or reused. Production involves the hardware fabrication processes of forming,
removing, joining, and finishing, the software realization processes of coding and testing, or
the operational procedures development processes for operators' roles.
5.1 Modular Description
Modular design, or "modularity in design", is a design approach that subdivides a

system into smaller parts called modules or skids, that can be independently created and then
used in different systems. A modular system can be characterized by functional partitioning
into discrete scalable, reusable modules; rigorous use of well-defined modular interfaces; and
making use of industry standards for interfaces.
5.1.1 Arduino
The Arduino Mega 2560 is a microcontroller board based on the ATmega2560 (datasheet). It
has 54 digital input/output pins (of which 14 can be used as PWM outputs), 16 analog inputs,
4 UARTs (hardware serial ports), a 16 MHz crystal oscillator, a USB connection, a power
jack, an ICSP header, and a reset button. It contains everything needed to support the
microcontroller; simply connect it to a computer with a USB cable or power it with a AC-to-
DC adapter or battery to get started. The Mega is compatible with most shields designed for
the ArduinoDuemilanove or Diecimila.

Figure 5.1.1: Arduino Mega Board
5.1.2 Power :
The Arduino Mega can be powered via the USB connection or with an external power
supply. The power source is selected automatically. External (non-USB) power can come
either from an AC-to-DC adapter (wall-wart) or battery. The adapter can be connected by
plugging a 2.1mm center-positive plug into the board's power jack. Leads from a battery can
be inserted in the Gnd and Vin pin headers of the POWER connector.
The board can operate on an external supply of 6 to 20 volts. If supplied with less
than 7V, however, the 5V pin may supply less than five volts and the board may be unstable.
If using more than 12V, the voltage regulator may overheat and damage the board. The
recommended range is 7 to 12 volts. The Mega2560 differs from all preceding boards in that
it does not use the FTDI USB-to-serial driver chip. Instead, it features the Atmega8U2
programmed as a USB-to-serial converter.
5.2 The Arduino Mega Board pins are as follows:
 VIN: The input voltage to the Arduino board when it's 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: The regulated power supply used to power the microcontroller and other
components on the board. This can come either from VIN via an on-board regulator,
or be supplied by USB or another regulated 5V supply.

 3V3: A 3.3 volt supply generated by the on-board regulator. Maximum current draw
is 50mA.
 GND: Ground pins.
 Memory :The ATmega2560 has 256 KB of flash memory for storing code (of which
8 KB is used for the boot loader), 8 KB of SRAM and 4 KB of EEPROM (which can
be read and written with the EEPROM library).
 Input and Output :Each of the 54 digital pins on the Mega can be used as an input
or output, using pinMode(), digitalWrite(), and digitalRead() functions. They operate
at 5 volts. Each pin can provide or receive a maximum of 40 mA and has an internal
pull-up resistor (disconnected by default) of 20-50 kOhms. In addition, some pins
have specialized functions:
 Serial: 0 (RX) and 1 (TX); Serial 1: 19 (RX) and 18 (TX); Serial 2: 17 (RX) and 16
(TX); Serial 3: 15 (RX) and 14 (TX). Used to receive (RX) and transmit (TX) TTL
serial data. Pins 0 and 1 are also connected to the corresponding pins of the
ATmega8U2 USB-to-TTL Serial chip.
 External Interrupts: 2 (interrupt 0), 3 (interrupt 1), 18 (interrupt 5), 19 (interrupt
4), 20 (interrupt 3), and 21 (interrupt 2). These pins can be configured to trigger an
interrupt on a low value, a rising or falling edge, or a change in value.
 PWM: 0 to 13. Provide 8-bit PWM output with the analogWrite() function.
 SPI: 50 (MISO), 51 (MOSI), 52 (SCK), 53 (SS). These pins support SPI
communication using the SPI library. The SPI pins are also broken out on the ICSP
header, which is physically compatible with the Uno, Duemilanove and Diecimila.
 LED 13: There is a built-in LED connected to digital pin 13. When the pin is HIGH
value, the LED is on, when the pin is LOW, it's off.
 I2C: 20 (SDA) and 21 (SCL). Support I2C (TWI) communication.
 AREF: Reference voltage for the analog inputs. Used with analogReference().
 Reset: Bring this line LOW to reset the microcontroller. Typically used to add a reset
button to shields which block the one on the board.

5.3 Communication:
The Arduino Mega2560 has a number of facilities for communicating with a

computer, another Arduino, or other microcontrollers. The ATmega2560 provides four
hardware UARTs for TTL (5V) serial communication. An ATmega8U2 on the board
channels one of these over USB and provides a virtual com port to software on the computer
(Windows machines will need a .inf file, but OSX and Linux machines will recognize the
board as a COM port automatically. The Arduino software includes a serial monitor which
allows simple textual data to be sent to and from the board. The RX and TX LEDs on the
board will flash when data is being transmitted via the ATmega8U2 chip and USB
connection to the computer (but not for serial communication on pins 0 and 1). A
SoftwareSerial library allows for serial communication on any of the Mega2560's digital
pins. The ATmega2560 also supports I2C (TWI) and SPI communication. The Arduino
software includes a Wire library to simplify use of the I2C bus; see the documentation on the
Wiring website for details. For SPI communication, use the SPI library.
5.4 PROGRAMMING :
The Arduino Mega can be programmed with the Arduino software (download). For
details, see the reference and tutorials. The ATmega2560 on the Arduino Mega comes
preburned with a bootloader that allows you to upload new code to it without the use of an
external hardware programmer. It communicates using the original STK500 protocol
(reference, C header files). You can also bypass the bootloader and program the
microcontroller through the ICSP (In-Circuit Serial Programming) header; see these
instructions for details. The ATmega8U2 firmware source code is available in the Arduino
repository. The ATmega8U2 is loaded with a DFU bootloader, which can be activated by
connecting the solder jumper on the back of the board (near the map of Italy) and then
resetting the 8U2. You can then use Atmel's FLIP software (Windows) or the DFU
programmer (Mac OS X and Linux) to load a new firmware. Or you can use the ISP header
with an external programmer (overwriting the DFU bootloader). See this user-contributed
tutorial for more information.

5.5 Automatic (Software) Reset :
Rather than requiring a physical press of the reset button before an upload, the
Arduino Mega2560 is designed in a way that allows it to be reset by software running on a
connected computer. One of the hardware flow control lines (DTR) of the ATmega8U2 is
connected to the reset line of the ATmega2560 via a 100 nano farad capacitor. When this line
is asserted (taken low), the reset line drops long enough to reset the chip. The Arduino
software uses this capability to allow you to upload code by simply pressing the upload
button in the Arduino environment. This means that the boot loader can have a shorter
timeout, as the lowering of DTR can be well-coordinated with the start of the upload. This
setup has other implications. When the Mega2560 is connected to either a computer running
Mac OS X or Linux, it resets each time a connection is made to it from software (via USB).
For the following half-second or so, the boot loader is running on the Mega2560. While it is
programmed to ignore malformed data (i.e. anything besides an upload of new code), it will
intercept the first few bytes of data sent to the board after a connection is opened. If a sketch
running on the board receives one-time configuration or other data when it first starts, make
sure that the software with which it communicates waits a second after opening the
connection and before sending this data. The Mega2560 contains a trace that can be cut to
disable the auto-reset. The pads on either side of the trace can be soldered together to re-
enable it. It's labeled "RESET-EN". You may also be able to disable the auto-reset by
connecting a 110 ohm resistor from 5V to the reset line; see this forum thread for details.
5.6 USB Overcurrent Protection:
The Arduino Mega2560 has a resettable polyfuse that protects your computer's USB ports
from shorts and overcurrent. Although most computers provide their own internal protection,
the fuse provides an extra layer of protection. If more than 500 mA is applied to the USB
port, the fuse will automatically break the connection until the short or overload is removed.

SENSORS

Chapter 6
Sensors
6.1 PIR SENSOR:
The PIR sensor used to detect the movement of human being within a certain range of
the sensor is called as PIR sensor or passive infrared sensor (approximately have an average
value of 10m, but 5m to 12m is the actual detection range of the sensor). Fundamentally,
pyroelectric sensors that detect the levels of infrared radiation are used to make PIR sensors.
There are different types ofThe PIR sensor circuit is used in numerous electronics projects
which are used to discover a human being entering or leaving the particular area or room.
These passive infrared sensors are flat control, consists of a wide range of lens, and PIR
sensors can be easily interfaced with electronics circuits. sensor and here let us discuss about
PIR sensor with dome shaped Fresnel lens.The PIR sensor circuit consists of three pins,
power supply pin, output signal pin, and ground pin. The PIR sensor circuit is having ceramic
substrate and filter window as shown in the figure and also having dome like structure called
as Fresnel lens.
6.1.1 PIR sensor Pin configuration:

The pin configuration of the PIR sensor is shown in the figure. PIR sensor consists of
three pins, ground, signal, and power at the side or bottom. Generally, the PIR sensor power
is up to 5V, but, the large size PIR modules operate a relay instead of direct output. It is very
simple and easy to interface the sensor with a microcontroller. The output of the PIR is
(usually digital output) either low or high.
6.1.2 PIR Sensor Working:
Whenever, human being (even a warm body or object with some temperature) passes
through the field of view of PIR sensor, then it detects the infrared radiation emitted by a hot
body motion. Thus, the infrared radiation detected by the sensor generates an electrical signal
that can be used to activate an alert system or buzzer or alarm sound.
The PIR sensor internally is split into two halves, one half is positive and the other is
considered as negative. Thus, one half generates one signal by detecting the motion of a hot
body and other half generates another signal. The difference between these two signals is
generated as output signal. Primarily, this sensor consists of Fresnel lens which are bifurcated
to detect the infrared radiation produced by the motion of hot body over a wide range or
specific area.If once the sensor gets warmed up, then the output remains low until it detects
motion. If once it detects the motion, then the output goes high for a couple of seconds and
then returns to a normal state or low. This sensor requires settling time, which is
characteristically in the range of 10 to 60 seconds.
6.1.3 Applications of PIR Sensor:
 PIR Sensor based Automatic Door Opening System

 PIR Sensor based Security Alarm System
 They are able to sense the detection of people and other objects
 PIR sensors are also used in automatic lightening systems. In these type of systems,
when a person comes in the vicinity of the sensor then, the lights are automatically
turned ON.
 They are used in outdoor lightening systems and also in some lift lobbies.
6.2 IR SENSOR:
Figure: 6.2.1 PCB board IR sensor image

Figure: 6.2.2 Working of IR sensor

An IR sensor consists of two parts, the emitter circuit and the receiver circuit. This is
collectively known as a photo-coupler or an optocoupler. The emitter is an IR LED and the
detector is an IR photodiode. The IR photodiode is sensitive to the IR light emitted by an IR
LED. The photodiode’s resistance and output voltage change in proportion to the IR light
received. This is underlying working principle of the IR sensor.
The type of incidence can be direct incidence or indirect incidence. In direct

incidence, the IR LED is placed in front of a photodiode with no obstacle in between. In
indirect incidence, both the diodes are placed side by side with an opaque object in front of
the sensor. The light from the IR LED hits the opaque surface and reflects back to the
photodiode.
6.2.1 Advantages
 Speed
 Lack of Interference
 Ability to measure in high temperature Up to 3000 ° C
 Long lasting measurement, no mechanical wear
 Optimization of manufacturing processes
 Fever inspection of patients or travelers
 Line scanning in glass toughening lines
 Checking mechanical or electrical equipment for temperature and hot spots
 Checking heater or oven temperature, for calibration and control

 Checking for hot spots in fire-fighting

 Food Processing
6.3 GAS SENSOR:
Figure: 6.3.1 PCB Board gas sensor image
 This module is made using Alcohol Gas Sensor MQ3.
 It is a low cost semiconductor sensor which can detect the presence of alcohol gases
at concentrations from 0.05 mg/L to 10 mg/L.
 The sensitive material used for this sensor is SnO2, whose conductivity is lower in
clean air. It’s conductivity increases as the concentration of alcohol gases increases.
 It has high sensitivity to alcohol and has a good resistance to disturbances due to
smoke, vapor and gasoline. This module provides both digital and analog outputs.
 MQ3 alcohol sensor module can be easily interfaced with Microcontrollers, Arduino
Boards, Raspberry Pi etc.
 This alcohol sensor is suitable for detecting alcohol concentration on your breath, just
like your common breathalyzer.
 It has a high sensitivity and fast response time. Sensor provides an analog resistive
output based on alcohol concentration.

 The drive circuit is very simple, all it needs is one resistor. A simple interface could
be a 0-3.3V ADC.
6.3.1 Features
 5V operation, Simple to use

 LEDs for output and power, Output sensitivity adjustable
 Analog output 0V to 5V & Digital output 0V or 5V Low Cost
 Fast Response
 Stable and Long Life
 Good Sensitivity to Alcohol Gas
 Both Digital and Analog Outputs
 On-board LED Indicator
6.3.2 Technical Data
 Concentration : 0.05 mg/L ~ 10 mg/L Alcohol

 Operating Voltage : 5V ±0.1
 Current Consumption : 150mA
 Operation Temperature : -10°C ~ 70°C
6.3.3 Pin Out
 VCC – Input Power Supply

 GND – Supply Ground
 DO – Digital Output
 AO – Analog Output
6.3.4 Applications
 Vehicle Alcohol Detector

 Portable Alcohol Detector

6.4 Metal Detector:
Figure: 6.4.1 Metal detector available in devices

Nowadays, the metal detector is used to identify metallic devices such as bombs, guns
for security purpose. To avoid any illegal or unauthorized entry of metallic objects, bombs,
knives, guns within the luggage bags of the person carrying them in public places like
theatres, shopping malls, parks, airports, hotels, railway stations. A security system is
developed by using proximity sensor which is named as a metal detector. So, a metal detector
is used in many robotic or electronics projects to detect any present metals which are nearby
or the existence of hidden items within objects. This article gives an overview of metal
detector working principle and applications.
6.4.1 What is Metal Detector?
In the year 1960, the first metal detector was established and was used in industrial
applications and mineral prospecting. A metal detector is an electronic device that comprises
of an oscillator which generates an AC current that passes via a coil generating an alternating
magnetic field. When a part of the metal is nearby to the coil, eddy current will be induced in
the metal object & this generates a magnetic field of its own. If an extra coil is used to
measure the magnetic field, the magnetic field can be changed and sensed due to the metal
object. The metal detectors are used to sense the weapons and also used in the construction

industry to identify the steel reinforcing bars in pipes, concrete, wires, pipes buried in walls
& floors. Metal detector types are classified into three types such as BFO (Beat Frequency
Oscillation), TR( Transmitter or Receiver) and VLF(Very Low frequency)
6.4.2 How Does a Metal Detector Work?
The metal detector working is, when the electromagnetic field is transmitted from the search
coil into the earth. Metals in the electromagnetic field will become strengthened & resend an
electromagnetic of their own. The metal detector comprises of a search coil which receives
the retransmitted field & alarms the user by generating a response of the metal. Minelab
metal detectors are accomplished by discriminating between dissimilar types of targets and
can be fixed to ignore unwanted metal objects.
Figure: 6.4.2 Working of a Metal Detector

 Battery: The main purpose of the battery is to provide the power to the detector.
 Control Box: The control box comprises of the electronics of the detector. When the
transmit signal is generated, the receive signal is processed and transformed into a
target response.
 Search Coil: The electromagnetic field can be transferred by the search coil of the
detector into the ground & receives the electromagnetic field return from a metal
object.
 Electromagnetic Field Transmission: The transmitted electromagnetic field
energizes metal objects to allow them to be sensed.
 Target: Here, a target is a metal object that can be sensed by a metal detector. In this,
the target is treasure which is sensed and that is a good target.
 Undesirable Target: These metal objects are generally attracted to a magnet like
nails and also non-ferrous like bottle tops. If the metal detector is fixed to discard
unwanted targets, then the response of the target will not be generated for those
targets.
 Receive Electromagnetic Field: The receive electromagnetic field is produced from
energized targets & it is received by the search coil
 Response of the Target: When the metal detector detects the metal object, then it
generates an audible sound like a beep. Various Minilab detectors also generate a
visual display of target information.
6.4.3 Metal Detector Circuit Diagram
The metal detector circuit built with an LC circuit, buzzer and simple proximity
sensor. In LC circuit, capacitor and inductor are connected in parallel. When the circuit
detects any metal near to it, then the circuit activates the proximity sensor and its glow the
LED and makes a buzzer.When this circuit has any resonating frequency from any target
which is near to it, then the electric field will be created, which will lead to induce current in
the coil and change the S/L in the flow of the S/L through the coil.The value of the sensor
can be changed by using a variable resistor, that is equal to the LC circuit. When the metal is
detected, the circuit will have new signal and respond accordingly.When the metal object is
sensed by the coil, the sensor’s o/p will be of 1mA. When the coil is close to the target, then

the o/p of the sensor will be around 10mA.When the output pin is high, the resistor R3 will
offer a positive voltage to the Q1 transistor to turn ON the LED, which will glow and
generate a buzzer sound. Here, resistor R2 is mainly used to restrict the current flow.
Figure:6.4.3 Metal Detector Circuit
6.4.4 A Metal Detector Circuit using IC 555
This circuit uses an IC 555, which is used to detect the magnets and metals. When
the magnet is near to the 10mH choke, then the output frequency varies. This circuit can be
powered from a power supply, which can give an o/p DC voltage between 6-12 volts. When
a metal object is near to the L1 coil, then it generates a change of output oscillation frequency
and buzzer sound.
Figure: 6.4.4 Metal Detector Circuit using 555 IC

6.5 Colour Sensor:
The TCS230 senses color light with the help of an 8 x 8 array of photodiodes. Then
using a Current-to-Frequency Converter the readings from the photodiodes are converted into
a square wave with a frequency directly proportional to the light intensity. Finally, using the
Arduino Board we can read the square wave output and get the results for the color.
Figure: 6.5.1 Block diagram representation of colour sensor to Arduino board
If we take a closer look at the sensor we can see how it detects various colors. The
photodiodes have three different color filters. Sixteen of them have red filters, another 16
have green filters, another 16 have blue filters and the other 16 photodiodes are clear with no
filters.
Figure: 6.5.2 On PCB colour sensing metrics formate

Each 16 photodiodes are connected in parallel, so using the two control pins S2 and
S3 we can select which of them will be read. So for example, if we want to detect red color,
we can just use the 16 red filtered photodiodes by setting the two pins to low logic level
according to the table.
Figure: 6.5.3 Priority assigned for different colour table
The sensor has two more control pins, S0 and S1 which are used for scaling the
output frequency. The frequency can be scaled to three different preset values of 100 %, 20
% or 2%. This frequency-scaling function allows the output of the sensor to be optimized for
various frequency counters or microcontrollers.Now we are ready to move on and connect
the TCS230 sensor to the Arduino board. Here’s the circuit schematics.
Figure: 6.5.4 Connection of colour sensor to a Arduino Board

ELECTROMECHANICAL
RELAYS AND
TRANSCIEVERS

Chapter 7
7.1 Electromechanical Relays
A relay is similar to a switch, it is either open or closed. When the switch is open no
current passes through the relay, the circuit is open, and the load that is connected to the relay
receives no power. When a relay is closed, the circuit is completed and current passes
through the relay and delivers power to the load. To open and close a relay an electromagnet
is used. When the coil controlling the electromagnet is given a voltage, the electromagnet
causes the contacts in the relay to connect and transfer current through the relay.
 COM- Common pin

 NC- Normally Closed, in which case NC is connected with COM when INT1 is set
low and disconnected when INT1 is high;
 NO- Normally Open, in which case NO is disconnected with COM1 when INT1 is
set low and connected when INT1 is high.Terminal 2 is similar to terminal 1,except
that the control port is INT2
 INT 1- Relay 1 control port
 INT 2- Relay 2 control port

7.2 CC2500:
CC2500 RF Modem is a transceiver module which provides easy to use RF
communication at 2.4 GHz. It can be used to transmit and receive data at multiple baud rates
from any standard CMOS/TTL source. This module is a direct line in replacement for your
serial communication it requires no extra hardware and no extra coding to turn your wired
communication into wireless one. It works in Half Duplex mode i.e. it provides
communication in both directions, but only one direction at same time (not simultaneously).
This switching from receiver to transmitter mode is done automatically.
7.2.1 Features:
 Supports Multiple Baud rates (4800/9600/19200/38400).

 Works on ISM band (2.4 GHz) which is reserved internationally so no need to apply
for license.
 Supports multiple frequencies within the same band rate thus avoiding data collision.
 No complex wireless connection software or intimate knowledge of RF is required to
connect your serial devices.
 Designed to be as easy to use as cables.
 No external Antenna required.
 Plug and play device.
 Works on 5‐9v DC supply.
 Standard UART Interface.
7.2.2 SPECIFICATION:
The unit supports multiple baud rates and multiple frequency channels. The settings
will take place only during power on i.e. you will have to restart the module every time you
change the setting. Switch number 1 & 2 are used to set the baud rate.Whereas switch
number 3 & 4 are used to select channel frequency. Channel frequency allows you to use
more than one set of RF module without interfering with each other. Pairs will same channel
frequency will be able to communicate with each other.Thus avoiding data collision between
multiple set of units.
7.2.3 APPLLICATIONS:
 Wireless Sensor Network
 Wireless Device Driver.
 Wireless Data Transfer
 Wireless Energy metering
 Home Automation
 Robotics.
 Wireless Data Logger.

DC MOTOR

Chapter 9
DC motor
Common DC gear head motors need current above 250mA. There are many
integrated circuits like ATmega16 Microcontroller, 555 timer IC. But, IC 74 series cannot
supply this amount of current. When the motor is directly connected to the o/p of the above
ICs then, they might damaged. To overcome this problem, a motor control circuit is required,
which can act as a bridge between the above motors and ICs (integrated circuits). There are
various ways of making H-bridge motor control circuit such as using transistor, relays and
using L293D/L298.
8.1 Pin Diagram of a L293D Motor Driver IC Controller
Pin-1 (Enable 1-2): When the enable pin is high, then the left part of the IC will work
otherwise it won’t work. This pin is also called as a master control pin.
Pin-2 (Input-1): When the input pin is high, then the flow of current will be through output 1
Pin-3 (Output-1): This output-1 pin must be connected to one of the terminals of the motor
Pin4 &5: These pins are ground pins
Pin-6 (Output-2): This pin must be connected to one of the terminals of the motor.

Pin-7 (Input-2): When this pin is HIGH then the flow of current will be though output 2
Pin-8 (Vcc2): This is the voltage pin which is used to supply the voltage to the motor.
Pin-16 (Vss): This pin is the power source to the integrated circuit.
Pin-15 (Input-4): When this pin is high, then the flow of current will be through output-4.
Pin-14 (Output-4): This pin must be connected to one of the terminals of the motor
Pin-12 & 13: These pins are ground pins
Pin-11 (Output-3): This pin must be connected to one of the terminals of the motor.
Pin-10 (Input-3): When this pin is high, then the flow of current will through output-3
Pin-9 (Enable3-4): When this pin is high, then the right part of the IC will work & when it is
low the right part of the IC won’t work.
This pin is also called as a master control pin for the right part of the IC.
8.2 H-Bridge Circuit:
A H bridge is an electronic circuit that allows a voltage to be applied across a load in

any direction. H-bridge circuits are frequently used in robotics and many other applications
to allow DC motors to run forward & backward. These motor control circuits are mostly
used in different converters like DC-DC, DC-AC, AC-AC converters and many other types

of power electronic converters. In specific, a bipolar stepper motor is always driven by a

motor controller having two H-bridges
A H-bridge is fabricated with four switches like S1, S2, S3 and S4. When the S1 and S4
switches are closed, then a positive voltage will be applied across the motor. By opening the
switches S1 and S4 and closing the switches S2 and S3, this voltage is inverted, allowing
invert operation of the motor. Generally, the H-bridge motor driver circuit is used to reverse
the direction of the motor and also to break the motor. When the motor comes to a sudden
stop, as the terminals of the motor are shorted. Or let the motor run free to a stop, when the
motor is detached from the circuit. The table below gives the different operations with the
four switches corresponding to the above circuit.
8.3 H Bridge Motor Control Circuit Using L293d IC
The IC LM293D consists of 4-i/p pins where, pin2 and 7 on the left side of the IC and
Pin 10 and 15 on the right side of the IC. Left input pins on the IC will control the rotation of
a motor. Here, the motor is connected across side and right i/p for the motor on the right hand
side. This motor rotates based on the i/ps we provided across the input pins as Logic 0 and
Logic 1.

Let’s consider, when a motor is connected to the o/p pins 3 and 6 on the left side of the IC.
For rotating of the motor in clockwise direction, then the i/p pins have to be provided with
Logic 0 and Logic 1.
When
Pin-2= logic 1 & pin-7 = logic 0, then it rotates in clockwise direction.

Pin-2= logic 0 &Pin7 = logic 1, then it rotates in anti clock direction

Pin-2= logic 0 & Pin7 = logic 0, then it is idle (high impedance state)
Pin-2= logic 1 & Pin7 = logic 1, then it is idle
In a similar way the motor can also operate across input pin-15 and pin-10 for the
motor on the right hand side.The L4293D motor driver IC deals with huge currents, due to
this reason, this circuit uses a heat sink to decrease the heat. Therefore, there are 4-ground
pins on the L293D IC. When we solder these pins on the PCB (printed circuit board), then
we can get a huge metallic area between the ground pins where the heat can be produced.

CONCLUSION:
Hence many lives can be saved by using this autonomous vehicle during a disaster in
a short duration which becomes time consuming and unaffected if done manually. The
application of wireless sensor network will improve the saving of many lives by using mobile
rescue robot in disaster prone area. In this paper we design an effective & safe system to
ensure that there is no human left behind in rescue operation.

REFERENCES:
[1]Premkumar .M “UNMANNED MULTI-FUNCTIONAL ROBOT USING ZIGBEE
ADOPTER NETWORK FOR DEFENSE APPLICATION” International Journal of
Advanced Research in Computer Engineering & Technology (IJARCET)Volume 2, Issue 1,
January 2013.
[2] AkashRavindran and AkshayPremkumar “CAMOFLAGE TECHNOLOGY”International

Journal of Emerging Technology in Computer Science & Electronics (IJETCSE) ISSN:
0976-1353 Volume 8 Issue 1 –APRIL 2014.
[3] P. Hymavathi, T. Jyothy “Surveillance Alive Human Detection Robot using

ZigbeeTechnology”SSRG International Journal of Electronics and Communication
Engineering (SSRG-IJECE) – volume issue 4 June 2014.
[4] George Bekey,” Autonomous Robots: From Biological Inspiration to Implementation

and Control”, MIT Press, Cambridge, MA, 2005. Mr. M. Arun Kumar, Mrs. M. Sharmila
”Wireless Multi Axis ROBOT for Multi-Purpose Operations”, Department of ECE, SVCET
& JNT University Anantapur, India.
[5] Dr. S. Bhargavi, S. Manjunath, “Design of an Intelligent Combat Robot for war fields”,
Department of Electronics and Communication Engineering, S.J.C.I.T, Chikballapur,
Karnataka, India
[6] Landmine Detection Technologies to Trace Explosive Vapour Detection Technique,

C.Kapoor1 and G.K. Kannan, Defense Science Journal, Vol. 57, No. 6, November 2007, Pp.
797-810, 2007, Desidoc.


Abstract:: Camouflage Technique Based Multifunctional Army Robot

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CAMOUFLAGE TECHNIQUE BASED MULTIFUNCTIONAL ARMY ROBOT

Dept. of ECE, BITM, Ballari Page 1

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1.1 Camouflage Technology

Active camouflage or adaptive camouflage is camouflage that adapts, often rapidly,

Study the development and possibility of camouflage technology usage in military

Dept. of ECE, BITM, Ballari Page 3

In 2003 researchers at the University of Tokyo under Susumu Tachi created a

1.2 STEALTH TECHNOLOGY

Stealth technology also termed LO technology (low observable technology) is a sub-

1.3 ACOUSTICS STEALTH

A control system based on an algorithm composed of IF … THEN … rules. A fuzzy

Dept. of ECE, BITM, Ballari Page 4

1.4 VISUAL STEALTH

1.5 HOW CLOAKING WORKS

1.6 CC2500 (RF TRANSCEIVER)

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[1] Premkumar .M “UNMANNED MULTI-FUNCTIONAL ROBOT USING ZIGBEE

[2] AkashRavindran and AkshayPremkumar “CAMOFLAGE TECHNOLOGY”

Dept. of ECE, BITM, Ballari Page 9

[3] P. Hymavathi, T. Jyothy “Surveillance Alive Human Detection Robot using

The wireless communication technologies are rapidly spreading to new areas,

Dept. of ECE, BITM, Ballari Page 10

Robot ARM7 Microcontroller Camouflage

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3.1.2 DRIVER COMPUTER(TRANSCIVER)

3.2 Existing System

3.3 Proposed System

Dept. of ECE, BITM, Ballari Page 14

3.4 System Requirements

3.4.2 Software Requirements

3.5 Merits and Demerits

 Vehicle is hided in the war field.

 It can’t detect the objects too quick while vehicle moving.

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4.1 Architectural Design

Figure 5.1:Architectural diagram of Camouflage Army Robot

4.2 Data Flow Diagram

Dept. of ECE, BITM, Ballari Page 17

Figure 4.2:Data flow diagram

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4.3 Class Diagram

Figure 4.3:Class diagram

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4.4 Use Case Diagrams

Figure 4.4:Use Case diagram

Dept. of ECE, BITM, Ballari Page 20

4.5 Sequence Diagram

A sequence diagram shows object interactions arranged in time sequence. It depicts

A sequence diagram shows, as parallel vertical lines (lifelines), different processes or

Sensors Arduino Cloud PC

Configures collected data

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5.1 Modular Description

Modular design, or "modularity in design", is a design approach that subdivides a

Dept. of ECE, BITM, Ballari Page 23

Figure 5.1.1: Arduino Mega Board