1. HUMAN DETECTION ROBOT
USING PIR SENSOR AND VIDEO LINK
 SAAD AYUB
 FAISAL ZIA
 SAAD SALEEM
 FAIZAN BUTT
SUPERVISOR: SIR SHOAIB
SCHOOL OF ELECTRICAL ENGINEERING
THE UNIVERSITY OF FAISALBAD

2. ABSTRACT:
Technological revolution, earnest endeavors in latest high-speed technology and also the
advancements in the capabilities of modern computers lead to a realistic chance for brand new
robot controls and enlightened upon the latest strategies of control theory. This technical
advancement and the necessity for top performance and efficient robots created quicker, accurate
and a lot of intelligent robots exploitation new robots control devices, new drives and advanced
control algorithms. There are always limitations to every technological reform, No matter how
advance technology may get, Natural disasters cannot be stopped from happening, however we the
human race is getting more and more aware and cautiouswithin the conception of intelligent rescue
operations in such disastrous areas, precious life and material are often rescued even though such
disastrous situations cannot be avoided. But there still exists possibilities of countless disasters that
are inevitable to occur and Earthquake is one such issue. Earthquakes after math is devastating and
the impact is long lasting and such disasters are immune to distinct between human and material
the impact is equal for whatever comes in their way. Because of this predicament perpetually
humans are buried among the left over debris and it is very difficult or sometime nearly impossible
to sightthem.
TABLE OF CONTENT:
LIST OF FIGURE:
LIST OF TABELS:
LIST OF ACRONOM:
CHAPTER # 1
INTRODUCTION:
1.1 OVERVIEW:
This robot is being developed as a Final year project prototype. The demonstration requires
the robot to portray abilities to move in either directions, sensor prediction, and interfacing
with the operator as it searches for the victims. The main objective of the project is to
detect humans in need of help who are unable to move in disastrous area. the objective of
the project depicts a very simple idea detection which follows a rescuer operation.
A PIR is utilized in the project which emits infrared rays in order to detect live humans. As an
alive human (body) emits thermal radiation. This thermal radiation is detected by the PIR
sensor in order to detect live humans.

3. Upon detection the person in need of help is located, at the receiver side it immediately
provides an audio alert (buzzer) visual alerts (video streaming) to the concerned authorities
so that person in need of help whether buried or unable to move can be reached abruptly.
This PIR (Passive infrared) sensor is placed in front of the moving robot that can move in all
the directions. The robot moves in either direction with the rotation of the geared dc motor
for optimum torque and minimum speed and motor derives with relays for turning and
movement in forward and reverse directions with accuracy.
The motor derive is a two wheel geared drive with DC motors attached to perform
movements in either forward or reverse directions. On a contrary note Detection of alive
human by designated rescue workers is tiring, reliable but very time consuming. Therefore,
achieving our aim will enable us to make a robot capable of autonomously human detection
from earthquake and other disastrous areas.
1.2 PROBLEM STATEMENT:
The question that arises in research an implementation of the project is as follows:
 How much efficient a robot can be made to detect live human from disastrous areas
autonomously.
 An autonomous robot must be capable of avoiding obstacle and take its own
decisions regarding its further proceedings, when it encounters with an obstacle.
 For the disaster prone areas it is unlikely to be a bright site or on other hand if
performing operation in the night in addition to sensor how a robot can have a sight
of view.
 How user friendly is the robot, GUI (graphical user interface) is to made easier to
user, which hides irrelevant on screen information on the user side.
 How effective a communication system is to be established between a receiver and
the transmitter side which communicates without any interference of the
surrounding frequencies which may result in obstruction or complete annihilation of
channel.
1.3 AIMS AND OBJECTIVE:
A PIR (Passive Infrared sensor) is utilized in the project which emits IR (infrared rays) in
order to detect live humans. As an alive human (body) emits thermal radiation. This thermal
radiation is detected and manipulated accordingly by the PIR sensor in order to detect live
humans. Upon detection the person in need of help is located, at the receiver side it
immediately provides an audio alert (buzzer) visual alerts (video streaming) to the
concerned authorities so that person in need of help whether buried or unable to move can
be reached abruptly. This PIR (Passive infrared) sensor is placed in front of the moving robot
that can move in all the directions. The robot moves in either direction with the rotation of

4. the geared dc motor for optimum torque and minimum speed and motor derives with relays
for turning and movement in forward and reverse directions with accuracy. The motor
derive is a two wheel geared drive with DC motors attached to perform movements in
either forward or reverse directions. On a contrary note Detection of alive human by
designated rescue workers is tiring, reliable but very time consuming; therefore, using the
human detection robot for earthquake and other disastrous areas is much more beneficial
for detection which is then followed by a rescue operation upon detection.
1.4 IDEA OF RESOURCEREQUIREMENT:
In this project instead of metal detector and other previously used sensors that are used
much too often a PIR sensor is used which makes the system much effective and an
advanced system. It holds a great advantage over others because of the PIR sensor helps to
detect the Human (Body) radiations emitting from a live human being. With that it also
supports a videos transmitting feature which not only enables the receiver to locate but
have a better understanding of the surroundings, as it moves around the disastrous and
earthquake prone areas and any other field desired, it helps reducing the work in the field
as it already detects and locates the person to be rescued, Manually checking a person if
alive one must check the pulse, heart beat but with the help of this robot, itself checks
whether the person is alive or not.
1.5 SECURITY CONSTRAIN OF PROJECT:
Security constrain of the project:
 This robot is being developed as a Final year project prototype. The demonstration
requires the robot to portray abilities to move in direction, sensor prediction and
interfacing with the operator as it searches for the dummy victims. Hence no real
victim is used in the demonstration thus preventing from any ethical violation
concern.
 All the channels of communication used are within the excessive range of legal band
of operation.
 The bands of communications such as GSM and zigbee are not used instead a much
simpler and legal range of RF band is used.
 The robot is equipped with not a single constituent that might be used as weaponry
to harm any Individual. Unlike other targeting and striking robots this robot objective
is to save lives rather than taking lives.
 In an unconditional environment where a robot comes across a situation where it
might come in contact of fire or other rugged condition, upon contact robot battery
and other electronic equipment have a very rare chance to explode, and even if it
explodes, the explosion will not be capable of harming anything in the surroundings.

5. 1.6 BACKGROUND:
With the advancement in the technology and especially in the field of robotics, in the few
years ago of work is done on robotics to facilitate mankind. These earnest endeavors lead to
a whole new race of robotics where manual control of robot took a step ahead to
autonomous robotics Similarly sensor with better performance and other parameters were
introduced, one idea lead to another and today’s modern electronics enables us to facilitate
human race in every possible way.
Previously used sensors like metal detector or infrared of low proficiency were used much
too often but with unsatisfactory results. A PIR sensor is now used which makes the system
much effective and an advanced system.
It holds a great advantage over others because of the PIR sensor helps to detect the Human
(Body) radiations emitting from a live human being. Previously a manual control was
provided to the robot which required a designated person presence all the time. However
using ultrasonic sensor a robot now steers its own path avoiding the obstacles. Another
drawback was the oblivious state of rescue team about the surroundings of person to
rescued, so videos transmitting feature which not only enables the receiver to locate but
have a better understanding of the surroundings, as it moves around the disastrous and
earthquake prone areas and any other field desired, it helps reducing the work in the field.
1.7 FEATURES:
The main features of the robot are as follows:
 Avoid obstacle and steer it way through the desired field of operation.
 Detects thermal radiation from humans in need of help and a sound alert is sent to
receiver side.
 User friendly GUI at receiver end providing control of robot and its actions.
 Works both automatically and manually. Manually if, the robot is stuck or in
situation where further movement is impossible an audio alert is again sent to
receiver for manual operation.
 Continuous video streaming which enable the receiver for manual steering,
identification of the radiation source, better understanding of surroundings before
deploying a rescue team.

6.  A reset switch (false alarm reset) in case if a radiation is detected but the source is
not human but any other animal, the receiver may provide the robot with a reset
signal which ignores that radiation source considering it as a obstacle and again
starts to detect for radiations.
1.8 REQUIREMENTS:
 The basic requirements of the project are
 To Design and implement the robot (vehicle).
 Co-ordination of Dc motor and motor drive controls.
 Design and implementation of the receiver side circuit.
 Design and implementation of the transmitter side circuit.
 Programming and synchronization of the micro-controller with other electronic
equipments.
 Design and implementation wireless video transmission and other instructions
(control).
SYSTEM OVERVIEW DIAGRAM:
CHAPTER # 2
ARCHITECTURE AND DESIGN:
2.1 BASIC DESIGN AND SYSTEM CIRCUITRY:
There are two basic designs
>hard ware structure
Hard warestructure:
Hard ware structure deals with the outlook design of the robot which is very important
section of the robot holding all the equipments. Considering this structure many other
sections involve like movement of mobile robot under trough circumstances and performing
action having a safe side for robot model.
There are many probabilities in way along which the robot can move when considering the
field of action so the only hardware design is the only one section which help to make robot
efficient under that condition because appropriate design is not fruitful in field of action.
This design based on the raw fact and figure assuming from the field of action for example
in movement when the wheel structure designed it will notice that weather they are
appropriate for that condition or not.

7. A smart outlook structure makes a robot more efficient considering the hurdles in field
where the robot is working.
2.2 SYSTEM CIRCUITRY:
There are basically two circuit boards of the project:
 Transmitter side Circuitry
Transmitter side circuitry is that end which is in the field in simple robot containing
that circuitry it performs many actions which is time by time executing and at some
target achieving it directly communicate with the receiver end.
3 Ultrasonic sensors placed on robot which is one by one sending signal to executing
point through which the robot avoid all hurdles and keep moving along the open
way by keeping its search ON at any object achievement which is possible wit PIR
sensor a executing section deliver signal to receiver end for further procedure.
 Receiver side Circuitry
At receiver side when the signal received a buzzer give the navigation about the
object achievement and then the further procedure start at that end a human which
is monitoring and controlling the whole procedure makes a decision according to the
condition.
Probably it is possible that the signal is “robot stuck” or in a situation where further
movement is impossible an audio alert is again send to the receiver for manual
operation.
2.3 CONTROL SYSTEM:
The systemhas two main functions:
 Monitoring
 Controlling
First of all the video camera attached with the extinguish vehicle will send real time video
signals to our monitoring device i.e., monitor. The video camera is wireless. After watching
the video on the monitor, the operator can make his own decision and take an action
accordingly.
After the user had made his decision, he sends the control commands via serial
communication to the PIC micro controller which processes the digital data input. This
control signal is then transmit through RF module. At the receiver end the transmitted signal
is again processed and signal is given to motor driver circuit to perform the required control
action. The user observes the real time video by computer software.

8. 2.4 TRANSMITTER SIDE:
The transmitter side of the circuit is the robot itself the vital constituent elements of the
transmitter side are sensors (PIR and Ultrasonic), Microprocessor, wireless video camera, Dc
motor and the motor derives. Future more the trainmaster circuit constitute element like
opto-coupler, bridge rectifier, capacitors and resistor and voltage regulators for over all
control of the voltage signal. Transceiver for two way communication between transmitter
and receiver. For the automatic operation the main input is to the micro-controller is from
the Ultrasonic sensor which provide the directions to the robot to steer through the desired
field of operation. The readings from the ultrasonic sensor is continuously sent to the
microcontroller which processes the input signals and provide a required output signal sent
to motor derives which further drive the movements of robot. The other sensor is the
Biosensor which detects the thermal radiation on 180 degree angle range. The output of PIR
acts as the input for the microprocessor and the signal is transmitted to the receiver side for
further action. The video camera has its own module for transmitting its video therefore no
output of the camera acts as an input for microcontroller.
2.5 RECEIEVER:
At target achievement when the transmitter send signal and at receiver end it is received by
RF transverse and send it to the PIC for execution at receiver end a simple circuitry is
involved to give a audio alert.
In this circuitry a PIC controller is directed with transceiver and personal computer with
serial communication.
Through GUI when a user operate robot manually a single command is execute time by time
and send to the robot through RF transceiver. All commands from GUI left, right, forward,
backward all are send to execution center PIC and send to execute and send to robot to
make some action regarding these commands.
Chapter # 3
CONSITITUENT ELEMENTS:
3.1 Passive InfraredSensor:
It is a type of infrared sensor that works by detecting any kind of infrared radiation emitting
objects in their field of observation. Normally everything that is alive or moveable emits
infrared signatures but vary in the magnitude, some objects emits high signature some
emits low thus when a moveable object passes the path of a PIR sensor it emits the infrared
rays that can be detected by the sensor and it works accordingly. Normally we have a
misconception that PIR sensor emits rays but it’s the opposite it detect rays. PIR sensors are

9. made of pyro electric materials that work on the principle of generating energy when
exposed to heat. Materials commonly used in PIR sensors are made of gallium
nitride, polyvinyl fluorides,cobalt phthalocyanine and caesiumnitrate. These sensors are
mostly manufactured as integrated circuits. There are wide range of PIRs which have 180
degree or 360 degree view of site, this is made possible by using different type of lenses in
from of sensor e.g. Fresnel lenses or mirror segments. More over differential detection
method is also used in PIR sensors where pairs of PIR sensors may be wired to a differential
amplifiers as opposites inputs thus when a body passes the IR energy that is normal
condition was cancelling the effect of the paired sensors now show some reading thus dete
3.2 DC drives:
DC drives or adjustable speed drives are the systems used to control the speed of dc motor
through suitable design circuitry majorly consisting of thyristors which make a bridge and
operate in a four quadrant mode in order to perform acceleration, forward breaking,
reverse breaking and regeneration. More over the direction of rotation of a dc motor can
also be change through dc drive. There are two ways to change the direction of a dc motor
reverse armature polarity and reverse field polarity. Main principle of varying speed of a dc
motor is by varying voltage but the applied voltage should not be more than the rated
voltage of the motor defined. Basic operation of a dc drive is that it supply voltage to the
motor while the motor draws the current as per the load applied thus it is obvious that if we
apply more than rated load at the motor the motor will draw more current and gets burned
or malfunctions. Majorly the power circuit of a dc drive consists of six thyristors and six free
whiling diodes in case of 3 phase dc drive and 3 thyristors and 3 freewheeling diode in case
of single phase dc drive. Its operation is performed in 4 different quadrants where thyrisotrs
operates according to the current and voltage polarity. Thyristors operations depend upon
their firing time and angles which are controlled by programmed microcontrollers.
3.3 ULTRA SONIC:
Sound navigation and ranging is a technique which uses sound waves to detect objects and
communicate with other objects using different frequencies ranging from low frequencies
(infrasonic) to high frequencies (ultrasonic). There are majorly two types of SONARS active
and passive. Actives are the one which produce sound waves and detect objects by hearing
echoes which came back when the produced sound waves strike an object and thus the
sonar device measures the distance of the object by the algorithm which is fed into them.
While the passive SONAR devices are the ones which detects objects by the sound waves
produced by the objects themselves. Typically SONAR is made of
a magnetostrictive transducer and an array of nickel tubes connected to a steel plate
attached to a crystal (Rochelle salt or Quartz) in a spherical housing Normally SONAR is
used in naval operations but it is also used in vehicle identification purposes. It has many
advantages but it also has adverse effects on marine life as the high frequency sound waves

10. effects the telemetry and hearing of marine creatures. Frequency range of SONAR varies
from 1KHZ to several 1000 KHZ. SONAR performance depends upon many factors e.g.
receiving and transmitting equipment, localization, and sound speed (sound has different
speeds in different mediums e.g. it has slow speed in fresh water than in sea water) etc.
3.4 SERVO MOTOR:
a servomotor is a servomechanism. a control signal that represents a output position of the
servo shaft, and apply power to its DC motor until its shaft turns to that OUTPUT position . It
uses the position-sensing device to determine the rotational position of the shaft, so it
knows which way the motor must turn to move the shaft to the commanded position. The
shaft typically does not rotate freely round and round like a DC motor, but rather can only
turn 200 degrees or so back and forth. Servomotors are used in applications LIKE robotics,
CNC machinery or automated manufacturing.
3.5 BOATER 3296- REGULATOR:
In 1952, Marlan Bourns presented the first trimming potentiometer, called as "Trimpot".
Trimmer potentiometer is a miniature adjustable electrical device.
This is designed for to "trim" the value of a resistor in order to get the exact gain in the form
of output voltage and output current. They are most common in precise circuits like A/V
components, calibrating instruments and setting up the bias current on power amplifiers.
Trimmer potentiometers are connected directly on circuit boards, having small screwdriver
and designed for few adjustments during operation. They can either be single or multi-turn,
with the multi-turn used in applications that require more precise settings. They may also be
connected either vertically or horizontally depending on the requirements for maintaining
the component.
Features:
Range of the resistance starts from 10 ohm to 5 mega ohms.
Range of the voltage is 300 to 400 volts max while Tolerance is ±10 % std and Temperature
range is from -55 °C up to 125 °C.
We use boater 3296 trimmer here whose specifications are
Range of normal resistance: 50O—2MO
Resistance tolerance: +-10%
Rated Power (315V max): 0.5W
Temperature range: -55——+125

11. 3.6 LM 317 VOLTAGEREGULATORS:
A voltage regulator maintains constant voltage level automatically .
it may be a simple "feed-forward" design or may include negative
feedback control and may use an electromechanical mechanism, or electronic components.
LM317
The LM317 is a popular adjustable linear voltage regulator.It was invented by Robert C.
Dobkin and Robert J. Widlar in 1970The LM317 has three pins: INput, OUTput, and
ADJustment.The device is an op amp with a relatively high output current capacity. The
LM317 is an adjustable 3-terminal positive voltage regulatorcapable of supplying in excess
of 1.5 A over an output voltage range of1.2 V to 37 V. This voltage regulator easy to use
andrequires only two external resistors to set the output voltage. Further, itemploys
internal current limiting, thermal shutdown and safe areacompensation, making it
essentially blow-out proof This device can also be used to make a programmableoutput
regulator, or by connecting a fixed resistor between theadjustment and output, the LM317
can be used as a precision current regulator.
Features:
Output Current in Excess of 1.5 A
Output voltage Adjustable between 1.2 V and 37 V
Internal Thermal Overload Protection
Internal Short Circuit Current Limiting Constant with Temperature
Output Transistor Safe-Area Compensation
Floating Operation for High Voltage Applications
Guaranteed 1% Output Voltage Tolerance
Guaranteed max. 0.01%/V Line Regulation
Guaranteed max. 0.3% Load Regulation
Min. 1.5A Output Current
100% Burn-in in Thermal Overload
Applications:
Wide Range Power Supplies

12. Constant Current Supplies
Voltage Programmable Supplies
3.7 PIC ATMEGA328P-PU:
atmega328p-pu is a 8 bit microcontroller which has clock frequency of 20 mhz and program
memory size is 32kb. it is manufactured by Atmel. This is an integrated circuit that converts
signals fromits serial port to signals Suitable for use in TTL compatible digital logic circuits.
this has 28 pins and operate at almost 5 v.this is dataeprom type and has data rom size 1 kb.
Operate at min 1.8 v and max 5.8 v.This has high performance, low power and belongs to
Atmel ®avr® 8-bit microcontroller family
I/O and Packages
23 Programmable I/O Lines
28-pin
Operating Voltage:
1.8 - 5.5V
Temperature Range:
-40?C to 85?C
Speed Grade:
0 - 4MHz@1.8 - 5.5V, 0 - 10MHz@2.7 - 5.5.V, 0 - 20MHz @ 4.5 - 5.5V
Power Consumption at 1MHz, 1.8V, 25?C
Active Mode: 0.2mA
Power-down Mode: 0.1µA
Power-save Mode: 0.75µA (Including 32 kHz RTC)
FEATURES:
32 general-purpose working registers, serial programmable USART, execute powerful
instructions in a single clock cycle designed for use in industrial automation and home and
building automation.
3.8 OPTO COUPLER:
An opto-coupler also known as an opto-isolator which is an electric circuit that transfers
electricity between two other parts without allowing them to make a direct connected,

13. While optocouplers offer element isolation similar to a relay component, they are better
choice for circuit designers, as they are smaller in size and fit easily into the microcircuit
used in electronics field. An opto-coupler is an optical transmitter and an optical receiver
connected by a non-conductive barrier. It uses a beam of light to transfer energy from one
circuit element to another, and it can handle coming voltages of up to 7500V. The barrier
that separates the two side of the opto-coupler is made from a transparent glass or plastic
polymer that does not conduct electricity but does conduct light. here in this robot opto-
coupler is performing the isolation between RF transmitter antenna and Pic microcontroller.
In order to avoid interference opto-coupler has been used between RF antenna and
transmitter circuitry. In our project 4-pin opto-coupler PC817 IC chip has been used.
FEATURES:
The important feature of optocoupler is its electricity transfer efficiency. its efficiency is
measured through its current transfer ratio (CTR),this is the relationship between the
current change on the output side of the barrier and the current change on the input side of
the barrier. Most optocouplers work at a CTR between 10 and 50 percent. Applications
Computer terminals Signal transmission between circuits of different potentials and
impedances System appliances, measuring instruments.
3.9 WIRELESS CAMERA:
in this robot camera is very important part because with the help of this we find out the
exact location of fire and the missing injured persons. it is connected over vehicle. It
captures the video and transmits it at certain RF. RF is different for different Wireless
camera models. Camera is easily available in the market and it is usually used for security
purposes. The wireless camera is actually performing monitoring as explained before. After
receiving the video through our camera we are in a position to take decision for the robot
whether we have to move it forward ,back , left or right(manual case discussing here) in
automat .
3.10 Battery:
They provide DC voltage to the motors. Batteries are used to provide power to dc motors
mainly. The battery used for this project is simple one DC battery of 12v and 1.5 amps.
These batteries are providing approximately 7V to DC motors which are moving the robotic
case it moves itself depending upon the conditions.
3.11 TRANSCEIVER:

14. A device which has both transmitter and receiver and and share common circuit is known as
transceiver.while RF Transceiver uses RF modules for high speed data transmission. The
objective of transceivers is to bring digital value closer to the antenna at the receiving and
transmitting ends using software defined radio.programmable digital processors used in
circuit allow conversion between digital signal and analog RF signal. Transceivers are mostly
used to define the equipments in LANs that send signals to the network wire and at the
same time detects signals passing through the wire. Transceiver is a two way radio that
combines transmitter and receiver exchanging information in half-duplexmode. Integrated
circuit allows high performance circuit to built at lesser cost and with significant amount of
space saving.
RF Transceivers
RF transceiver is a device that receives and demodulates (RF) signals, and then modulates
and transmits new signal. They are used in many different videos, voice and data
application. RF transceiver consists of an antenna to receive transmitted signal and tuner to
separate a specific signal fromall of other signals that the antenna receives. Detectors or
demodulators gather information that encoded before transmission. Radio techniques are
used to limit localized noise. To transmit new signal, oscillator creates sin wave which is
encoded and broadcast as radio signals.
Specifications:
RF transceiver includes data rate, sensitivity, output power, communication interface,
operating frequency, measurement resolution, and maximum transmission distance. Data
rate is the number of bits per second that can be transmitted. Sensitivity is the minimum
input signal required. Communication interface is the method used to output data to
computers. General-purpose interface bus (GPIB) is the most common parallel interface.
Universal serial bus (USB), RS232 and RS485 are common serial interfaces. Operating
frequency is the range of signals that can be broadcast and received. Measurement
resolution is the minimum digital resolution. Maximum transmission distance is the largest
distance by which the transmitter and receiver can be separated. Additional considerations
when selecting RF transceivers include power source, supply voltage, supply current,
transmitter inputs, receiver inputs, and RF connector types.
3.12 BUZZER:
A device which provides audio signaling function is known as buzzer. The devices may be
mechanical or electronic or it can be combination of the both .They are designed to emit
sound over a wide area or to provide more specialized functions. It takes some input and
emits sound in result of it. Buzzer uses various ways to produce the sound; everything from
metal clappers to electromechanical devices. A buzzer needs to have some way of taking in

15. energy and converting it to acoustic energy. The buzzer may be battery powered so that it
will go off in the event of a mains outage. Some devices that provide emergency power have
buzzers on them so that the user knows that they are running on backup power and not on
mains power. Buzzers are used for user or operator an audio indication of the stage of a
mechanical device. For instance, “buzzing someone in” refers to opening an
electromechanical lock on a door, which emits a buzz, indicating that the lock has been
moved to the open position. Buzzers are used on computers, most often to indicate error
conditions. These buzzers may go off if there is a faulty component on the device.
Computers usually use beepers for this purpose, as well. These are usually piezoelectric
buzzers.
CHAPTER # 4
METHODOLOGY:
4.1 GUI (Graphical User Interface):
It takes a general perspective of encouraging powerful access to an advanced asset and
afterward looks at all the more nearly the issues of convenience and after that availability. It
is expected to be useful to gathering supervisors wishing to concede access to an advanced
asset.
Human RobotInterface:
The Graphical Client Interface (GUI), through which the robot administrator will be given
data from the robots on-board instruments, for example, its cams, will be produced in an
Article Situated Programming dialect, for example, C++. It is expected that the Scaleform
GUI pack will give a structure through which to build up the GUI for the robot control
interface. Scale form gives a vector representation rendering motor used to show Glimmer
based client interfaces, HUDs and works on Microsoft Windows, Macintosh OS-X and Linux
working frameworks.
The robot control interface is proposed to be produced in a secluded approach in C++ as to
let separate segments, to be swapped out separately to be tried and enhanced. The
automated control interface will send all orders to the robot by means of TCP/IP attachment
messages ignored the remote system, where the essential control framework on the robot
will decipher these messages and forward them to their separate sub-frameworks on the
robot. The individual robot-framework messages, for example, "drive forward at half-
speed", will be sent to the different subsystems on the robot by means of different
interchanges measures, for example, serially through the RS-232 correspondences standard.
Base Station:

16. The base station, whichwill be ageneral PCframework,will getinputsfromthe controllersand
procedure theminthe robotcontrol interface.
4.2 PROTEUS DESIGN SUIT:
Proteus is an application that permits the client to make schematic catches, reproduce chip
and create PCB (printed circuit board) plans. A large portion of the clients download this
product in light of the fact that its interface improves the distinctive undertakings. It
includes a few modules that are consolidated to offer unmistakable administrations. This
product combines ARES PCB format and ISIS schematic catch to give a capable outline
program.
Proteus is a Virtual Framework Displaying and circuit recreation application. The suite joins
blended mode Zest circuit reenactment, enlivened segments and microchip models to
encourage co-reproduction of complete microcontroller based outlines. Proteus likewise
can mimic the connection between programming running on a microcontroller and any
simple or advanced gadgets joined with it. It mimics Info/ Yield ports, interferes with, clocks,
USARTs and all different peripherals show on every bolstered processor.
Points of interest of ProteusISIS Proficient:
 It gives the best possible thought and usage of your code and circuit before
actualizing on equipment.
 It diminishes the time on making equipment and testing your slips specifically on
equipment. You can break down your circuit and code both on Proteus and discover
the mistakes experiencing before executing on equipment.
 Decreases undertaking expense and programming reliance.
4.3 ARDUINO:
Introduction:
An Arduino is an open-source microcontroller advancement board. In plain English, you can
utilize the Arduino to peruse sensors and control things like engines and lights. This permits
you to transfer projects to this board which can then connect with things in this present
reality. With this, you can make gadgets which react and respond to the world on the loose.
The conceivable outcomes of the Arduino are just about boundless. Arduino is a device for
appearing well and good and control a greater amount of the physical world than your
desktop PC. It's an open-source physical registering stage in light of a straightforward

17. microcontroller board, and an improvement domain for composing programming for the
board.
WHY ARDUINO:
Cheap - Arduino sheets are generally reasonable contrasted with other microcontroller
stages. Straightforward, clear programming environment - The Arduino programming
environment is anything but difficult to-use for amateurs, yet sufficiently adaptable for
cutting edge clients to exploit also.
Open source and extensible equipment - The Arduino is taking into account Atmel's
ATMEGA8 and ATMEGA168 microcontrollers. Indeed, even generally unpracticed clients can
construct the breadboard variant of the module to see how it functions and spare cash.
CHAPTER # 5
RESULT AND ANALYSIS:
5.1 RESULT:
A proto-type human detection robot working 90% efficiently according to the given
scenario. Given scenario based on the architecture of main idea on which this proto-type
robot is working by estimating the distance of hurdles and moving according to the passage
and way of programming through which robot avoids the block positions and move along
the open way.
Finding injured and stuck human in Earthquake disaster area is the main idea and theme of
scenario which is design for the robot and using all multiple intelligence the robot is working
excellently in this given scenario.
5.2 ANALYSIS:
These edges are the main check of robot performance which is as following
 SPEED AND MOVEMENT:
In the speed and movement determine the efficiency of robot moving along the right path
avoiding the block paths and move in the open way. In speed motors are the designed to
carry the weight of robot and pass-through the small resistances in the moving path. In
movement robot making two angles of 90 degrees at right and left side and straight move in
front and back direction. The angle making by stopping one motor at left and right both
sides for the perfect turn of 90 degree according the scenario.
 SENSORS AND CAMERA:

18. All of sensors and camera giving the perfect value that are required for the scenario in
performance of robot, perfect values using for both input and output commands. The exact
delay in commands between the sensors and camera and reset options.
 CIRCUITERY AND PROCESSING UNIT:
All of circuits including motor control circuit, sensor circuits, and the connection of all
circuits with the processing unit. all the priority commands are programmed to do first and
rest of all with the sequences of execution. The timing between the sensor 1 ,processing
unit, sensor 2 and reset are fully programmed according to the need of scenario on which
the robot is working.
Coding for the processing unit to perform all sequences and commands are comparatively
perfect it runs the whole program running in the robot without creating loops and errors in
the system of all commands.
All commands are positive at both ends transmitter and receiver without any lose of signal
using the transmission between database and field mover.
5.3 LIMITATION IN ROBOT:
 These proto-type wheels are design to move in smooth surface, but in advance type
we have to design which are suitable for trough and terrain surfaces.
 Motors are not very strong to load the heavy weight of tires and high volt battery.
 Robot performs turning and movement not exactly at the same time which slows the
speed of robot.
 Ultrasonic sensors have a minimum sensing distance which is ok for proto-type but
in advance type these are not very helpful.
 Changes in environment, like as temperature, pressure, humidity, affect ultrasonic
response, so it shows a need for better one when robot is working in real field.
 PIR sensor detect only in the front field of 180 degree, it must be Fresnel PIR which
work at 360 degree.
 All circuitry are open and displayed for supervisor point of view but it must be closed
in secure box for hard environment.
 On this robot only front view camera is used ,it must b rotating which help to
minimize the time.
CHAPTER # 6

19. CONCLUSION AND FURTHER WORK:
6.1 CONCLUSION:
This robot is developed as field efficient by using the structure and theme of this proto-type
robot with optimization in design and working principle.
For more positives results change its outlook structure with the change in circuitry and
equipments that are using in proto-type robot. Advance equipments and rugged structure
make it more field effective keeping in mind the whole scenario of earthquake disaster area.
6.2 LIMITATION OVERCOMEAND ADVANCEMENT:
This robot requires so much optimization in its design and structure to overcome the
limitation that is occurring in proto-type design. Major advancement is in movement and
speed by using wheel structure for the trough and terrain surface as well as the high volt
battery and high tech motors to load the heavy weight and to increase speed and
movement.
Advance logic in wheel structure make its turning so fast and time efficient which limits the
basic angle of turning and robot turn at 360 degree by keeping its position constant.
All sensing devices are majorly affected according to environment change like temperature,
humid, pressure etc in field this will overcome with using more high tech sensing devices
which avoid the error occurring during change in environment. PIR sensor detect only in the
front field of 180 degree, it must be Fresnel PIR which work at 360 which is costly but more
appropriate for the field scenario.
Straight view camera focus at least at 100 degree but for more 260 degree robot change its
direction which is little but time consuming and it effect the efficiency but minor.
6.3 FURTHER WORK:
This circuit is mainly using in land rovers by making its movement more effective on trough
surface and in advance this will also use in drone applying the same circuit and idea with
advance techniques.
This circuit and structure is also use with different idea, in war field it helps to locate and hit
the living enemy targets and a camera on top gave the sight of view of current situation
ahead. By adding voice command it helps to communicate with receiver end designated
officers with the field war troops. It helps to locate the positions of enemy troops and make
easy targeting.

20. More optimization which include image processing trough this technique it recognize the
victims with their face reorganization and finger print analysis technique which is directed to
NADRA data base to get whole information about the victim that is our target of rescue. It
will help to make search more narrow for example, if 3 persons of family is missing and 1 is
recovered else of 2 are probably near to target 1 this figure emphasis to research in
surround it will give fast result if they are alive rescue or they are dead move on for next.