Bomb squad final thesis

1. INTRODUCTION
This system provides a pick and place robotic arm which is a soft catching
gripper system. It can be used to pick and place objects as needed. This arm is
mounted on a robotic vehicle that can be controlled wirelessly through an android
mobile phone. The android phone acts as the controller used to transmit the control
commands through Bluetooth. These commands are used to operate the robot front,
backwards, left and right directions. At the receiver side four motors are used, two to
drive the vehicle and the other two used to control the arm movement and gripper
movement respectively.
The android phone is used as remote controlling device used to control the robotic
vehicle. The use of Bluetooth technology provides adequate operational range of
nearly 100m with instant transmissions. The microcontroller after receiving these
commands, operate required motors through the driver IC. It can be remotely
controlled by any android device. This robotic vehicle may be used in industrial or
even domestic purposes and even as a help for industrial workers. The word robot
was derived from Czech word robota which means “a forced laborer” then later a
well-known Russian science fiction writer Isaac Asimov coined the word robotics.
From there on various different developments are being successfully done till date in
the field of robotics in the form of manipulators, humanoids, micro robots etc. As the
trend of the industry is moving from the current state of automation to robotization.
Thus the robot technology is advancing rapidly. The robot that we have made is a
command and control robot. This robot takes commands from the user in the form of
control signal sand performs the required action. The central idea behind this robot is
to provide a line of defense to a bomb disposal squad against the life threatening
risk, faced by them in the event of an explosion. It provides the squad a safe distance
to dispose off a bomb, which he normally has to do with his bare hands. The project
has been designed keeping in view the current law and order situation in India and
throughout the world. Everyday hundreds of trained personnel are either injured or
lose their lives while defusing bombs. This can be reviewed by the countless number
of news items appearing daily in newspapers around the world.
Although the idea of our project is original, a number of projects with similar
functionalities can be found. For example the British Police have a bomb disposal
robot, the Israeli Army has it and it is also being used by bomb disposal squads and
in number of states of USA. The main idea of this robot is to provide the bomb
disposal squad with safety and security from the risks that they face every day. The
bomb disposal squads of Pune have metal detectors and other equipment for bomb
detection and disposal, but they have to risk their lives by approaching the bomb or
the suspicious packet without any safety and precautions.

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Our robot provides an extra layer of protection to the bomb disposal squad by
allowing them to check and analyze a suspicious packet before actually approaching
it for disposal. Mobile robots reduce or eliminate a bomb technician’s time-on-
target. A robot takes risk out of potentially deadly scenarios and lets the bomb
technician focus on what to do to an explosive device rather than on the immediate
danger to life or limb. In addition, events recorded by a robot’s camera can provide
evidence for further analysis.
Explosives remain the weapon of choice for terrorists around the world.
Improvised Explosive Devices (IEDs) are a threat from international terrorist
organizations and local, home-grown terrorists as well. Sadly, Home Made
Explosives (HMEs) and IEDs have become a fact of modern life. When a bomb or
explosive material is suspected, bomb squads or Explosive Ordnance Disposal
(EOD) teams get called to the site to dispose the bomb. To stop all, this system is
very beneficial in areas where there is high risk for humans to enter. This system
makes use of robotic arm as well as robotic vehicle which helps not only to enter an
area involving high risk. HC‐05 module is an easy to use Bluetooth SPP (Serial Port
Protocol) module, designed for transparent wireless serial connection setup. The
HC-05 Bluetooth Module can be used in a Master or Slave configuration, making it
a great solution for wireless communication. This serial port Bluetooth module is
fully qualified Bluetooth V2.0+EDR. This innovative system is made for operations
which involve high risk for humans to enter, especially for some criminal case and
may prove very beneficial for military area for spying purposes. Robots have
become an indispensable tool for EOD teams and bomb squads. These EOD robots
or bomb disposal robots are controlled by a bomb technician, who can maintain a
safe distance from a threat. These robots have many uses, with a primary purpose of
diffusing or disabling bombs, unexploded ordnance, and landmines. Given their
usefulness, most EOD teams and bomb squads now have access to a robot. As
robots have become more common in military and law enforcement applications,
their uses have expanded. Robots, also called unmanned ground vehicles or UGVs,
can operate in environments which are incompatible or unsafe for humans.
The robot we have built is a pick and place robot with gripper consisting of a
blade. It is a low cost robot with feature like a camera, Bluetooth and gripper. It can
be easily upgraded and bound to have many applications like surveillance and
spying, pick and placing of hazardous materials etc.

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2. LITERATURE REVIEW
2.1 “WIRELESS BOMB DISPOSAL ROBOT” published in IOSR
Journal of Electronics and Communication Engineering (IOSR-
JECE) 17 March 2017, PP 37-40” by Prof. Deepali Ghogre1
, Pooja
Pagere2
, Mayuri Shardul3
, Gauri Shimpi4
on 17 March 2017.
This system is design to develop wireless bomb disposal robot which will help to
amendment defense of our nation from terrorist, suicide bombers and other such
activities. The bomb detectors and disposal system concern only with the present of
experts. But this method of analyzing takes more time and bomb disposal with bare
hand make danger to life of expert. The main idea behind our system is to purveyance
a line of defense to a bomb disposal squad against the existence threatening risk, faced
by a bomb disposal squad in the incident of a blast. Our system is represented the
definition something guided by automatic controls. The robot that we have constructs
is guided by controls that take input from a human and perform reliable action based
on these input. The Wireless Bomb Disposal Robot have control application as well as
user application, control application curb the robot remotely using Wireless
technology. The bomb squad controls the robot remotely using application at control
site. Input from the user is send over Wi-Fi control to the Receiver side, where it is
received, identified and given to the appropriate module (Robot) to act. The robot to
be composed of a Robotic Arm, Jaw, a Robotic Base, and Wireless camera on it. For
the elbow and gripper of robotic arm we have used DC motors. Our system provides
the squad a secure distance to dispose off a bomb, which bomb disposal squad
normally has to do with his bare hands. Hence introducing the innocuous way for
disposing the fulminant to save life of common people.
Fig.2.1 (a) Block Diagram of Bomb Disposal Robot.

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2.2 “WIRELESS BOMB DISPOSAL ROBOT” Published in
International Research Journal of Engineering and Technology
(IRJET) Apr-2016, Volume: 03, Issue: 04”By Shinde Pushpa.D.1
,
Davane Rahul D.2
, Patel Poonam B3
on Apr-2016.
This paper presents the wireless bomb disposal robot which will help to improve
defense of our nation from terrorist, suicide bombers and other such activities. The
bomb detectors and disposal system works only with the presence of experts. But this
way of analyzing takes more time and make risk to life of experts. The Wireless
Bomb Disposal Robot uses a control application, at the user end to control the robot
remotely using Wireless technology. The bomb technician controls the robot using
this application at control site. Input from the user is transmitted over zigbee to the
Receiver, where it is received, identified and given to the appropriate module (Robot)
to act. The Robot consists of a Base, a robotic Arm and a wireless camera on it. We
have used DC motors for the elbow and the gripper of the robotic arm. As we are not
risking the life of an bomb expert or any other commando. Hence introducing the
safest way for disposing the explosive to save life of common people.
Fig:-2.2(a) Transmitter and Receiver Block Diagram Of Bomb Disposal Robot.

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2.3 “ANDRIOD BASED BOMB DISPOSAL ROBOT USING ARM
CONTROLLER” published on International Journal of Advanced
Research in Electronics and Communication Engineering
(IJARECE) March 2016, Volume 5, Issue 3” By Mr. Ranjeet P.
Rajmane1
, Miss.Yogita Y. Patil2
, Miss. Shital K. Supugade3
on
March 2016.
Wireless control of robots is becoming popular and so are mobile handsets. In this
paper we describe the control of a robot using an Android mobile. We use Bluetooth
as the wireless interface between the mobile and the robot. An android application
serves as the graphical user interface for the application. The main idea of this robot
is to provide safety and security to person for handling hazardous material like bomb.
This Wireless Robot uses a control application at the user end to control the robot
remotely using Android technology. The technician controls the robot using this
application. This communication module is hosted in an android mobile. The robot
includes an interpreter which will convert the commands from the mobile into motor
controls. This is in addition to a manual mode where we enter commands. The ARM
used in it receives the commands from the android phone through Bluetooth model
connected to it and controls the Stepper motor connected to the robotic wheels.
Fig:-2.3(a) Block Diagram Of Bomb Disposal Robot Using Arm Controller.

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2.4 “WIRELESS BOMB DIFUSING ROBOT WITH CAMERA
INTERFACING” published on International Journal of
Scientific Research Engineering & Technology (IJSRET), ISSN
2278 – 0882 Volume 5, Issue 4,” by Prof. Vaibhav joshi, Sonali
Katore, Yogini Bhandare, Amol Kanade on April 2016.
In the past decade, robotic systems have been used with increased popularity for
explosive ordnance (EOD) missions. Advances in robotic technology have
made it possible for robots to per-form functions previously only possible by
human workers wearing a blast suit as shown. The primary advantage to using
robotic systems for explosive ordinance disposal is the reduced risk to humans.
Currently, EOD robots are able to traverse a variety of terrain, collect and
destroy certain explosives and provide improved reconnaissance capabilities to
law enforcement and military agencies. Although far from perfected, these
robots are saving lives by finding and disposing of explosives without the need
for direct human contact reliable robotic platform. The key features of the robot
include an intuitive user interface which provides additional sensor feedback
and enhanced visual awareness compared to existing systems, an on board three
degree of freedom manipulator arm providing an enlarged workspace, and a
dexterous gripper allowing for the removal of detonators. The flexible and
modular robot design utilizes commercial off the shelf components for ease of
maintenance and repairs. The robot provides a safe distance threat assessment
and increased capacity for explosive ordinance disposal, improving the
effectiveness of bomb disposal teams. The robot’s low-cost, intuitive operation
and ease-of-maintenance promote its widespread appeal, thereby saving the
lives of both law enforcement personnel and civilians.
Fig:-2.4(a) Block Diagram Of Wireless Bomb Disposal Robot With Camera Interface.

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3. BLOCK DIAGRAM
• The wireless bomb disposal robot uses a control application at user end to
control the robot remotely using wireless technology. The wireless technology
we have used here is Bluetooth.
• To interface Bluetooth with Arduino we have used HC-05.
• Robot is equipped with one arm like manipulator as well as sensors and a
camera that enable the user to remotely disarm the bomb.
• The microcontroller we have used is Arduino UNO.
• The motor driver L298N is used here to drive the DC motors which drive
wheels.
• The motor driver L293D is used to control gripper.
• The function of arm or gripper is to pick the bomb or packet.
• The camera allows user to see and operate the robot remotely. We have used IP
webcam as our eyes for robot to control it remotely.
• The gas sensors can detect hazardous gases.
• The battery we have used here is LIPO and HI WATT battery.
Fig: - 3.1(a) Block Diagram Of Wireless Bomb Disposal Robot.

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4. COMPONENT DESCRIPTION
4.1 Robotic gripper
A robotic gripper is a type of mechanical arm, usually programmable, with similar
functions to a human arm; the arm may be the sum total of the mechanism or may
be part of a more complex robot. The links of such a manipulator are connected by
joints allowing either rotational motion (such as in an articulated robot) or
translational (linear) displacement. The links of the manipulator can be considered
to form a kinematic chain. The terminus of the kinematic chain of the manipulator is
called the end effectors and it is analogous to the human hand. A robot gripper is a
type of end of arm tooling (EOAT) that is used to pick up items and can be
customized for your application.
Fig: - 4.1(a) Gripper.
4.2 ARDUINO DEVELOPMENT BOARD.
Fig: - 4.2(a) Arduino UNO

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Arduino is an open-source platform used for building electronics projects.
Arduino consists of both a physical programmable circuit board (often referred to as a
microcontroller) and a piece of software, or IDE (Integrated Development
Environment) that runs on computer, used to write and upload computer code to the
physical board. The Arduino platform has become quite popular with people just
starting out with electronics, and for good reason. Unlike most previous
programmable circuit boards, the Arduino does not need a separate piece of hardware
(called a programmer) in order to load new code onto the board – you can simply use
a USB cable .Additionally, the Arduino IDE uses a simplified version of C++,
making it easier to learn to program. Finally, Arduino provides a standard form factor
that breaks out the functions of the micro-controller into a more accessible package.
The UNO is one of the more popular boards in the Arduino family and a great choice
for beginners.
Over the years Arduino has been the brain of thousands of projects, from everyday
objects to complex scientific instruments. A worldwide community of makers -
students, hobbyists, artists, programmers, and professionals - has gathered around this
open-source platform, their contributions have added up to an incredible amount
of accessible knowledge that can be of great help to novices and experts alike.
Arduino was born at the Ivrea Interaction Design Institute as an easy tool for
fast prototyping, aimed at students without a background in electronics and
programming. As soon as it reached a wider community, the Arduino board started
changing to adapt to new needs and challenges, differentiating its offer from simple
8-bit boards to products for IoT applications, wearable, 3D printing, and embedded
environments. All Arduino boards are completely open-source, empowering users to
build them independently and eventually adapt them to their particular needs.
The software, too, is open-source, and it is growing through the contributions of users
worldwide
The Arduino hardware and software was designed for artists, designers, hobbyists,
hackers, newbies, and anyone interested in creating interactive objects or
environments. Arduino can interact with buttons, LEDs, motors, speakers, GPS units,
cameras, the internet, and even your smart-phone or you’re TV! This flexibility
combined with the fact that the Arduino software is free, the hardware boards are
pretty cheap, and both the software and hardware are easy to learn has led to a large

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community of users who have contributed code and released instructions for a huge
variety of Arduino-based projects.
Every Arduino board needs a way to be connected to a power source.The
recommended voltage for most Arduino models is between 6 and 12 Volts.
Input and Output
Each of the 14 digital pins on the Arduino Uno 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: pins 0 (RX) and 1 (TX). Used to receive (RX) and transmit (TX) TTL serial
data. These pins are connected to the corresponding pins of the ATmega8U2 USB-to-
TTL Serial chip.
External Interrupts: pins 2 and 3. These pins can be configured to trigger an
interrupt on a low value, a rising or falling edge, or a change in value. See the attach
Interrupt() function for details.
PWM: 3, 5, 6, 9, 10, and 11. Provide 8-bit PWM output with the analog Write()
function.
LED: 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.
TWI: A4 or SDA pin and A5 or SCL pin. Support TWI communication using the
Wire library.
There are a couple of other pins on the board:
Reset. Bring this line LOW to reset the microcontroller. It Resets the Arduino board
if pressed.
USB to PC: It is used to communicate Arduino via Universal Serial Bus to PC for
programming/sending data to Arduino serially.

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7V to 12V DC Input: For external supply, the voltage range of 7V to 12V DC is
recommended. The 9V battery can be used to power your Arduino Uno board.
Reset Button: It Resets the Arduino board if pressed.
ICSP: Abbreviated as In Circuit Serial Programming which consists of MOSI,
MISO, SCK, RESET, VCC, and GND. It is either used to program USB or
Microcontroller (For UNO, AT mega 328P-PU). ICSP allows the user to program the
microcontroller when it is in circuits, In Arduino UNO it allows to program
ATmega328P-PU directly with AVR instructions without using Arduino IDE.
SDA: Serial Data, It is the bidirectional data line that is used by I2C.
SCL: Serial Clock, It is used to indicate that data is ready on bidirectional data line
that is used by I2C.
AREF : Analog Read Reference, It is mainly used for analog Reference() function
calls, as default it is not required but to use it you have to add some voltage source
between 0V to 5V in AREF Pin which will be considered as accurate reference
voltage.
GND: Ground.
SPI: 10 (SS), 11 (MOSI), 12 (MISO), 13 (SCK). These pins support SPI
Communication using the SPI library.
SCK: Serial Clock, which is used by SPI (Serial Peripheral Interface). It is clock
generated by ‘Master’ which is used to clock the data to the ‘Slave’.
MOSI: Master Out Slave In, The data is transmitted from Master to Slave. (Master ->
Slave)
MISO: Master In Slave Out, The data is transmitted to Master from Slave. (Slave ->
Master)
SS: Slave Select, It is used to select the ‘Slave’. Make high to SS pin to deactivate &
make low to activate it.
INT1 & INT0: These are hardware interrupts; it calls the ISR (Interrupt Service
Routine) when the pin change occurs.

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TX: Transmit; it is used to transmit TTL serial data. It is also referred as ‘outwards’
since it ‘transmits’ data from Arduino to other connected peripheral device.
RX: Receive; it is used to receive TTL serial data. IT is also referred as ‘inwards’
since it ‘receives’ data from external hardware to Arduino.
Vin: Voltage In, If you’re powering your Arduino board from USB nothing is
obtained from Vin pin. But, if you’re powering the board with external supply then
that supply is directly obtained from Vin pin. However, the supply obtained at Vin
pin is usually lesser by 1V than voltage supplied to Power pin due to reverse polarity
protection diode.
5V Pin: It is used to power external components connected to Arduino which needs
5V.
3.3V Pin: It is used to power external components connected to Arduino which needs
3.3V
IORef: Input Output Voltage Reference, It allows shields connected to Arduino
board to check whether the board is running at 3.3V or 5V.
Voltage Regulator: The voltage regulator (14) is not actually something you can (or
should) interact with on the Arduino. But it is potentially useful to know that it is
there and what it’s for. The voltage regulator does exactly what it says – it controls
the amount of voltage that is let into the Arduino board. Think of it as a kind of
gatekeeper; it will turn away an extra voltage that might harm the circuit. Of course, it
has its limits, so don’t hook up your Arduino to anything greater than 20 volts.
REASON TO CHOOSE ARDUINO:-
Thanks to its simple and accessible user experience, Arduino has been used in
thousands of different projects and applications. The Arduino software is easy-to-
use for beginners, yet flexible enough for advanced users. It runs on Mac, Windows,
and Linux. Teachers and students use it to build low cost scientific instruments, to
prove chemistry and physics principles, or to get started with programming and
robotics. Designers and architects build interactive prototypes, musicians and artists
use it for installations and to experiment with new musical instruments. Makers, of
course, use it to build many of the projects exhibited at the Maker Faire, for

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example. Arduino is a key tool to learn new things. Anyone - children, hobbyists,
artists, programmers - can start tinkering just following the step by step instructions
of a kit, or sharing ideas online with other members of the Arduino community.
There are many other microcontrollers and microcontroller platforms available for
physical computing. Parallax Basic Stamp, Netmedia's BX-24, Phi gets, MIT's
Handy board, and many others offer similar functionality. All of these tools take the
messy details of microcontroller programming and wrap it up in an easy-to-use
package. Arduino also simplifies the process of working with microcontrollers, but
it offers some advantage for teachers, students, and interested amateurs over other
systems:
 Inexpensive - Arduino boards are relatively inexpensive compared to other
microcontroller platforms. The least expensive version of the Arduino module
can be assembled by hand, and even the pre-assembled Arduino modules cost
very less.
 Cross-platform - The Arduino Software (IDE) runs on Windows, Macintosh
OSX, and Linux operating systems. Most microcontroller systems are limited to
Windows.
 Simple, clear programming environment - The Arduino Software (IDE) is easy-
to-use for beginners, yet flexible enough for advanced users to take advantage of
as well. For teachers, it's conveniently based on the Processing programming
environment, so students learning to program in that environment will be
familiar with how the Arduino IDE works.
 Open source and extensible software - The Arduino software is published as
open source tools, available for extension by experienced programmers. The
language can be expanded through C++ libraries, and people wanting to
understand the technical details can make the leap from Arduino to the AVR C
programming language on which it's based. Similarly, you can add AVR-C code
directly into your Arduino programs if you want to.
 Open source and extensible hardware - The plans of the Arduino boards are
published under a Creative Commons license, so experienced circuit designers
can make their own version of the module, extending it and improving it. Even
relatively inexperienced users can build the breadboard version of the module in
order to understand how it works and save money.

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4.3 MOTOR DRIVER IC L298N.
From microcontroller we cannot connect a motor directly because
microcontroller cannot give sufficient current to drive the DC motors. Motor driver
is a current enhancing device; it can also be act as Switching Device. Thus we insert
motor driver in between motor and microcontroller. Motor driver take the input
signals from microcontroller and generate corresponding output for motor.
The L298N is an integrated monolithic circuit in a 15- lead Multiwatt and
PowerSO20 packages. It is a high voltage, high current dual full-bridge driver de-
signed to accept standard TTL logic level and drive inductive loads such as relays,
solenoids, DC and stepping motors. Two enable inputs are provided to enable or
disable the device independently of the input signals .The emitters of the lower
transistors of each bridge are connected together rand the corresponding external
terminal can be used for the connection of an external sensing resistor. An
additional Supply input is provided so that the logic works at a lower voltage.
Fig: - 4.3(a) Motor Driver L298N

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FEATURE
1) High operating voltage, which can be up to 40 volts.
2) Large output current, the instantaneous peak current can be up to 3A.
3) With 25W rated power.
4) Two built in H-bridge, high voltage, large current, full bridge driver, which can
be used to drive DC motors, stepper motors, relay coils and other inductive loads.
5) Using standard logic level signal to control.
6) Able to drive a two-phase stepper motor or four-phase stepper motor and two-
phase DC motors.
7) Adopt a high-capacity filter capacitor and a freewheeling diode that protects
devices in the circuit from being damaged by the reverse current of an inductive
load, enhancing reliability.

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4.4 Bluetooth Module HC-05
Fig: - 4.4(a) Bluetooth Module (HC-05)
HC‐05 module is an easy to use Bluetooth SPP (Serial Port Protocol) module,
for transparent wireless serial connection setup. HC-05 Bluetooth Module can be
used in a Master or Slave configuration, making it a great solution for wireless
communication. This serial port Bluetooth module is fully qualified Bluetooth
V2.0+EDR (Enhanced Data Rate) 3Mbps Modulation with complete 2.4GHz radio
transceiver and baseband. It uses CSR Blue core 04‐External single chip Bluetooth
system with CMOS technology and with AFH (Adaptive Frequency Hopping
Feature).
The Bluetooth module HC-05 is a MASTER/SLAVE module. By default the
factory setting is SLAVE. The Role of the module (Master or Slave) can be
configured only by AT COMMANDS. The slave modules cannot initiate a
connection to another Bluetooth device, but can accept connections. Master module
can initiate a connection to other devices .The user can use it simply for a serial port
replacement to establish connection between MCU and GPS, PC to your embedded
project, etc. Just go through the datasheet for more details
The Bluetooth module HC-05 consists of six pins. The six pins are Key, 5V,
GND, TX, Rx, Status as shown in fig 2.3. The Bluetooth module has two devices i)
master device ii) slave device. One device connects to the master while the other

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device connects to the slave. The connection between the devices takes place as
follows:
• One of the pin TX is connected to pin Rx of the Arduino board while the pin Rx
of Bluetooth module is connected to the TX pin of Arduino. Thus, in a way cross-
connection is required for the operation of Bluetooth module. The GND pin is given
to the GND pin of Arduino and power supply pin of Arduino is given to the pin of
power.
• In order to have proper communication, the master device must be connected to
the slave. Once the pairing is done between two devices, the device will ask to enter
the password.
• The password will be either 0000 or 1234. Enter the password and both the
devices will be connected to each other.
Hardware Features
 Typical ‐80dBm sensitivity.
 Up to +4dBm RF transmits power.
 3.3 to 5 V I/O.
 PIO (Programmable Input/Output) control.
 UART interface with programmable baud rate.
 With integrated antenna.
 With edge connector.
Software Features
 Default Baud rate: 38400, Data bits: 8, Stop bit: 1, Parity: No parity, Data control:
has. Supported baud rate: 9600, 19200, 38400, 57600, 115200, 230400, and
460800.
 Status instruction port PIO1: low-disconnected, high-connected;
 PIO10 and PIO11 can be connected to red and blue led separately. When master
and slave are paired, red and blue led blinks 1time/2s in interval, while
disconnected only blue led blinks 2times/s.

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 Auto-connect to the last device on power as default.
 Permit pairing device to connect as default.
 Auto-pairing PINCODE:”0000” as default Auto-reconnect in 30 min when
disconnected as a result of beyond the range of connection.
4.5 DC MOTOR
200RPM Centre Shaft Economy Series DC Motor is high quality low cost DC
geared motor. It has steel gears and pinions to ensure longer life and better wear and
tear properties. The gears are fixed on hardened steel spindles polished to a mirror
finish. The output shaft rotates in a plastic bushing. The whole assembly is covered
with a plastic ring. Gearbox is sealed and lubricated with lithium grease and require
no maintenance. The motor is screwed to the gear box from inside. Although motor
gives 200 RPM at 12V but motor runs smoothly from 4V to 12V and gives wide
range of RPM, and torque. It is used in the wheel of robot. By using this motor we
can move our robot in all direction.
Fig: - 4.5(a) DC MOTOR
Specifications
 DC supply: 4 to 12V
 RPM: 200 at 12V
 Total length: 46mm
 Motor diameter: 36mm
 Motor length: 25mm

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 Brush type: Precious metal
 Gear head diameter: 37mm
 Gear head length: 21mm
 Output shaft: Centered
 Shaft diameter: 6mm
 Shaft length: 22mm
4.6 L293D
Fig: - 4.6(a) L293D
L293D is a typical Motor driver which allows DC motor to drive on either
direction. L293D can control a set of two DC motors simultaneously in any
direction. It is used here to control gripper.
• Supply Voltage Range 4.5V to 36V.
• 600-mA Output current capability per driver.
• It can drive small DC-geared motors.
• High-Noise-Immunity.
• Can be used to run Two DC motors with the same IC.
• Speed and Direction control is possible
• Maximum Peak motor current: 1.2A
• Supply Voltage to Vcc1(vss): 4.5V to 7V
• Transition time: 300ns (at 5Vand 24V)
• Automatic Thermal shutdown is available
• Available in 16-pin DIP, TSSOP, SOIC packages

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Fig: - 4.6 (b) Pin out of Motor Driver L293D
 Enable pin 1.
This pin is used to control speed of a motor by connecting it to one of your
Arduino PWM pin.
 Input pin 1.
This pin is used to give input to the IC to make the Output pin 1 HIGH or LOW.
When make this pin HIGH, your motor will rotate in clock-wise or counter-clock-
wise. (based on polarity of your motor.)
 Output pin 1.
To this pin, you can connect one of your wire of your 1st motor.
 Ground.
To ground your power supply for motor. (Remember: the ground of power supply
of motor must be connected to MCU's ground.)
 Output pin 2.
To this pin, you can connect one of your wire of your 1st motor.
 Input pin 2.
To give input to the IC to make the Output pin 2 HIGH or LOW.

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 VDD for motors.
Positive for power supply of motors.
 Enable pin 2.
This pin is used to control speed of a motor by connecting it to one of your
Arduino PWM pin.
 Input pin 3.
 Output pin 3.
To this pin, you can connect one of your wire of your 2nd motor.
 Output pin 4.
To this pin, you can connect one of your wire of your 2nd motor.
 Input pin 4.
 VDD for IC.
Positive power supply for IC

21
4.7 GAS SENSOR (MQ2)
Fig:-4.7(a) Gas sensor (MQ 2)
Gas Sensor (MQ2) module is useful for gas leakage detection (home and
industry). It is suitable for detecting H2, LPG, CH4, CO, Alcohol, Smoke or Propane.
Due to its high sensitivity and fast response time, measurement can be taken as soon
as possible. The sensitivity of the sensor can be adjusted by potentiometer. We have
given a 9V supply to it. The MQ-2 Gas sensor can detect or measure gasses like
LPG, Alcohol, Propane, Hydrogen, CO and even methane. The module version of
this sensor comes with a Digital Pin which makes this sensor to operate even without
a microcontroller and that comes in handy when you are only trying to detect one
particular gas. When it comes to measuring the gas in ppm the analog pin has to be
used, the analog pin also TTL driven and works on 5V and hence can be used with
most common microcontrollers. So if you are looking for a sensor to detect or
measure gasses like LPG, Alcohol, Propane, Hydrogen, CO and even methane with or
without a microcontroller then this sensor might be the right choice for you.

22
Applications:
 Detects or measure Gases like LPG, Alcohol, Propane, Hydrogen, CO and even
methane
 Air quality monitor
 Gas leak alarm
 Safety standard maintenance
 Maintaining environment standards in hospitals

23
5. SOFTWARE USED
5.1 ANDROID APPLICATION ARDUINO RC
Millions of users are using android applications today. Arduino RC app inventor is
one of the forum which has provided millions of creators and inventors the
opportunity to design their own android application. The following are the procedures
and steps to create the android application.
The Arduino RC is a Pocket Sized Robot Arm. It's a project started in
February 2014, which has had a fantastically fast journey to its present state thanks
to it Open Development as an Open Hardware project. With the application Arduino
RC controller, you can control the robotic arm you with Android Smartphone via
Bluetooth connection. And the application is already available three methods to
control your Arduino RC.
The application is comprised of 4 Command Modes:-
1. Vehicle Mode: By pressing the "joystick" button the user can remote control a
vehicle with specific gestures. For the interpretation of gestures to commands, the
application uses the built-in accelerometer sensor of the smart device. There are 8
different gestures available (FRONT, BACK, LEFT, RIGHT, FRONT_LEFT,
FRONT_RIGHT, BACK_LEFT, and BACK_RIGHT).
You can set these gestures with your own custom commands through the menu
button "Set Commands".
Additionally, there is a STOP and an ANDROID button that can be assigned with
custom commands as well. The mode provides via the menu options the option to
change the orientation of accelerometer axis’s (X->Y, Y->X) in order to operate
properly in Android phones with different default orientation.
Moreover, menu options provide a sensitivity change button to modify the point
where the app catches the gesture events for this mode. As the title suggests, this
mode is specifically designed to remote control a vehicle which uses a Bluetooth
module and a microcontroller.

24
2. Fader Mode: This mode provides the user with a fader-seek bar that can send
commands from 0-9 and allow the user to experiment with servos, led, motors and
many more.
3. Controller Mode: This mode provides a standard controller layout with 10 buttons
in total that can be assigned with custom commands. The arrow buttons are
specifically designed to send commands continuously while pressed, in order to
simulate an actual controller.
4. Terminal Mode: This mode provides a terminal-like interface in which the user
can type and send an individual or multiple commands which will execute
sequentially. Since Arduino serial port receives one byte at a time, if the user types a
string in the input text field, the application divides that string into characters and
sends them one by one to Arduino. It should be noted that spaces or empty strings
are skipped.
All application settings and commands are permanently stored and can be accessed
and modified any time according to the user needs.
Fig: - 5.1(b)
Controller mode
Fig: - 5.1(a) Main menu of Arduino RC
Controller mode
Main menu

25
Fig:-5.1(c) Set Commands
5.2 ARDUINO IDE
The Arduino Integrated Development Environment - or Arduino Software
(IDE) - contains a text editor for writing code, a message area, a text console, a
toolbar with buttons for common functions and a series of menus. It connects to the
Arduino and Genuine hardware to upload programs and communicate with them.
Programs written using Arduino Software (IDE) are called sketches. These
sketches are written in the text editor and are saved with the file extension .ino. The
editor has features for cutting/pasting and for searching/replacing text. The message
area gives feedback while saving and exporting and also displays errors. The
console displays text output by the Arduino Software (IDE), including complete
error messages and other information. The bottom right-hand corner of the window
displays the configured board and serial port. The toolbar buttons allow you to
verify and upload programs, create, open, and save sketches, and open the serial
monitor.
Fig: - 5.2(a) Arduino IDE
Set commands

26
5.3 IP WEBCAM
IP Webcam turns your phone into a network camera with multiple viewing
options. View your camera on any platform with VLC player or web browser. Two-
way audio supported in tiny Cam Monitor on another android device.
Features of IP WEBCAM are:-
• Video can be uploaded to Drop box
• Video recording is possible
• Audio streaming can be done
• Provides Night vision
• Can be used for Motion detection
To use IPWEBCAM both your computer and your android phone should be
connected to the same network with android connected via Wi-Fi. That means you
can either -
 Connect both your phone and computer to the Internet using a wireless router.
 Or connect your Android to the pc internet using virtual router (Only for
windows 7)
 Or connect your Android to the PC with a shared Wi-Fi network (needs rooted
phone with ad-hoc networking enabled).
Once your phone is connected to the same PC network via Wi-Fi, follow these
steps
1. From android market in your phone, install IP Webcam.
2. Open the app and you will get the configuration screen where you can set the
options for port, sound, video quality and username/password.
3. The default options are good enough, so scroll down and click on the "Start
server" option.
4. IP Webcam will now open your camera and start streaming the video to a
particular IP address and port. Click on the "How do I connect" button appearing
on the top left and choose "I'm using Wi-Fi router" to get this IP address and
port. You will get something like "http://10.42.43.89:8080".
5. Note this address down and type it in your PC web browser.

27
6. APPLICATIONS
 The main application of this project is to diffuse the bomb without losing the
precious life of any life of the member of bomb squad and military member.
 Provide a remote monitoring and controlling application for analysis of a
suspicious packet (or bomb).
 Allow the user to manipulate the packet using the robotic arm.
 It can be used by Police in hostage situations
 It can be used in Military for reconnaissance missions
 It can be used by Fireman to provide video feedback of the site for analysis
 It can be used for handling hazardous or radioactive materials.
 It can be used in various industries where human intervention is not desired.
7. ADVANTAGES

28
1) As phone is available with everyone nowadays we can use our mobile phones
anytime and anywhere and can control this robot easily and can save our time.
2) Controlling the robot from faraway place. The robot can be remotely
controlled from the distance of nearly 100 meters.
3) Less cost is required, small in size.
4) The robot is small in size so can be used for spying.
5) With few additions and modifications, this robot can be used in the borders for
detecting and disposing hidden land mines.
6) The robot can be used for reconnaissance or surveillance.
8. FUTURE EXPANSION

29
The robot can be modified to find a land mine under the earth using metal
detector, a night vision and x ray cam can be assembled on the robot, a small
weapon can also be operated on robot for security purpose.
The robot can be made more miniature in size. One of the limitations of this robot
is the range of the robot. The Bluetooth module used here has a limited range and
thus this robot cannot be operated over far distances. In future, the robot may also
consist of gas sensors to detect the poisonous gases in the environment also consist
metal detector sensor to detect the metal object. We can also include nuclear
radiation sensor.
Following feature can be added in robot mechanism:-
1. Step climbing mechanism: - Step climbing mechanism is used for using the
staircase which will help the user to move from one floor to other floor.
2. Vision sensing technique:-The camera is mounted above the Robot and is able to
pan and tilt. Its image is displayed on a screen so that users can select a feature
with a pointing device.
3. Removable Gripper/Multi-Gripper Robotic Arm:-The gripper attached to the
robotic arm is fixed at the moment that is, it will only work with the specific
shaped of objects. Placing a gripper that can be removed and replaced by another
gripper can solve this problem or a multi gripper robotic arm can be developed
with more than 2 types of grippers for different type of materials and for different
shaped of the objects.
4. Artificial Intelligence:- At present the robot does not have the capability to make
decisions on its own that is there is no built in artificial intelligence in it.
Therefore the robots working are based purely on the decisions made by the end
user of the robotic control application. Therefore Artificial Intelligence may be
provided to the robot for making the process of decision-making much quicker
and reliable.
5. Night Vision Camera:- For night mode or places where light is low a night
vision camera can be mounted on the robot instead of a standard camera, which
will increase the visibility in case of no light at all.
6. We can interface sensors to this robot so that it can monitor some parameters like
gas sensor, metal detector etc.
9. CONCLUSION

30
The Wireless Bomb Disposal Robot has been designed in such a way that it
can cater to the needs of the bomb disposal squad, the military, the police and also
for the Personnel who handle radioactive materials. It has countless applications and
can be used in different environments and scenarios. For instance, at one place it can
be used by the bomb disposal squad, while at another instance it can be used for
handling mines. It can be easily upgraded with latest sensors, hardware etc. The
robot we have built is versatile and have many features in very low cost.

31
10. REFERENCE
[1]Brian Day; Cindy Bethel; Robin Murphy; Jennifer Burke “Bomb Disposal
Robots”2008 IEEE International Workshop on Safety, Security and Rescue Robotics.
[2] Bandala, AA; Dadios, E.P., "Development and design of mobile robot with IP-
based vision system," TENCON 2012 - 2012 IEEE Region 10 Conference, vol., no.,
pp.1, 6, 19-22 Nov. 2012.
[3]. Rocco DiVerdi “Miniature Robotic Hand for Bomb Disposal”, Feb-2011.
[4]. Gurdas, Karan, (svkm’Nmim University Vile Parle, Mumbai) “Bomb Detection
Robotics using Embedded Controller”.volume 1 Issue 1, Jan-Feb 2015.
[5]. Shide Pushpa.D., Davane Rahul.D., Patil Poonam B. “Wireless Bomb Disposal”.
Volume: 03 Issue: 04, Apr-2016.
[6]. Muhammed Jabir.N.K , Neetha John , Muhammed Fayas , Midhun Mohan ,
Mithun Safwan.C.N “Wireless Control of Pick and Place Robotic Arm Using an
Application” Vol. 4, Issue 4, April 2015.
[7]. R.A. Kadu, Prof. V.A. More, P.P. Chitte, J.G. Rana, M.R. Bendre Wireless
Control & Monitoring of Robotic Arm Volume 2, Issue1, 2015.
[8] Mr. Ranjeet P. Rajmane1, Miss.Yogita Y. Patil2, Miss. Shital K. Supugade3
Android Based Bomb Disposal Robot Using Arm Controller Volume 5, Issue
3,March 2016.

32
[9] Shamyl bin mansoor [1] Department Of Computer Engineering, Sir Syed
University of Engineering and Technology, Karachi, IEEE conference on “Wireless
bomb disposal robot” volume: 11.
[10] Harada.K.Intell. Syst. Res. Inst., Nat. Inst. of Adv. Ind. Sci. & Technol. (AIST),
Tsukuba, Japan Tsuji.T. Nagata,k,Yamanobe, N.Onda, H. ; Yoshimi, T. ; Kawai, Y.
IEEE conference on “Object placement planner for robotic pick and place tasks”
volume: 4.
[11] Tsay.T.I.J [3] Dept. of Mech. Eng., Nat. Cheng Kung University., Tainan,
Taiwan Hsu, M.S. ; Lin, R.X. IEEE conference on “Development of a mobile robot
for visually guided handling of material” volume:3

33
11. APPENDIX
} char val;
void setup()
{
pinMode(2, OUTPUT);
pinMode(3, OUTPUT);
pinMode(4, OUTPUT);
pinMode(5, OUTPUT);
pinMode(6, OUTPUT);
pinMode(7, OUTPUT);
Serial.begin(9600);
}
void loop()
{
if (Serial.available())
{
;
}
val = Serial.read();
if (val == 'F')
{
forward();
}
if (val == 'B')
{
backward();
}
if (val == 'L')
{

34
left();
}
if (val == 'R')
{
right();
}
if (val == 'G')
{
gripper_open();
}
if (val == 'g')
{
gripper_close();
}
void backward()
{
digitalWrite(2, LOW);
digitalWrite(3, HIGH);
delay(100);
}
void right()
{

35
delay(100);
}
void left()
{
delay(100);
}
void softleft()
{
delay(100);

36
}
void softright()
{
delay(25);
}
void forward()
{
digitalWrite (2, HIGH);
delay(100);

37
}
void gripper_open()
{
delay(30);
}
void gripper_close()
{
delay(30);
}

38
12. FINAL PROJECT
Fig12 (a):- Final project

Bomb squad final thesis

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