In the modern day robotics development in many field as too that enrich in military applications also as per that this robot SURVEILLANCE MONITORING ROBOT FOR MILITARY APPLCATION USING ARM monitor the defense area that is in our country borders. It is an forest area and every time commanders were not available in same area they move over different places at that time terrorist can easily enter into our nation. This robot perform main role there that PIR sensor in the robot will send the intimation and danger warning to the control room that unauthorized person entering that time we alert our soldiers to move to that place this operation were control using ARM7 controller. Another important component GPS exactly say which position the robot is now monitoring then it will be easy to soldiers to survey the area soon.And for communicating between control room and robot we are using ZIGBEE.Another one sensor TEMPERATURE SENSOR LM35 is used to monitor temperature in that area that is used to intimate us what is the temperature level in that area if any BOMB BLAST OR FIRE ACCIDENT in that area.

1. INTERNATIONAL JOURNAL FOR TRENDS IN ENGINEERING & TECHNOLOGY
VOLUME 4 ISSUE 2 – APRIL 2015 - ISSN: 2349 - 9303
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Surveillance Robot for Military Application
Using ARM
Kamalesh.V
Sri Ramakrishna Engineering College,
Department of ECE,
Kamalesh.1102075@srec.ac.in
KarthickRaj.C
Sri Ramakrishna Engineering College,
Department of ECE,
Karthickraj.1102067@srec.ac.in
Abstract— In the modern day robotics development in many field as too that enrich in military applications also as per that this robot
SURVEILLANCE MONITORING ROBOT FOR MILITARY APPLCATION USING ARM monitor the defense area that is in our
country borders. It is an forest area and every time commanders were not available in same area they move over different places at that
time terrorist can easily enter into our nation. This robot perform main role there that PIR sensor in the robot will send the intimation
and danger warning to the control room that unauthorized person entering that time we alert our soldiers to move to that place this
operation were control using ARM7 controller. Another important component GPS exactly say which position the robot is now
monitoring then it will be easy to soldiers to survey the area soon.And for communicating between control room and robot we are
using ZIGBEE.Another one sensor TEMPERATURE SENSOR LM35 is used to monitor temperature in that area that is used to
intimate us what is the temperature level in that area if any BOMB BLAST OR FIRE ACCIDENT in that area.
Index Terms—ARM7(LPC2148),PIR,ZIGBEE, GPS,TEMPERATURE SENSOR LM35,IR SENSOR.
INTRODUCTION
A robot may define as an electro-mechanical device, which is
capable of sensing its surrounding and taking its decision
(command).In general, robot must be able to move (by mechanical
movement), it must be able to sense (by transducer) and it should be
take decision (by remote control or artificial intelligence).A robo
vehicle which perform similar function as a soldiers.
A robot vehicle plays a vital role in a defense area to MONITOR
the DEFENCE AREA and send information to the control room.Its
bring our defense area more stronger. It also survey the forest area
from BOMB BLAST and FIRE ACCIDENT.We can also
operate.robot vehicle from our control room which brings more
advantage to defense area. The main goal of this paper is to make
more strong the defense area and save our nation from terrorist
attacks
2. RELATED WORK
Today, there are a number of robotic vehicle used in ARMY
with unique features and design criteria. In this section, brief of some
recent widely-used and/or Influential robotic vehicle is given.
Few popular vehicle are
2.1.110 First Look
Route/Building Clearance
The regimented and thorough sweep of a route between
points or in a specific area or building is based on predictive
intelligence and the ability to identify risks and threats as quickly as
possible.
Unmanned ground vehicle technology from iRobot is equipped
with a mature set of cameras, two-way audio capabilities and can be
configured with numerous external sensors and tools to provide
much needed predictive intelligence in the sweep of a route or
building and saves time on-task for responders

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Fig. 1.First Look
2.2.510 PackBot
Bomb Disposal/ Explosive Ordnance Disposal (EOD)
Unmanned ground vehicle systems have integrated into military
and public safety teams to increase the safe-distance for the operator
and enable the controlled neutralization of the device.
Each of iRobot’s unmanned ground vehicle systems are able to
perform Bomb Disposal/EOD actions and have been deployed for
the safe detonation of devices by the military and Public Safety
Bomb Disposal and Bomb Squad teams. Each of our tactical robots
support a variety ofdisruptors with secure firing circuits, or deliver
charges to neutralize the risk.
Fig. 2.PackBot
II. HARDWARE ARCHITECTURE
TABLE 1 - COMPARISON OF LOCALIZATION
METHODS
A. Wireless Communication Platform
WPIR system is a system-on-chip for wireless sensor
networkingZigBeeIEEE 802.15.4 solutions. Texas Instrument
(TI) CC2431 is suitable for systems, where ultralow power
consumption is required.
B. Pyroelectric Sensor Module
The PIR sensor transforms incident IR radiation into an
electricalsignal. Fig. 3 shows that PIR detects changes in temperature
coinciding with movement of a person (or object) in the
detection area. A human walking through a PIR sensor detecting
region and the corresponding output signal is shown in Fig. 3.
Fig. 3. Operation of a pyroelectric motion sensor.

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Fig. 4. Experimental platform integrated with CC2431 and a PIR
sensor.
C. Wireless and Pyroelectric Sensor System
In this study, we develop a WPIR system with a CC2431
wirelesstransceivermodule and a PIR sensor, as shown in Fig. 4.
Further details of the design principle can be found in [24].
3. MICROCONTROLLER
ARM 7 TDMI microcontroller is used as hardware platform.It is
controlling unit to all
othercomponents(GPS,motors,ZIGBEE,LM35,PIR,IR SENSOR)
are interfaced.Two microcontrollers are used in this project one at
Transmitting end(PIC) and one at Receving end (ARM).
Fig. 4. Pin Diagram LPC2148
4. ZIGBEE MODULE
ZigBee is a specification for a suite of high-level
communication protocols used to create personal area networks built
from small, low-power digital radios. ZigBee is based on an IEEE
802.15 standard though its low powerconsumption limits
transmission distances to 10–100 meters line-of-sight depending on
power output and environmental characteristics, ZigBee devices can
transmit data over long distances by passing data through a mesh
network of intermediate devices to reach more distant ones. ZigBee
is typically used in low data rate applications that require long
battery life and secure networking (ZigBee networks are secured by
128 bit symmetric encryption keys.) ZigBee has a defined rate of 250
Kbit/s, best suited for intermittent data transmissions from a sensor
or input device
APPLICATIONS
 Home Entertainment and Control
 Wireless sensor networks
 Industrial control
 Embedded sensing
 Medical data collection
 Smoke and intruder warning
 Building automation
Fig. 5. Pin Diagram Zigbee Module
5. GPS MODULE
A GPS navigation device is a device that accurately
calculates geographical location by receiving information from GPS
satellites. Initially it was used by the United States military, but now
most receivers are in automobiles and smartphones.The Global
Positioning System (GPS) is a satellite-based navigation system
made up of a network of 24 satellites placed into orbit by the U.S.
Department of Defense. Military actions was the original intent for
GPS, however in the 1980s, the U.S. government decided to allow
the GPS program to be used by civilians. The satellite data is free
and works anywhere in theworld.
6.TEMPERATURE SENSOR(LM 35)
LM35 is a precision IC temperature sensor with its output
proportional to the temperature (in oC). The sensor circuitry is sealed
and therefore it is not subjected to oxidation and other processes.
With LM35, temperature can be measured more accurately than with
a thermistor. It also possess low self heating and does not cause more
than 0.1 oC temperature rise in still air. The operating temperature
range is from -55°C to 150°C. The output voltage varies by 10mV in

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response to every oC rise/fall in ambient temperature, i.e., its scale
factor is 0.01V/ oC.
Fig. 6. Pin Diagram LM 35
7. CONTROL ROOM SETUP
In the control room normal pc is used to communicate with
robot using interface of pic and Zigbeeand simple .net coding is
return for simple user inter face and that screen consist of
 Motor control
 Camera rotation control
 Temperature status
 Location of robot
Fig. 7. Control Room Screen.
8.RF LOCALIZATION SYSTEM
A. Received Signal Strength
RSS is defined as the voltage measured from RSS indicator
circuit. RSS signals can be measured via the receiver without
additional energy requirements while communication is
established. RSS measurement is a relatively inexpensive and
easy implementation method. It is very useful in localization
research.
1)Statistical Model: The most widely used signal propagation
model is based on a variety of empirical results [25]–[28]
and analyses of evidence [29]:
  XddnpPdPd  0/log10 __________(1).
as path loss exponent typically between 2 and 4 [25], and Xσis
a Gaussian random variable with zero mean and σ2 variance.
The d and d0 in (1) is defined as estimated distance and
reference distance, respectively.
2) Cram´er–Rao Bound Formulation:The Cram´er–Rao
bound (CRB) calculates a lower bound on the covariance of
any unbiased location estimator, which is useful to the developer.
The CRB can be used to test localization algorithms and
the bound’s functional dependence. A detailed derivation of the
CRBis provided in [30]. The most notable advantage of theCRB
is that the lower bound on estimation variance can be calculated.
All that is required is to calculate a CRB of the random
measurements.
The CRB can be written as follows:
      1^/2^/2^   ZInfECov _____(2).
whereCov(ˆθ) is the covariance of the estimator, E[・] indicates
expected value, f(Z|θ) is the probability density function, Z is
the random measurement, and θ are the parameters that are to
be estimated from the measurements.
9. PIR DETECTION SYSTEM
The operation principle of PIR sensor is to detect the thermal
variation in its detection region. We test several scenarios and
record the response of the PIR sensor while the human or robot
moves under its detection region. The horizontal axis is time
stamps and vertical axis is the voltage response from the PIR
sensor, as shown in Figs. 3–5.

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Fig. 8. Human movement testing result. (a) Slow walk (0.5 m/s). (b)
Faster walk (1 m/s). (c) Run (2m/s).
Fig. 9. Robot movement testing result. (a) 20 cm/s. (b) 40 cm/s.
(c) 70 cm/s.

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10. CONCLUSION
Thus our paper brings our army more stronger in defense area. And
protect our nation and to save our country people and soldiers. Many
interfacing devices may give research opportunity. This type of
vehicle brings more stronger for the military and effective in
searching the TERRORIST with the help of army man. The below
diagrams shows the tracking in human with the help of PIR sensor
and multi level tracking are also available.
Fig. 10. RF error bound.
Fig.9. PIR sensing system.
Fig. 8. Find CoG from WPIR system.
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