ROBOTIC VEHICLE CONTROLLED BY

HAND MOVEMENT

By

Asadullah FA15-BEE-028
Irslan Sultan FA15-BEE-076
Muhammad Umer Mir FA15-BEE-069

A thesis submitted to the

Electrical Department
In partial fulfilment of the requirements for the degree of
BACHELOR OF SCIENCES OF ELECTRICAL ENGINEERING

Faculty of Engineering
MIRPUR UNIVERSITY OF SCIENCE AND TECHNOLOGY
Mirpur Azad Jammu Kashmir
June 2019

i
 Copyright © 2019 by MUST Student

All rights reserved. Reproduction in whole or in part in any form requires the prior
written permission of Asadullah, Irslan Sultan, Muhammad Umer Mir or designated
representative.

ii
 CERTIFICATE OF APPROVAL
It is certified that the research word titled “ROBOTIC VEHICLE CONTROLLED
BY HAND MOVEMENT” carried out by “Asadullah, Irslan Sultan, Muhammad
Umer Mir”, Roll. No. “FA15-BEE-028” “FA15-BEE-076” “FA15-BEE-069”, under
the supervision of Ma’am Benish Kanwal at Mirpur University of Science And
Technology, Mirpur is fully adequate, in scope and in quality, as a thesis for the
degree of B.Sc in Electrical Engineering.

Supervisor: -------------------------
Madam Benish Kanwal
Lecturer
Department of Electrical Engineering
Mirpur University of Science And Technology, Mirpur (AJK)

External Examiner: ----------------------------

Project Coordinator: ----------------------------

Dr. Sajid
Professor
Department of Electrical Engineering
Mirpur University of Science And Technology, Mirpur (AJK)

Chairman: ----------------------------
Dr. Anzar Mehmood
Professor
Department of Electrical Engineering

Mirpur University of Science And Technology, Mirpur (AJK)

Dean: ----------------------------
Dr.Anwar Khitab
Professor
Dean Faculty of Engineering
Mirpur University of Science And Technology, Mirpur (AJK)

iii
 ACKNOWLEDGMENT
All devotion belongs to Allah al mighty . Without support of Allah man is unable to
complete any task . We would like to acknowledge the Moral and technical support of
our supervisor Madam Benish Kanwal, Electrical Engineering Department, Must
University, Mirpur. Without her help this project would not have seen these steps
towards completion on time. Also, we admire her for her consultations guidance, and
Encouragement.

iv
 DECLARATION
It is declared that this is an original piece of my own work, except where
otherwise acknowledged in text and references. This work has not been submitted in
any form for another degree or diploma at any university or other institution for
tertiary education and shall not be submitted by me in future for obtaining any
degree from this or any other University or Institution.

Asadullah
FA15-BEE-028

Irslan Sultan
FA15-BEE-076

Muhammad Umer Mir

FA15-BEE-069

June 2019

v
 ABSTRACT
.

The Robotic vehicles are tasked to obtain some specific works which we cannot do
and take more time to do. we use the robotic vehicle for work like surveillance
purposes and lifting weight robots are designed to perform extend the utilization of
robots wherever Condit certain things on the basis of human instructions. It can
perform in harmful condition which human cannot work so we can apply these tasks
to robots. in the fyp we describe a robotic vehicle which works on the basis of hand
gesture robot is divided in two parts the transmitter side and receiver side in
transmitter side the information from accelerometer and flex sensor is send to
Arduino and Bluetooth module. Bluetooth module on the receiver sides ends this
information to Arduino a motor to rotate in the desired direction

vi
 Table of Contents

Acknowledgment ........................................................................................................................ iv
Declaration .................................................................................................................................... v
Abstract ......................................................................................................................................... vi
Table of Contents ....................................................................................................................... vii
List of Figures............................................................................................................................... x

List of tables…………………………………………………………………………..xi
Chapter 1
Introduction
1.1Overview............................................................................................................................1
1.2Statement of Problem....................................................................................................1
1.3Purpose of the Research/Project .................................................................................2
Application of the research……….............................................................................2
1.4
1.5
Theoretical Bases and Organization...........................................................................2
1.5.1 Transmitter..................................................................................................................3
1.5.2 Receiver…...................................................................................................................3
1.6 Summary………………………………...........................................................................3
Chapter 2

Literature Review……………………………………………….......................4

2.1 Related Technologies………………………………………………….......5

2.1.1 Related Technology 1……………………………………………..........5
2.1.1.1 Accelerometer………………………………………………………..5
2.1.2 Related Technology 2…………………………………….......…...…...5
2.1.2.1 Flex sensor……………………………………………………….......5
2.2 Related Projects……………………………………………...........................5
2.3 Related Studies…………...………………………………………………......6
2.4 Their Limitations and Bottleneck………………………………………...6
2.5 Summary……………………………………………………………….....6
Chapter 3
Tools and Techniques…………………………………………………….….7
3.1.1 hardware used with complete technical specification…………….…….7
3.1.1 Accelerometer…………………………………………………….……7
3.1.2 Adxl335….. …………………………...……………………………………..9
3.1.3 Flex sensor……………………………………….………………........10
3.1.4 Atemga328p……………………………………………………………...…11
3.1.5 L298dual controller…..………………….………………………....….13

vii
 3.1.6 Crystal oscillator....................................................................................................14
3.1.7 Quartz crystal..........................................................................................................14
3.1.8 LM7805....................................................................................................................15
3.1.9 Serial to usb converter.........................................................................................16
3.1.10 Usb to serial .........................................................................................................17
3.1.11 Bluetooth module................................................................................................18
3.1.12 Three-wheel chassis ..........................................................................................19
3.1.13 Dc motor ...............................................................................................................20
3.2 Software(s), Simulation tool(s) used...................................................................20
3.3 Summary......................................................................................................................21

Chapter 4

Methodologies and Implementation...........................................................................22

4.1 Design of the investigation...................................................................................22
4.1.1 Generation and transmitting of command signal.........................................22
4.1.2 Reception of command signals.....................................................................22
4.1.3 Driving the motors of robot car…………..................................................23
4.1.4 Robot in action............................................................................................23

4.2 Analysis Procedures........................................................................................23

4.3 Implementation Procedure............................................................................23
4.3.1 Details about hardware ............................................................................23
4.3.1.1 Accelerometer.......................................................................................23
4.3.1.2 Flex Sensor...........................................................................................24
4.3.1.3 Bluetooth..............................................................................................24
4.3.1.4 Dc Motor..............................................................................................24
4.3.1.5 Wheels..................................................................................................25

4.3.2 Details about software...........................................................................25

4.3.2.1 Transmitter Side Code .......................................................................25
4.3.2.2 Receiver side code..............................................................................29
4.4 Verification of functionalities....................................................................36
4.5 Details about simulation / mathematical modeling...................................37
4.5.1 Schematics of transmitter side..............................................................37
4.5.2 Pcb of transmitter side..........................................................................38
4.5.3 Schematics of receiver side..................................................................39
4.5.4 Pcb of transmitter side..........................................................................40
4.5.5 Sampling sensor....................................................................................41
4.5.2 Mathematical modeling........................................................................46
4.6 Summary......................................................................................................47

viii
Chapter 5
Result and analysis................................................................................................................48
5.1 Presentation of the findings................................................................................48
5.1.1 Hardware Results...........................................................................................48
5.1.2 Software Results..........................................................................................48
5.2 Discussion of the finding........................................................................... 49
5.2.1 Comparison with initial GOAL.................................................................49
5.2.2 Reason for Short Coming...........................................................................49
5.3 Limitations........................................................................................................49
5.4 Recommendations............................................................................................49
5.5 Summary..........................................................................................................49
Chapter 6

Conclusion……………………………………………………………………...…50
References…………………………………………………………………………51

ix
 LIST OF FIGURES

Figure-2.1 basic mechanisms............................................................................................04

Figure-3.1.1 accelerometer (adxl335) .............................................................................10
Figure-3.1.2 Cct diagram adxl335....................................................................................12
Figure-3.2.1 flex sensor.....................................................................................................09
Figure-3.1.3. Pin diagram controller.................................................................................10
Figure-3.1.4 L298N Dual Motor Controller Module pinout ...........................................11
Figure-3.1.6 Symbol for Piezoelectric Crystal Resonator...............................................13
Figure-3.1.6.1 Equivalent Circuit Diagram of Quartz Crystal........................................14
Figure-3.1.1.7 Pin description...........................................................................................14
Figure-3.1.8 Pinot diagram................................................................................................15
Figure-3.1.9 hc-05 pinout........................................................................................................ 17
Figure-3.1.10 Chassis.........................................................................................................18
Figure-3.1.11 wheel chassis diagram................................................................................19
Figure-3.1.12 Dc motors....................................................................................................20
Figure-4.5.1 schematics of transmitter side......................................................................37
Figure-4.5.2 pcb of transmitter side..................................................................................38
Figure-4.5.3 schematics of receiver side……………………………………………………....39
Figure-4.5.4 pcb of receiver side .......................................................................................... ..40
Figure-4.5.5.1 sampling of sensor backward ..................................................................... ..41
Figure-4.5.5.2 sampling of sensor forward ........................................................................ ..42
Figure-4.5.5.3 sampling of sensor leftward ......................................................................... .43
Figure-4.5.5.4 sampling of sensor rightward…………………………………………………45
Figure-4.5.5.5 simulations ...................................................................................................... .46
Figure-4.5.5.6 Values of virtual terminal ............................................................................ .47

x
 LIST OF TABLES

Table-3.1.1. Accelerometer .................................................................................................. 8

Table-3.1. Pin description................................................................................................... 12

xi
LIST OF ACRONYMS

Bot Robot
RF Radio frequency
LCDs Liquid crystal displays
MC Micro controller
PCB Printed Circuit Board
TS Transmitter Side
RS Receiver Side

xii
Chapter 1

INTRODUCTION

Recently, sturdy efforts are administered to develop clever bridge between human
and computer . hand Gestures made bridge between man and computer. This
technique is expounded to the golem and their style, manufacturer, application.
AI analysis these days is concentrated on designing of systems which have
tendency, burden acceptance and few alternative researchers square measure on
utterly automating a producing method or a task, by providing detector based
mostly to the golem arm. During this extremely developing business and
manpower square measure crucial constraints for completion of the task. to avoid
wasting human efforts the automation taking part in a necessary part. method
being helpful to ordinary frequently supported tasks. Unique in every main
utmost ordinarily performed task selecting, inserting duties from supply to end
point. within the earlier the motion of the human hand is perceived by the golem
through sensors and it follows constantly. because the person moves their hand,
the measuring system conjointly begins moving consequently motion of the hand
detector displaces and this detector senses object or parameter in line with motion
of the hand.

1.1 Overview

Goal of our work to handle a unmanned vehicle by the help of hand

movement.it is accomplished with flex sensor, Bluetooth microcontroller
and an accelerometer. Main idea of the project flex and adxl335 sends the
data to pcb board on transmitter side which have Arduino and Bluetooth
microcontroller made some decision and send information to receiver pcb.

1
1.2 Statement of Problem

user contains a adxl335 sensor and flex sensor patched on glove and
traditional hand gestures are controlled. we have a power bank power of cell
make decision about how sturdy is the vehicle if we add more power banks
makes the receiver side a lot of large and less power demages capability.
Change the working unwearable device so we can change the working as 3cm
to 5cm that economical for tiny measure however would like use our project on
huge measures .

1.3 Purpose of the project

• Aim is to develop a robot and glove which work with supervision of

human
• Make a glove-based robot with assistance of microcontroller.
• Apply hand movement to glove based motion sensor system.
• Make a communication path between glove transmitter side and bot thee
receiver side.

1.4 Applications of the research

• The applications glove based and gesture-based system

• The bot have A lot of work to in military such as war and mine areas
• They are being used in war field.
• Artificial Intelligence utilized for development of different thing.
• Artificial Intelligences utilized in companies for managing of weight

1.5 Theoretical bases and Organization

Perceiving gestures: hand connected glove based system have a controller which
contains a 3 axis Un bendable body, it gives low voltage signal according to
tilting of hand in specified direction

2
 1.5.1 Transmitter

An RF transmitter will send electromagnetic radiation make signal being hold

information. Ts square measure sometimes enforced aboard a small controller
which is able to offer information in Radio frequency that is send.

1.5.2 Receiver

receiver side have a bot which contains a pcb buzzer, LCD ,Bluetooth
module and microcontroller on receiver side information from transmitter is
send to Arduino and which have capability to make decision from
information it haven in the form of code makes decision and send the
information to motor drive ic which rotates motors in desired direction

• go to forward side
• go to reverse side
• go to left side

• hand stationary doesn’t move

1.6 Summary
Recently, robust efforts are applied to make smart basic connection between user
and glove based systems which support human movements. AI analysis nowadays
is focusing on the systems which are litheness, laying-off, and a few different
researchers square measure on fully automating a producing method or a task, by
providing sensing element based mostly to the robot arm.

3
Chapter 2

LITERATURE REVIEW

There exist some works within the field gesture recognition within which
instruments area unit designed and build for human robot bridge. in contrast to
audio data, a visible mechanism are going to desirable as in creaking environments
or at things wherever sound would cause a disturbance. there's a simplification
employed in this project, that wasn't found in any recognition ways researched. the
amount of various gestures recognized, and therefore the recognition accuracy area
unit amongst the most effective found hand handled mechanism do on the basis of
device that feed gestures transmit the recorded gestures which are made as result
of hand movements gives low voltage signals to microcontroller . the data sanded
to microcontroller, microcontroller make decision according information saved in
it and send it to motor drive ic there exit work in this field of robotic arm and leap
motion and joy stick controlled robot. We can also add camera in it and also add
obstacle detection faction in the robot
Figure 2.1 basic mechanisms

4
2.1 Related Technologies
2.1.1 Related Technology 1

2.1.1. 1 Accelerometer (Adxl335)

accelerometer is a mechanical instrument which have ability measure the acceleration

the acceleration is produced as result of the motion of hand. Analoge information is
generated by this acceleration measuring device it is kind of that record acceleration of
things and analog information whereas occupancy X direction , Y-direction , Z-
direction or even X-direction , Y-direction depending on device

operator chooses data measure of the measuring system mistreatment to cardinal,

capacitance of y-axis and z axis respectively electrical device Saturday the x axis
output and vice versa pins. The Bandwidth is to synchronize applying, with 0.5
cycles/second to 1600 cycles/second for the X and Y direction , and a spread of
0.5 cycles/second to 50 cycles/second for the z axis , output shows that area unit is
proportional to acceleration.

2.1.2 Related Technology 2

2.1.2.1 Flex Sensor

The sensing element proprietary technology is predicated on resistive carbon

parts. It have variable resistance element patched on it, sensing element gave
nice form factor having skin type substrate on it when we band it it change it
resistance according to bending on substrate. the resistance depends on
bending and flexing of sensors and also bending radius it have maximum
resistance in when it is bend 90 degree.

2.2 Related Projects

• Controlled Robot Arm via Bluetooth
• control of Arduino using Leap Motion
• Hand Gesture Controlled Appliance Switch
• Raspberry Pi as a Robotic Arm Controller with Flick HAT

5
2.3 Related Studies

Project control the robotic automotive supported our hand movement and
gestures. Knowledge from a Leap Motion management that detects gestures and
hand movement area unit captured by Matlab and also the control signals area
unit sent from Matlab to Robotic automotive that has Arduino and Bluetooth
module. Leap Motion, This project uses associate Arduino based mostly
automaton automotive, which might be controlled by gestures employing a
controller device referred to as as Leap Motion .Gesture-based Home
Automation system is a sophisticated methodology of dominant home appliances
victimisation spartan6 FPGA kit and gesture recognition kit. The gesture kit
accepts numerous hand gestures such North American country, left to right, right
to left, prime to bottom and bottom to prime and send the information to FPGA
kit. Finally FPGA management door lock open/close and bulb On/Off through
relay. This project controls the house appliances supported our hand movement
and gestures.

2.4 Their Limitations and Bottlenecks

• Batteries are quite big and occupy more space also motor quite so better
replacing them with suitable option
• We are using transmitter receiver modules which have less coverage area

2.5 Summary

here exist some works within the field gesture recognition within which
instruments are designed and build for the human pc interaction employing
single hand language characters range signals within AI field, many analysis
efforts are created to make easy robots, implementing user interfaces like colour
bit screens, a 3D joystick. Finger gesture recognition: It aims to create it possible
to act transportable mechanism or a laptop through the popularity of hand
movements’ insight Technology.

6
Chapter 3

TOOLS AND TECHNIQUES

3.1 Hardware used with technical specifications

3.1.1 ACCELEROMETER (ADXL335)

Figure 3.1.1

7
Table 3.1.1

Accelerometer

FEATURE:

3-pivot detecting
Less size
Less current: 350 micro ampere
1.8 V to 3.6 V
Temperature resistant

8
3.1.2 Adxl335
Figure 3.1.2

9
3.1.3 FLEX SENSOR

Figure 3.1.3

Flex Sensor

10
3.1.4 Atmega 328p

Figure 3.1.4

Pin diagram

11
Pin description
Table 3.1.4

12
3.1.5 L298N Dual Motor Controller

Module pinouts

Figure 3.1.5

13
3.1.6 The Crystal Oscillator

Symbol diagram for electric Crystal Resonator

Fig 3.1.6

3.1.7 Quartz Crystal

Cct Diagram for Quartz Crystal

Figure 3.1.7

14
3.1.8 LM 7805

LM 7805 IC Rating

• In voltage 7v-35v
• Current flowing i=2ma
• Out voltage 5.2-4.8

Pin description

Figure 3.1.8

15
3.1.9 Serial to USB (CH-340)
Description

This is a low cost USB to RS232 adapter cable based on CH340

chip. CH340 is low cost alternative to FTDI USB serial Chips. The
module supports 50bps to 2Mbps baud rates

Features

Implements full v2.0 USB protocol

Supported Baud rates:

50,75,100,110,134.5,150,300,600,900,1200,1800,2400,3600,4800,9600,1
4400,19200,28800, 33600,38400,
56000,57600,76800,115200,128000,153600,230400, 256000 (Baud rates
up to 256000 are tested in Art of Circuits Lab using Bray Terminal)

Cable length: ~56cm (30 inch approx.)

Pinouts

(All of the following signals are supported and are tested at Art of Circuits Lab
using Bray Terminal)

DCD: in

RX: in

TX: out

DTR: data

GND: Signal Ground

DSR: input

16
3.1.10 Usb to serial converter

Pinout diagram

Figure 3.1.9

17
3.1.11 HC-05 Bluetooth Module

HC-05 PINOUT

Figure 3.1.10

18
3..1.12 Three Wheel Chassis
The chassis involves a outline which ropes a manmade vehicle .similar with animal
structure .just like chassis of car under the car and chassis of motor bike on which all
other thing are relied on all the other thing are mounted on it engine

Figure 3.1.11

19
3.1.13 Dc motors

Figure 3.1.13

3.2 Software tool used

Work in software like proffesional Proteus , Arduino for simulation of Arduino we
used the serial monitor for this purpose. Fist we interface adxl335 and flex sensor
with Arduino and serial monitor than by looking at the serial monitor tilt hand
forward and take 5000 samples now by looking at the sampling we take threshold
now tilt hand backward and look at the serial monitor and repeat the procedure again
and again and take five thousand samples and by looking at all sampling values take
the threshold same procedure is repeated for stop, left and right In procedures after
doing sampling in Arduino we connect our adxl335 with rest of the PCB and install a
library of Arduino Uno in Proteus and burn hex file in it and run the simulation

20
3.3 Summary
we have described about various hardware module we have cast-off their features
pinout and pin description we have described about their technichal specification
and their algorithim and libraries

21
Chapter 4

METHODOLOGIES

4.1 Design of the investigation

4.1.1 Generation and Transmission of Command Signals

According to the gesture within which the user directs his hands to manoeuvre the
robot, controlling signals are generated, that are distinctive for every direction. for
example, if the user desires to progress the robot within the forward direction, tiny
low voltage proportional to the gravitational field acting once the device
(accelerometer) is made and the forward gesture is given. Totally different sets of
values in X and Y axes once different gestures are used. These command signals are
then transmitted wirelessly to the Bluetooth module (HC-05) via the Bluetooth
module available in transmitted part i.e. on the glove. A Gesture Controlled robot
could be a reasonably mechanism which might be controlled by hand gestures not
by recent buttons. One simply must wear a tiny low transmittal device in his hand.
The transmitter device includes an Arduino accelerometer and a Bluetooth device.
This may transmit an acceptable command to the robot to induce the specified robot.
At the receiving part this information is received by another Bluetooth module that
is then processed by another Arduino motor supporting IC to regulate movements of
motors.

4.1.2 Reception of Command Signals

The Bluetooth module HC-05 may be a normal device for wirelessly

communication with Bluetooth devices via frequency. As presently because it is
paired with the controller Bluetooth module placed on the transmitter or glove side,
it promptly accepts information within the kind of bytes that are literally the
command signals send by the transmitter Bluetooth. Information accepted by
Bluetooth passed on to the Arduino controller.

22
4.1.3 Driving the motors of the robot car

l293d ic obtain digital data and send the info as input to controller, provides output
to motors of bot. Speed handling of the DC motors may be achieved by this IC.

4.1.4 Robot in Action

This is the particular bot involving of hardware Bluetooth module HC05, controller
and L289N motor drive cct on the bot chassis having voltage often provide by the
recharging batteries. The whole system is solely controlled by the gesture

4.2 Analysis procedures

Vehicle moves in line with palm movements as we tend to put transmitter in our
palm. When move out in front direction robot tend to move forward until we gave
the robot next command to work on .as we move our hand in reverse direction it take
some time so we have to first stop robot from moving in forward direction then give
the command for moving in backward direction.

As we move our palm in left position it will move left

As we move our palm in right position it will move right

As we move our palm in stationary position it will move left

4.3 Implementation procedure

4.3.1 Details about hardware

4.3.1.1 ACCELEROMETER (ADXL335)

Accelerometer is a mechanical instrument which has ability measure the acceleration

the acceleration is produced as result of the motion of hand. Analog information is
generated by this acceleration measuring device it is kind of that record acceleration of
things and analog information whereas occupancy X direction , Y-direction , Z-
direction or even X-direction , Y-direction depending on device

23
4.3.1.2 FLEX SENSOR

The Flex sensing element proprietary technology is predicated on resistive carbon

components. As a variable printed resistance, the Flex detector achieves good form-
factor on a skinny versatile substrate. once the substrate is bent, the device produces a
resistance output related to to the bend radius—the smaller the radius, greater the
resistance value.

4.3.1.3 BLUETOOTH MODULE (HC-05)

Hc-05 module is capable of transmitting information from one place to way beyond
the range it works on 2.4 GH frequencies and coded with serial communication
code.

Specification:

● Freq: 2.4GHz

● Gaussian Frequency Shift Keying

● Security: Authenticate & encryption

● Profiles: Bluetooth sequential port

● Power: +5V DC and maximum

● Temp: - 20 ~ +75 °C

4.3.1.4 DC MOTORS

A device which has ability to convert electrical energy into mechanical energy is
termed as dc machine. it works very simple the current passing from conductor and
conductor is inserted in changing MF , so there is a power exerted on conductor and
the coil present will start to rotate. Speed of our motor is measured by speed of shaft
present in side.

24
4.3.1.5 Wheels

Wheel types

Pair of wheel

Three wheel

Four wheel

4.3.2 Detail about software

4.3.2.1 transmitter side code

25
26
27
28
4.3.2.2 Receiver side code

29
30
31
32
33
34
35
4.4 Verification of functionalities

It has been verified looking at simulations, sampling and values of virtual terminal
that by tilting hand forward backward left right the motors moves accordingly and
displays the result as forwarding backward leftward rightward

36
4.5 Details about simulation / mathematical modeling
4.5.1 Schematics of transmitter side

Figure 4.5.1

Schematics of transmitter side

37
4.5.2 PCB OF TRANSMITTER SIDE

Figure 4.5.2

Pcb Of Transmitter Side

38
4.5.3 SCHEMATICS OF RECIEVER SIDE

Figure 4.5.3

Schematics of Receiver Side

39
4.5.4 PCB OF RECIRVER SIDE

Figure 4.5.4

Pcb Of Recirver Side

40
4.5.5 SAMLING OF SENSOR

4.5.5 .1 Backward

Figure 4.5.5.1

41
4.5.5 .2 Forward

Figure 4.5.5.2

42
4.5.5 .3 Leftward

Figure 4.5.5.3

43
44
4.5.5 .4 Rightward

Figure 4.5.5.4

45
4.5.5.5 SIMULATIONS

4.5.5.5 Figure

46
4.5.5.6 Values of virtual terminal

Figure 4.5.5.6

4.6 Summary

According to the gesture during which the user directs his hands to maneuver the
robot, control signals are generated, that are distinctive for every direction. L293d
motor driver ic achieve signal from controller and send this signal to motors. this is
often particular mechanism -Bluetooth module HC05, controller and L293d

47
Chapter 5
RESULTS AND ANALYSIS
5.1 Presentation of the findings
Various experiments are conducted to see the most effective fitting correlation worth
for this project on gesture controlled bot. a pair of axes of the accelerometer is
employed for the project .The analog result obtained by measuring device were from
the vary 0-5 volts that were mapped to ten output channels that were starting from 0-
1023 taking analogRead() operate. For forward and backward motion, Y axis values
area unit found to be constant. Equally for left and right motion X axis values were
found to be constant

5.1.1 Hardware results

Divided project in two parts. we sending data received from the flex sensor and
adxl335 sensor to the robot on the receiver side on the receiver side controller is
present for decision-making ifs sensor for the x-axis is 290-325 and y-axis value is
280-300 it sends the command to move forward to receiver side but it moves forward
if and only if we give some speed ie if the flex sensor value is 700-900 then it will go
forward similar procedure would be followed backward, leftward and rightward

5.1.2 Software results

Project is divided into three part glove and transmitter side and robot ist we have
design transmitter side ie making of glove and interfacing of adxl335 sensor and flex
sensor interfacing is done by using their libraries and then see their result on the serial
monitor by tilting palm and bending flex sensor and doing sampling 5000 times and
define some thresholds result receiver side we have Bluetooth which will receive it
and send it to controller the result on the reciever side can be seen for all types of
movement

5.2 Discussion of the findings

We are by hand movement instead of using button remote or any other technology.
One uses his hand for managing the robot. Key instrument is fitted in palm it contains

48
Bluetooth and adxl335 and is used to connect to the robot so that it may perform
functions associated with it like left, right, forward, backward. All these tasks will be
performed by hand movements

.5.2.1 Comparing with initial goal

in first stage, control a robot controlling robot means we try to control its direction
according to the movement of hand but later we also control its speed by using flex
sensor and PWM commands

5.2.2 Reasoning for short comings

We start its looks easy we are asumming that we will windup project before it actual
date but alter we find some problems that our modules are not intercaing with each
other require mudules are not available in market so we have to shft our modules
instead of using rf transmitter we have to use bluestooth mudule

5.3 Limitations
• The batteries on board are bulky and they take much greater space. We
will have to use an alternate way to supply power to the motor or
replace the motor with a motor of less power.
• We have used radio frequency for sending data the range is limited to 49-
81.

5.4 Recommendations
I recommend using 2g for sending data. 2g used across the globe. We can use
camera for if the robot is to be used in long range mount a camera where we can
receive the camera recording.

5.5 Summary
Robot consists of two parts input and output. Input section consists of two sensing
elements and micro controller. Data from microcontroller is send to output side using
Bluetooth. Receiver side consists chases, motor, Bluetooth. All the programming
was done on C.

49
Chapter 6

CONCLUSION

In our project we developed a vehicle which is controlled through the hand gestures..
The vehicle is wireless. Bluetooth operates on frequency of 433 MC and its range is
49-81m. Robot can be improved to notice human life in disasters like shaking of earth
by installing the detector consequently. Robot can be improved to bombing works
because it has an arm that can be used. Global positioning system can be added for
tracking purposes.

50
References
1.A. Kun, W. T. Miller, "Adaptive dynamic balance of abiped robot using neural
networks", IEEE Conference on Robotics and Automation, pp. 240-245, 1996.

2. T. Nagasaki, S. Kajita, K. Kaneko, K. Yakoi, K. Tanie, "A running experiment

of humanoid biped", Proc. of IROS2004, pp. 136-141, 2004.

3. A. Y. Jeon, I. C. Kim, J. H. Jung, S. Y. Ye, J. H. Kim, K. G. Nam, S. W. Baik, J.

H. Ro, G. R. Jeon, "Implementation of the Personal Emergency Response
System", International Journal of Biological and Medical Sciences, vol. 4, no.
1, 2009.

4. M. Singh, M. Mandal, A. Basu, "Visual Gesture Recognition for Ground Air

Traffic Control using the Radon Transform", to be presented at JEEE/RSJ JROS,
2005.

5. K. K. Kim, K. C. Kwak, S. Y. Ch, "Gesture Analysis for Human-Robot

Interaction", Proc. of the 8th Int. Conf on Advanced Communication Technology,
vol. 3, pp. 1824-1827, 2006.

6. R. Plamondon, S S, "On-line and off-line handwriting recognition: A

comprehensive survey", IEEE Transactionson Pattern Analysis and Recognition,
vol. 22, no. 1, pp. 63-84, January 2000.

7. E. Choi, W. Bang, S. Cho, J. Yang, D. Kim, S. Kim, "Beatbox music phone:

gesture-based interactive mobile phone using a triaxisaccelerometer", IEEE
international conference on industrial technology. ICIT 2005, pp. 97-102, 2005.

8. C. Zhu, W. Sheng, "Online Hand Gesture Recognition Using Neural

Network Based Segmentation", JEEE/RSJ IJROS 2009.

A. Kun, W. T. Miller, "Adaptive dynamic balance of abiped robot using neural

networks", IEEE Conference on Robotics and Automation, pp. 240-245, 1996.

51
2. T. Nagasaki, S. Kajita, K. Kaneko, K. Yakoi, K. Tanie, "A running experiment
of humanoid biped", Proc. of IROS2004, pp. 136-141, 2004.

3. A. Y. Jeon, I. C. Kim, J. H. Jung, S. Y. Ye, J. H. Kim, K. G. Nam, S. W. Baik, J.

H. Ro, G. R. Jeon, "Implementation of the Personal Emergency Response
System", International Journal of Biological and Medical Sciences, vol. 4, no.
1, 2009.

4. M. Singh, M. Mandal, A. Basu, "Visual Gesture Recognition for Ground Air

Traffic Control using the Radon Transform", to be presented at JEEE/RSJ JROS,
2005.

5. K. K. Kim, K. C. Kwak, S. Y. Ch, "Gesture Analysis for Human-Robot

Interaction", Proc. of the 8th Int. Conf on Advanced Communication Technology,
vol. 3, pp. 1824-1827, 2006.

6. R. Plamondon, S S, "On-line and off-line handwriting recognition: A

comprehensive survey", IEEE Transactionson Pattern Analysis and Recognition,
vol. 22, no. 1, pp. 63-84, January 2000.

7. E. Choi, W. Bang, S. Cho, J. Yang, D. Kim, S. Kim, "Beatbox music phone:

gesture-based interactive mobile phone using a triaxisaccelerometer", IEEE
international conference on industrial technology. ICIT 2005, pp. 97-102, 2005.

8. C. Zhu, W. Sheng, "Online Hand Gesture Recognition Using Neural Network

Based Segmentation", JEEE/RSJ IJROS 2009.

52
53