2018 9th IEEE Control and System Graduate Research Colloquium (ICSGRC 2018), 3 - 4 August 2018, Shah Alam,

Malaysia

An Autonomous Robot for Intelligent Security

Systems
1
Raza Hasan, 2 Shaik Asif Hussain, 3 Shaikh Azeemuddin Nizamuddin, 4 Salman Mahmood
1
Senior Lecturer, Department of Computing, Middle East College
Muscat, Sultanate of Oman
2
Assistant Professor, Department of Electronics & Communication Engineering, Middle East College
Muscat, Sultanate of Oman
3
Lecturer, Department of Electronics & Communication Engineering, Middle East College,
Muscat, Sultanate of Oman
4
Lecturer, C.E Dept., Sir Syed University of Engineering & Technology
Karachi, Pakistan
1
[email protected], 2 [email protected], 3 [email protected], 4 [email protected]

Abstract— Today scientific knowledge relentlessly bringing becoming a part of everyday life and these elements relieve
change and comfort in day to day life. In Present generation, us from various dangers. The Robotic system usually
an autonomous robot has been a popular technology which is consists of two parts such as the robotic sensor body and
widely used in many areas. Robots are used to share the work Intelligence unit together can be used in many applications
and act more autonomously in performing the jobs faster than of factories and giant machine units. These systems are used
humans. Usually, Robots are more intelligent with endless in automatic painting, welding and conveyor systems etc.
energy levels and more precise in handling the jobs perfectly. The behavior of robot lies with Artificial intelligence for its
However, the proposed robot design is about researching and locomotion. This intelligence helps the robot for movement
investigating hazardous environments, exploration, remote from one point to another in performing complex operations
assistance and Military services. In the given system design, a
also. This motive force comes from a command and helps
robot system is built to monitor and identify the motion in
the robot wheels to move and perform any particular work
achieving better security and surveillance of indoor
environments. This autonomous system is built by using an
assigned [1]. The robotic system is an integration of
embedded system to perform specific tasks and function as hardware and software designed to perform the specific task
defined. This robotic system has five different systems such as which can also be defined as an embedded system. It is a
robotic arms for pick and place of the objects from conveyor real-time system which is designed to perform certain
belts, an ultrasonic sensor for distance calculation, a visionary calculations and automatic decisions in a timely manner.
system for recording the motion of invader and sending the The tasks assigned are carried out with strict deadlines in
pictures through video transmission system through a structured or unstructured environments with human
network. Fire sensor is used for detection of fire and a giving guidance continuously. These robots are of different types
alarm in the environment. The location of the robotic system is like autonomous, manual and semi-autonomous desirable to
defined with GPS longitude and latitude values. This work in any environments. The security and surveillance are
information is sent through a network using things speak and widely used by mobile robots [2]. These systems can be
the same information is displayed on the LCD. A GSM controlled through a remote control for responding
message is sent through mobile for giving an alert about the automatically to stimuli environment. Servo motors are used
operation. The robot designed has two modes of operation. in propulsion system and the sensors like ultrasonic and
One is the autonomous mode, and the other is the manual infrared are used for distance measurement and the camera
mode using a remote supervisory system. The deigned work placed on the robot are used to record the audio and video
combines the sensory and remote supervising system for better
and transmit wirelessly to different places. The surveillance
robotic security. The path planning is also carried out in a
systems used in the present world are active in research
robotic system for achieving the motion in real time and
obstacle avoidance. In the carried work the results are clearly
areas. These functional robots are extremely challenging in
discussed and overall work is defined with the coding details as exploration and monitoring in indoor/outdoor environments.
well. The autonomous robots are used to detect and identify the
objects with a multisensory platform in various applications
Keywords—Robotic arm; GSM module; Path Planning; LCD; like airports and museums. They can be used to work on
Robotic system. real-time applications of buildings and safety devices also.
To prevent from damages and theft also the security system
I. INTRODUCTION is being installed for remote monitoring and can send the
information through the network and automatically detect
Design of Robotics deals with knowledge creation the face of invaders for security alarms and also avoiding
in different fields. Robotic engineering applications involve hazards for extreme environments [4].
in manufacturing, surgical procedures, space industry,
Military and Health informatics. Today Robots are

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 2018 9th IEEE Control and System Graduate Research Colloquium (ICSGRC 2018), 3 - 4 August 2018, Shah Alam, Malaysia

1.1. Need for Robots: One of the ways of solving these problems is by involving
The robots are more superior to humans in many aspects collaborative work through easy programming of smart
like improving the quality of work, better flexibility and applications with PolyScope or open CV software for rapid
Accuracy in perceived measurements. One of the significant and efficient development of the robotic system. These
aspects is Robots are able to handle the work in hazardous robots are being referred to as cobots with light-weight and
environments with many sensors built on it. In the present compact design with safety features with the intuitive
and future scenario, robots have largest research area in programming interface.
different fields like car production, space and underwater Robotic solutions are efficient and simple, but
exploration, commercial agriculture etc. The below figure during the implementation, they often provide the gap of
shows the research in coming years in various applications skill sets and experience in manufacturing the human
defined counterparts. One more problem implementation is the cost
of technology and budget requirements that can be spent to
make the robotics as a service and able to sustain the cost in
the market these challenges deal with the safety features in
monitoring, guiding and limiting the workforce for
automated solutions. Hence robotics as a service to make
the technology better, faster and smarter in the markets for
building the economic future. Such solutions are being
provided in the diagram shown in figure 3.

Figure 1: Research of Robots and importance in different applications

(valuewalk.com)

II. MAJOR ISSUES

In the present world, there are various problems
associated towards autonomous robotics. One of the major
problems is towards decision making and intelligence
system. Another problem is a sudden shutdown of the robot
due to power failure [13]. The robots are designed to
perform specific functions and tasks for security services
like navigation, detection and supervision of the premises
Figure 3: Radical solutions and latest strategic trends and analysis for
through camera vision by a network [7]. Some of the major robotic solutions (World economic forum.com)
difficulties in the robotics are towards decision making and
locomotion of the robot. The machine learning and its own III. DESIGN OBJECTIVES
intelligence is still a challenge for the scientists in face
recognition and language processing, path planning, optimal The autonomous robot for the desired work is
gait and pick and place of the object in unstructured carried out with the following objectives by following
environments. The robotic system’s problems are broadly design considerations. The Robot designed can work in
classified in applications such as localization and mapping hazardous environments with Security and more reliability.
in unknown environments and cognition behavior change It can work in two modes of operation (autonomous &
manual). These Robots have repeatable precision at all times
depending on the environmental conditions and robot and
and can be much more accurate than humans; they may
human interaction are the most interesting applications in
have milli or micro inch accuracy. Robots designed have
sensing and locomotion tasks[11]. sensors which can have capabilities beyond that of humans
and can process multiple stimuli or tasks simultaneously,
humans can only one. This Robotic system replaces human
workers for utmost security and surveillance. One of the
significant places in robot system is the power subsystem
which estimates the working time and avoids a shutdown of
power suddenly [1]. This state requires a block for
converting the AC-DC power for charging and backup of
the system. The designed robotic system has a computer
system used to monitor and lower body of the robotic unit
consists of motor drivers, two DC servo motors and IPC
socket for the internal communication. The system designed
as a separate subsystem to store and communicate between
Figure 2: Shows problems associated with locomotion and AI in robotics all subsystems. The ultrasonic sensor used is for obstacle
(Riggaro.com)

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 2018 9th IEEE Control and System Graduate Research Colloquium (ICSGRC 2018), 3 - 4 August 2018, Shah Alam, Malaysia

detection and also locomotion through a microcontroller.

The sensor has a beam width of 22.5 degrees and can detect
a range from 30 to 1500 cm. The fire sensor used is R2868
is an ultraviolet detector with a narrow sensitivity of 180 to
260 nm for metal and gas effect. This information is
transmitted through RS 232 or Bluetooth to define the
hazard. The AdaBoost and Kalman tracker are used for
tracking and vision detection in human and robot
interaction. These systems can easily respond to the various
situations found in the dynamic environment.

Figure 4: Shows the block diagram of a robotic design unit

The development of Security robots involves the major

requirements of hardware and software are AT89s52
Microcontroller, 8052 Microcontroller, Ultrasonic sensor,
Smoke sensor, Robotic Arm, Camera, DC motor, L293D
driver, LCD, GPS and GSM modules, Power supply, Keil
software, ProLoad. The below diagram defines the circuit Figure 5 Shows the internal schematic view of a robotic unit
schematic view. The Atmel 89s52 is connected with motor The internal schematic shows how the connections are
driver IC L293 D for proper operation of motors. By the connected with different sensors and motors for output
user command to the microcontroller with pre-stored ports. The robotic unit is designed with the lowest weight
characters, the robot can move left, right, up and down. This and smallest size for easy movement and it has been
helps to pick and place the objects from the conveyor belt. modeled with full scale and batteries used are about 60
Among four motors, the first two motors are used to drive grams and practical results show that there is a much
the robot and other two are moving arm of picking and physical strength to handle obstacle and easily carried away
placing the object. The smooth functioning of the device is as it is of less weight.
carried out with a voltage regulator circuit. The Bluetooth
module is used to send the commands to the IV. IMPLEMENTATION
microcontroller. Through high and low digital values to the A. Pseudo code: The Pseudo code is tested and
motor, the rotation takes place. A camera is also interfaced implemented in an integrated development environment
to know the movement of the vehicle at every point. The (IDE) for different hardware elements.
pictures obtained from the camera are also transmitted to
*** Creating Trace Output File 'Design of an Intelligent Security Robot.
monitor the position and situation from time to time. This ### Preparing for ADS-LD.
robot is much useful in industrial activities. The H-bridge ### Creating ADS-LD Command Line
circuit requires 12V DC battery supply which is controlled ### List of Objects: adding '"startup"'
### List of Objects: adding ‘design of an intelligent security robot’
by using logical sequences shown below.
The logic 1 and 0 is applied at motor terminals for ### ADS-LD Command completed:
forwarding direction movement and logic 0 and 1 is applied -CPU ARM7TDMI "startup" "design of an intelligent security robot --strict
--scatter "Design of an Intelligent Security Robot.sct"
in the reverse direction. The motor is at rest when same --auto --summary_ std err --info summarizes --map --xref –call graph --
inputs are applied at both terminals. symbols
--info sizes --info totals --info unused --info veneers
Table 1: Boolean logic for H-bridge circuit --list ".\Design of an Intelligent Security Robot map" -o "Design of an
A B Function Intelligent Security Robot. axf"### Preparing Environment (Prep Env Ads)
1 0 Forward ### ADS-LD Output File: 'Design of an Intelligent Security Robot. axf'
### ADS-LD Command File: 'Design of an Intelligent Security Robot. lnp'
0 1 Reverse ### Checking for dirty Components...
1 1 Stop ### Creating CmdFile 'Design of an Intelligent Security Robot. lnp',
0 0 Stop Handle=0x00000728
### Writing '.lnp' file

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 2018 9th IEEE Control and System Graduate Research Colloquium (ICSGRC 2018), 3 - 4 August 2018, Shah Alam, Malaysia

### ADS-LD Command file 'Design of an Intelligent Security Robot. lnp' through wireless RF interface to a Mobile phone through a
is ready. message alert.
### ADS-LD: About to start ADS-LD Thread.
### ADS-LD: executed with 0 errors However, the results shown are supervised
### Updating obj list practically as shown in the figures. Figure 10 and 11 shows
### LD ADS_ file () completed. the longitude and latitude values defining the position of the
robotic system unit on the LCD. The position is monitored
B. Initialize: in a timely manner and it can be visually monitored through
#include<lpc214x.h>
void delay(double ms) a camera and the objects detected and its pictures can be
{ transmitted to a laptop for object analysis. The analysis of
Unsigned int i,j; security measures is tested with user acceptance testing is
for (i=0;i<ms; i++) shown theoretically in section VI. The user testing
for (j=0;j<250;j++);
} measurement is done on the five-point scale. The detailed
int main() analysis of the survey is evaluated with security
{ measurements. The results are validated objectively through
PINSEL1=0x00000000; user acceptance testing and their accuracy results are well
PINSEL2=0x00000000;
IODIR0=0x00000000; described in section VI.
IODIR1=0X00FF0000;
IOCLR1=0X00FF0000;
While (1)
{
If ((IOPIN0&0x00010000) ==0x00)
{
IOCLR1= (1<<16) | (1<<18);
IOSET1= (1<<17) | (1<<19);
Delay (30000);
IOCLR1 = (1<<16) | (1<<17) | (1<<19) | (1<<18);
Delay (1000);
IOSET1= (1<<16);
IOCLR1= (1<<17)| (1<<19)| (1<<18);
Delay (30000);
}
// IOCLR1=0X00FF0000;
Else if ((IOPIN0&0x00020000) ==0x00000000) Figure 6: Setup of Autonomous Robot
{
IOSET1= (1<<17);
IOCLR1= (1<<16)| (1<<19)| (1<<18);
}
// IOCLR1=0X00FF0000;
Else if ((IOPIN0&0x00040000) ==0x00000000)
{
IOSET1= (1<<19);
IOCLR1= (1<<16)| (1<<18)| (1<<17);
}
// IOCLR1=0X00FF0000;
Else
{
IOSET1= (1<<16)| (1<<18);
IOCLR1= (1<<17)| (1<<19);
} Figure 7: Obstacle avoidance
}
}

V. EXPERIMENTAL RESULTS
In this section, it explains the results of research
and at the same time is given the comprehensive discussion.
Figure 6-11 defines separate results with three intelligent
security system operations, in figure 6 the robot is
autonomous picks and place the object based on the user
commands. In second set fig.7, the robot avoids the obstacle
and defines a path for smooth movement of a robot. It is
carried through a wireless interface and the location and
position, movement can be easily monitored through a GSM
and wireless camera. In third set Figure 8, 9 smoke or fire is
detected. A candle was used as a fire source and the smoke
detected information was supervised and transmitted Figure 8: Smoke detection

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 2018 9th IEEE Control and System Graduate Research Colloquium (ICSGRC 2018), 3 - 4 August 2018, Shah Alam, Malaysia

Figure 9: Smoke alert

Figure 14: A channel for transmission of data

Figure 10: GPS Values

Figure 15: Shows the channel place for storing and observing the data in
real time

The above figure 12 describes a real-time autonomous robot

Figure 11: Video Transmission From Camera
for pick and place mechanism. This autonomous robot can
easily avoid an obstacle and determine the smoke detection
and the robot can be easily located through GPS values and
the detailed video information is transmitted and also
monitored for better prevention of damage. Figure 13 shows
real-time transmission of data using things speak software
platform. This platform is used for easy monitoring online
through things speak. This data is provided through a
channel which is shown in figure 14. This data can be
viewed through an email account from anywhere at any
time. However, this work is used for easy monitoring and
better storage in real time. The data describe the longitude
Figure 12: Pick & Place
and latitude values in real-time transmission. It has a
separate channel for storing and observing values through
this software platform.
The multitasking ability and performance of the robot is
improved by using advanced processors such as ARM
processors which support inter-process communication. The
robotic arm is made to work in the autonomous mode with
the help of most sophisticated & efficient coding. Power
subsystem acts an important role in the robot system. A
good power subsystem can make robot extend working time
and avoid a shutdown suddenly. The robot is capable of
perceiving the state of the power, the robot makes the
correct decision when it comes back to recharging station.
The power management can be made effective with the help
Figure 13: Things speak for real-time transmission of data of neural networks.

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 2018 9th IEEE Control and System Graduate Research Colloquium (ICSGRC 2018), 3 - 4 August 2018, Shah Alam, Malaysia

VI. OBJECTIVE ANALYSIS every step during contribution to my work and defining me
new research findings related to the work proposed.
The system designed was evaluated through a
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ACKNOWLEDGMENT
I am very much thankful to Middle East College, Muscat
for providing me lab facilities and also creating an
environment of renowned professors who helped me at

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