DEPARTMENT OF MECHANICAL ENGINEERING

CHAPTER 1

INTRODUCTION

1. INTRODUCTION TO ROBOTICS

Robot is defined as a mechanical design that is capable of performing human tasks or

behaving in a human-like manner. Building a robot requires expertise and complex
programming. It’s about building systems and putting together motors, flame sensors and wires,
among other important components. A fire fighter robot is one that has a small fire extinguisher
added to it. By attaching a small fire extinguisher to the robot, the automation put out the fire by
human controlling. This paper covers the design and construction of a robot that is able to sense
and extinguish fire. This robot implements the following concepts: environmental sensing,
proportional motor control. This robot processes information from its various sensors and key
hardware elements via microcontroller.

It uses thermistors or ultraviolet or visible sensors to detect the fire accident. A robot
capable of extinguishing a simulated tunnel fire, industry fire and military applications are
designed and built. Ultraviolet sensors/thermistors/flame sensors will be used for initial
detection of the flame. Once the flame is detected, the robot sounds the alarm with the help of
buzzer provided to it, the robot actuates an electronic valve releasing sprinkles of water on the
flame.
Fire fighters face risky situations when extinguishing fires and rescuing victims, it is an
inevitable part of being a fire fighter. In contrast, a robot can function by itself or be controlled
from a distance, which means that fire fighting and rescue activities could be executed without
putting fire fighters at risk by using robot technology instead. In other words, robots decrease
the need for fire fighters to get into dangerous situations. This robot provides fire protection
when there is a fire in a tunnel or in an industry by using automatic control of robot by the use
of microcontroller in order to reduced loss of life and property damage. This robot uses dc
motors, castor wheel, microcontroller, sensors, pump and sprinkler. Microcontroller is the heart
of the project. Microcontroller controls all the parts of the robot by the use of programming.
In this robot as the fire sensor senses the fire, it sends the signal to microcontroller; since the
signal of the sensor is very weak the amplifier is used so that it can amplify the signal and sends

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it to microcontroller. As soon as microcontroller receives the signal a buzzer sounds, the buzzer
sound is to intimate the occurrence of fire accident. After the sounding of the buzzer
microcontroller actuates the driver circuit and it drives the robot towards fire
place, as the robot reaches near the fire microcontroller actuates the relay and pump switch
is made ON and water is sprinkled on the fire through the sprinkler.

1.2 TYPES OF ROBOT

1.2.1 Redundant Robots

Six degrees of freedom are, in principle, enough to manipulate objects in space with three
possible independent translations and three independent rotations. But, with a given architecture
of a robot arm and a given working environment, restrictions of workspace, dexterity and
obstacles call for additional degree(s) of free- dom. In such cases, as a human being uses
additional freedoms of the body to supplement the capabilities of the arm for enhancing the
reach, manipulate objects comfortably and reach below the table or around the corner objects,
additional degrees of freedom can be provided in the robot arm with extra joints and links. Such
robots are called redundant robots (because they use more inputs than necessary) and are used
for the purposes of workspace enhancement and avoidance of singularities and obstacles. With
a redundant robot, a particular point can be reached in infinite number of ways — to choose one
of those infinite ways is the problem of redundancy resolution, which is solved by optimizing
the performance.

1.2.2 Space Robots

Robots in space applications are light, can handle greater masses and have a special
characteristic that, unlike robots on earth, their frames are not fixed, rather they float with the
rest of the robot, together with the space vehicle.

1.2.3 Flexible Robots

Truly speaking, all solid bodies are flexible. Conventional behavior of robot manipulators
needs to consider the links of a robot as rigid, for which the deflections have to be negligible
from the viewpoint of positional accuracy. Consequently, the links are to be designed stronger
than necessary and heavy. But, from a physical point of view, it is not necessary and we should
not mind the links being flexible as long as they are within elastic limits and we know their
behavior. So, the recent interest has been to work with flexible robots and to take advantage of
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their light weight by incorporating their flexibility into the mathematical model which, of
course, complicates the dynamics of the system --- a price to be paid for the advantage gained.

1.2.4 Parallel-actuated Robots and Closed-loop Robots

The traditional serial chain robots, due to their cantilever structure, have less load carrying
capacity. Actuations off the base aggravate this problem and make the robot bulky.
Consequently, the serial robots tend to bend at high load and vibrate at high speed. Though they
possess a large workspace, the positioning capability is rather poor. So, where high load
carrying capacity and precise positioning is of prime concern, an alternative is provided by
parallel-actuated and closed-loop robots which have attracted tremendous research interest in
the last 15 years.

As a human being uses both arms to handle a heavy load, three fingers in parallel for doing
a precise work like writing and as animal body is supported on four legs with provision of in-
parallel actuation at the leg joints, robot manipulators also can be designed with the end effector
(hand) connected to the frame by parallel chains of joints and links having the actuations
distributed among the various chains or legs. The most celebrated among the parallel
manipulators is the six-degrees-of- freedom parallel manipulator called the Stewart platform
which has its end-effector connected to the ground by six extensible legs having ball-socket
joints at the ends, the extensions of the legs being done by six linear actuators.

Parallel robots, in general, provide high structural rigidity and load carrying capacity, good
positioning capabilities and have less vibration. But, they generally have restricted workspaces
and their kinematics and dynamics is quite complicated to study and analysis. Typical
applications of parallel robots include applications where high load capacity and precise
positioning are required, use as an assembly workstation, dexterous wrist and
micromanipulators. The application of the concept of parallel actuation has uses in cooperating
robots and in multi-fingered gripping and manipulation.

1.2.5 Walking Robots

While manipulation robots manipulate objects by utilizing the freedom available at the
joints, mobile robots can carry objects to greater distances by body movement. In ordinary life,
we use trains, automobiles and animals for conveyance. Similarly, in robotics, we have tracked,
wheeled and legged vehicles. Though all of these have their own applications, walking
machines have enjoyed the maximum research interest due to their versatility over terrain

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irregularities and greater mobility, and work is mostly focused on machines walking on two to
six legs.

Till now, most of these walking machines have succeeded mostly in laboratory conditions
and have achieved little breakthrough on completely unstructured ground, but the attempts in
this direction promise a high potential. Recently BARC has developed a walking machine with
six legs (presented in National Convention on Industrial Problems in Machines and
Mechanisms 1994) which moves forward and can take turns also, but the walking speed is quite
low. A challenging field of research is biped locomotion which gives rise to a problem of
stability, which is evident as equilibrium of a body with less than three supports is precarious.

The ease of biped locomotion in human beings can be attributed to their erect body
structure, the extent and nature of the surface of the foot and an extremely smart nervous
system — conditions simulating which in machines are a really challenging task.

1.3 Model-based Control

The traditional control strategy of robot manipulators is completely error driven and shows
poor performance at high-speeds, when the high dynamic forces act as disturbances. The
current trend is towards model-based control, where the dynamic forces are incorporated in the
control strategy as feed forward gains and feed- back compensations along with the servo-
controller which is required only to take care of external noise and other factors not included in
the dynamic model of the robot. As is expected, the model-based control scheme exhibits better
performance, but demands higher computational load in real time. A particular area of model-
based control is adaptive control, which is useful when the dynamic parameters of the robot are
not well-known a priori. The controller adapts itself during execution of tasks and improves the
values of the dynamic parameters.

1.4 Force Control

Conventional control schemes primarily concentrate on position control. But certain tasks
(e.g. cleaning a window pane) require the maintenance of some required contact forces. Cur-
rent trend is to control the force in such directions (in such applications) and position in other
directions. The use of compliance (flexibility) also is getting popular in control. In applications

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like insertion of a peg into a hole, if the positional accuracy is poor, the forces stemming from
such errors tend to correct the position, if some compliance is provided at the wrist.

1.4 Robot Intelligence and Vision

Intelligence, as pertaining to human beings, is a very subtle and profound quality which
cannot be learnt or taught (though can be enhanced in scope and application) and cannot be de-
scribed in terms of logic and knowledge alone. Again, knowledge is much more than a collec-
tion of pieces of information. As the so-called machine intelligence of the present time basically
stems from the information and logic coded in computer, we cannot expect true ‘intelligence’ in
a robot right now in the sense of the robot having true ‘understanding’. Still, the intelligent ro-
bots, as they are called, constitute an extremely popular topic in robotics, because they can per-
form various tasks in an apparently intelligent manner.
For example, machine intelligence can be applied for path planning and obstacle avoidance
by maintaining (and updating) a complete CAD model of the working environment such that
the robot navigates through obstacles without collision. As sight, sound and touch assist human
intelligence so far as the knowledge of the external world is concerned, robots also are equipped
with sensors (optical, ultrasonic, tactile) for feedback. When a robot has to work in a poorly
structured or un- structured environment (the environment not being completely known a pri-
ori), the robot intelligence heavily relies on ‘vision’, which is the process of extracting, charac-
terizing and interpreting information from two-dimensional images of the three-dimensional
world. In the whole processing of an image, the interpretation of a scene is the most difficult
task and requires highest level of intelligence. The maturity of this technique is expected to pro-
vide tremendous decision-making capabilities to the robots.
The dream of perfection for the science of robotics is a system equipped with high-perfor-
mance sensors and stereo vision, such that it can work in unstructured environment where
changes in scenario may be rapid and unexpected. In addition, certain degree of fault-tolerance
is desirable with decision-making capabilities such that it can perform tasks assigned to it as
long as they are physically possible.

1.5 History of Robotics

In 1927 the Maschinenmensch ("machine-human") gynoid humanoid robot (also called

"Parody", "Futura", "Robotrix", or the "Maria impersonator") was the first depiction of a robot

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ever to appear on film was played by German actress Brigitte Helm in Fritz Lang's film Me-

tropolis.
In 1942 the science fiction writer Isaac Asimov formulated his Three Laws of Robotics.
In 1948 Norbert Wiener formulated the principles of cybernetics, the basis of practical ro-
botics.

Fully autonomous robots only appeared in the second half of the 20th century. The first dig-
itally operated and programmable robot, the Unimate, was installed in 1961 to lift hot pieces of
metal from a die casting machine and stack them. Commercial and industrial robots are wide-
spread today and used to perform jobs more cheaply, or more accurately and reliably, than hu-
mans. They are also employed in jobs which are too dirty, dangerous, or dull to be suitable for
humans. Robots are widely used in manufacturing, assembly, packing and packaging, transport,
earth and space exploration, surgery, weaponry, laboratory research, safety, and the mass pro-
duction of consumer and industrial goods.
Robotics is based on two enabling technologies: Telemanipulators and the ability of numeri-
cal control of machines.
Telemanipulators are remotely controlled machines which usually consist of an arm and a
gripper. The movements of arm and gripper follow the instructions the human gives through his
control device. First telemanipulators have been used to deal with radio-active material.

Numeric control allows controlling machines very precisely in relation to a given coordinate
system. It was first used in 1952 at the MIT and lead to the first programming language for ma-
chines (called APT: Automatic Programmed Tools).

The combination of both of these techniques leads to the first programmable telemanipula-
tor. The first industrial robot using these principles was installed in 1961. These are the robots
one knows from industrial facilities like car construction plants.

The development of mobile robots was driven by the desire to automate transportation in
production processes and autonomous transport systems.New forms of mobile robots have been
constructed lately like insectoid robots with many legs modelled after examples nature gave us
or autonomous robots for underwater usage.

Humanoid robots are being developed since 1975 when Wabot-I was presented in Japan.
The current Wabot-III already has some minor cognitive capabilities. Another humanoid robot
is "Cog", developed in the MIT-AI-Lab since 1994. Honda’s humanoid robot became well

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known in the public when presented back in 1999. Although it is remote controlled by humans
it can walk autonomously (on the floor and stairs).

1.6 What is a Robot?

Robots are physical agents that perform tasks by manipulating the physical world. They are
equipped with sensors to perceive their environment and effectors to assert physical forces on it
(covered in more detail in next section). As mentioned before Robots can be put into three main
categories: manipulators, mobile robots and humanoid robots.

 Robotics and AI

Artificial intelligence is a theory. The base object is the agent who is the "actor". It is real-
ized in software. Robots are manufactured as hardware. The connection between those two is
that the control of the robot is a software agent that reads data from the sensors decides what to
do next and then directs the effectors to act in the physical world.

 Sensor

A sensor is a device that measures a physical quantity and converts it into a signal which
can be read by an observer or by an instrument. For example, a mercury-in-glass thermometer
converts the measured temperature into expansion and contraction of a liquid which can be read
on a calibrated glass tube. A thermocouple converts temperature to an output voltage which can
be read by a voltmeter. For accuracy, most sensors are calibrated against known standards.

 Effectors

Effectors are the means by which robots manipulate the environment, move and change the
shape of their bodies

In robotics, end effector is the device at the end of a robotic arm, designed to interact with
the environment. The exact nature of this device depends on the application of the robot.

In the strict definition, which originates from serial robotic manipulators, the end effectors
means the last link (or end) of the robot. At this endpoint the tools are attached. In a wider
sense, end effectors can be seen as the part of a robot that interacts with the work environment.

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This does not refer to the wheels of a mobile robot or the feet of a humanoid robot which are
also not end effectors—they are part of the robot's mobility.

 Characteristic of robot

A robot has these essential characteristics:

 Sensing First of all your robot would have to be able to sense its surroundings. It
would do this in ways that are not unsimilar to the way that you sense your surroundings. Giv-
ing your robot sensors: light sensors (eyes), touch and pressure sensors (hands), chemical sen-
sors (nose), hearing and sonar sensors (ears), and taste (tongue) will give your robot awareness
of its environment.

 Movement a robot needs to be able to move around its environment. Whether rolling
on wheels, walking on legs or propelling by thrusters a robot needs to be able to move. To
count as a robot either the whole robot moves, like the Sojourner or just parts of the robot
moves, like the Canada Arm.

CHAPTER 2
LITERATURE REVIEW

2.1 Introduction

This chapter are discussing about a study on the previous project based on fire fighter
robot project and thesis. The entire project had been studied and analyzed their principles,
method and applications.
2.2 Robot
Robot is a machine that looks like a human being and performs various complex tasks.
Now, let’s have a good look at existing firefighting robots.

Virtual Reality Simulation of Fire Fighting Robot(Indonesia) is a virtual

adaptation of competition robot, that took part in Panitia Kontes Robot Cerdas
Indonesia competition in 2006. This system was developed in MATLAB/Simulink
with the help of «Virtual Reality Toolbox» plug-in. It is oriented for initial testing of
controlling algorithms. It’s important to notice, that even the robot itself doesn’t have
enough level of functionality, because of low-detailed formalization of environment.
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The robot could operate only in corridor-room environment, without strange objects.
Only one fire source is meant and there are auxiliary marks on floor that mean for example
room entrance.
Pokey the Fire-Fighting Robot (USA) is the firefighting robot that made its way out of
competitions, and became more “serious” than other systems. In there are detailed description of
used equipment and basic algorithms of operating. Robots operating environment is a building,
so the robot is equipped with necessary sensors, for example, with a line sensor, that could be
unuseful in conditions of dense smoke. The main advantages of robot are:
 using of two types of fire sensors,
 working in different ways,
 Using of complex firefighting tool.

The main disadvantages are:

 Short distance of sensor’s work.
 The fire could be recognized at the distance not more than 1.5m.
 At longer distances the sensors works bad, ad developers say low efficiency of onboard
computer, able only to carry main tasks, without its extension and complexization,
 Absence of optical means of environment perception.

The device is described as autonomous mean of firefighting in houses and any civil buildings.
Fire Protection Robot (USA) - another competition project, developed for «15th Annual
Trinity College Fire Fighting Robot Competition». Robot has more complex organization,
than one, shown above and is oriented for solving larger variety of tasks. The main system’s
advantages are:

 More complex algorithms, used for fire detection.

 Using of sound sensor for activating.
 Presence of some additional navigation sensors.

The main disadvantages are:

 low-efficiencycomputer ;
 low-power chassis;
 absence of home-return algorithm;

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 absence of mapping;

Firefighting Robot is an American Trinity College development, that was only on early-
prototype stage (in 2008). It was supposed to this robot to be an autonomous device, with 15
minutes limited working time, after which it will return to the supply station. This approach is
one of the best variants for firefighting in houses and non-industrial buildings. The main
disadvantages are:

 the little working time;

 low-stock of “water”;

The planning low-cost is a system’s main advantage. In special order it’s

necessary to notice firefighting robots, included in Russian Ministry of Emergency
Situations. Among them are “ABR-ROBOT”, “El-4”, “El-10”. These models are far
away from competition projects, they armed with real armour and firefighting
tools, but their main disadvantage consists in remote controlling. They aren’t
autonomous. The others history of robot development was shown in table 2.1 below:

DESIGNER YEAR DESCRIPTION

Archytas (347 BC) A bird-shaped model propelled by a jet of what was
probably steam, said to have actually flown some 200 yards.
This machine, which its inventor called The Pigeon, may
have been suspended on a wire or pivot for its flight.
Al-Jazari (1206) A boat with four automatic musicians that floated on a lake
to entertain guests at royal parties.
Leonardo da (1519) Further analysis of the plans has led some to believe that the
Vinci robot would have been able to sit up, wave its arms and
move its head and jaw. It is not known whether he attempted
to build the robot.
Jacques de (1782) A mechanical duck that was able to eat and digest grain, as
Vaucanson well as flap its wings. Vaucanson gained celebrity across
Europe for his constructs.
Pierre (1790) Animated dolls, or automata, to help sell watches and
JaquetDroz mechanical birds. He and his son created three dolls, each
with a unique function. One can write, another plays music,
and the third draws pictures. Some consider these devices to
be the oldest examples of the computer.
Hisashige (1881) Array of inventions including automatic gas lamps, clocks,
Tanaka and extremely complex mechanical toys, some of which
were capable of serving tea, firing arrows drawn from a
quiver, or even painting a Japanese kanji character.

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Karel Čapek (1938) The word robot was introduced by Czech writer Karel
Čapek in his play R.U.R. (Rossum's Universal Robots)
premiered in 1920.
George (1914) A humanoid robot known as Elektro, exhibited at the 1939
Westinghouse and 1940 World's Fairs. Seven feet tall, weighing 265
pounds, humanoid in appearance, it could walk by voice
command, talk (using a 78-rpm record player).
Nikola Tesla (1943) Tesla discovered remote control and patented a radio
controlled robot-boat/submarine in November 8, 1898.
Tesla used radio waves to move the craft in a small pool of
water in Madison Square Garden, New York City during the
Electrical Exhibition in 1898.
William Grey (1977) The first electronic autonomous robot was created by
Walter William Grey Walter at Bristol University, England in 1948.
It was named Elsie, or the Bristol Tortoise. This robot could
sense light and contact with external objects, and use these
stimuli to navigate.

Table 2.1: Robotic History

2.3Previous Robot Overview

The robot below shows the characteristic of the previous robot that have been similar
with this robot project and used in the literature reviews

2.3.1 Rolly Firefighter Robot by William Dubel, Hector Gongora, Kevin

Bechtold, and Daisy Diaz

Figure 2.1 : Rolly Firefighter Robot by William Dubel, Hector Gongora, KevinBechtold,
and Daisy Diaz

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This firefighting robot is designed to search for a fire in a small floor plan of a
house, extinguish the fire (by placing a cup over the LEDs), and then return to the
front of the house. The navigation of the robot throughout the house is achieved
by data provided by a line tracker and ultrasound transducers. The deployment of
the extinguishing device is implemented with a custom arm controlled by servos.

2.3.2 Fire Protection Robot by Viet Do, Ryan Norder, and Ryan Spraetz

Figure 2.2 : Fire Protection Robot by Viet Do, Ryan Norder, and Ryan Spraetz

This robot designed to enter a room and seek out a spot where there is extreme heat
possibly due to a fire. Upon entering the room, the robot will once again use the color
camera to pinpoint a spot where there is a large concentration of light. Once the robot has
driven up to the light source, the heat sensor is activated to check and see if there is a large
amount of heat being generated. If there is an excessive amount of heat generated, the fan is
turned on and rotated quickly with a servo motor to put out the flame. If the flame is not put
out the fan will turn on again and continue to blow on the flame. Once the flame is
extinguished, the robot leaves the home.

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2.3.3 Autonomous Mobile Robot: Recognize and Response to fire by Nik Md

Hafizul hasmi B Md Suhaimi

Figure 2.3 : Autonomous Mobile Robot: Recognize and Response to fire by

Nik Md Hafizul hasmi B Md Suhaimi

This project will discuss about the development of a mobile robot which is can be train
and control an autonomous robot that has a multifunction. The robot acquires basic
navigation skills as well as the ability to detect a fire and to extinguish it. This robot is
controlled by a microcontroller PlC16F84A and supported by RC circuits as driver for DC
motors and other electronic components. This robot equipped with fire sensor that can be
expand and attract so it can recognize and response to fire to operating water pump system.
The battery monitoring circuit also equipped in this robot to make an easier to monitoring
the overall robot battery power.
2.4 GSM Modem : GSM is a cellular network, which means that mobile phones connect
to it by searching for cells in the immediate vicinity. Table 2.1 show the types of GSM Modem
and used technology.
Table 2.2 : The type of GSM Modem and Technology

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MOBILE
YEAR STANDARD TELEPHONE TECHNOLOGY PRIMARY
SYSTEM MARKETS

EUROPE,MID
NORDIC MOBILE ANALOG UE
1981 NMT540 TELEPHONY DLE EAST

TOTAL ACCESS
EUROPE
1985 TACS COMMUNUNIC ANALOG UE
AND CHINA
ATION SYSTEM
NORDIC EUROPE,MID
1986 NMT900 MOBILE ANALOG UE DLE EAST
TELEPHONY
GLOBAL
SYSTEM FOR
WORLD-
1991 GSM MOBILE DIGITAL
WIDE
COMMUNICATI
ON
DIVISION DIGITAL
1991 TDMA TIME AMERICA
MULTIPLE ACCESS
DIVISION DIGITAL NORTH
1992 CDMA CODE MULTIPLE ACCESS AMERICA,
KOREA
GLOBAL
SYSTEM FOR
GSM 1800 MOBILE
1993 DIGITAL EUROPE
COMMUNICATI
ON

PERSONAL
PDC DIGITAL
1994 DIGITAL JAPAN
CELLULAR

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PERSONAL
PCS 1900 COMPUTER DIGITAL NORTH
1995
SERVICES AMERICA

GLOBAL
SYSTEM FOR
GSM 800 MOBILE
2001 DIGITAL NORTH
COMMUNICATI
AMERICA
ON

GLOBAL
SYSTEM FOR
2006-Till GSM 450 MOBILE WORLD-
DIGITAL
Date COMMUNICATI WIDE
ON

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CHAPTER 3
Operation of Robot

There are also several different ways to describe manipulator motions. The
major characteristics of motion description are the coordinate system in which
they are expressed, whether they are absolute or relative, and the complexity of
the motion description.

Principle Operation

Co-ordinate system

The two most important systems are joint angles and Cartesian (X,Y,Z) coor-
dinates. Y-axis, Z-axis, X-axis.

A few robots support cylindrical coordinates, but these are probable nod as
useful as Cartesian because they are manipulator-centered rather than work space
centered.
The form of a joint angle description is just a list of the joint angles in all ma-
nipulator designs, any such list corresponds universally to one position & orienta-
tion of the end effectors. This is typical of simple control systems.

If the reference frame in which the Cartesian coordinates are measured in

flexed in position in the work space, it is called an inertial reference. A particular
inertial frame is usually designated as the default reference frame. It is often
called the “Base” frame, which moves and turns with the object.

It is useful in assembly task to be able to specify positions and motions with

respect to a tool, fixture, or work piece. For this purpose, it should be possible to
define a new reference frame fixed in an object. These auxiliary reference frames
should not have to be aligned with the base frame.

A frame fixed in the end effectors and rotating with it is also very useful in as-
sembly task for describing reaching motions. For ex. Animation calls this the
“Tools Frame”. Another useful moving frame moves with a conveyor belt.

The industrial robot is a programmable mechanical manipulator, capable of

moving along several Direct sound equipped as its ends with a work device called
the “end effectors” (or tool) and capable of performing factory work ordinarily

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done by human beings. The term robot is used for a manipulator that has a built in
control system and is capable of stand along operation.

Modern robotic systems consist of at two major parts:

1. The manipulator, which is mechanical moving structure.

2. The device to actuate the joints of the manipulator.

In general, the structure of a manipulator is composed of a main frame and a

wrist with a fool at its end. The tool can be a welding head, a spray gun, a ma-
chining tool, or a gripper containing open shut jaws, depending upon the specific
applications of the robots. Each of arms practically consists of a sequence or me-
chanical links connected by joint to the next link. The function of the joints is to
control the motion between the links.

The motion of the end effect or is generated by controlling the position and ve-
locity of the robots axes of motion. An axis of motion in robotics means degree of
freedom in which robot can move. Basically the robot needs six axes of motion
(or degree of freedom) to reach an arbitrary point with a specific orientation in
space. A different orientation might completely change the position of robot arm.
For example to place a weld on the top side of beam requires completely different
orientation from the required to place a weld at almost the same point but on the
beam and consequently the position of the arm is changed. Typically the arm has
three degrees of freedom, the linear or rotary motion and the wrist section con-
tents three rotary motion the combination of these six motions will orient the ro-
bots end effectors and position it at the required point in space nevertheless, with
increase in the number of freedom, the complexity of the machine increased and
so also the cost. Most of the industrial operations may be completed with only 3
to 6 degrees of freedom.

Robot Actuators

These include pneumatic cylinders or motors, hydraulic cylinders or motors

and electric motors. Pneumatic cylinders are cheap and need little maintenance.
These are suited for high speed operation with light pay loads. Hydraulic actua-
tors are more costly & need more maintenance. These are ideally suited for heavy
loads. Electric motors have moderate

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PROJECT SPECIFICATIONS:

The project specifications are given as below:

POWER SUPPLY:
7805 is a voltage regulation IC which is used to supply 5V Direct current to
the microcontroller.

Controller Used:
8051 microcontroller is used in this project. It is the central processing unit of
project. There are 40 pins in this controller in 16 pin are used as I/O pin. On these
pin motor driver IC and decoder is attached.

Motor Driver IC:

L293D is a dual H-bridge motor driver integrated circuit (IC). They are use to
control they the 4 motor used in project. There are 2 motor driver IC used in the
project one to control front motor and other for rear motors.

Pump:
5V Brushless DC Pump is act as a actuator for the constant supply of water
from the tank.

Motors:
200 Rpm DC Motors are used for the movement of the robot in forward/ back-
ward and left/right.

Batteries:
There are five 4V rechargeable batteries are used in the bot. Three batteries are
connected in series to the L293D to supply 12V to the motor. Other two batteries
are connected in series to the power supply.

RF Module:
TX-RX 02 (433 MHz) is used to transmit and receive signal wirelessly to robot and remote
control.

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Component of Robot
There are number of components are used for the working of the robot. These system
make the motion and functioning of system possible. Different component perform
different operation like actuation, transmission, control, motion etc. To perform these
function following component are used which is explain in subsection.

RF Transmitter 433 MHz

TX-RX 02 (433 MHz) is used to transmit and receive signal wirelessly to robot and
remote control. They transmit encoded signal of the push button from the remote con-
trol of the device.

Features of Tx-Rx 02 RF Module:

 Range in open space(Standard Conditions) : 100 Meters

 RX Receiver Frequency : 433 MHz
 RX Typical Sensitivity : 105 Dbm
 RX Supply Current : 3.5 mA
 RX IF Frequency : 1MHz
 Low Power Consumption
 Easy For Application
 RX Operating Voltage : 5V
 TX Frequency Range : 433.92 MHz
 TX Supply Voltage : 3V ~ 6V
 TX Out Put Power : 4 ~ 12 Dbm

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Figure 3.1: Block diagram of the transmitter

Figure 3.2: RF Transmitter 433 MHz

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Figure 3.3: RF Receiver of 433 MHz

Applications:

 Remote Controls – Here, in our Project we use this application.

 Automation System
 Wireless Security System
 Sensor Reporting
 Car Security System
 Remote Keyless Entry

CIRCUIT DIAGRAM
Circuit diagram of the following transmitter and receiver are as follows

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Figure 3.4: circuit diagram of Rx-Tx

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8051 Microcontroller

8051 microcontroller is used in this project. It is the central processing unit of project. There
are 40 pins in this controller in 16 pin are used as I/O pin. On these pin motor driver IC and decoder
is attached.

Features of Intel 8051 Microcontroller:

 It is an 8bit microcontroller.
 8bit accumulator, 8bit Register and 8bit ALU.
 On chip RAM 128 bites (data memory).
 On chip ROM 4 Kbytes (program memory).
 Two 16bit counter/ timer.
 A 16 bit dptr(data pointer)
 Two levels of interrupt priority.
 4 byte bi-directional input/ output port.
 Power saving mode (on some derivatives).
 16bit address bus:-it can access 2^16 memory locations:-64kb (65536) each of RAM
and ROM.
 It is an inclusion of Boolean processing system, have an ability to allow logic opera-
tions to be carried out on registers and RAM.
 8bit data bus:-it can access 8bit of data in one operation.
 UART (this serial communication port makes chip to use simply as a serial communi-
cation interface).
 It has four separate Register set. (Each contains 8 Registers (R0 to R7)).

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Figure 3.5 Block diagram of controller

Pin Configuration

Pins 1-8:Port1 Each of these pins can be configured as an input or an output.

Pin 9:RSA logic one on this pin disables the microcontroller and clears the contents of most
registers. In other words, the positive voltage on this pin resets the microcontroller. By applying
logic zero to this pin, the program starts execution from the beginning.

Pins 10-17:Port3 Similar to port 1, each of these pins can serve as general input or output.
Besides, all of them have alternative functions:

Pin 10:TXD Serial asynchronous communication input or Serial synchronous

communication output.

Pin 11:RXD Serial asynchronous communication output or Serial synchronous

communication clock output.

Pin12:INT0Interrupt 0 input.

Pin 13: INT1 Interrupt 1 input.

Pin 14: T0 Counter 0 clock input.

Pin 15: T1 Counter 1 clock input.

Pin 16: WR Write to external (additional) RAM.

Pin 17: RD Read from external RAM.

Pin 18, 19: X2, X1 Internal oscillator input and output. A quartz crystal which specifies
operating frequency is usually connected to these pins. Instead of it, miniature ceramics resonators
can also be used for frequency stability. Later versions of microcontrollers operate at a frequency of
0 Hz up to over 50 Hz.

Pin 20: GND Ground.

Pins 21-28: If there is no intention to use external memory then these port pins are
configured as general inputs/outputs. In case external memory is used, the higher address byte, i.e.
addresses A8-A15 will appear on this port. Even though memory with capacity of 64Kb is not used,

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 DEPARTMENT OF MECHANICAL ENGINEERING

which means that not all eight port bits are used for its addressing, the rest of them are not available
as inputs/outputs.

Pin 29: PSEN If external ROM is used for storing program then a logic zero (0) appears on
it every time the microcontroller reads a byte from memory.

Pin 30: ALE Prior to reading from external memory, the microcontroller puts the lower
address byte (A0-A7) on P0 and activates the ALE output. After receiving signal from the ALE pin,
the external register (usually 74HCT373 or 74HCT375 add-on chip) memorizes the state of P0 and
uses it as a memory chip address. Immediately after that, the ALU pin is returned its previous logic
state and P0 is now used as a Data Bus. As seen, port data multiplexing is performed by means of
only one additional (and cheap) integrated circuit. In other words, this port is used for both data and
address transmission.

Pin 31: EA By applying logic zero to this pin, P2 and P3 are used for data and address
transmission with no regard to whether there is internal memory or not. It means that even there is a
program written to the microcontroller, it will not be executed. Instead, the program written to
external ROM will be executed. By applying logic one to the EA pin, the microcontroller will use
both memories, first internal then external (if exists).

Pins 32-39: Similar to P2, if external memory is not used, these pins can be used as general
inputs/outputs. Otherwise, P0 is configured as address output (A0-A7) when the ALE pin is driven
high (1) or as data output (Data Bus) when the ALE pin is driven low (0).

Pin 40: VCC +5V power supply.

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Figure 3.5: Architecture of controller 8051

Port 1

P1 is a true I/O port, because it doesn't have any alternative functions as is the case with P0, but
can be configured as general I/O only. It has a pull-up resistor built-in and is completely compatible
with TTL circuits.

Port 2

P2 acts similarly to P0 when external memory is used. Pins of this port occupy addresses
intended for external memory chip. This time it is about the higher address byte with addresses A8-
A15. When no memory is added, this port can be used as a general input/output port showing
features similar to P1.

Port 3

All port pins can be used as general I/O, but they also have an alternative function. In order to
use these alternative functions, a logic one (1) must be applied to appropriate bit of the P3 register.
In tems of hardware, this port is similar to P0, with the difference that its pins have a pull-up resistor
built-in.

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Figure 3.6: Input/ Output Ports

Memory Organization

The 8051 has two types of memory and these are Program Memory and Data Memory. Program
Memory (ROM) is used to permanently save the program being executed, while Data Memory
(RAM) is used for temporarily storing data and intermediate results created and used during the
operation of the microcontroller. Depending on the model in use (we are still talking about the 8051
microcontroller family in general) at most a few Kb of ROM and 128 or 256 bytes of RAM is used.
However…

All 8051 microcontrollers have a 16-bit addressing bus and are capable of addressing 64 kb memory.
It is neither a mistake nor a big ambition of engineers who were working on basic core development.
It is a matter of smart memory organization which makes these microcontrollers a real
“programmers’ goody“.

Program Memory

The first models of the 8051 microcontroller family did not have internal program memory. It was
added as an external separate chip. These models are recognizable by their label beginning with 803
(for example 8031 or 8032). All later models have a few Kbyte ROM embedded. Even though such
an amount of memory is sufficient for writing most of the programs, there are situations when it is
necessary to use additional memory as well. A typical example are so called lookup tables. They are
used in cases when equations describing some processes are too complicated or when there is no
time for solving them. In such cases all necessary estimates and approximates are executed in
advance and the final results are put in the tables (similar to logarithmic tables).

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Data Memory

As already mentioned, Data Memory is used for temporarily storing data and intermediate results
created and used during the operation of the microcontroller. Besides, RAM memory built in the
8051 family includes many registers such as hardware counters and timers, input/output ports, serial
data buffers etc. The previous models had 256 RAM locations, while for the later models this
number was incremented by additional 128 registers. However, the first 256 memory locations
(addresses 0-FFh) are the heart of memory common to all the models belonging to the 8051 family.
Locations available to the user occupy memory space with addresses 0-7Fh, i.e. first 128 registers.
This part of RAM is divided in several blocks.

The first block consists of 4 banks each including 8 registers denoted by R0-R7. Prior to accessing
any of these registers, it is necessary to select the bank containing it. The next memory block
(address 20h-2Fh) is bit- addressable, which means that each bit has its own address (0-7Fh). Since
there are 16 such registers, this block contains in total of 128 bits with separate addresses (address of
bit 0 of the 20h byte is 0, while address of bit 7 of the 2Fh byte is 7Fh). The third group of registers
occupy addresses 2Fh-7Fh, i.e. 80 locations, and does not have any special functions or features.

Additional RAM

In order to satisfy the programmers’ constant hunger for Data Memory, the manufacturers decided to
embed an additional memory block of 128 locations into the latest versions of the 8051
microcontrollers. However, it’s not as simple as it seems to be… The problem is that electronics
performing addressing has 1 byte (8 bits) on disposal and is capable of reaching only the first 256
locations, therefore. In order to keep already existing 8-bit architecture and compatibility with other
existing models a small trick was done.

It means that additional memory block shares the same addresses with locations intended for the
SFRs (80h- FFh). In order to differentiate between these two physically separated memory spaces,
different ways of addressing are used. The SFRs memory locations are accessed by direct
addressing, while additional RAM memory locations are accessed by indirect addressing.

Memory architecture
The MCS-51 has four distinct types of memory – internal RAM, special func-
tion registers, program memory, and external data memory.
Internal RAM (IRAM) is located from address 0 to address 0xFF. IRAM from
0x00 to 0x7F can be accessed directly. IRAM from 0x80 to 0xFF must be accessed in-
directly, using the @R0 or @R1 syntax, with the address to access loaded in R0 or
R1. The 128 bits at IRAM locations 0x20–0x2F are bit-addressable.

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Special function registers (SFR) are located in the same address space as
IRAM, at addresses 0x80 to 0xFF, and are accessed directly using the same instruc-
tions as for the lower half of IRAM. They cannot be accessed indirectly via @R0 or
@R1. 16 of the SFRs are also bit-addressable.
Program memory (PMEM, though less common in usage than IRAM and
XRAM) is up to 64 KB of read-only memory, starting at address 0 in a separate ad-
dress space. It may be on- or off-chip, depending on the particular model of chip being
used. Program memory is read-only, though some variants of the 8051 use on-chip
flash memory and provide a method of re-programming the memory in-system or in-
application. In addition to code, it is possible to store read-only data in program mem-
ory, accessed by the MOVC A, @DPTR instruction. Data is fetched from the address
specified in the 16-bit special function register DPTR.
External data memory (XRAM) is a third address space, also starting at address
0. It can also be on- or off-chip; what makes it "external" is that it must be accessed
using the MOVX (Move Xternal) instruction. Many variants of the 8051 include the
standard 256 bytes of IRAM plus a few KB of XRAM on the chip.
The 8051 is designed as a strict Harvard Architecture. The 8051 can only exe-
cute code fetched from program memory. The 8051 does not have any instruction to
write to program memory. Most 8051 systems respect this distinction, and so are un-
able to download and directly execute new programs. The strict Harvard architecture
has the advantage of making such systems immune to most forms of malware. Some
8051 systems have (or can be modified to have) some "dual-mapped" RAM, making
them act somewhat more like Princeton Architecture. This (partial) Princeton architec-
ture has the advantage of making it possible for a Forth Boot Loader running on the
8051 to write new native code to RAM and then execute it, leading to faster incremen-
tal and interactive Programming cycles than strict Harvard systems.

MOTOR DRIVER IC (L293D)

L293D is a dual H-bridge motor driver integrated circuit (IC). Motor drivers
act as current amplifiers since they take a low-current control signal and provide a
higher-current signal. This higher current signal is used to drive the motors.

L293D contains two inbuilt H-bridge driver circuits. In its common mode of
operation, two DC motors can be driven simultaneously, both in forward and reverse

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direction. The motor operations of two motors can be controlled by input logic at pins
2 & 7 and 10 & 15. Input logic 00 or 11 will stop the corresponding motor. Logic 01
and 10 will rotate it in clockwise and anticlockwise directions, respectively.

Figure 3.7: Motor driver IC L293D

Enable pins 1 and 9 (corresponding to the two motors) must be high for motors to start
operating. When an enable input is high, the associated driver gets enabled. As a re-
sult, the outputs become active and work in phase with their inputs. Similarly, when
the enable input is low, that driver is disabled, and their outputs are off and in the
high-impedance state.

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Figure 3.8: Pin Diagram of L293D

Brushless DC Pump
Specifications:
 Operates on 12V supply
 Head of 10m
 Total Power generated 28W

Technical Concept
Brushless DC Pump uses the principle of permanent magnet brushless DC motor, coupled with the
impeller in the rotor, the housing structure designed to form the chamber for operating fluid flow,
characterized by security, because there is no brush friction, so there is no spark; high efficiency,
low power consumption (energy-efficient, effective power of 70%) than brush motors and long life
(up to 10,000 hours or more), low noise (below 40 dB in one meter).

Product Specification

1. Brushless DC pump series have 4.5V,5V, 6V, 9V, 12V, 13.8V, 24V.

2. All series can be based on customers’ specifications, pressure / flow and matched with the required
electrical design plus required In / out water pipe.
3. General application can refer to standard parts.

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Figure 3.9: Brushless DC Pump

Product performance

1. Liquids should be no residual, so as not to block the rotor to run, but the capacity to
exclude particles is stronger than the piston pump.
2. Working environment: ambient temperature -40 to 125 degrees Celsius.
3. High temperature of working environment: according to customer requirements, the
water pump can be operated under 80-100 degrees; these pumps need to change the material level, to
enhance resistance to temperature.
4. Flow stability: The Speed Control circuit technology is able to stabilize the voltage
changes and load changes, water flow is very stable. In particular, it is suitable for users who have
the demand for a steady flow, the flow tolerance was <±10%。
5. Low noise: noise lower than the other type, between the 40-50db, based on the vol-
ume of water flow.
6. Solar features: 30, 36 series and 45 series have DC power or solar power option (solar
water pumps can be connected to the solar cells).
7. Diving feature: according to customer requirements, the pump can function with div-
ing; motor in the chassis with the resin encapsulation, waterproof performance, high dielectric
strength, safety and reliability.
8. Provided with stainless steel or precise ceramic shaft,low wear ability and corrosion
free, either fresh water or sea water can be used, minimized maintenance.

Appliances:

1. The supply of fluid features

Such as: Coffee machine, tea pot, water heater / kettle, water dispenser / drinking machine, full bath,
irrigation system / equipment.

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2. Fuel efficient / energy-saving features

Such as: all kinds of machine tools, fuel and equipment.
3. Cooling / water circulatory function
Such as: medical systems / equipment, automation equipment, electronic refrigerator, small indoor
and outdoor fountains, solar fountain, hot and cold mattress, cushion or care products.
4. Drainage 
Such as: mobile air conditioner.
5. Wash function
Such as: various types of car wash systems / equipment.

Applications:
 Used to transport water with high pressure from one end to the other.
 In our project it is used as for throwing water

Battery
These are the main power source of the project. Five rechargeable 4V each batteries are used in the
project.

Specifications:
 Sealed Lead Acid Battery
 Produced 12 DC 1 Amp supply
 Normal Capacity:4.5Ah

Uses:
 In our project it is used as input power DC supply to drive the motor using L293D.

Figure3.10: Battery

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CHAPTERS 4

EXPERIMENTAL DESIGN METHODOLOGY

Methodology
The project uses HT12E Encoder which converts 4 bit data to serial output which is then fed
to the RF module for transmitting the same to be received by the receiver RF module the output
of which is fed to HT12D the serial decoder IC, the output of which is fed to controller.
The transmitting end MC is connected to a set of pushbutton. Thus while a particular button
is pressed the program executed delivers corresponding 4-bit data which are then transmitted
serially at port 1.
The data so received at the receiver end of port 1 operates the motor through motor driver
IC L293D as required being interfaced from the Microcontroller output port 2.
The transmitter is powered by a 6v battery in series with a silicon diode to finally develop
required voltage for microcontroller circuit.
The receiver is powered by a 12v battery in series with a silicon diode to protect the circuits
from accidental reverse battery connection.
5V DC out of the 12V available from regulator IC 7805 is fed to the controller, decoder,the
motor driver IC L293D pin 8 for operation of the motor.
The receiving unit uses one more motor driver IC L293D for driving one DC Motor for arm
operation with a boom mounted on its shaft.

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At the end of the shaft a nozzle is connected to a water tanks mounted water pump which is
powered from “NO” contacts of a relay that is driven by transistor Q1 from the output of MC
pin 15, thus in the event of a fire the robotic vehicle is moved over to the location by operating
the left, right, forward & backward button etc.
After it reaches the site the nozzle mounted motor takes position through the water on the
fire from the water tank mounted DC pump actuated by the relay RL1.
Thus the fire can be extinguished.

2.1 Block Diagram

Figure 2.1 Block Diagram of Fire Detector & Extinguisher Robot

2.2 Explanation of Block Diagram
Fire Detector and Extinguisher Robot is operated to detect the fire and also to extinguish it. It
can be operated in two modes one is manual mode and other is autonomous mode. Manual
mode is operated using joysticks and for autonomous mode there is no human intervention. In
manual mode direction of the robot is controlled using joysticks, even pump is operated
manually. In autonomous mode IR sensors are used to detect the fire and robot is coded
accordingly to move in the direction of detected fire. In this robot has a switch which is used to
switch between manual and autonomous mode.
The main components are :
 IR sensors
 Joysticks
 Motor drivers
 DC motors

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 Pump
 IR Sensors:
IR Photo Diodes are used as sensors. These sensors are connected to ADC pins
of the microcontroller. IR Photo diodes are connected in reverse bias to be operated as photo
diodes otherwise they will be operated as normal diodes. The voltage variations of the sensors
is given as inputs to the Micro controller and accordingly the robot is operated.
 Joysticks:
The direction of the robot is controlled using joysticks. The terminals of
joysticks is connected to ADC pins of micro controller. Joysticks are usually the potentiometer,
the potential variations is given as an input to micro controller and robot is operated
accordingly.
 Motor Drivers:
Motor drivers are used to describe the direction of movement of the robot. It is used to give
high voltage and high current as an output to run the motors which are used in the project for
the movement of the robot.
 DC Motors:
In this project we use simple DC motor for the rotation of the wheel which are responsible
for the movement of the robot. Usually DC motors convert electrical energy into mechanical
energy.
 Pump:
Pump is a mechanical device which is used to pump water on to the fire to extinguish it. It
uses a simple motor to pump water.

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CHAPTER 5
RESULTS & FUTURE SCOPE

Figure : Photocopy of Fire Fighting Robot

The Fire Detector and Extinguisher Robot has been successfully executed. In its automatic mode it
can detect the fire and try to extinguish it and also by using its manual mode we can extinguish the
fire.
Applications:
 Can be used in record maintaining rooms where fire can cause lose of valuable data.

 Can be used in Server rooms for immediate action in case of fire

 Can be used in extinguishing fire where probability of explosion is high. For eg. Hotel kitchens,
LPG/CNG gas stores, etc.

 Every working environment requiring permanent operator's attention. -At power plant control
rooms. -At captain bridges. -At flight control centers.
Advantages:
 Prevention from dangerous incidents
 Minimization of

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o ecological consequences
o financial loss
o a threat to a human life
 Needs no micro-controller programming.
 The reconstruction of the curse of operator’s work

Disadvantages:
 Doesn’t predict nor interfere with operator’s thoughts.
 Cannot force directly the operator to work

FUTURE SCOPE:
 In the present condition it can extinguish fire only in the way and not in
all the rooms.
 It can be extended to a real fire extinguisher by replacing the water car-
rier by a carbon-di-oxide carrier and by making it to extinguish fires of
all the room using microcontroller programming.
 Also the robot could not be run through the batteries because at some
conditions the current requirement for the circuit rises to about .8A
which is very high and can not be obtained using battery
 Further the project can be enhanced by interfacing it with a wireless
camera so that the person controlling it can view operation of the ro-
bot remotely on a screen.

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CHAPTER 6
CONCLUSION
This paper has presented a unique vision of the concepts which are used in this
particular field. It aims to promote technology innovation to achieve a reliable and efficient outcome
from the various instruments. With a common digitalized platform, these latest instruments will
enable increased flexibility in control, operation, and expansion; allow for embedded intelligence,
essentially foster the resilience of the instruments; and eventually benefit the customers with
improved services, reliability and increased convenience. The nineties witnessed quantum leaps
interface designing for improved man machine interactions. The Mechatronics application ensures a
convenient way of simplifying the life by providing more delicate and user friendly facilities in
computing devices. Now that we have proven the method, the next step is to improve the hardware.
Instead of using cumbersome modules to gather information about the user, it will be better to use
smaller and less intrusive units. The day is not far when this technology will push its way into your
house hold, making you more lazy.
This paper presents the major features and functions of the various concepts that could
be used in this field in detail through various categories. Since this initial work cannot address
everything within the proposed framework and vision, more research and development efforts are
needed to fully implement the proposed framework through a joint effort of various entities. This
autonomous robot successfully performs the task of a fire fighter in a simulated house fire.
Benefited from this technology, since the expense of activating other types of fire extinguishers may
outweigh that of a robot, where product stock could be damaged by imprecise fire control methods.

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REFERENCES

1] Muhammad Ali Mazidi, the 8051 Microcontroller and Embedded Systems.

2] Verner, I.; and Betzer, N. 2001. Machine Control - A Design and Technology Discipline in Israel's Senior
High Schools. International Journal of Technology, In press.
3] Jones, J.; Seiger, B.; and Flynn, A. 1999. Mobile Robots, Inspiration to Implementation, 2nd ed. Natick, Mass:
A. K. Peters.
4] Wireless communication technologies: new multimedia Systems By Norihiko Morinaga
5] Encyclopedia of Fire fighter surveillance robot
6] Robotics Fundamental Concepts And Analysis - Ashitava Ghosal
7] Robotics And Control – Mittal
8] Introduction to Robotics - SAEED B.NIKU
9] http://www.electrical4u.com/
0] http://electronics.howstuffworks.com/
1] http://elm-chan.org/
2] https://www.google.co.in
3] http://en.wikipedia.org
4] http://www.slideshare.net

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