FACULTY OF MANAGERIAL AND TECHNOLOGICAL ENGINEERING DOMAIN: MECHATRONICS AND ROBOTICS MASTER OF SCIENCE PROGRAMME: ADVANCED MECHATRONICS SYSTEMS FORM… [303221]

UNIVERSITY OF ORADEA
FACULTY OF MANAGERIAL AND TECHNOLOGICAL

ENGINEERING

DOMAIN: MECHATRONICS AND ROBOTICS

MASTER OF SCIENCE PROGRAMME: ADVANCED

MECHATRONICS SYSTEMS
FORM OF EDUCATION: [anonimizat]. ING., ȚARCĂ RADU CĂTĂLIN

GRADUATE

ENG. PAȘC BENIAMIN ONISIM

ORADEA

2019

UNIVERSITY OF ORADEA

FACULTY OF MANAGERIAL AND TECHNOLOGICALENGINEERING
DOMAIN: MECHATRONICS AND ROBOTICS
MASTER OF SCIENCE PROGRAMME: ADVANCED

MECHATRONICS SYSTEMS

FORM OF EDUCATION: [anonimizat]. ING., ȚARCĂ RADU CĂTĂLIN

GRADUATE

ENG. PAȘC BENIAMIN ONISIM

ORADEA

2019

[anonimizat], [anonimizat], and aid the planning procces of the rescue. As a secondary purpose with the help of its realtime data it acts like a envirmental monitoring system with the help of which vital decison making can be made in realtime.

In order to create a [anonimizat] a [anonimizat] a [anonimizat].

[anonimizat] a small 4 wheel, [anonimizat] a [anonimizat], presure, [anonimizat], and LPG gas. The system is also equiped with an onboard camera so that recuers have a visual feed as welll next to the enviroment data.

1. INTRODUCTION

1.1Rescue robot objectives

The main objective of this robot is to assist rescue teams in their missions using it’s capabilities.

A second objective could be just explore and monitoring environment after a event using multiple sensors that it contains and even take samples of water and soil in order to plan rescue mission or even predict how environment will change in comming hours.

[anonimizat], [anonimizat]:

– Humidity and air temperature;

– Barometric pressure;

– Magnetic field and orientation;

– Position in space by means of a gyroscope;

– MQ 2 [anonimizat];

[anonimizat], the remote navigation control being based only on video data colected by the on board camera.

The base station will receive data and video and present them on an application pannel.

2.STATE OF THE ART

2.1 [anonimizat]. In particular robotics technology can be used to extend the capabilities of the human responders or allow them to stay away from potential threats during the mission. The former allows for instance to increase the situation awareness in a disaster by quickly collecting data from large or inaccessible (e.g. collapsed buildings) regions and to combine these data into an integrated representation. The latter allows for instance to manipulate dangerous objects (e.g. hazard materials) safely from the distance.

During the last decades a number of technologies and systems for the support of disaster mitigation activities have been developed. Some of them are visionary and innovative like autonomous robots that integrate themselves into the responder team, interpret the intentions of the team members and act accordingly.

Others are more focused on the concrete solution to a practical problem like new sensor systems e.g. ground penetration radar. A number of systems already reached a mature level and are available as commercial systems (in particular sensor systems and drones). But still many systems are research prototypes.

Therefore, it is not completely clear for what application scenarios appropriate technology is available. In this section we will sketch some application scenarios where robotics technology can help. Moreover, we will discuss what application scenarios will be realistic in 5 years considering actual developments.

Due to the recent impressive developments of unmanned aerial vehicles (UAVs, drones) and mapping technology (2D an 3D large scale maps) reconnaissance is one of the most promising application scenarios with a good chance of a broad deployment. UAVs are easy to deploy and can be equipped with different sensors like thermal imaging or 3D mapping. The collected information are usually georeferenced using GPS and can be used to augment for instance satellite imaging that suers from limited resolution. Due to their limited payload and endurance UAVs are suitable for limited areas. Moreover, legal problems still hinder a broad deployment. In order to extend the payload to more advanced sensors and to allow longer endurance medium-sized fixed-wing vehicles can be used. Although, they also the advantage to observe the area from a higher altitude they ask for more skilled operators and pose further legal problems like necessary flight permits. Modern analysis software allows to pre-evaluate the obtained data in order to augment the situation representation with valuable information, e.g. detection of flooded areas, identification of different vegetation or soil types. This kind of reconnaissance can also be applied to situations where responders have limited access such as heavy mudslides and avalanches.

Other scenarios are incidents in tunnels or mines. Any operation of first responder is adicted with significant risk due to the insufficient knowledge of the situation inside the tunnel or the mine. The responders often have to proceed without prior information about the dimension of the incidents or the surroundings. The gathering of information and the handling of the mission is associated with a high risk. In addition such infrastructures become more extensive and events inside such infrastructures become more di_cult to handle. Several large tunnel projects are currently under construction in Austria. Two of the construction sites (Semmering, Koralpe) are located in the Si-At project region. Such tunnels represent a major challenge for responders, both during construction and during operation. In the former case the situation in the tunnel changes rapidly and frequently due to the progress of the construction and the number

Another field of application is safe operating with hazardous materials and hazardous situations from the distance. Such applications are already known from bomb disposal operations. One example related to such situations is the handling of gas cylinder (e.g. acetylene) in _res. Currently such scenarios are resolved by a targeted shot with tracer ammunition by the police (controlled burning). In such application suitably equipped robots could support the operation. A serious limitation here is the weight a robot can handle. There is always a tradeoff between the size and weight of the robot and the environment it is able to master.

In general the smaller and lighter the robot the easier is its deployment and operation. But even if an active handling of the material is not possible or appropriate the robot can be used to bring sensors like CBR measurements close to the situation without endangering a responder. This kind of operation and in particular the handling of dangerous goods needs a well trained operator as well as robots that can be easily decontaminated.

2.2 Generalized robotic systems

2.2.1Hardware

In the following section we will give an overview of robotics hardware. From a top view the robotics hardware can be broken down into the following individual modules:

1. Robot Platforms

2. Manipulators

3. Operator Stations

4.Levels of Autonomy

2.2.1.1Robot Platforms

This section will focus on mobile robotics platforms. The mobile platform is the major component of any unmanned vehicle on which additional payloads like sensors and manipulators are mounted. The main focus of mobile bases is to be able to operate and navigate in the given environment. The described mobile platforms are roughly divided into the following four environment of operation: (1) ground/land, (2) air, (3) water-surface and (4) underwater. We will categorize mobile robots generally in those four classes. Although, there are possibilities of various combinations of mobile robot locomotion systems.

Ground mobile robots have capability to navigate on ground. Most common locomotion systems are wheels, tracks, legs or snake like. Two legged mobile robots are known as humanoid robots and become more and more interesting for research. Most of common affordable rescue robots use wheels or tracks to overcome complex ground structures in rescue environments. Rescue environments are that kinds of environments found after earthquake, tsunami, tornado or other natural or man-made disasters in urban areas. Mobile robots are also found in industrial, military, security and service areas. Domestic robots are consumer products, including entertainment robots and those that perform certain household tasks such as vacuuming or lawn mowing. In the following we will outline some examples of commercially available UGVs.

The Cobham NBC MAX, was developed to deal with the wide and varied range of dangerous situations rescue forces and first responders are exposed. The platform is based on the bomb disposal robot Telemax and adapted to operations that involve hazardous materials and a high level of personal risk. The mobile base allows the robot to overcome obstacles and the manipulator allows the robot to handle hazardous materials and collect samples. The robot is teleoperated using a control panel. The platform can be equipped with a broad range of sensors to detect hazardous materials. All measurements are shown on the operator interface. Communication to the robot is usually done using a radio link.

Fig. 01. Cobham NBC MAX (Photo credit: IST – TU Graz)

The Taurob Tracker is another example for a commercially available ground robot platform. The Taurob Tracker was specially developed for firefighting applications. The platform is designed to operate in explosive environments (ATEX certification), is exceedingly resistant and waterproof (IP67). The adjustable track chassis allows the robot to overcome obstacles and a manipulator allows the robot to handle hazardous materials. The robot is equipped with different cameras for reconnaissance tasks and can\ be equipped with additional sensors. The platform is teleoperated with a tablet interface showing the current robot state and all sensor data. An example for a low-cost research platform is Wowbagger. The robot as seen in Figure 3 was developed as part of the Technology and Education for Search and Rescue Robots (TEDUSAR) project. Wowbagger is based on the mobile platform Mesa Element, which allows the robot to overcome small obstacles. It is equipped with difeerent sensors for victim detection in collapsed buildings. The robot was tested at international RoboCup Rescue competitions

Fig. 02. Taurob Tracker (Photo credit: Taurob GmbH – Taurob Tracker)

Fig. 03. Research platform Wowbagger

Unmanned Air Vehicles are able to y in the free air space. They have one more degree of freedom than ground robots. Aerial robots are similar to knownying machines like helicopters. The usual propulsion systems comprises four (quadrocopters) or more (hexacopter, octocopter) propellers and motors. Flying robots still have problem of payload capabilities because the robot needs to oppose the earth gravity, carrying its own weight and most important its batteries. The weight of the batteries usually limits the air robot operational time.

Flying robots are very useful for inspections from above like taking pictures or environment reconstruction. The vertical distance from the ground allows aerial robots to have larger overview over areas and they are able to assist first responders as well as ground robots in tasks like search and rescue. Aerial robots recently become very stable and are able to deal with strong wind in the open areas. Moreover, they are able to y several kilometers from the base station. The latter is subject to national aviation regulations. In the following we will present some examples of commercially available.

The Schiebel CAMCOPTERc S-100 is a helicopter-like unmanned aerial vehicle. The system has a maximum weight of 200 kg and a maximum payload capacity of 50 kg. The vehicle has a maximum airspeed of 240 km/h, is powered by a 50 HP rotary engine and has an operation endurance of over 6 hours. A ground control station allows to operate the vehicle in a range of up to 200 km. Two separated operator interfaces allow the control of the helicopter and the sensor payload. The operation modes range from operator control to fully autonomous takeo_, way-point navigation and landing. The system can be equipped with different cameras (regular and thermal), di_erent radar systems including ground penetrating radar, and laser range finders. In addition the CAMCOPTERc S- 100 can be operated as communication relay.

Fig. 04. Schiebel CAMCOPTERc S-100 (Photo credit: Schiebel CAMCOPTERc S-100)

The AscTec Falcon 8 is a light-weighted octocopter designed for remote imaging. The UAV as shown in Figure 5 has a ight time of 12-22 minutes. Redundant ight control electronics and ight components guarantee high reliability even in challenging conditions. The platform can be equipped with di_erent imaging sensors for high-resolution imaging, thermal imaging, and recording of videos. The AscTec Falcon 8 provides automated waypoint navigation and automated imaging functionalities. Honeywell's T-HawkTM as shown in Figure 6 is an unmanned micro aerial vehicle that can be operated in rain, maritime environments, fog, sand, and dust. The UAV allows vertical takeo_ and landing. It provides an operation endurance of 45 minutes. The platform is gasoline powered, weighs under 8 kg and _ts in a backpack. The T-HawkTMcan be quickly deployed and provides advanced features for disaster surveillance and damage assessment operations. The platform can be equipped with diferent imaging sensors and allows autonomous way-point flights with dynamic re-tasking and manual intervention.

Fig. 05. AscTec Falcon 8 (Photo credit: Ascending Technologies Falcon 8)

Fig. 06. Honeywell's Aerospace T-HawkTMMAV (Photo credit: Honeywell Aerospace –

T-HawkTMMAV)

Unmanned Surface Vehicles are robots that can operate on the water surface. The robots have locomotion like boats or life-raft. With respect to navigation this type of robots can be compared to ground robots. USVs are used for oceanography, military, and research. Equipped with solar cells this type of robots could reach months of operations time. In the following we will show an example of a commercially available USV. The Clearpath Robotics' Kingfisher is a portable and agile surface vehicle. A picture of the platform can be seen in Figure 7. The robot is designed as a scalable and open carrier platform for research, surveillance and field studies. The robot can be teleoperated or follow a predefined path of GPS way-points.the platform can be equipped with different sensors.

Fig. 07. Clearpath Robotics KINGFISHER (Photo credit: Clearpath Robotics, Inc.)

Unmanned Underwater Vehicles are designed to operate underwater. UUVs are usually used for deep-see explorations where it is too dangerous for humans. Moreover, they are used for search and rescue operations underwater, ground monitoring, or recording data. Due to the fact, that wireless connections to underwater vehicles are hardly possible, robots for underwater applications have to run the prede_ned mission autonomously or need an wired connection to the operator station. In the following we will discuss some examples of commercially available UUVs. The Sparus II AUV is a torpedo-shape unmanned underwater vehicle designed for long-term autonomy underwater. The platform can be equipped with di_erent sensors depending on the mission. The vehicle has no wired connection to an operator terminal. Therefore, diving missions have to be executed autonomously. The Sparus II AUV is a low cost, exible, easy to deploy and to operate platform that can be used for multi-purpose underwater missions.Figure 8 shows the diving Sparus II AUV. The Seabotix SARbot MiniROV is another example for an unmanned underwater vehicle. It is specially designed for search and rescue missions underwater and to be teleoperated over a wired interface from a distance. The platform is equipped with imaging sonar sensor for zero visibility operation and a high-resolution camera for real time imaging. In addition the robot is equipped with a robotic arm that can be used to sample or manipulate objects.

Fig. 08. Sparus II AUV (Photo credit: CIRS – University of Girona – Sparus II AUV)

2.2.1.2 Manipulators

In robotics mechanical manipulators are used to handle real-world objects. Manipulators have been designed to assist or replace human operation in hazard environments, to handle hazardous, hot or heavy materials, and operate in demanding enviroments like space and underwater. In addition robotics manipulators are used in precise manipulation like in surgery applications. In rescue robotics the use of manipulators is common practice. The robots are able to interact with the doors, close/open valves, deliver supplies to trapped victims and perform hole inspections. Attaching a manipulator to a robot base means adding additional degrees of freedom (DOF) to the manipulator. The manipulator becomes mobile. Robotic manipulators are usually build by light but strong material and electrical actuators. There can be other power sources for manipulators but in general the electricity is most common power source. Manipulators usually are equipped with some sensors or a gripper. Sensors are used to inspect the environment, e.g. cameras, gas sensors, laser rage finders to scan given environment. Grip environment, search in inaccessible areas, move obstacles on the way, opening pers can be simple two-finger gripper or more complex hand-like configurations. More fingers allow for more reliable grasping and object manipulation. Figure 11 shows two example grippers from Robotiq that are compatible with all major industrial robot manufacturers.

Fig. 09. 2-Finger and 3-Finger Adaptive Robot Gripper from Robotiq (Photo credit:Robotiq – Adaptive Robot Gripper)

The Cobham NBC MAX (Figure 1) is equipped with a 7-DOF manipulator that provides the operator a large workspace. The robotic arm has multiple mounting points for additional sensors. The arm is equipped with a two _nger parallel gripper. The gripper allows to grasp di_erent sensors stored in a holder to collect remote measurements. A specially developed sample-tacking system allows to collect samples of materials from a safe distance (see Figure 09). The arm can be commanded to special prede_ned con_gurations in order to make the operation in di_erent tasks easier.

Fig. 10. Cobham NBC MAX sample-taking system (Photo credit: Cobham – NBCMAX)

The Seabotix SARbot MiniROV (Figures 11) can be equipped with a limp grabber. The grabber is not movable as the robotic arms described above. Due to the great freedom of movement of an underwater platform this is not a major drawback. It is specially designed to recover a person in the water (see Fig. 11).

Fig. 11. SeaBotix SARbot MiniROV recovering a person in water (Photo credit: SeaBotix Inc. – SARbot MiniROV)

2.2.1.3 Operator Stations

The operator station is the main interface for the operator to control the robot, visualize the current robot state and inspect the sensor measurements. The connection from the operator station to the robot is usually established over a radio link. Specialized antennas allow the control of unmanned vehicles up to a distance of several hundreds of kilometers. In special areas like UUV control a wired connection is used because establishing a radio communication to underwater vehicles is hardly possible. Outdoor laptops are frequently used as operator interface. They provide the robustness to work properly in harsh environments during search and rescue missions. For a reliable operation during a mission it is good practice to split up the task of robot control and sensor analysis to two operator computers. This allows the optimization of the interfaces to improve the visualization with respect to the requirements of the task. Besides commercially available outdoor laptops specially designed operator

2.2.1.4 Levels of Autonomy

One of the major characteristics of a robot system is its level of autonomy. The level of autonomy de_nes to what extent a robot system is allowed to decide about actions and to perform these actions without human supervision. There is always the tradeo_ between the needs of responders (i.e. having complete control about the equipment) and the interests of researchers in developing intelligent systems.

Teleoperation This is currently the dominant mode of operation of robots in disaster response. Here the operator always has full control over the activities of the robot. The robot only executes the commands from the operator such as driving or grasping commands. The advantage is that the robot only executes commands issued by the responders. For instance this is an important issue in bomb disposal where unintended moves of the robot can be fatal. The drawback of this mode of operation is that the operator and the robot have to be connected all the time (e.g. radio link or tether), the operator has to be well trained in particular for complex robots and that the operation is demanding and exhaustive. Moreover, the operation of such a robot is far from trivial in particular if it is out of sight and only remote sensing (e.g. cameras) is used. A lot of research has been conducted to increase the usability of operator interfaces, the presentation of information and the controller haptics.

Full Autonomy In contrast to teleoperation in fully autonomous operation the robot acts by itself. It only receives a mission goal from the operator (e.g. go to a particular place, observe a given area) and pursuit that goal while reacting to the environment. This is the most complicated setup. But it is the most interesting scenario in terms of research. Moreover, the fully autonomous scenario o_ers a number of advantages. In particular it frees the operator from the mental load to control the robot all the time and allows the operator to focus on other activities. Although, there exists a number of advantages the usefulness of this mode of operation is still under discussion as responders needs to have control over their equipment, trust in such systems is not yet established and the use of such systems is not foreseen in the operational procedures.

Adjustable Autonomy A promising compromise seems to be adjustable autonomy. Here the robot can be used in both modes, remote controlled and autonomous. This gives the operator the freedom to decide which activities the robot is able to perform safely and reliably on its own (e.g. y to a given location) and which activities are better performed under human supervision (e.g. open a suspicious box). Moreover, tasks that are cumbersome to perform remotely like open a door can be better performed by the robot itself using thelocal sensors directly. Therefore, a responders can decide to drive over a problematic terrain manually but then open a door using an autonomous behavior. Adjustable autonomy can also be used as a support to operators. For instance a robot my automatically stop when controlled by a operator and it reaches a attitude where it is likely that the robot fall over. It can be foreseen that this kind of operation will be more and more available and also accepted by the responders in the near future.

2.3 Concluding Thoughts on Search and Rescue Robots

Robotics technology made a tremendous development during the last decades.The development of powerful ground and aerial vehicles, light-weight and powerful sensors and advanced control- and analyzing algorithms made this technology also very interesting for first responders and disaster response. But the application to disaster mitigation is difficult and can only be achieved in a close coop-eration among responders, developers and researchers. Many different advanced methods and robotics systems had been proposed to responders. But there are few successful cases where robotics technology has been deployed in real missions. In order to foster a deeper understanding of the technology and close dis-cussion with the responders we presented in this paper a brief overview of thestate of the art in robotics in connection with disaster response. We discussedpotential application scenarios, hardware, software and field reports. So far only a few robot systems made it into a real mission. The reasons for that are mani-fold. Mainly we see a lack of technical maturity of the systems but also a lack ofunderstanding of the real needs of responders as well as a lack of communication of the potential to the responders. We see this paper as a first step to overcomethese limitations and to stimulate an open and cooperative discussion about theuse of this technology. There is clearly a potential for the use of robotics technol-ogy in disaster mitigation. But the useful and reasonable application scenarioswill be rather simple for the next years mainly focusing on reconnaissance withUAVs. We are convinced that a continuous exchange between responders andresearchers will break the ground for more interesting missions in the future.But besides the technical problems there are also a number of other issuesthat hinder the broad application of robotics technology. First, there are legalissues. There is a lack of regulations for the use of robots in public, in particularfor UAVs. Second, the issue of liability has to be discussed. Third, useful use-cases have to be identified and integrated in the operational procedures of theresponders. Finally, the quality of service has to be ensured. Here the questionis how the robot operators are trained and certified as well as how the robotsystemshave to be maintained in order to ensure proper operation.

The needs of search and rescue teams in many ways mirror the needs of the military. They both operate in dangerous environments, they want to find ways to gather information while keeping personnel out of harm, and they are both looking for people.

Looking at the development of military robots, it is clear this technology has been filtering down to the civilian world. Many of the same technologies that militaries developed to find and kill people are now being used to find and save people. When trying to get a sense of the future of robots in search and rescue, look at the current, cutting edge military technology. The military market is significantly larger than the civilian first aid market, so will likely be the major source of funding for many of these developments for the foreseeable future.

While robots are being tested and deployed in a range of search and rescue functions, the technology which has already widely adopted is unmanned aerial vehicles. The number of local governments and private organizations buying and using drones for public safety and commercial reasons is likely to grow at a significant pace in the coming years.

An aerial view is useful in almost every disaster scenario, and drones are significantly easier, cheaper, and safer to deploy than helicopters. Drones not only have the capacity to map an area but thanks to AI they have the potential to outperform humans at finding objects – such as sharks in the water, hikers lost in the woods, or debris from a shipwreck or plane wreck.

On a longer time frame the advancement in large walking robots could eventually be a significant game changer. Not only could these system help find people but would be able to physically carry them out of danger.

The value of improved search and rescue technology can’t just be thought about in terms of the number of lives it saves. While that is hugely important, the improvements are going to impact millions of people. Being able to quickly map and assess damage, like they did in Nepal, can help a community rebuild and recover much faster. [1][2]

3 ROBOT application

3.1WORKING PRINCIPLE

The main component is a single board computer Raspberry pi 3B+. To this board is connected via Usb port arduino Nano and Arduino uno.To arduino nano is connected all sensors. To arduino Uno is connected L298 H Bride that controlls water pump, and h bridge that controls motor driver DRV8835

Figure 12 Working principles

3.2MECHANICAL DESIGN

The mechanic components used of mobile robot are: chasis, wheels and rims, water pump and motors.

Chasis

The ideal chasis it would be made from aluminium like HR7075 Aluminium, but for our thesis we used a 3D printed chasis.

Wheels and rims,

Figure 13 Wheels[3]

The chosen wheels for this prototype and rims are made by Absima, and the set is founded under the name „Crawler 'Steelhammer'”. These wheels and rims are designed for offroad automodels at scale 1:10.

Specifications:
Wheel diameter:108m

Width :35mm

Material used for rims: steel

Material used for wheels: rubber

[3]

Water Pump Motor – DC 12V/370-04PM

I chose the „Makeblock” water pump in order to take sample of water and soil (mud) because it need a low votlage power supply( 12V),it is made of tough thermoplastic body and it is gihly avalability beeing widely used for water priming pump, automotive pump, experiment pump, and DIY projects.

Specifications of Makeblock water pump motor

Power SupplyVoltage: DC 12V

Load: Water

Water absorption: 1L-1.2L/min

Current consumption (With load): Less than 320mA

Flow : 2.0Liter per minute

Dimmensions : D27 x 75mm

Water Hole Diameter: 6.5mm

Maximum pressure : More than 360mmHg

Noise:Less than <60dB

[4]

Motors

Figure 15 Motor and connecing cable

Figure 16 Output of motor

The chosen motors need to able to be supplied from a battery, but still beeing able to offer a high torque, and not be soo expensive, in the end this was the best choise for this cocept. The motors also comes with encoder feature but i will not use this feature. His reductor is made from metal and end shaft is 9mm long and it has D shape

Technical specification of motor:

Suppling voltage: 6.0 V;

Motor speed: 15000 RPM;

Reduction report: 50:1;

Speed of shaft (without load): 310 rpm at 6volts;

Idle current: 60 mA;

Tourque: 0.35 kg*cm;

Speed (loaded): 180 rpm@6V;

Maximum drawn current: 170 mA;

Maximum torque :<0.8 kg*cm;

Hall sensor resolution: 700;

Weight: 18g.

[5]

3.3 ELECTRONIC COMPONENTS USED

The electronic components used of mobile robot are:

acumulators used to power the motors and water pump,

power bank used to power the Raspberry Pi 3 B+,

SD Card used to host Operating System of Raspberry Pi 3B+ and store the collected data,

Raspberry Pi NoIR Camera used to capture images,

Arduino Nano used to, collect data from sensors

Arduino Uno used to command H bridge DRV8835 Dual Motor Driver

L298 H Bridge Drive used to drive water pump

LSM9DS0 used to read magnetic field, orientation and position in space by means of a gyroscope

Gas sensor MQ 2 used to detect gases LPG, Propane and Hydrogen, also could be used to Methane and other gas combustible

DRV8835 Dual Motor Driver used to drive the motors

Turnigy 800mAh 2S 20C Lipo Pack (used for water pump)

Turnigy batteries are equipped with heavy duty discharge leads to minimise resistance and sustain high current loads. Turnigy batteries ar designed for extremes aerobatic flight and RC vehicles. Each pack is equipped with gold plated connectors and JST-XH style balance connectors.

I chose this Li-Po acummulator because of it’s reduce weight, high discharge rate and reduced size compared to others.

Technical specifications:

Minimum Capacity: 800mAh

Configuration: 2S1P / 11.1v / 3Cell

Constant Discharge: 20C

Peak Discharge (10sec): 30C

Pack Weight: 50g

Pack Size: 55 x 30 x 18mm

Charging Plug: JST-XH

[6]

Turnigy nano-tech 350mah 1S 65~130C Lipo Pack (used for motors)

Acumalators made by Turnigy, nano-tech series is utilising an advanced LiCo nano-technology substrate that allows electrons to pass more freely from anode to cathode with less internal impedance. In short; less voltage sag and a higher discharge rates than a similar density lithium polymer (non nano-tech) batteries. I chose this acumulator because of small dimmensions, light weight and reduced cost.

Technical specifications:

Capacity: 350mAh

Voltage: 1s / 3.7V(3.7v/ cell, this battery contains 2 cells, 7.4v total)

Discharge rate: 65C Constant / 130C burst

Weight:15g (Including Wire, plug & case)

Dimensions:52 x 30 x 5mm

Balance Plug: JST-XH

Discharge Plug: JST

[7]

Varta powerbank (used fo Raspberry Pi 3B+)

The Varta Power Bank 6000mAh is perfect power booster on the go. These powerful powerbank is made to provide up to 2 phone or 1 tablet charges and can charge two devices at once. It is designed so you can recharge mobile devices like smartphones, tablets, digital cameras, MP3 player, activity tracker or gaming controller with only one charge. The powerbank include a LED charging indicator, it consist of 4 LED wich are lighted when is fully charged.

The Power Bank recognises portable devices and delivers fast charging speed of up to 2.4 Amps, with two outputs ports: one 5V/1.0A and another one with 5V/ 2.4A, the last output power port it is gonna be used by us. Charging time is around 4 hours, and discharge time is 1,5 hours.

[8]

Sandisk Ultra 32GB MicroSDXC Class 10 Memory Card

-SD Card is used to host Operating System of Raspberry Pi 3B+ and store the collected data.

Technical specifications:

Operating temperature: (-13șF) to 185șF (-25șC to 85șC).

Storage temperature: (-40șF) to 185șF (-40șC to 85șC)

Capacity: 32 GB

Up to 98MB/s transfer read speed

A1-rated performance (A1 performance is 1500 read IOPS, 500 write IOPS. Based on internal testing.

Class 10 for Full HD video recording and playback (Full HD (1920×1080)

[9]

Camera

The purpose of camera is to collect live images from robot, and is connected to Raspberry Pi.

The Raspberry Pi NoIR Camera Module v2 is a high quality 8megapixel Sony IMX219 image sensor custom designed add-on board for Raspberry Pi, featuring a fixed focus lens. It's capable of 3280 x 2464 pixel static images, and also supports 1080p30, 720p60 and 640x480p60/90 video. It attaches to Pi by way of one of the small sockets on the board upper surface and uses the dedicated CSi interface, designed especially for interfacing to cameras.

8megapixel native resolution sensor-capable of 3280 x 2464 pixel static images

Supports 1080p30, 720p60 and 640x480p90 video

Camera is supported in the latest version of Raspbian, Raspberry Pi's preferred operating system

The board itself is tiny, at around 25mm x 23mm x 9mm. It also weighs just over 3g, making it perfect for mobile or other applications where size and weight are important. It connects to Raspberry Pi by way of a short ribbon cable.

The high quality Sonysensor itself has a native resolution of 8megapixel, and has a fixed focus lens on-board. In terms of still images, the camera is capable of 3280 x 2464 pixel static images, and also supports 1080p30, 720p60 and 640x480p90 video.

The NoIR Camera has No InfraRed (NoIR) filter on the lens which makes it perfect for doing Infrared photography and taking pictures in low light (twilight) environments.

[10]

Arduino nano

The Arduino Nano is a small, complete, and breadboard-friendly board based on the ATmega328 (Arduino Nano 3.x). It has more or less the same functionality of the Arduino Duemilanove, but in a different package. It lacks only a DC power jack, and works with a Mini-B USB cable instead of a standard one.

Technical Specifications:

[11]

Arduino Uno

Arduino Uno is a microcontroller board based on the ATmega328P

It has 14 digital input/output pins (of which 6 can be used as PWM outputs), 6 analog inputs, a 16 MHz quartz crystal, a USB connection, a power jack, an ICSP header and a reset button. It contains everything needed to support the microcontroller; simply connect it to a computer with a USB cable or power it with a AC-to-DC adapter or battery to get started.. You can tinker with your UNO without worring too much about doing something wrong, worst case scenario you can replace the chip for a few dollars and start over again.

"Uno" means one in Italian and was chosen to mark the release of Arduino Software (IDE) 1.0. The Uno board and version 1.0 of Arduino Software (IDE) were the reference versions of Arduino, now evolved to newer releases. The Uno board is the first in a series of USB Arduino boards, and the reference model for the Arduino platform; for an extensive list of current, past or outdated boards see the Arduino index of boards.

Technical Specifications

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L298 H Bridge Drive

This H bridge it is used to controll/ power on water pump when a sample is needed to be taken.

The L298 is an integrated monolithic circuit in a 15-lead Multiwatt and PowerSO20 packages. It is a high voltage, high current dual full-bridge driver designed to accept standard TTL logic levels and drive inductive loads such as relays, solenoids, DC and stepping motors. Two enable inputs are provided to enable or disable the device independently of the input signals.The emitters of the lower transistors of each bridge are connected together and the corresponding external terminal can be used for the connection of an external sensing resistor. An additional supply input is provided so that the logic works at a lower voltage.

Technical Specifications:

Driver: L298

Driver power supply: +5V~+46V

Driver peak current: 2A

Logic power output Vss: +5~+7V (internal supply +5V)

Logic current: 0~36mA

Controlling level: Low -0.3V~1.5V, high: 2.3V~Vss

Enable signal level: Low -0.3V~1.5V, high: 2.3V~Vss

Max drive power: 25W (Temperature 75 ℃)

Working temperature: -25℃~+130℃

Dimension: 60mm*54mm

Driver weight: ~48g

[13]

LSM9DS0

Motion, direction and orientation sensing it is capable of this all-in-one 9-DOF sensor. Inside the chip are three sensors, one is a classic 3-axis accelerometer, which can tell you which direction is down towards the Earth (by measuring gravity) or how fast the board is accelerating in 3D space. The other is a 3-axis magnetometer that can sense where the strongest magnetic force is coming from, generally used to detect magnetic north. The third is a 3-axis gyroscope that can measure spin and twist. By combining this data we can really orient.

The sensor has both I2C and SPI interfaces. Attaching it to the Arduino is simple, power Vin and GND with 3-5VDC, and wire up I2C data on SCL and SDA, and you're ready to go! More advanced users can use SPI, our library has support for both. The breakout comes fully assembled and tested, with some extra header so you can use it on a breadboard. Four mounting holes make for a secure connection, and we put the popular power+data pins on one side, and the interrupt pins on the other side for a nice & compact breakout.

[14]

Gas sensor MQ2

It is used to collect data is a case of gas leakage . It is suitable for detecting H2, LPG, CH4, CO, Alcohol, Smoke or Propane. Due to its high sensitivity and fast response time, measurement can be taken as soon as possible.

Sensitive material of MQ-2 gas sensor is SnO2, which with lower conductivity in clean air. When the target combustible gas exist, The sensor’s conductivity is more higher along with the gas concentration rising. Please use simple electrocircuit, Convert change of conductivity to correspond output signal of gas concentration. MQ-2 gas sensor has high sensitity to LPG, Propane and Hydrogen, also could be used to Methane and other combustible steam, it is with low cost and suitable for different application.

Good sensitivity to Combustible gas in wide range

High sensitivity to LPG, Propane and Hydrogen

Long life and low cost

Simple drive circuit

[15]

DRV8835 Dual Motor Driver

This tiny breakout board for DRV8835 dual motor driver can drive up 1.2 A per channel continuously (1.5 A peak) to a pair of DC motors, and it supports two possible control interfaces for added flexibility of use: IN/IN and PHASE/ENABLE. With an operating voltage range from 0 V to 11 V and built-in protection against reverse-voltage, under-voltage, over-current, and over-temperature, this driver is a great solution for powering up to two small, low-voltage motors. The carrier board has the form factor of a 14-pin DIP package, which makes it easy to use with standard solderless breadboards and 0.1″ perfboards.

This breakout board is based on Texas Instruments’ DRV8835 tiny dual H-bridge motor driver IC.

Features:

Dual-H-bridge motor driver: can drive two DC motors or one bipolar stepper motor

Motor supply voltage: 0 V to 11 V

Logic supply voltage: 2 V to 7 V

Output current: 1.2 A continuous (1.5 A peak) per motor

Motor outputs can be paralleled to deliver 2.4 A continuous (3 A peak) to a single motor

Two possible interface modes: IN/IN (outputs mostly mirror inputs) or PHASE/ENABLE (one pin for direction and another for speed)

Inputs are 3V- and 5V-compatible

Under-voltage lockout on the logic supply and protection against over-current and over-temperature

Reverse-voltage protection on the motor supply

Compact size (0.7″×0.4″) with the form factor of a 14-pin DIP package

[16]

DHT 11

The DHT11 humidity and temperature sensor it is used to measure humidity of ambiental environment. It’s perfect for remote weather stations, home environmental control systems, and farm or garden monitoring systems. DHT11 Temperature &Humidity Sensor features a temperature &humidity sensor complex with a calibrated digital signal output. By using the exclusive digital-signal-acquisition technique and temperature & humidity sensingtechnology,it ensures high reliability and excellent long-term stability.

In our robot will be used to measure relative humidity of environment, and temperature also.

Techincal specifications

[17]

3.4 ELECTRONIC DESIGN

3.5 SOFTWARE DESIGN

Arduino IDE

The Arduino integrated development environment (IDE) is a cross-platform application (for Windows, macOS, Linux) that is written in the programming language Java. It is used to write and upload programs to Arduino compatible boards, but also, with the help of 3rd party cores, other vendor development boards.

The source code for the IDE is released under the GNU General Public License, version 2. The Arduino IDE supports the languages C and C++ using special rules of code structuring.[4] The Arduino IDE supplies a software library from the Wiring project, which provides many common input and output procedures. User-written code only requires two basic functions, for starting the sketch and the main program loop, that are compiled and linked with a program stub main() into an executable cyclic executive program with the GNU toolchain, also included with the IDE distribution. The Arduino IDE employs the program avrdude to convert the executable code into a text file in hexadecimal encoding that is loaded into the Arduino board by a loader program in the board's firmware.

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3.5.1 Software used in Raspberry Pi 3

In raspberry pi we find a web server wich is controlled by a client (latop or pc ) and throught this web server are sended commands to controll motors and receive data from sensors.

The software was written in Processing sotware environment.

3.5.2 Software used in Arduino nano

This soft was write in Arudino IDE and is used to collect data from sensors and send trough us port to raspberry pi 3b+ and stored on SD Card.

3.5.3 Software used in Arduino Uno

This soft was write in Arudino IDE and is used to comunicate with Raspberry pi and send signals to H bridge in order to control motors and water pump.

4 CONCLUSION

Test Results

So far i managed just to control the robot but not to stream live video, buyt only to make pictures and transfer them in 20 seconds to control center.

Future improvements
In future we can add :

LoRa Radio module

To transmit in real time collected data via radio frequency on 868 Mhz, not only to be stored on SD card

General Features of LoRa module:

•On-Board LoRaWAN™ Protocol Stack

•ASCII Command Interface over UART

Compact Form Factor: 17.8 x 26.7 x 3.34 mm

•Castellated SMT Pads for Easy and Reliable PCB Mounting• Environmentally Friendly, RoHS Compliant

•European R&TTE Directive Assessed Radio Module• Device Firmware Upgrade (DFU) over UART, see “RN2483 LoRa® Technology Module Command Reference User’s Guide” (DS40001784)

Operating features

•Single Operating Voltage: 2.1V to 3.6V (3.3V typical)

•Temperature Range: -40°C to +85°C

•Low-Power Consumption• Programmable RF Communication Bit Rate up to 300 kbps with FSK Modulation, 10937 bps with LoRa® Technology Modulation• Integrated MCU, Crystal, EUI-64 Node Identity Serial EEPROM, Radio Transceiver with Analog Front End, Matching Circuitry

4 GPIOs for Control and Status, Shared with 13 Analog Inputs

RF/Analog Features

•Low-Power Long Range Transceiver Operating in the 433 MHz and 868 MHz Frequency Bands

•High Receiver Sensitivity: Down to -146 dBm

•TX Power: Adjustable up to +14 dBm high Efficiency

•FSK, GFSK, and LoRa Technology Modulation

•IIP3 = -11 dBm

•Up to 15 km Coverage at Suburban and up to 5 km Coverage at Urban Area

[4]

GPS module
In order to obtain a precise position in real time

5. Bibliography

1. https://emerj.com/ai-sector-overviews/search-and-rescue-robots-current-applications

2.https://www.researchgate.net/publication/304987927_TEDUSAR_White_Book_State_of_the_Art_in_Search_and_Rescue_Robots

3.https://hpi-racing.ro/jante-si-cauciucuri-automodele-scara-1-10-offroad/2233-set-cauciucuri-cu-janta-absima-crawler-steelhammer-108mm-1-10.html

4. https://www.makeblock.com/project/water-pump-motor-dc-12v-370-04pm

5 https://www.optimusdigital.ro/ro/motoare-micro-motoare-cu-reductor/4688-micro-motor-cu-reductor-150-i-codor-cgm12-n20va-8200e-6-v-310-rpm.html

6. https://hobbyking.com/en_us/turnigy-800mah-2s-20c-lipo-pack-parkzone-compatible-pkz1032.html

7 https://hobbyking.com/en_us/turnigy-nano-tech-350mah-1s-65-130c-lipo-pack.html

8.https://www.amazon.de/Varta-Powerbank-Powerpack-Ausg%C3%A4ngen-Leuchtfunktion-Grau-Wei%C3%9F/dp/B01AI6Y9PW/ref=sr_1_9?crid=LAERR6DPOFFC&ie=UTF8&keywords=powerbank%206000mah&language=en_GB&qid=1562266138&s=gateway&sprefix=power%20bank%206000%2Caps%2C197&sr=8-9

9.https://www.amazon.com/SanDisk-Ultra-microSDXC-Memory-Adapter/dp/B073JWXGNT/ref=sr_1_3?keywords=Sandisk+Ultra+32GB+MicroSDXC+Class+10+Memory+Card&qid=1562267087&s=gateway&sr=8-3

10. http://www.farnell.com/datasheets/2056180.pdf

11. https://store.arduino.cc/arduino-nano

12. https://store.arduino.cc/arduino-uno

13. https://wiki.eprolabs.com/index.php?title=L298_H_Bridge_Drive

14. https://www.adafruit.com/product/2021

15. https://www.pololu.com/file/0J309/MQ2.pdf

16 https://www.pololu.com/product/2135

17.http://www.circuitbasics.com/wp-content/uploads/2015/11/DHT11-Datasheet.pdf

18. https://en.wikipedia.org/wiki/Arduino_IDE