26

An Approach to Design of Child Saver Machine for

Child Trapped in Borehole

1Dr. C.N. Sakhale,

2D.M. Mate

3Subhasis Saha, Tomar Dharmpal, Pranjit Kar, Arindam Sarkar,

Rupam Choudhury, Shahil Kumar

1Associate Professor,

2Assistant Professor,

3Students of Final Year, Mechanical Engg. Deptt.,

Priyadarshini College of Engineering, Nagpur, India

ABSTRACT

Bores which yielded water and subsequently got depleted are left uncovered. A suitably strong cap

of bright colour to cover the mouth of the bore will avoid such accidents. To aid in such rescue we

have proposed a system. Methods to keep a child alive in a bore should take in to consideration the

lack of oxygen, increased temperatures and humidity, which produces hyperthermia. These problems

are addressed with fresh air delivery with or without delivery of oxygen. A hand-powered equipment to

deliver fresh air inside bore is being designed. This method brings down temperature and delivers fresh

air. Visualizing the child is made possible with infrared waterproof CCD cameras and a portable high

resolution TV Monitor. The camera is suspended in a 200 feet cable. The equipment is designed to

operate off the 12volt battery of the rescue vehicle. It will be a light weight machine that will go down

into the bore well pipe and hold the trapped body systematically. This machine assembly will be

supported by a gripped tyre and rope pulley drive, a stand and all necessary accessories. The remotely

controlled robot will go down the bore well and perform the action. A lot of other hassles will also

be avoided by this alternative technique. This robot type machine can rescue trapped body from

bore well in minimum amount of time and safely.

Keywords: Remotely Controlled Robot, Hyperthermia, Hand-Powered Equipment.

1. INTRODUCTION

Today’s major problem faced by human society is water scarcity, which leads to a large number of

bore wells being sunk. These bore wells in turn have started to take many innocent lives. Bores

which yielded water and subsequently got depleted are left uncovered. Small children without

noticing the hole dug for the bore well slip in and get trapped.

There is no proper technique to rescue victims of such accidents. When the make shift local

arrangements do not work, Army is called in. In most cases reported so far, a parallel hole is dug

up and then a horizontal path is made to reach to the subject’s body. It is not only a time taking

process, but also risky in various ways. Moreover it involves a lot of energy and expensive

resources which are not easily available everywhere and in this process we always need big space

around the trapped bore that we can dig a parallel bore. These ad-hoc approaches involve heavy

risks including the possibility of injuries to the body of subject during the rescue operations. Also,

the body may trap further in the debris and the crisis deepens even more means death.

In most cases, we rely on some makeshift arrangements. This does not assure us of any long term

solution. In such methods some kind of hooks are employed to hold the sufferers clothes and body.

This may cause wounds on the body of the subject.

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A single accident creates a big hue and cry spreading a sense of panic among the masses. It draws

a lot of undue attention and criticism of the civil administration. Heavy expenses have also

reportedly incurred in most cases.

It is pertinent to mention that a proper technical solution for such emergency crisis is the need of

the hour. More so in times of technical advancements and continuous research, technocrats should

take the responsibility to find an easy way out. It is an issue of national as well as social concern

and an early step in the direction of developing an instrument for the rescue of victims of such

cases is desirable. After studying all the cases we found a serious issue to do, to made a such

robotic machine which can go through the trapped bore well without any support and grasp the

trapped body in least minimum time with providing facilities of oxygen cylinder, microphone,

infra red LED, speaker, LCD screen. With this machine, there is no chance of damaging human

body and other minor damages, and we called that machine as “Bore Well Child Saver Machine”.

2. BACKGROUND OF THE WORK

Forty five deaths of children have been reported in the country since September 2001. From that

we have only nineteen with the proof of news paper that shown below. Their deaths are caused due

to uncovered dry bore wells. When the casing pipes costing hardly Rs.2000-3000/- are removed,

even a six inch bore became wider and trap an unwary child.

In the recent history of the country, only one child Sandhya of Bellary on April 11, 2002, And

Prince from Haryana, was rescued alive from bore well. Six year old boy Deivaraj on June 8,

2004 was rescued from the bore well, but later died in the hospital due to injuries during the rescue

operation and lack of medical aid. Usual method followed by the Rescue team is first to find the

depth of the child in the bore well by using a rope. After finding the depth, a parallel pit is digged

using earthmoving vehicles. This method of Rescuing has following difficulties:-

It takes up to 30 hours to dig the parallel pit, by that time the child would have died.

Lack of oxygen inside the bore well.

Lack of visualization causes the major difficulty during the rescue operation.

There is no such special equipment for rescuing the child trapped inside the bore well.

Table 1 shows the number of incidents occurred around the country since 2001.

Table1. Incidents Occurred in and around the Country

S.N. Name of the

Child

Age Place of the

Incident

Recovered

(Alive Or Not)

Source of

Information

(Newspaper)

1. Dilraj Kaur 3 Chandigarh

(Dheera village)

Not alive The Hindu-

June,4/2010

2. Ankitma Wade 2.5 MP, Bhopal Not alive ND TV-jan,29/2010

3. Pankaj 4 Bhilwara,

Rajastan

Not alive Indian Today-29th

jan,2010

4. D. Dinesh 2 Hydrabad Not alive Hindustan Times-19th

Jan,2010

5. Darawath Prasad 1.5 Warangal,AP Not alive NDTV correspondent-

18th Jan,2010

6. Devar nimbi, RGI 4 Bijapur district Not alive The Hindu-4th sept,

2009

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7. Sonu 2 Agra Not alive The Hindu-10th

Oct,2010

8. Karthik 6 AP,India Not alive The Hindu-6th

Aug,2007

9. Prince 8 Haryana Alive The Hindu-24th

July,2007

10. Sandeep 9 Bangaluru Not alive Dinathandhi – 26th

april,2007

11. Deivaraj 6 Dandugal Recovered alive

and died in

hospital

The Hindu- 9th

June,2004

12. Ajith 3 Dharamapuri Not alive The Hindu-15th

Feb,2004

13. Ajay 3 Ahmedaba Not alive Express India- 25th

Nov,2003

14. Ranjit 4 Salem Not alive The Hindu-3rd

April,2003

15. Timma 6 Chitradurga Not alive 2003

16. Sandhya 2 Bellary Alive The Hindu-12th

April,2002

17. Ramchandraiah 11 Hydrabad Not alive Khaleej Times-17th

Feb,2002

18. Tamizh Mani 5 Chennai Not alive The Hindu- 2nd

Sept,2001

19. Kariya 7 Davangere Not alive 2000

2.1. Operating Procedure and Incidents

2.1.1. PRINCE, 24th

July, 2007

It rescued because of

availability of parallel pit.

Even though they done the

process after 48 hours.

If not- what’s the fact?

What will happen when heavy

machinery is digging the

parallel pit?

This leads very high vibration

inside the bore well.

It causes physical and mental

damage to the child.

Figure 1: Schematic Diagram for Child sever Machine

The rescue is carried out in the following steps-

Avoid rushing everybody to the bore well.

Fix the platform on the well so that the central hole of the platform is above the well.

Don’t allow more than two or three persons to stand on the platform

Guide the 12’ long pipe attached to the blower in to the well and admit fresh air into the

well.

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Guide the Camera attached with the wire into the well carefully, till it reaches the child,

watching the monitor carefully. Lift the camera up and fit it on the grasper.

Attach the connecting pipe, connecting rod and the safety belt to the grasper.

Allow only two persons on the platform and carefully guide the whole assembly e. in the well.

2.1.2 MAAHI, June 23

It has been three days since Maahi, a four-year-old girl, fell into a bore-well in front of her house

while she was playing with other children. Though an intensive rescue operation is on, she is still

stuck there, and nobody knows whether she is alive.

2.2 Difficulties of Conventional Method of Rescuing

It takes up to 30 hours to dig the parallel pit, by that time the child would have died.

Lack of oxygen inside the bore well.

Lack of visualization causes the major difficulty during the rescue operation.

There is no such special equipment for rescuing the child trapped inside the bore well.

3. CONSTRUCTION OF MACHINE

Bore well child saver machine have various type of pneumatic, hydraulic and sensor operated

components. So basically components are divided into main three parts. Robot vehicle, rescue

robot and miscellaneous.

Main components of bore well child saver are-

Central frame.

Translational element.

Compression spring.

Electric rotary actuator.

Pneumatic linear actuator.

Centrifugal compressor.

Rubber wheel.

3.1 Central Frame

It is a hollow shaft, made of mild steel. It is the main frame of robot. It carries all elements and

attachments. It carries a 6volt battery at the centre of it. One end of this central body attached

wireless camera and other end is attach to the rope.

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Figure 2: Central frame, Compression Spring, Servomotor, Hydraulic Actuator, Piezoelectric

Actuator, Electro-mechanical Actuator, Pneumatic linear actuator, Compressor, Rubber wheel

3.2 Translational Element

Translational element helps the robot to run inside the bore well. It s one end is attach with the

central frame and other end carries rotary actuator.

3.3 Compression Spring

It is a helical type compression spring which is made of alloy steel. It is attached to the

translational element. One end of it is fifed with the central frame and otter end helps the

translational element to move up and down. Compression spring also exert sufficient force in the wall of

bore well to move smoothly inside the bore well. Compression spring absorb vibration and protect camera

and electronic circuit from shock. Initially it is in expansion condition and when robot enters into the bore

well it compresses and create sufficient grip to hold the system inside the bore well.

3.4 Servomotor

A servomotor is a rotary actuator that allows for precise control of angular position. It consists of a

motor coupled to a sensor for position feedback, through a reduction gearbox. It also requires a

relatively sophisticated controller, often a dedicated module designed specifically for use with

servomotors.

3.4.1. Mechanism

As the name suggests, a servomotor is a servomechanism. More specifically, it is a closed-loop

servomechanism that uses position feedback to control its motion and final position. The input to

its control is some signal, either analogue or digital, representing the position commanded for the

output shaft.

The motor is paired with some type of encoder to provide position and speed feedback. In the

simplest case, only the position is measured. The measured position of the output is compared to

the command position, the external input to the controller. If the output position differs from that

required, an error signal is generated which then causes the motor to rotate in either direction, as

needed to bring the output shaft to the appropriate position. As the positions approach, the error

signal reduces to zero and the motor stops.

The very simplest servomotors use position-only sensing via a potentiometer and bang-bang

control of their motor; the motor always rotates at full speed (or is stopped). This type of

servomotor is not widely used in industrial motion control, but they form the basis of the simple

and cheap servos used for radio-controlled models.

More sophisticated servomotors measure both the position and also the speed of the output shaft.

They may also control the speed of their motor, rather than always running at full speed. Both of

these enhancements, usually in combination with a PID control algorithm, allow the servomotor to

be brought to its commanded position more quickly and more precisely, with less overshooting.

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3.4.2 Control of Servomotor

Servo motors operate on negative feedback, meaning that the control input is closely compared to

the actual position via a transducer. If there is any variance between physical and wanted values,

an error signal is amplified, converted, and used to drive the system in the direction necessary to

reduce or eliminate error. Servo motors are controlled by a pulse of variable width that is sent from

a micro-controller output pin to the servo motor’s control wire. The shaft angle is determined by

the duration of the pulse, also known as pulse width modulation (pwm). This pulse has to have

specific parameters such as; minimum pulse, a maximum pulse, and a repetition rate. Given these

constraints, neutral is defined to be the position where the servo has exactly the same amount of

potential rotation in the clockwise direction as it does in the counter clockwise direction. It is

important to note that different servo motors will have different constraints on their rotation, but

they all have a neutral position, and that position is always around 1.5 milliseconds (ms).

3.5 Linear Actuator

A linear actuator is an actuator that creates motion in a straight line, in contrast to the circular

motion of a conventional electric motor. Linear actuators are used in machine tools and industrial

machinery, in computer peripherals such as disk drives and printers, in valves and dampers, and in

many other places where linear motion is required. Hydraulic or pneumatic cylinders inherently

produce linear motion. Many other mechanisms are used to generate linear motion from a rotating

motor. There are different types of linear actuators, such as: Mechanical actuators, Hydraulic

actuators, Pneumatic actuators, Piezoelectric actuators, Electro-mechanical actuators.

3.6 Air compressor

An air compressor is a device that converts power (usually from an electric motor, a diesel engine

or a gasoline engine) into kinetic energy by compressing and pressurizing air, which, on command,

can be released in quick bursts.

3.7 Wheel

It is a special type of wheel, which is made of rubber. It is a solid rubber wheel. It creates

sufficient grip with the inner side of bore well to travel easily.

3.8 Wireless Camera

Wireless cameras are basically described as a wireless transmitter carrying a camera signal. The

Camera is wired to a wireless transmitter and the signal travels between the camera and the

receiver. This works much like radio. The sound you hear on a radio is transmitted wirelessly and

you tune to a certain frequency and hear the sound. Wireless cameras have a channel also. The

receiver has channels to tune in and then you get the picture. The wireless camera picture is sent

by the transmitter the receiver collects this signal and outputs it to your Computer or TV monitor

depending on the receiver type.

Figure 3: Light-emitting diode and solar pannel

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3.9 Light emitting diode (LED)

A light-emitting diode (LED) is a semiconductor light source. LEDs are used as indicator lamps in

many devices and are increasingly used for other lighting. Appearing as practical electronic

components in 1962, early LEDs emitted low-intensity red light, but modern versions are available

across the visible, ultraviolet, and infrared wavelengths, with very high brightness.

When a light-emitting diode is forward-biased (switched on), electrons are able to recombine with

electron holes within the device, releasing energy in the form of photons. This effect is called

electroluminescence and the colour of the light (corresponding to the energy of the photon) is

determined by the energy gap of the semiconductor. An LED is often small in area (less than

1 mm2), and integrated optical components may be used to shape its radiation pattern. LEDs

present many advantages over incandescent light sources including lower energy consumption,

longer lifetime, improved physical robustness, smaller size, and faster switching. However, LEDs

powerful enough for room lighting are relatively expensive and require more precise current and

heat management than compact fluorescent lamp sources of comparable output.

3.10 Solar Plate

A solar thermal collector is a solar collector designed to collect heat by absorbing sunlight. A

collector is a device for converting the energy in sunlight, or solar radiation, into a more usable or

storable form. This energy is in the form of electromagnetic radiation from the infrared (long) to

the ultraviolet (short) wavelengths. The quantity of solar energy striking the Earth's surface

averages about 1,000 watts per square meter under clear skies, depending upon weather conditions,

location, and orientation of the surface.

3.11 Flexible Robotic Arm

Flexible-link robotic manipulators have many advantages with respect to conventional rigid robots.

These mechanisms are built using lighter, cheaper materials, which improve the payload to arm

weight ratio, thus resulting in an increase of the speed with lower energy consumption. Moreover

these lightweight arms are more safely operated due to the reduced inertia and compliant structure,

which is very convenient for delicate assembly tasks and interaction with fragile objects, including

human beings. However, the dynamic analysis and control of flexible link manipulators is much

more complex than the analysis and control of the equivalent rigid manipulators. From the

modelling standpoint, the challenges are associated with the fact that the non-linear rigid body

motions are now strongly coupled with the distributed effects of the flexibility along the

mechanical structure. This coupling varies with the system configuration and the load inertia.

Figure 4: Flexible Robotic Arms

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3.12 Oxygen Cylinder

An oxygen tank is a storage vessel for oxygen, which is either held under pressure in gas cylinders

or as liquid oxygen in a cryogenic storage tank. Wide range of aluminium, steel, and fibre-wrapped

medical oxygen cylinders are available in market.

3.13 Speaker

A loudspeaker or speaker is an electro acoustic transducer that produces sound in response to an

electrical audio signal input. Non-electrical loudspeakers were developed as accessories to

telephone systems, but electronic amplification by vacuum tube made loudspeakers more generally

useful.

4. CONSTRUCTION AND MECHANISM

Different types of mechanisms are used in our full rescue operation. The synthesis, or design, of

four bar mechanisms is important when aiming to produce a desired output motion for a specific

input motion. In order to minimize cost and maximum efficiency, we choose the simplest

mechanism possible to accomplish the desired motion and rescue operation. That’s why we used

four bar mechanisms for our robot construction. Four bar mechanism will help for our robot to grip

on bore well and travel properly on bore well.

After grasped the child we used rope pulley mechanism for lift the child body from bore well very

safely. Tighten up rope in the pulley so we can get a good grip. We will be pulling child body

without any obstacles.

According to the functionality bore well child saver machine basically consists of the following

two main parts.

Carrier vehicle

Rescue robot

Carrier Vehicle: It is the mobile vehicle that carries the rescue robot. The wheels of the vehicle

are driven by DC servo motors. The carrier vehicle takes the rescue robot to the working spot.

4.1 Construction

It is consists of one centrally located main shaft and surrounding translational elements

(link) hinged to the main shaft which all together construct the basic frame of the vehicle.

These links construct three arms on which six wheels are located.

A little consideration will show that the main shaft and the translational elements are so

joined that generates a four bar mechanism. A compression spring is fitted on rear end of

the main shaft whose internal diameter is slightly greater than the external diameter of the

shaft so that the spring can deflect freely around the shaft. The sole purpose of the four bar

mechanism is to translate the compression force of the spring to the wheels.

This compression force enables the vehicle to sticks inside a vertical pipe.When ever there

is a variation in the internal diameter of the pipe the arms are need to adjust (compress or

expand) radial span to met the diameter of the pipe. It is possible only due to this

compression spring.

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4.2 Function

Functions of carrier vehicle are as follows-

To carry the rescue robot.

To enable the whole setup sticks to the inside surface of the pipe.

To keep the rescue robot at centre inside the pipe.

To adjust the wheel span according to the diameter of the pipe.

Rescue Robot: It is the most important part of the whole system from functional point of view as

the rescue operation is done by this part.

4.2.1 Construction

This part is basically consist of several attachments like

Robotic arm

Flexible gripper

Vacuum gripper (suction cup)

Elevator

Descriptions of the attachments are as follows:

4.2.1.a. Robotic Arm

One robotic arm with DOF six is attached at the front end of the main shaft. The further

attachments are fitted on this. This arm is capable to achieve movements in all directions, viz.

up-down

right-left

forward-backward

turning right- turning left (yaw)

tilting forward- tilting backward (pitch)

And tilting side to side (roll).

An industrial robot with six joints closely resembles a

human arm -- it has the equivalent of a shoulder, an

elbow and a wrist. The shoulder is mounted to the main

shaft. This type of robot has six degrees of freedom,

meaning it can pivot in six different ways.

Figure 5: Degree of Freedom

One of the end effectors is a Flexible gripper (simplified version of the hand), which can grasp and

carry different objects. This flexible gripper has built-in pressure sensors that tell the computer

how hard the robot is gripping a particular object. This keeps the robot from dropping or breaking

whatever it's carrying.

4.2.1.b. Construction

The six degree of freedom is achieved by the following robotic joints.

The Robot Joints is the important element in a robot which helps the links to travel in different

kind of movements. There are five major types of joints such as:

Rotational joint.

Linear joint.

Twisting joint.

Orthogonal joint.

Revolving joint.

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4.2.1.c. Function

The robotic arm's job is to move end effectors (Flexible gripper, Suction tube) from place to place

to reach the position where the baby is trapped.

5. WORKING OF BORE WELL CHILD SEVER MACHINE

Method of Rescue (working)

Standard and proper rescue method is the only key of success of bore well rescue operation.

Because to lift the child out the narrow confines of the bore wells is also not very easy. The whole

rescue operations are divided into three steps-

(1).Reaches at child (2). Grasping and last one is (3) climbing or lifting

First we need to reaches at child without any problem and grasp the child body very safely; this is

done with the help of a wireless camera attached to the robot.

Moreover, it has the facility to monitor the trapped child, supply oxygen, and provide a supporting

platform to lift up the child.

Figure 6: Bore well structure with pulley & Grasping arm

1. Avoid rushing everybody to the bore well and clean the surrounding crowd from the bore well.

2. Fix the platform on the well so that the central frame of the platform is above the well.

3. Then our robot is enter in to the bore well very slowly, a safety rope is provided which acts as

a support for the robot. It is possible to lower the robot up to 40 feet inside the bore well. With

the aid of CCD camera the location (depth) and position of the child can be determined.

4. Guide the Camera attached with the robot into the well carefully, till it reaches the child,

watching the monitor carefully. Infrared LED which is attached to the robot gives the depth at

which the child is trapped, and the image on the monitor gives the position in which the child

is entrapped.

5. The position of entrapping, advises us the type of the grasper to be used in the rescue, whether

it is vertical robotic arm, or horizontal robotic arm. Type of grasper and grasper arm is selected

based up on the position of the child.

6. Lift the robot up and Assembling the mechanical attachment or robotic arm for the required

position.

7. Then again robot entered into bore well for rescue.

8. Using the oxygen cylinder fresh oxygen is supplied to the child through hoses, which is

attached to the robot. And it maintains the temperature and humidity into the bore well.

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9. Allow only two persons on the platform and carefully guide the whole assembly in the well.

Watching the position of the child on the monitor, make the robotic arm to hold the body

position of the child, guiding it from platform by operating the pneumatic assembly.

10. Now the robotic arm clasps the child safely which can grasp the shoulder or the wrist or the

ankle of the Child and the child is lifted up to safely.

11. After the rescue, first aid is to be provided to the child by the medical team.

Figure 7: Rescue Robotic Arm

Following specifications are given assuming the total load of the machine and child= 5 kg.

Table 2 Specification of Robot Component

Name of Component Specification Number

Rotary actuator Manufacturer: Parkar,Speed: 60 rpm, Power supply:12v

DC

6

Linear actuator Manufacturer: Techno Pneumatics ,Model NO: MAE

16*50,Max Pressure: 10 kgf/cm2

1

Main frame Outside diameter – 18mm,Length – 33.5 cm

Thickness – 2 mm,Material – Mild steel

1

Big link Length – 24 cm,Width – 2 cm,Thickness – 2

mm,Material - Mild steel with galvanising

3

Small link Length – 6.5 cm,Width – 2 cm,Thickness – 2

mm,Material - Mild steel with galvanising

6

Compression spring Free length of spring – 64 mm,Compressed length of

spring – 46 mm,Number of turns – 8

Diameter of spring – Wire diameter -

1

Centrifugal

compressor

Manufacturer: Air PRUPT,Voltage: 12v DC

Amp: 14 amp.Max Pressure: 7kg/cm2

Displacement: 35 lt/min

1

Battery 12 volt,7.5 amp,6 cell lead acid battery. 1

Solar panel Manufacturer: waaree

Model no: WE5

Max Power Pmp (Wp) : 5

Max Power Vmp (V): 17

Maw Power current Imp (A): 0.29

Open circuit voltage (V): 21

Max system Voltage: 600

1

Air reservoir Capacity: 5lt.

1 inlet port, 2 outlet port.

1

6. EXPERIMENTATION OF MACHINE

In this project have a series of experiment to explore children’s comfort level and behavioural

responses towards a robot arm under a controlled task. The Goal of using such control architecture

was to enable the robot to appear dexterous, flexible while operating with smooth, yet firm

biological type motions. The objective was to enhance and facilitate the human-robot

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cooperation/interaction with children. Herein we focus on the cooperation between a human and a

robot arm in 3D dimensions. We have done a routine testing to run our bore well child saver

machine swiftly and human friendly. Testing procedure is given below.

Figure 8: Tested Toy (Raj)

The whole system was going to be tested by using a child model (toy) in a real dry bore well or

artificial made bore well.

Initially the child model was made to trap inside the bore well (approximately to 15 feet

depth). For child model we are using a soft toy.

Then using the visualizing unit, the location and position of child model (toy) was

determined.

Using the blower, fresh air was supplied through the hoses.

The grasping arm and the grasper were selected based upon the position of the child model (toy).

Assembling the mechanical unit for the required depth and child model (toy) was recovered.

The total time taken for the rescuing operation was one hour.

After the frequent testing we satisfied that our robotic machine is ready for human serve.

7. APPLICATION OF BORE WELL CHILD SAVER MACHINE

This machine has been designed to rescue the trapped child from the bore well. But its unique

capability to drive inside the cylindrical object (pipe) makes it possible to serve in the following areas.

7.1 As bore well child saver: - The main application of the machine is in the rescue operation of

the child from the bore well.

7.2 As Pipe cleaning machine: - This machine can be used in pipe cleaning. It can drive through

long pipes and with a rotary brush as an end effecter fitted at front will serve the cleaning

operation of dirty pipes. As the inside surface of the pipes may be wet and slippery the high quality

wheels are capable to grip on the wet surface.

7.3 As pipe inspection machine:- In pipe manufacturing industries the final product is required to

go through inspection process for quality control and prevent any leakage in pipes or any oil, gas

pipe lines are to be surely free from any kind of leakage and damage as it may cause huge

destruction if any kind of accidents takes place. This inspection machine loaded with special

inspection instruments like sensors, x-ray are capable to inspect pipes, thus can detect any kind of

defect which may be the reason for a serious accidents.

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7.4 Miscellaneous Application: This type of robot capable of climb vertical pipes or drive

through horizontal or inclined pipes may be used in the following areas.

In manufacturing industries.

In space programs.

In radio active or highly hazardous environment.

In under water operation

8. CONCLUSION

Human life is precious. Bore well child saver is a significant attempt to save life of the victim of

bore well accidents. Besides this the unique capability of climbing through vertical and inclined

pipes makes wide scope of application for this machine in manufacturing industries and other

relevant fields.

Following are some important points observed during the design and fabrication of machine.

In the current design of bore well child saver machine is has been made to suit every

possible situation may occur in rescuing operation.

The structure is made strong enough to sustain all possible loads, though it is made

flexible at the same time to adjust wide range of bore diameter and any change in the

diameter of bore.

In this rescuing operation time is a vital factor which alone can deter mine the success or

failure of the whole operation. Thus it has been designed keeping the entire obstacle in

mind that may arise during the operation.

The controlling of the vehicle and the rescue robot is highly sensitive that makes it

possible to reach to high depth as soon as possible and handle the human child without

hurting.

The outlook of end effecter of the rescue robot is design in that way that it should not

threaten the child or it should appear friendly to the child.

REFERENCES

[1] R. A. Brooks, Model-Based Computer Vision (UMI Re-search Press, Ann Arbor, 1984).

[2] Sharma Vikram , Fundamental Computer Aided Manufacturing, 1st Edition, Katsons

Publisher.

[3] Shivanand H.K, Benal M.M., Flexible Manufacturing system, 1st Edition, PHI Publication.

[4] Deb S. R., Robotics Technology and Flexible Automation, 3rd Edition, Mc Graw Hill

Publication.

[5] Goyal Khushdip, Bhandari Deepak, Industrial Automation and Robotics, 3rd Edition,

Katsons Publisher.

[6] Shiwalkar B.D., Design Data for Machine Elements, Dattatraya Publications, Nagpur

(India).