DESIGN OF MULTI-PURPOSE MOBILE TARGET …This paper presents a Multipurpose Mobile Target. In the...

DESIGN OF MULTI-PURPOSEMOBILE TARGET SYSTEM FOR

MILITARY APPLICATIONS

Anil Kumar Bandani1, M.Vivek Chandra2,Arun Kumar Singh3, P.Raghuveer4, N.Thejasvi5

1Assistant Professor, 2,3,4,5UG ScholarElectronics and Communications Engineering Department,

B.V.Raju Institute of TechnologyNarsapur,Medak- 502313, Telangana, India

[email protected]

July 19, 2018

Abstract

This paper presents a Multipurpose Mobile Target. Inthe army, soldiers are trained well in shooting stationarytargets. However, when it comes to shooting moving tar-gets, their training is not that efficient. One of the reasonsis the unavailability of a proper moving target that can besustained for continuous training. Furthermore, deployinghumans for dangerous tasks like bomb disposal is a hugerisk. Noting is more precious than life and that too of abrave solider. If robots are used to do such tasks insteadof humans, we can save lives. Multi-purpose Mobile Targetprovides a solution to the above problem. It serves as a mo-bile target for military training. In addition, it has featureslike bomb disposal, live video feed and user control.

Keywords: Robotic Arm; Live Feed; Moving Target;user control; Bomb disposal;

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International Journal of Pure and Applied MathematicsVolume 120 No. 6 2018, 7883-7897ISSN: 1314-3395 (on-line version)url: http://www.acadpubl.eu/hub/Special Issue http://www.acadpubl.eu/hub/

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1 INTRODUCTION

This military is unquestionably the first user of new technologiesand developments in techniques, and is very often, the booster fornew developments, when it becomes necessary to invent new tech-nologies for military systems. Many basic technologies, which wereused in the military for the first time, have become part of indus-trial robots today. However, the definition of military robotics andindustrial robotics is still very different. The military has specificrobotized equipment whereas, in industrial terms, the robot is moreof an intelligent, flexible, mass production machine. In future, theuse of the industrial robots for military applications will becomemore possible. Price and development of the technical abilities ofthe modern robots will increase the interest of military users.

The main objective is to provide a moving target rather thanconventional static targets for the military personnel. In additionto it, this robot has features like live video feed and user controlaccess. This project consists of the following sub-tasks: Design ofchassis and body, hardware selection and integration, programmingmotion and remote control, interfacing camera, and integration ofall submodules into a final product Multi-purpose Mobile Target.

2 LITERATURE SURVEY

A. PREVIOUS REASEARCHa) Development of a Mobile Surveillance RobotUsually, an unmanned surveillance robot consists of a machine

gun, a laser receiver, a thermal imager, a color CCD camera, anda laser illuminator. It has axis control system for elevation andazimuthal angle. Hence, a human guard can be replaced with sucha robot system to take care of dangerous surveillance tasks. How-ever, the robot system is mounded at a fixed post to take careof surveillance tasks. To watch remote areas, it is necessary tomodify such a surveillance robot to be installed on a UGV (Un-manned Ground Vehicle) system. Thus, it requires a stabilizationsystem to compensate the disturbance from the UGV. In this pa-per, a simulation-based design scheme has been adopted to developa mobile surveillance robot. The 3D CAD geometry model wasinitially produced by using Pro-Engineer. Using ADAMS inverse

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dynamics analysis, the required pan and tilt motor capacities areanalyzed. A target tracking and stabilization control algorithm ofthe mobile surveillance robot has been developed to compensate themotion of the vehicle, which experiences the rough terrain. A vir-tual motion simulator that reproduces UGV motion has also beendeveloped for testing of mobile surveillance areas, virtually. To testthe performance of the stabilization control system of the robot,ADAMS/Simulink co-simulations has been carried out. [1]

Modeling and Control of a Small Mobile Robot with Multi-Locomotion Modes

In this paper, we will describe the kinematics and dynamicsinvolved in control modeling of a small wheel-track-legged mobilerobot, MOBIT, which is targeted to applications. MOBIT is used invarious hazardous environments, to carry out military and civilianmissions. The models for MOBIT have some individuality becauseof its multi-locomotion modes. Some of them namely are wheeled,tracked and legged mode.

Different kinematics and dynamic control equations are derivedbased on their multi-locomotion modes used respectively, and theirfeatures in different modes are revealed. The features of slippagein tracked mode, modeling description of differentially driven inwheeled mode and posture definition in legged mode are among theones which can be presented in a mathematical format. By usingthe Routh method, the dynamic control model is established. Un-like other robot operating on a flat surface, the proposed equationsare solved to obtain the robot position, posture and its dynamiccharacteristics that can be used for autonomous motion control ofrobot operating with different locomotion modes operating in roughterrains. [2]

b) Intelligent Surveillance RobotSecurity robot has become one of the most important research

topics over the past decades. Many robots have been designed tosafeguard human life and wealth. This paper focuses on design andimplementation of mobile robot with three subsystems: The obsta-cle avoidance, face recognition and detection leakage of combustiblegases. In the first subsystem, an implementation of artificial neu-ral network on field programmable analogy array has been used tocontrol the motion of the robot. A combination of principle com-ponent analysis and linear discriminate analysis feature extraction

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algorithms with support vector machine classifier is used in thesecond schema. The third subsystem uses MQ4 sensor with addi-tion circuit to detect the leakage of combustible gases. Finally, theMATLAB environment is used to implement the proposed subsys-tems and the experimental results demonstrate the efficiency androbustness of these subsystems.

c) Wireless Controlled Surveillance RobotSurveillance robot is the robot used for the surveillance pur-

pose. The remote areas are watched using the surveillance robots.Surveillance is the monitoring of the behavior, activities, or otherchanging information, usually of people for influencing, managing,directing, or protecting.The word surveillance is commonly usedto describe observation from a distance by means of equipment(such as CCTV cameras), or interception of electronically trans-mitted information (such as Internet traffic or phone calls). How-ever, surveillance can also refer to simple, relatively no- or low-technology methods such as human intelligence agents and postalinterception.Surveillance are very useful to governments and law en-forcement to maintain social control, recognize and monitor threatsand in the scientific research and technology.B. EXISISTING SYSTEM

This system makes the militants become more accurate in theiraiming skills and real ready by rapidly developing skills in combatmarksmanship. The procedures like fixed, popping up suddenly, orfixed path mounted targets lack uniqueness and realistic featuresand tracks sideways. Being trained in the old-fashioned way thesoldiers lack the marksmanship skills required to aim the real tar-gets. US Marine Corps had a test and it was found that there wasa development of 104% increase in their accuracy within a periodof 24 hours when trained with robotic targets. And, the US armyresearch institute found an increase in range throughput comparedto the old-fashioned methods.C. DRAWBACKS OF THE EXISTING SYSTEM

The robotic targets discussed in the previous section are notcost-effective due to the following limitations:

• These robots are used only for specific purposes (single-functionality).

• They are costly.

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Robotic targets by Marathon Targets

Therefore, need arises for a more efficient system which costsless.D. PROPOSED SYSTEM

Our system is the up gradation of the existing target robots. Inaddition to the target robot, we also have a live feed and remotecontrol with the user interface. The live feed feature is useful inproviding surveillance in border areas whereas the remote controlallows the user to maneuver the target robot for various levels oftraining, with various speeds and direction patterns.

Our system is more effective in terms of cost and aims at pro-viding an intact solution to Indian defense sector in terms of tech-nology.

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3 DESIGN AND HARDWARE

A. SPEED CONTROL OF DC MOTORTo analyze an electrical rotating machine, a mathematical mod-

eling is required. It should involve the various phases or windingsof the machine, identified as coils having certain resistance, self-inductance and mutual inductance. For voltage balance, the cir-cuit equations have been written. The resistance of coil containsan ohmic drop due to the voltage induced in coil because of the ro-tations. The least required thing of a motor is that it should rotatein the required position and the steady state error of the positionof the motor should be less than 1%. And the other performancerequirement is that the motor should accelerate to its steady-stateposition very quickly as soon as it is switched on. In this one, wewould like it to have 2 seconds of setting time. If we keep a positionother than the required position then it may damage the equipmentand we also would like to have an overshoot smaller than 5%.

Speed control implies that getting the motor speed to the valuewhich we need for doing some specialized work process. Both Speedregulation and speed control are different, where there is a changein speed due to the load on the motor shaft. Speed control is donemanually by a person who operates it or it can be done automati-cally by programming the control devices. One big advantage withthe DC motor is that we can easily control its speed. The EMFequation of a DC motor is given as

N = 60A E / PZφN = E / kφ where, k = PZ/60AN = V - Ia Ra / kφSo, the speed of the three types of Direct Current motors that

are series, shunt, and compound is controlled by modifying thequantities on the right-hand side of the expression. The speed canbe changed by varying:

• By varying the terminal voltage of the armature

• By varying the external resistance in the circuit (ra).

• Changing flux per pole .

The first and second points involve a change that affects arma-ture circuit and the other one includes modification in the magnetic

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field. Speed control methods of DC motor are given as:1. Armature control.2. Field control.

B. ARMATURE CONTROL OF DC MOTORSpeed changes linearly with the change in back EMF

Eb = IaRaV

Whenever the voltage supply and armature resistance are keptunchanged then speed and armature current are directly propor-tional. If at all some resistance is added in series with armatureresistance, then armature current decreases and

There by decreasing the speed. This method can be operatedin two ways:Armature Resistance Control: Under this method, armaturecircuit will have a variable resistance. If the field is directly con-nected to the supply then flux will not change due to change in seriesresistance. In this method, speeds which are lower than rated areused for a short period only. Some of their applications are printingpress, cranes, hoists.Armature Voltage Control: For this, we need a variable sourceof voltage which can be is separate from the supply source ofthe field current. This technique avoids limitations such as poorspeed regulation and reduced efficiency in armature-resistance con-trol methods. Ward Leonard system is an adjustable voltage gen-erator for speed control of a basic adjustable armature voltage con-trol method. We use a motor generator (M-G) set for controllingspeed. It is also suitable for steel rolling mills, paper machines,elevators, mine hoists, etc. The advantages of armature voltagecontrol method include very fine speed control over whole range inboth the directions and uniform acceleration.

The integral cycle control method of Thyristor (or triacs) ofspeed control of DC motor has got few advantages compared tothat of using the phase angle. Due to the low ratios of ON/OFFmotor applied supply cycle, it suffers from the relative high-speedripples in integral cycle controlled motors. TRIAC is introducedby using modulated phase angle control by controlling the speed ofDC series motor in the proposed system.

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The motor speed ripple is reduced to a prescribed value by thesuggested method. The ac supply lines have a single traic connectedin series. The triac is connected to the motor through a rectifierbridge to unify the motor current.Speed control of separately excited DC motor using differ-ent single phase AC/DC converter:

It is observed that the range of non-linearity is small in semiconverter as compared to half wave and full converter drives, sosemi converter drives can be preferred for the wide range of loadtorque are obtained for a wide range of loading conditions. From theresults, it can be concluded that the reason of non-linearity in speedtorque curve is a discontinuity in armature current, which is highlyundesirable for industrial applications to remove the discontinuityin armature current continuous.The open loop speed control method for controlling thespeed of a permanent magnet DC motor using a micro-controller named AVR:

The microcontroller is programmed such that it automaticallyvaries the duty cycle of H-bridge chopper depending upon the set/requiredspeed of the motor. Controlling the PWM duty cycle is equiva-lent to controlling the motor terminal voltage which can adjust thespeed of the motor.

Closed Loop method for Speed Control of DC Motor

C. SPEED CONTROL OF DC MOTOR USING PWMPulse width modulation (PWM) is a process for the generation

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of binary signals, which has high and low signal periods. The width(W) of each pulse varies between zero (0) and the time period (T).The main principle is the control of power by varying the dutycycle. The conduction time to the load is controlled here. Let for atime t1, the input voltage appears across the load is ON state andfor t2 time the voltage across the load is zero state.

The average voltage at the output is given byVa = Vmax∗

Where,TON =Time period for Pulse ON, TOFF =Time period for

Pulse OFF

• The average load current Ia= Va/R, Ia= (k*Vs)/R where,T is the total time period, T =t1+t2, k = t1/T is the dutycycle.

• The duty cycle is varied from 0 to 1 by varying t1, T or f.Therefore, the output voltage Vo is varied from 0 to Vs bycontrolling k, and the power flow is controlled.

• When the time t1 changes the width of the pulse is varied andthis type of control is called pulse width modulation (PWM)control.

D. WORKINGPulse width modulation is implemented for driving motor at

variable speed and it depends on an input value for the generationof variable pulse widths. This modulation is implemented usinga microcontroller. Therefore, the potentiometer gives the inputvalue which is used. The two terminals of the potentiometer areconnected to Vcc, GND and it results in the variation of voltage inthe range of 0-5V, in the terminal W of the potentiometer. The pinserves as input for the microcontroller. Arduino Mega 2560 has ananalog to digital converter size 10 bits. So, this will map its inputvoltages in the range of 0-5 volts and the integer values range inbetween 0-1023. This gives a resolution between the readings of 5volts / 1024 units or, 0.0049 volts (4.9mV) per unit.The program iswritten for the generation of results for pulse width using Arduinosoftware and it is written into microcontrollers memory.

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The variable output between (0-5V) goes to the Analog Inputpin (A) of the Analog to Digital Converter (ADC) of the microcon-troller and it gets converted into ten-bit binary value.

This ten-bit binary value is converted into the correspondingdecimal value which lies in the range of 0-1023 (as 210=1024). Thisvalue plays a key role in the triggering of the microcontroller outputpin, for certain time duration.

Block Diagram

ADVANTAGES1) Improved quality of product2) Efficient training of soldiers.3) Reduced amount of operator errors4) Can be even made to perform hazardous tasks without any con-cern5) Simple to use6) Wide acceptance7) Sustainable, hence cost effective8) Consistency of performance9) The multimedia sensors provide accurate detection as Well aslarge detection range.10) The thermal imaging camera provide additional Informationthat cannot be detected by the Multi-media sensors, e.g. in cases

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where the intruder is hidden behind an obstacle that cannot bedetected11) Mobile sensors provide intrusion tracking capability to trackthe intruders after they have been detected12) By network processing, the heterogeneous Sensors cooperativelydetect the intrusion and report the results to a remote administra-tor. Accordingly, both the deployment and Operational cost of theborder Patrol system can significantly be decreased.APPLICATIONS

Application can be summarized as:1) Advanced and efficient training of soldiers.2) Remote surveillance with live feed.3) Cell phone controlled robot can be used in the borders for dis-playing hidden Land mines.4) The robot can be used for reconnaissance or surveillance.

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5) The robot can be used anywhere there is the service providertower of the connection provided that is mounted on robot.6) It can be adequately implemented in national defence throughmilitary-industrial partnership.7) It can be vastly applied in Resorts, borders of noted buildings.8) Installation of combat robots in the stadiums, sacred places, andgovernment and non-government organizations assures top security.9) Use in the military fields for the information collection.10) Geographical exploration.11) Path tracker and exploration beyond human reach.

4 CONCLUSION

The project has been implemented using Arduino MEGA. It is alow cost, low in power consumption, concept in size and standalonesystem. The Arduino MEGA is used whenever; there are morerequirements of input and output pins. The Arduino board is in-terfaced with a DC Motor. The code is written as such to controlthe speed as well as directions of the motor. The written code isdumped on to the Arduino MEGA 2560 board and is checked forits functionality.

5 FUTURE WORK

With the help of further research and analysis, a Robotic Armarrangement can be attached to this Robot. Features like Bombdisposal, pick and place robot can be incorporated.

Surveillance is needed in almost every field. It could be a greatsolution to various problems or situation where wireless Surveillanceis needed our project has tremendous scope as it uses the latesttechnology in the market. Our application uses the android OSwhich is currently the most used OS and also has a great futurescope. The Surveillance robot can be controlled remotely using theandroid application; this gives it a huge scope for future application.

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References

[1] http://ieeexplore.ieee.org/document /4406502/

[2] http://ieeexplore.ieee.org/document/4021843/

[3] Y. Zhang, L.S. Shieh, C.M. Akujuobi W. Ali, Digital PID Con-troller design for delayed multivariable systems, Asian Journalof Control, 6(4), 2004.

[4] R.Shankar1 , Abinav.R2 , Ashik.S3 , Wireless Military BombDisposal Robot, Volume 4 Issue IV, April 2016 IC Value: 13.98ISSN: 2321-9653

[5] Richa Parmar1, Akash Malik2, Military Spying Bomb Diffus-ing Robot with Night vision, e-ISSN: 2395 -0056 Volume: 04Issue: 03 — Mar - 2017, IRJET

[6] K. Borker, R. Gaikwad, A. Rajput, Wireless controlled survil-lience robot, in IJARCSMS.

[7] A. Kusko, D. Galler, ”Survey of Microprocessor in IndustrialMotor Drive Systems”, Microcomputer Control of Power Elec-tronics and Drives, pp. 159-162, 1987.

[8] Stigler, G. The Economics of Information, Journal of PoliticalEconomy, Vol. 69, pp.213-225, Iss. Jan-Feb, (1961).

[9] Nolan Hergert, William Keyes, and Chao Wang, Smartphone-based Mobile Robot Navigation spring 2012.

[10] Phey Sia Kwek, Zhan Wei Siew, Chen How Wong, BihLiiChua,Kenneth Tze Kin Teo ,Development Of A Wireless Device Con-trol Based Mobile Robot Navigation System. IEEE 2012.

[11] Sebastian van Delden and Andrew Whigham , A Bluetooth-based Architecture for Android Communication with an Ar-ticulated Robot IEEE 2013.

[12] T.MariaJenifer,T.S.Vasumathi Priyadharshini, Raja LavanyaS. Raj Pandian, Mobile Robot Temperature Monitoring Sys-tem Controlled by Android Application via Bluetooth IJACTE2013.

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[13] Article ID 197105 Indoor Surveillance Security Robot with aSelf-Propelled Patrolling Vehicle Volume 2011.

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