Intelligent Army Robot based on IOT
Monica Dommaraju, Sri Kavya Dasari
Department of Electronics and Communications,
S R M University Ramapuram, Chennai, Tamil Nadu 600089, India
March 23, 2016
Abstract
The aim of the project is to design an IOT based smart
robot for monitoring and neutralizing toxic gases in large-
scale petrochemical plants. since these toxic gases
seriously affect the safety of producing activities and first
line workers lives. we are targeting to provide complete
monitoring system on the concentration of various toxic
gases. In this project, a newly developed mobile car with
WIFI wireless communication is designed to smartly
monitor and track the concentration of various toxic gases.
1 Introduction
In this project we are designing a Robot to handle perform
various applications without human Interaction. The
project is based on IOT (Internet of things) where we are
concentrating on identifying the temperature of objects,
and detecting harmful gases.
2 Related Work
In today’s existing system, human lives are at risk while
monitoring the leakage of toxic gases. Manual monitoring
process also contributes more delay in passing the alert
information. Accidentally, if any leakage of gas happens
there is no way of neutralization.
3 Methodology
In the proposed system, IOT based smart car is used for
monitoring the leakage of toxic gas. The smart car operates
in its own without human interaction for monitoring the
toxic gas leakages. The collected data is sent to authorized
mobile device by the using concepts of IOT which reduces
significant delay. If any leakage happens neutralization
technique can be applied automatically.
4 Internet of things(IoT)
IOT was first termed by Kevin Ashton in the year 1999.
Internet of Things (IoT) is a concept and a paradigm that
considers pervasive presence in the environment of a
variety of things/objects that through wireless and wired
connections and unique addressing schemes are able to
interact with each other and cooperate with other
things/objects to create new applications/services and
reach common goals. In this context the research and
development challenges to create a smart world are
enormous. A world where the real, digital and the virtual
are converging to create smart environments that make
energy, transport, cities and many other areas more
intelligent. The goal of the Internet of Things is to enable
things to be connected anytime, anyplace, with anything
and anyone ideally using any path/network and any
service. Internet of Things is a new revolution of the
Internet. Objects make themselves recognizable and they
obtain intelligence by making or enabling context related
decisions thanks to the fact that they can communicate
information about themselves. They can access
information that has been aggregated by other things, or
they can be components of complex services. This
transformation is concomitant with the emergence of cloud
computing capabilities and the transition of the Internet
towards IPv6 with an almost unlimited addressing
capacity. New types of applications can involve the electric
vehicle and the smart house, in which appliances and
services that provide notifications, security, energy-saving,
automation, telecommunication, computers and
entertainment are integrated into a single ecosystem with a
shared user interface. Obviously, not everything will be in
place straight away. In the future computation, storage and
communication services will be highly pervasive and
distributed: people, smart objects, machines, platforms and
the surrounding space (e.g., with wireless/wired sensors,
M2M devices, RFID tags, etc.) will create a highly
decentralized common pool of resources (up to the very
edge of the network)
interconnected by a dynamic network of networks. The
communication language will be based on interoperable
protocols, operating in heterogeneous environments and
platforms. IoT in this context is a generic term and all
objects can play an active role thanks to their connection to
the Internet by creating smart environments, where the role
of the Internet has changed. This powerful communication
tool is providing access to information, media and services,
through wired and wireless broadband connections.
5 Project Module
For this project we do have four modules
• Arduino Mega 2560
• ESP8266 WiFi Module
• Gas sensor MQ4
• Temperature sensor LM35
5.1 Arduino Mega 2560
The Arduino Mega 2560 is a microcontroller board based
on the ATmega2560 (datasheet). It has 54 digital
input/output pins (of which 14 can be used as PWM
outputs), 16 analog inputs, 4 UARTs (hardware serial
ports), a 16 MHz crystal oscillator, 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. The Mega is
compatible with most shields designed for the Arduino
Duemilanove or Diecimila. The Arduino Mega2560 can be
powered via the USB connection or with an external power
supply. The power source is selected automatically.
External (non-USB) power can come either from an AC-to-
DC adapter (wall-wart) or battery. The Mega2560 differs
from all preceding boards in that it does not use the FTDI
USB-to-serial driver chip. Instead, it features the
Atmega8U2 programmed as a USB-to-serial converter.
The power pins are as follows:
• VIN. The input voltage to the Arduino board when it's
using an external power source (as opposed to 5 volts
from the USB connection or other regulated power
source). You can supply voltage through this pin, or, if
supplying voltage via the power jack, access it through
this pin.
• 5V. The regulated power supply used to power the
microcontroller and other components on the
board. This can come either from VIN via an on-board
regulator, or be supplied by USB or another regulated
5V supply.
• 3V3. A 3.3 volt supply generated by the on-board
regulator. Maximum current draw is 50 mA.
• GND. Ground pins. The ATmega2560 has 256 KB of
ash memory for storing code (of which 8 KB is used
for the bootloader), 8 KB of SRAM and 4 KB of
EEPROM
Each of the 54 digital pins on the Mega can be used as
an input or output, using pinMode(), digitalWrite(), and
digitalRead() functions. They operate at 5 volts. Each pin
can provide or receive a maximum of 40 mA and has an
internal pull-up resistor (disconnected by default) of 2050
k Ohms. The Arduino Mega2560 has a number of facilities
for communicating with a computer, another Arduino, or
other microcontrollers. The AT-mega2560 provides four
hardware UARTs for TTL (5V) serial communication. An
ATmega8U2 on the board channels one of these over USB
and provides a virtual com port to software on the
computer (Windows machines will need a .inf file, but
OSX and Linux machines will recognize the board as a
COM port automatically. The Arduino software includes a
serial monitor which allows simple textual data to be sent
to and from the board. The RX and TX LEDs on the board
will ash when data is being transmitted via the
ATmega8U2 chip and USB connection to the computer
(but not for serial communication on pins 0 and 1).
5.2 ESP8266 WiFi Module
ESP8266 is an impressive, low cost WiFi module suitable
for adding WiFi functionality to an existing micro-
controller project via a UART serial connection. The
module can even be reprogrammed to act as a standalone
WiFi connected device The feature list is impressive and
includes:
• 802.11 b/g/n protocol
• Wi-Fi Direct (P2P), soft-AP
• Integrated TCP/IP protocol stack
5.3 Gas Sensor
Gas sensor applies SnO2 which has a lower con-ductivity
in the clear air as a gas-sensing mate-rial. In an atmosphere
where there may be pollut-ing gas, the conductivity of the
gas sensor raises along with the concentration of the
polluting gas increases. It performs a good detection to
smoke
and other harmful gas, especially sensitive to
ammonia, sulfide and benzene steam. Its ability to
detect various harmful gas and lower cost make MQ-
135 an ideal choice of different applications of gas
detection.
direction. And if it is rotated in the anti-clock wise
direction, the robot moves in the backward direc-
tion.Now all these updated values are displayed on the
users mobile by creating a separate web page based on
a common IP address.

5.4 Temperature Sensor 7 Conclusion

The LM35-series devices are precision integrated-
From this we can able to design a smart system where
circuit temperature sensors, with an output voltage
we can detect the harmful gas, we can detect the
linearly proportional to the Centigrade temperature. persons by using temperature sesor and we can use for
The LM35 device has an advantage over linear di erent applications.
temperature sensors calibrated in Kelvin, as the user is
not required to subtract a large constant voltage from
the output to obtain convenient Centigrade scaling. 8 Reference
The LM35 device does not require any external
calibration or trimming to provide typical accuracies
K. Wang, H. Lu, L. Shu, J. Rodrigues, A Context-
of C at room temperature and C over a full 55C to
aware System Architecture for Leak Point De-tection
150C temperature range. Lower cost is assured by
in Large-scale Petrochemical Industries.In IEEE
trimming and calibration at the wafer level. The low Communications Magazine, 2014. R. Rana, C. Chou,
output impedance, linear output, and precise inherent S. Kanhere, N. Bulusu, W. Hu, Ear-Phone:An Endto-
calibration of the LM35 device makes interfacing to End Participatory Urban Noise Mapping System. In
readout or control circuitry especially easy. The Processdings of ACM/IEEE IPSN, Stockholm,
device is used with single power supplies, or with plus Sweden, 2010.201
and minus supplies. As the LM35 device draws only
60 A from the supply, it has very low self-heating of
less than 0.1C in still air. The LM35 device is rated to
op-erate over a 55C to 150C temperature range, while
the LM35C device is rated for a 40C to 110C range
(10 with improved accuracy). The temperature-
sensing element is comprised of a delta-V BE
architecture.

6 Working Principle
Arduino is the main heart of the circuit. It is
connected with three different sensors, a WiFi module
and with a driver motor. The three sensors namely
temperature, gas and ultrasonic sensors that are used
to detect the temperature of the surroundings , toxic
gases and obstacles present in the path of the robot
respectively. In case if any gas leakages happens,
toxic gas automatic clear operates automatically. This
works based on the communication between the
module and arduino board. When any obstacles are
detected, the robot has to automatically change its
direction. To achieve this, a separate driver motor is
circuited with Arduino kit. This motor is again
coupled with the another circuit consisting of four
motors. In this operation, if two motors are rotated in
the clock wise direction, then the robot will move in
the forward