ROBOTICS

INTERNSHIP report submitted in partial fulfillment of the requirement for the

award of the Degree of Bachelor of Technology in

ELECTRONICS AND COMMUNICATION ENGINEERING

By

DARAPU. KAVYA SRI

(23NT5A0414)

Under the Esteemed Guidance of

V. RATNAM
Assistant Professor

DEPARTMENT OF ELECTRONICS AND COMMUNICATION ENGINEERING

VISAKHA INSTITUTE OF ENGINEERING AND TECHNOLOGY

57th DIVISION, NARAVA, VISAKHAPATNAM - 530 027

Academic Year 2024-25

 INTERNSHIP 4 WEEKS REPORT 2025

INTERNSHIP PERIOD DURING 2025

 CERTIFICATE OF INTERNSHIP

This is to certify that the INTERNSHIP report entitled “ROBOTICS” is being

submitted by DARAPU. KAVYA SRI (23NT5A0414) in partial fulfillment for
the award of the Degree of Bachelor of Technology in Electronics and
Communication Engineering to the Jawaharlal Nehru Technological
University, Gurajada Vizianagaram is a record of bonafied work carried out
under my guidance and supervision.

The results embodied in this INTERNSHIP report have not been submitted
to any other University or Institute for the award of any Degree or Diploma.

V. RATNAM Dr. B. JEEVAN RAO,.Ph.D.

Internship Guide Head of the Department

EXTERNAL SIGNATURE
CERTIFICATE FROM SKILLDZIRE ORGANIZATION

i
DECLARATION

I hereby declare that work entitled “ROBOTICS” is submitted towards

completion of summer internship program after 3rd. year of

B.Tech (ECE) at HMI comprises of our original work pursue under the
guidance of Department of ECE. This work has not been submitted to
any other university or institute for the award of any degree or diploma.

Place: DARAPU. KAVYA SRI

Date: (23NT5A0414)

ii
 ACKNOWLEDGMENT

This work could not have been fruitful without the continuous
guidance and support from numerous people.

A project is a golden opportunity for learning and self- development. I

consider myself very lucky and Honor to have so many wonderful people, lead
me through, in completing of this project.
I wish to thank my Guide Dr. Kausar Jahan, Associate Professor, ECE
who constantly encouraged me throughout the completion of my internship
work.

I would like to exhibit my thanks to Dr. B. Jeevana Rao, Head of the

Department, VIET for his consistent support throughout my work. I would
like to extend my thanks to Dr. D. Santha Rao, Dean Academics, VIET and
Dr. G. V. Pradeep Varma, Principal, VIET for their mind provoking analysis
on my work.

My deep gratitude goes to Sri G. Satyanarayana Garu, Chairman, VIET

for providing facilities on the campus and encouraging us for internship.

I thank the Almighty for giving me the strength and patience to work
through all these years.

iii
4
 VISAKHA INSTITUTE OF ENGINEERING & TECHNOLOGY (An Autonomous Institution)
COMMUNITY SERVICE PROJECT/INTERNSHIP DIALY REPORT

Name of the student: DARAPU. KAVYA SRI CSP/internship Name:

Robotics Branch: Electronics and Communication Engineering
Roll No: 23NT5A0414
Duration of Spell: 1st week report

NAME OF THE TOPIC/

S.No DATE FINDINGS/GPS PHOTO GUIDE SIGNATURE REMARKS
MODULE
CHAPTER-1
1 -Introduction to robotics

-Existing system
2 -Disadvantage of the
existing system
-Explain of proposed system
3 -Advantages
CHAPTER-2
4 -Introduction to Hardware
Aspect
-Explain the Hardware
5 Aspect
-Explain about power supply
6 and introduction the
Transformer
-Transformer Introduction
7 -Briefly
explained
Transformation
 2nd week report

NAME OF THE TOPIC/

S.No DATE FINDINGS/ GPS PHOTO GUIDE SIGNATURE REMARKS
MODULE
-Introduction to Rectifier
1 -Types of Rectifiers
-Half wave Rectifier
-Full wave Rectifier
-Filter Capacitor
2 -Voltage Regulators

-Pin Diagram of Voltage

3 Regulators and Circuit
Diagram
-Explained the IC's
4 -IC 7805
-IC 7812
-Arduino uno
5 -use over current protection

-HC-05 Bluetooth Module

6 -Pin Diagram

-HC-05 Default setting

7 -HC-05 Technical
Specifications
 3rd week report
NAME OF THE TOPIC/
S.No DATE FINDINGS/ GPS PHOTO GUIDE SIGNATURE REMARKS
MODULE
-where to use HC-
1 05 Bluetooth Module
-How to use the HC-05
2 Bluetooth Module
-Application
¤ -L293D Drive IC
3 -Pin Description
-Feature
-DC Motor
4 -Principal of operation
-Application
-LCD
5 -Pin Function
-Algorithm to send data taken
6
CHAPTER-3
7 -Introduction to
Software Development
 4th week report (etc UPTO 8 WEEKS)

NAME OF THE TOPIC/

S.No DATE FINDINGS/ GPS PHOTO GUIDE SIGNATURE REMARKS
MODULE
-Introduction to Software
1 Development

-what you will need

2 -What is an Arduino

-windows 8,7 vista & xn

3 -Briefly Windows 8
and Windows 7
-Hack An
4 Arduino CHAPTER-4
-Experimental Results

CHAPTER-5
5 -Introduction to
Advantages and Applications

-Advantages
6 -Applications
-Conclusion and Future
7 scope
-Explained the Feturescope
NOTE -The student has to submit this report to department Coordinator every week through E-
Mail.
 ABSTRACT

Robot is a re-programmable, multi functional device which is primarily designed to

do work like human such as pick and place, loading and unloading, surveillance,
health care, industrial, aerospace application. Robots can perform dangerous and
accurate work to increase the productivity as they can work 24 hours without rest.
This paper deals with the design and control of automated vehicle type robot which
can move in desired direction and captures pictures and videos of required location.
An android application has developed using MIT App inventor and a Bluetooth
communication is made with robot which interfaces with microcontroller to control its
speed and direction. Aim of this work is to design and control the motion of robot
using Bluetooth device of an Android phone.

Page 1
 CHAPTER-1

INTRODUCTION

I. INTRODUCTION

A robot is an electromechanical machine that is controlled by computer

program to perform various operations. Industrial robots have designed to reduce
human effort and time to improve productivity and to reduce manufacturing cost.
Today human- machine interaction is moving away from mouse and pen and
becoming much more pervasive and much more compatible with the physical world.
Android app can control the robot motion from a long distance using Bluetooth
communication to interface controller and android. Microcontroller 8051 can be
interfaced to the Bluetooth module though UART protocol and code is written in
embedded C language.

As per the commands received from android app the robot motion can be
controlled. The output motion of a robotic vehicle is accurate and repeatable. Pick and
Place robots can be reprogrammable and tool can be interchanged to provide for
multiple applications. The purpose of this work is to design and implement an
Android Controlled Bluetooth Robot which is used for Surveillance, home
automation, wheelchairs, military and hostages Rescue applications

II. EXISTING SYSTEM

It was based on Bluetooth client/server architecture. An Android enabled device,

acting as a client will communicate with a Bluetooth server running on a computer
that has a wired network connection with the robot. Each robot in the environment
will have its own Bluetooth server running on its own computer. The computer will
not only run a Bluetooth server to communicate with the Android device, but also a
socket program that is able to send and receive data from the robots. This system
focuses on the navigation and interaction of mobile robots across a busy environment
or an implementation of a network infrastructure that allows for communication
across a network.

Page 2
Page 3
1. Disadvantages of the Existing system Uses wired connection to communicate
with the robot. Latency is an issue that must be considered as it affects the quality of
the user experience while working with the robots. Coverage problems occurs when
dual tone multiple frequency method is used.

III. PROPOSED SYSTEM

Here we propose a robot which could be controlled wirelessly by an Android device.

The android device sends commands depending on Touch control to the robot and it
processes them to maneuver the robot by changing the direction of the motors. The
robot uses a Bluetooth connection to communicate with each other and we also
propose to control multiple robots with a single controlling device using master slave
method.

Page 4
Page 5
 CHAPTER-2

HARDWARE ASPECTS

POWER SUPPLY LCD DISPLAY

ARDUINO UNO

BLUETOOTH L293D

DC MOTORS

2.1 POWER SUPPLY

The input to the circuit is applied from the regulated power supply. The a.c.
input i.e., 230V from the mains supply is step down by the transformer to 12V and is
fed to a rectifier. The output obtained from the rectifier is a pulsating d.c voltage. So
in order to get a pure d.c voltage, the output voltage from the rectifier is fed to a filter
to remove any a.c components present even after rectification. Now, this voltage is
given to a voltage regulator to obtain a pure constant dc voltage.

230V AC
D.C
50Hz Output

Step down Bridge

transformer Rectifier Regulator
Filter Page
4
 Fig: 2.3 Block diagram of power supply

2.1.1 TRANSFORMER

Fig 2.4 Transformer

A transformer consists of two coils also called as “WINDINGS” namely

PRIMARY & SECONDARY.
They are linked together through inductively coupled electrical conductors
also called as CORE. A changing current in the primary causes a change in the
Magnetic Field in the core & this in turn induces an alternating voltage in the
secondary coil. If load is applied to the secondary then an alternating current will flow
through the load. If we consider an ideal condition then all the energy from the
primary circuit will be transferred to the secondary circuit through the magnetic field.

So

Page 5
2.1.2 Rectifier
A rectifier is a device that converts an AC signal into DC signal. For
rectification purpose we use a diode, a diode is a device that allows current to pass
only in one direction i.e. when the anode of the diode is positive with respect to the
cathode also called as forward biased condition & blocks current in the reversed
biased condition.

Rectifier can be classified as follows:

1) Half Wave rectifier

Fig.2.5 Half Wave Rectifier

This is the simplest type of rectifier as you can see in the diagram a half wave
rectifier consists of only one diode. When an AC signal is applied to it during the
positive half cycle the diode is forward biased & current flows through it. But during
the negative half cycle diode is reverse biased & no current flows through it. Since
only one half of the input reaches the output, it is very inefficient to be used in power
supplies.

2) Full wave rectifier

Page 6
 Fig.2.6 Full Wave Rectifier
Half wave rectifier is quite simple but it is very inefficient, for greater
efficiency we would like to use both the half cycles of the AC signal. This can be
achieved by using a center tapped transformer i.e. we would have to double the size of
secondary winding & provide connection to the center. So during the positive half
cycle diode D1 conducts & D2 is in reverse biased condition. During the negative half
cycle diode D2 conducts & D1 is reverse biased. Thus we get both the half cycles
across the load.
One of the disadvantages of Full Wave Rectifier design is the necessity of
using a center tapped transformer, thus increasing the size & cost of the circuit. This
can be avoided by using the Full Wave Bridge Rectifier.

2.1.3 FILTER CAPACITOR

Even though half wave & full wave rectifier give DC output, none of them
provides a constant output voltage. For this we require to smoothen the waveform
received from the rectifier. This can be done by using a capacitor at the output of the
rectifier this capacitor is also called as “FILTER CAPACITOR” or “SMOOTHING
CAPACITOR” or “RESERVOIR CAPACITOR”. Even after using this capacitor a
small amount of ripple will remain.
We place the Filter Capacitor at the output of the rectifier the capacitor will

Page 7
charge to the peak voltage during each half cycle then will discharge its stored energy

Page 8
slowly through the load while the rectified voltage drops to zero, thus trying to keep the
voltage as constant as possible.

Fig 2.7 Waveforms of Filter Capacitor

If we go on increasing the value of the filter capacitor then the Ripple will
decrease. But then the costing will increase. The value of the Filter capacitor depends
on the current consumed by the circuit, the frequency of the waveform & the accepted
ripple.

Where,
Vr= accepted ripple voltage.( should not be more than 10% of the voltage)
I= current consumed by the circuit in Amperes.
F= frequency of the waveform. A half wave rectifier has only one peak in one cycle so
F=25hz
Whereas a full wave rectifier has Two peaks in one cycle so F=100 Hz.
2.1.4 VOLTAGE REGULATOR
A Voltage regulator is a device which converts varying input voltage into a
constant regulated output voltage. Voltage regulator can be of two types
1) Linear Voltage Regulator
Also called as Resistive Voltage regulator because they dissipate the excessive
voltage resistively as heat.

Page 9
2) Switching Regulators.
They regulate the output voltage by switching the Current ON/OFF very
rapidly. Since their output is either ON or OFF it dissipates very low power thus
achieving higher efficiency as compared to linear voltage regulators. But they are
more complex & generate high noise due to their switching action. For low level of
output power switching regulators tend to be costly but for higher output wattage they
are much cheaper than linear regulators.
The most commonly available Linear Positive Voltage Regulators are the 78XX
series where the XX indicates the output voltage. And 79XX series is for Negative
Voltage Regulators.

Fig.2.8 pin diagram of voltage regulator

After filtering the rectifier output the signal is given to a voltage regulator. The
maximum input voltage that can be applied at the input is 35V.Normally there is a 2-3
Volts drop across the regulator so the input voltage should be at least 2-3 Volts higher
than the output voltage. If the input voltage gets below the Vmin of the regulator due
to the ripple voltage or due to any other reason the voltage regulator will not be able
to produce the correct regulated voltage.

Circuit diagram

Fig 2.9 Circuit Diagram of power supply

Page 10
  IC 7805
7805 is an integrated three-terminal positive fixed linear voltage regulator. It
supports an input voltage of 10 volts to 35 volts and output voltage of 5 volts. It has a
current rating of 1 amp although lower current models are available. Its output voltage
is fixed at 5.0V. The 7805 also has a built-in current limiter as a safety feature. 7805
is manufactured by many companies, including National Semiconductors and
Fairchild Semiconductors.

The 7805 will automatically reduce output current if it gets too hot. The last
two digits represent the voltage; for instance, the 7812 is a 12-volt regulator. The
78xx series of regulators is designed to work in complement with the 79xx series of
negative voltage regulators in systems that provide both positive and negative
regulated voltages, since the 78xx series can't regulate negative voltages in such a
system.

The 7805 & 78 is one of the most common and well-known of the 78xx series
regulators, as it's small component count and medium-power regulated 5V make it useful for
powering TTL devices.

SPECIFICATIONS IC 7805

Vout 5V

Vein - Vout Difference 5V - 20V

Operation Ambient Temp 0 - 125°C

Table. 2.1. Specifications of
IC7805 Output Imax 1A

Page 11
Page 12
 Fig 2.9 Pin diagram of 7805

 IC7812

Here is a 7812 voltage regulator circuit, but this is not a power supply with a
12V output voltage and load current 1A. IC LM7812 only serves as the input voltage
of an LM723 regulator IC. So these power supply circuits with a larger load current
capability with a variable voltage at the maximum voltage of 6V.
Output voltage range of the 7812 voltage regulator circuit is 2.5V-6V with 6A-
8A load current. Increasing load current through the transistor BD139 and TIP142 are
sourced from the DC voltage of a transformer 10A.

Fig 2.10 7 812 Pin Connections

ARDUINO UNO

The Arduino Uno R3 is a microcontroller board based on the ATmega328

(datasheet). It has 14 digital input/output pins (of which 6 can be used as PWM
outputs), 6 analog inputs, a 16 MHz crystal oscillator, a USB connection, a power
jack, an ICSP header,
Page 13
Page 14
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 Uno differs from all preceding boards in that it does not use the FTDI USB-to-
serial driver chip. Instead, it features the Atmega16U2 (Atmega8U2 up to version R2)
programmed as a USB-to-serial converter.

Revision 2 of the Uno board has a resistor pulling the 8U2 HWB line to ground,
making it easier to put into DFU mode.

Revision 3 of the board has the following new features:

 1.0 pinout: added SDA and SCL pins that are near to the AREF pin and two
other new pins placed near to the RESET pin, the IOREF that allow the
shields to adapt to the voltage provided from the board. In future, shields will
be compatible both with the board that use the AVR, which operate with 5V
and with the Arduino Due that operate with 3.3V. The second one is a not
connected pin, that is reserved for future purposes.
 Stronger RESET circuit.
 Atmega 16U2 replace the 8U2.

"Uno" means one in Italian and is named to mark the upcoming release of Arduino
1.0. The Uno and version 1.0 will be the reference versions of Arduino, moving
forward. The Uno is the latest in a series of USB Arduino boards, and the reference
model for the Arduino platform; for a comparison with previous versions, see the
index of Arduino boards.

Summary

Microcontroller ATmega328

Operating Voltage 5V

InputVoltage
7-12V
(recommended)

Input Voltage (limits) 6-20V

Page 15
Digital I/O Pins 14 (of which 6 provide PWM output)

Analog Input Pins 6

DC Current per I/O Pin 40 mA

DC Current for 3.3V Pin 50 mA

Flash Memory 32 KB (ATmega328) of which 0.5 KB used by

bootloader
SRAM 2 KB (ATmega328)

EEPROM 1 KB (ATmega328)

Clock Speed 16 MHz

Note: The Arduino reference design can use an Atmega8, 168, or 328, Current
models use an ATmega328, but an Atmega8 is shown in the schematic for reference.
The pin configuration is identical on all three processors.

Power

The Arduino Uno 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 adapter can be connected by plugging a 2.1mm center-positive plug into
the board's power jack. Leads from a battery can be inserted in the Gnd and Vin pin
headers of the POWER connector.

The board can operate on an external supply of 6 to 20 volts. If supplied with less than
7V, however, the 5V pin may supply less than five volts and the board may be
unstable. If using more than 12V, the voltage regulator may overheat and damage the
board. The recommended range is 7 to 12 volts.

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.

Page 16
Page 17
  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.

Memory

The ATmega328 has 32 KB (with 0.5 KB used for the boot loader). It also has 2 KB
of SRAM and 1 KB of EEPROM (which can be read and written with the EEPROM
library).

Input and Output

Each of the 14 digital pins on the Uno can be used as an input or output, using pin
Mode (), digital Write(), and digital Read()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 20-50 k Ohms. In addition, some pins have specialized
functions:

 Serial: 0 (RX) and 1 (TX). Used to receive (RX) and transmit (TX) TTL
serial data. These pins are connected to the corresponding
pins of the ATmega8U2 USB-to-TTL Serial chip.
 External Interrupts: 2 and 3. These pins can be configured to trigger an
interrupt on a low value, a rising or falling edge, or a change in value. See
the attach Interrupt() function for details.
 PWM: 3, 5, 6, 9, 10, and 11. Provide 8-bit PWM output with the analog
Write() function.
 SPI: 10 (SS), 11 (MOSI), 12 (MISO), 13 (SCK). These pins support SPI
communication using the SPI library.
 LED: 13. There is a built-in LED connected to digital pin 13. When the pin is
HIGH value, the LED is on, when the pin is LOW, it's off.

The Uno has 6 analog inputs, labeled A0 through A5, each of which provide 10 bits
of resolution (i.e. 1024 different values). By default they measure from ground to 5
volts,
Page 18
Page 19
though is it possible to change the upper end of their range using the AREF pin and
the analog Reference() function. Additionally, some pins have specialized
functionality:

 TWI: A4 or SDA pin and A5 or SCL pin. Support TWI communication

using the Wire library.

There are a couple of other pins on the board:

 AREF. Reference voltage for the analog inputs. Used with analog Reference().
 Reset. Bring this line LOW to reset the microcontroller. Typically used to
add a reset button to shields which block the one on the board.

See also the mapping between Arduino pins and ATmega328 ports. The mapping for
the Atmega8, 168, and 328 is identical.

Communication

The Arduino Uno has a number of facilities for communicating with a computer,
another Arduino, or other microcontrollers. The ATmega328 provides UART TTL
(5V) serial communication, which is available on digital pins 0 (RX) and 1 (TX).
An ATmega16U2 on the board channels this serial communication over USB and
appears as a virtual com port to software on the computer. The '16U2 firmware uses
the standard USB COM drivers, and no external driver is needed. However, on
Windows, a .inf file is required. The Arduino software includes a serial monitor which
allows simple textual data to be sent to and from the Arduino board. The RX and TX
LEDs on the board will flash when data is being transmitted via the USB-to-serial
chip and USB connection to the computer (but not for serial communication on pins 0
and 1).

A Software Serial library allows for serial communication on any of the Uno's digital
pins.

The ATmega328 also supports I2C (TWI) and SPI communication. The Arduino
software includes a Wire library to simplify use of the I2C bus; see
the documentation for details. For SPI communication, use the SPI library.

Page 20
Page 21
Programming

The Arduino Uno can be programmed with the Arduino software (download). Select
"Arduino Uno from the Tools > Board menu (according to the microcontroller on
your board). For details, see the reference and tutorials.

The ATmega328 on the Arduino Uno comes preburned with a boot loader that allows
you to upload new code to it without the use of an external hardware programmer. It
communicates using the original STK500 protocol (reference, C header files).

You can also bypass the bootloader and program the microcontroller through the
ICSP (In-Circuit Serial Programming) header; see these instructions for details.

The ATmega16U2 (or 8U2 in the rev1 and rev2 boards) firmware source code is
available . The ATmega16U2/8U2 is loaded with a DFU boot loader, which can be
activated by:

 On Rev1 boards: connecting the solder jumper on the back of the board
(near the map of Italy) and then resetting the 8U2.
 On Rev2 or later boards: there is a resistor that pulling the 8U2/16U2 HWB
line to ground, making it easier to put into DFU mode.

You can then use Atmel's FLIP software (Windows) or the DFU programmer (Mac
OS X and Linux) to load a new firmware. Or you can use the ISP header with an
external programmer (overwriting the DFU boot loader). See this user-contributed
tutorial for more information.

Automatic (Software) Reset

Rather than requiring a physical press of the reset button before an upload, the
Arduino Uno is designed in a way that allows it to be reset by software running on a
connected computer. One of the hardware flow control lines (DTR) of
theATmega8U2/16U2 is connected to the reset line of the ATmega328 via a 100
nanofarade capacitor. When this line is asserted (taken low), the reset line drops long
enough to reset the chip. The Arduino software uses this capability to allow you to
upload code by simply pressing the upload button in the Arduino environment. This
means that the boot loader can have a shorter timeout, as the lowering of DTR can be
well-coordinated with the start of the upload.

Page 22
This setup has other implications. When the Uno is connected to either a computer
running Mac OS X or Linux, it resets each time a connection is made to it from
software (via USB). For the following half-second or so, the boot loader is running on
the Uno. While it is programmed to ignore malformed data (i.e. anything besides an
upload of new code), it will intercept the first few bytes of data sent to the board after
a connection is opened. If a sketch running on the board receives one-time
configuration or other data when it first starts, make sure that the software with which
it communicates waits a second after opening the connection and before sending this
data.

The Uno contains a trace that can be cut to disable the auto-reset. The pads on either
side of the trace can be soldered together to re-enable it. It's labeled "RESET-EN".
You may also be able to disable the auto-reset by connecting a 110 ohm resistor from
5V to the reset line; see this forum thread for details.

USB over current Protection

The Arduino Uno has a resettable polyfuse that protects your computer's USB ports
from shorts and over current. Although most computers provide their own internal
protection, the fuse provides an extra layer of protection. If more than 500 mA is
applied to the USB port, the fuse will automatically break the connection until the
short or overload is removed.

HC-05 - Bluetooth Module

Page 23
Page 24
 HC-05 Bluetooth Module

HC-05 Bluetooth Module Pinout

Pin Configuration

Pin
Pin Name Description
Number

This pin is used to toggle between Data Mode (set

1 Enable / Key low) and AT command mode (set high). By default it
is in Data mode

2 Vcc Powers the module. Connect to +5V Supply voltage

3 Ground Ground pin of module, connect to system ground.

TX – Transmits Serial Data. Everything received via

4
Transmitter Bluetooth will be given out by this pin as serial data.

RX – Receive Serial Data. Every serial data given to this pin

5
Receiver will be broadcasted via Bluetooth

The state pin is connected to on board LED, it can be

6 State used as a feedback to check if Bluetooth is working
properly.

7 LED
Indicates the status of Module

Page 25
  Blink once in 2 sec: Module has
entered Command Mode

 Repeated Blinking: Waiting for connection

in Data Mode
 Blink twice in 1 sec: Connection successful
in Data Mode

Used to control the Key/Enable pin to toggle between

8 Button
Data and command Mode

HC-05 Default Settings

Default Bluetooth Name: “HC-

05” Default Password: 1234 or

0000 Default Communication:

Slave Default Mode: Data Mode

Data Mode Baud Rate: 9600, 8, N, 1

Command Mode Baud Rate: 38400, 8, N, 1

Default firmware: LINVOR

HC-05 Technical Specifications

 Serial Bluetooth module for Arduino and other microcontrollers

 Operating Voltage: 4V to 6V (Typically +5V)
 Operating Current: 30mA
 Range: <100m
 Works with Serial communication (USART) and TTL compatible
 Follows IEEE 802.15.1 standardized protocol
 Uses Frequency-Hopping Spread spectrum (FHSS)
 Can operate in Master, Slave or Master/Slave mode
 Can be easily interfaced with Laptop or Mobile phones with Bluetooth
 Supported baud rate: 9600,19200,38400,57600,115200,230400,460800.

Page 26
HC-05 Equivalent Bluetooth Module

HC-02

Other Bluetooth Modules

HC-04, HC-06, HM-11, ESP32, CSR8645

Where to use HC-05 Bluetooth module

The HC-05 is a very cool module which can add two-way (full-duplex) wireless
functionality to your projects. You can use this module to communicate between two
microcontrollers like Arduino or communicate with any device with Bluetooth
functionality like a Phone or Laptop. There are many android applications that are
already available which makes this process a lot easier. The module communicates
with the help of USART at 9600 baud rate hence it is easy to interface with any
microcontroller that supports USART. We can also configure the default values of the
module by using the command mode. So if you looking for a Wireless module that
could transfer data from your computer or mobile phone to microcontroller or vice
versa then this module might be the right choice for you. However do not expect this
module to transfer multimedia like photos or songs; you might have to look into the
CSR8645 module for that.

How to Use the HC-05 Bluetooth module

The HC-05 has two operating modes, one is the Data mode in which it can send and
receive data from other Bluetooth devices and the other is the AT Command mode
where the default device settings can be changed. We can operate the device in either
of these two modes by using the key pin as explained in the pin description.

It is very easy to pair the HC-05 module with microcontrollers because it operates
using the Serial Port Protocol (SPP). Simply power the module with +5V and connect
the Rx

Page 27
Page 28
pin of the module to the Tx of MCU and Tx pin of module to Rx of MCU as shown in
the figure below

During power up the key pin can be grounded to enter into Command mode, if left
free it will by default enter into the data mode. As soon as the module is powered you
should be able to discover the Bluetooth device as “HC-05” then connect with it using
the default password 1234 and start communicating with it. The name password and
other default parameters can be changed by entering into the

Applications

1. Wireless communication between two microcontrollers

2. Communicate with Laptop, Desktops and mobile phones

3. Data Logging application

4. Consumer applications

5. Wireless Robots

6. Home Automation

Page 29
2D Model

L293D DRIVER IC

L293D is a dual H-Bridge motor driver, so with one IC we can interface two DC
motors which can be controlled in both clockwise and counter clockwise direction and
if you have motor with fix direction of motion the you can make use of all the four
I/Os to connect up to four DC motors. L293D has output current of 600mA and peak
output current of 1.2A per channel. Moreover for protection of circuit from back EMF
ouput diodes are included within the IC. The output supply (VCC2) has a wide range
from
4.5V to 36V, which has made L293D a best choice.

A simple schematic for interfacing a DC motor using L293D is shown below.

Page 30
Page 31
As you can see in the circuit, three pins are needed for interfacing a DC motor (A, B,
Enable). If you want the o/p to be enabled completely then you can connect Enable to
VCC and only 2 pins needed from controller to make the motor work. As per the truth
mentioned in the image above its fairly simple to program the microcontroller. It’s
also clear from the truth table of BJT circuit and L293D the programming will be
same for both of them, just keeping in mind the allowed combinations of A and B.

L293D IC:

Page 32
PIN DESCRIPTION:

Pin No Function Name

1 Enable pin for Motor 1; active high Enable 1,2
2 Input 1 for Motor 1 Input 1
3 Output 1 for Motor 1 Output 1
4 Ground (0V) Ground
5 Ground (0V) Ground
6 Output 2 for Motor 1 Output 2
7 Input 2 for Motor 1 Input 2
8 Supply voltage for Motors; 9-12V (up to 36V) Vcc 2
9 Enable pin for Motor 2; active high Enable 3,4
10 Input 1 for Motor 1 Input 3
11 Output 1 for Motor 1 Output 3
12 Ground (0V) Ground
13 Ground (0V) Ground
14 Output 2 for Motor 1 Output 4
15 Input2 for Motor 1 Input 4
16 Supply voltage; 5V (up to 36V) Vcc 1

Page 33
FEATURES:

 L293D is a dual H-Bridge motor driver, So with one IC we can interface

two DC motors and one stepper motor
 600mA output current capability per channel
 1.2A peak output current (non repetitive) per channel
 Enable facility
 Over temperature protection
 Logical "0" input voltage up to 1.5 V(High noise immunity)
 Internal clamp diodes

DC MOTOR:

An electric motor is a machine which converts electrical energy into mechanical energy.

Principles of operation

In any electric motor, operation is based on simple electromagnetism. A current-

carrying conductor generates a magnetic field; when this is then placed in an external
magnetic field, it will experience a force proportional to the current in the conductor,
and to the strength of the external magnetic field. As you are well aware of from
playing with magnets as a kid, opposite (North and South) polarities attract, while like
polarities (North and North, South and South) repel. The internal configuration of a
DC motor is designed to harness the magnetic interaction between a current-carrying
conductor and an external magnetic field to generate rotational motion.

Page 34
 Let's start by looking at a simple 2-pole DC electric motor (here red represents a
magnet or winding with a "North" polarization, while green represents a magnet or
winding with a "South" polarization).

Every DC motor has six basic parts -- axle, rotor (a.k.a., armature), stator,
commutator, field magnet(s), and brushes. In most common DC motors (and all that
Beamers will see), the external magnetic field is produced by high-strength permanent
magnets1. The stator is the stationary part of the motor -- this includes the motor
casing, as well as two or more permanent magnet pole pieces. The rotor (together with
the axle and attached commutator) rotates with respect to the stator. The rotor consists
of windings (generally on a core), the windings being electrically connected to the
commutator. The above diagram shows a common motor layout -- with the rotor
inside the stator (field) magnets.

The geometry of the brushes, commutator contacts, and rotor windings are such
that when power is applied, the polarities of the energized winding and the stator
magnet(s) are misaligned, and the rotor will rotate until it is almost aligned with the
stator's field magnets. As the rotor reaches alignment, the brushes move to the next
commutator contacts, and energize the next winding. Given our example two-pole
motor, the rotation reverses the direction of current through the rotor winding, leading
to a "flip" of the rotor's magnetic field, driving it to continue rotating.

Page 35
In real life, though, DC motors will always have more than two poles (three is a very
common number). In particular, this avoids "dead spots" in the commutator. You can
imagine how with our example two-pole motor, if the rotor is exactly at the middle of
its rotation (perfectly aligned with the field magnets), it will get "stuck" there.
Meanwhile, with a two-pole motor, there is a moment where the commutator shorts
out the power supply (i.e., both brushes touch both commutator contacts
simultaneously). This would be bad for the power supply, waste energy, and damage
motor components as well. Yet another disadvantage of such a simple motor is that it
would exhibit a high amount of torque "ripple" (the amount of torque it could produce
is cyclic with the position of the rotor).

Page 36
Figure 1: Force in DC Motor Figure 2 : Magnetic Field in DC Motor

Figure 3 : Torque in DC Motor Figure 4 : Current Flow in DC Motor

If an Electric current flows through two copper wires that are between the poles of
a magnet, an upward force will move one wire up and a downward force will move
the other wire down. The loop can be made to spin by fixing a half circle of copper
which is known as COMMUTATOR to each end of the loop. Current is passed into
and out of the loop by brushes that press onto the strips. The BRUSHES do not go
round so the wire do not get twisted. This arrangement also makes sure that the
current always passes down on the right and back on the left so that the rotation
continues. This is how a simple Electric motor is made.

APPLICATIONS:

1. Machines.
2. Material handler conveyors

Page 37
 3. System and gear drivers
4. Elevators
5. mixers

LCD:

To display any character on LCD micro controller has to send its ASCII value to the
data bus of LCD. For e.g. to display 'AB' microcontroller has to send two hex bytes
41h and 42h respectively.LCD display used here is having 16x2 size. It means 2 lines
each with 16 characters.

Pins Functions

Page 38
There are pins along one side of the small printed board used for connection to the
microcontroller. There are total of 14 pins marked with numbers (16 in case the
background light is built in). Their function is described in the table below:

Function Pin Name Logic Description

Number State

Ground 1 Vss - 0V

Power supply 2 Vdd - +5V

Contrast 3 Vee - 0 – Vdd

Control of 4 RS 0 D0 – D7 are interpreted as

operating 1 commands
D0 – D7 are interpreted as
data

5 R/W 0 Write data (from

1 controller to LCD)
Read data (from LCD to
controller)

6 E 0 Access to LCD disabled

1 Normal operating
From 1 Data/commands are
to 0 transferred to LCD

Data / 7 D0 0/1 Bit 0 LSB

commands
8 D1 0/1 Bit 1

9 D2 0/1 Bit 2

10 D3 0/1 Bit 3

11 D4 0/1 Bit 4

12 D5 0/1 Bit 5

13 D6 0/1 Bit 6

14 D7 0/1 Bit 7 MSB

Page 39
Algorithm to send data to LCD:

1. Make R/W low

2. Make RS=0; if data byte is command

RS= 1; if data byte is data (ASCII value)

3. Place data byte on data register

4. Pulse E (HIGH to LOW)

5. Repeat the steps to send another data byte

LCD Initialization:

This is the pit fall for beginners. Proper working of LCD depend on the how the LCD
is initialized. We have to send few command bytes to initialize the LCD. Simple steps
to initialize the LCD

1. Specify function set: Send 38H for 8-bit, double line and 5x7 dot character
format.

2. Display On-Off control: Send 0FH for display and blink cursor on.

3. Entry mode set: Send 06H for cursor in increment position and shift is invisible.

4. Clear display: Send 01H to clear display and return cursor to home position.

Addresses of cursor position for 16x2 HD44780 LCD

line1 80H 81H 82H 83H 84H 85H 86H 87H 88H 89H 8AH 8BH 8CH 8DH 8EH 8FH

line2 C0H C1H C2H C3H C4H C5H C6H C7H C8H C9H CAH CBH CCH CDH CEH CFH

Contrast control (Potentiometer):

Page 40
To have a clear view of the characters on the LCD, contrast should be adjusted. To
adjust the contrast, the voltage should be varied. For this, a preset is used which
can behave like a variable voltage device. As the voltage of this preset is varied,
the

contrast of the LCD can be adjusted.

Variable resistors used as potentiometers have all three terminals connected.

This arrangement is normally used to vary voltage, for example to set the switching
point of a circuit with a sensor, or control the volume (loudness) in an amplifier
circuit. If the terminals at the ends of the track are connected across the power supply,
then the wiper terminal will provide a voltage which can be varied from zero up to the
maximum of the supply.

Page 41
Page 42
 CHAPTER 3

SOFTWARE DEVELOPMENT

3.1 INTRODUCTION
This tutorial will walk you through downloading, installing, and testing the Arduino
software (also known as the Arduino IDE - short for Integrated Development
Environment). Before you jump to the page for your operating system, make sure
you’ve got all the right equipment.

What you will need:

 A computer (Windows, Mac, or Linux)

 An Arduino-compatible microcontroller (anything from this guide should
work)
 A USB A-to-B cable, or another appropriate way to connect your Arduino-
compatible microcontroller to your computer (check out this USB buying
guide if you’re not sure which cable to get).

An Arduino Uno

Page 43
An A-to-B USB Cable

Suggested Reading

If you’re new to Arduino in general, you want to check out this tutorial to familiarize
yourself with everyone’s favorite microcontroller platform.

 What is an Arduino?

If you’re ready to get started, click on the link in the column on the left that matches
up with your operating system, or you can jump to your operating system here.

 Windows
 Mac
 Linux

Windows

This page will show you how to install and test the Arduino software with a Windows
operating system (Windows 8, Windows 7, Vista, and XP).

Windows 8, 7, Vista, and XP

 Go to the Arduino download page and download the latest version of the
Arduino software for Windows.
 When the download is finished, un-zip it and open up the Arduino folder to
confirm that yes, there are indeed some files and sub-folders inside. The file
structure is important so don’t be moving any files around unless you really
know what you’re doing.
 Power up your Arduino by connecting your Arduino board to your computer
with a USB cable (or FTDI connector if you’re using an Arduino pro). You
should see the an LED labed ‘ON’ light up. (This diagram shows the
placement of the power LED on the UNO).
 If you’re running Windows 8, you’ll need to disable driver signing, so go see
the Windows 8 section. If you’re running Windows 7, Vista, or XP, you’ll
need
Page 44
Page 45
 to install some drivers, so head to the Windows 7, Vista, and XP section down
below.

Windows 8

Windows 8 comes with a nice little security ‘feature’ that ‘protects’ you from
unsigned driver installation. Some older versions of Arduino Uno come with unsigned
drivers, so in order to use your Uno, you’ll have to tell Windows to disable driver
signing. This issue has been addressed in newer releases of the Arduino IDE, but if
you run into issues, you can try this fix first.

For a nice, step-by-step tutorial with pictures click here, otherwise the steps are
outlined below.

To temporarily disable driver signing:

 From the Metro Start Screen, open Settings (move your mouse to the bottom-
right-corner of the screen and wait for the pop-out bar to appear, then click the
Gear icon)
 Click ‘More PC Settings’
 Click ‘General’
 Scroll down, and click ‘Restart now’ under ‘Advanced startup’.
 Wait a bit.
 Click ‘Troubleshoot’.
 Click ‘Advanced Options’
 Click ‘Windows Startup Settings’
 Click Restart.
 When your computer restarts, select ‘Disable driver signature enforcement‘
from the list.

To permanently disable driver signing (recommended, but has some minor security
implications):

 Go to the metro start screen

 Type in “cmd”
 Right click “Command Prompt” and select “Run as Administrator” from the
buttons on the bottom of your screen

Page 46
  Type/paste in the following commands: bcdedit -set loadoptions
DISABLE_INTEGRITY_CHECKS bcdedit -set TESTSIGNING ON
 Reboot!

Windows 7, Vista, and XP

Installing the Drivers for the Arduino Uno (from Arduino.cc)

 Plug in your board and wait for Windows to begin it’s driver installation process
 After a few moments, the process will fail, despite its best efforts
 Click on the Start Menu, and open up the Control Panel
 While in the Control Panel, navigate to System and Security. Next, click on
System
 Once the System window is up, open the Device Manager
 Look under Ports (COM & LPT). You should see an open port named
“Arduino UNO (COMxx)”. If there is no COM & LPT section, look under
‘Other Devices’ for ‘Unknown Device’

Page 47
  Right click on the “Arduino UNO (COMxx)” or “Unknown Device” port and
choose the “Update Driver Software” option
 Next, choose the “Browse my computer for Driver software” option

 Finally, navigate to and select the Uno’s driver file, named

“ArduinoUNO.inf”, located in the “Drivers” folder of the Arduino Software
download (not the “FTDI USB Drivers” sub-directory). If you cannot see the
.inf file, it is probably just hidden. You can select the ‘drivers’ folder with the
‘search sub-folders’ option selected instead.
 Windows will finish up the driver installation from there

For earlier versions of the Arduino boards (e.g.Arduino Duemilanove, Nano, or

Diecimila) check out this page for specific directions.

Launch and Blink!

After following the appropriate steps for your software install, we are now ready to
test your first program with your Arduino board!

Page 48
 Launch the Arduino application
 If you disconnected your board, plug it back in
 Open the Blink example sketch by going to: File > Examples > 1.Basics > Blink

 Select the type of Arduino board you’re using: Tools > Board > your board type

Page 49
 Select the serial/COM port that your Arduino is attached to: Tools > Port >
COMxx

Page 50
  If you’re not sure which serial device is your Arduino, take a look at the
available ports, then unplug your Arduino and look again. The one that
disappeared is your Arduino.
 With your Arduino board connected, and the Blink sketch open, press the
‘Upload’ button

 After a second, you should see some LEDs flashing on your Arduino,
followed by the message ‘Done Uploading’ in the status bar of the Blink
sketch.
 If everything worked, the onboard LED on your Arduino should now be
blinking! You just programmed your first Arduino!

Troubleshooting

This guide from Arduino has some more details and troubleshooting tips if you get
stuck.

Mac

This page will show you how to install and test the Arduino software on a Mac

Page 51
computer running OSX.

Page 52
  Go to the Arduino download page and download the latest version of the
Arduino software for Mac.
 When the download is finished, un-zip it and open up the Arduino folder to
confirm that yes, there are indeed some files and sub-folders inside. The file
structure is important so don’t be moving any files around unless you really
know what you’re doing.
 Power up your Arduino by connecting your Arduino board to your computer
with a USB cable (or FTDI connector if you’re using an Arduino pro). You
should see the LED labed ‘ON’ light up. (this diagram shows the placement of
the power LED on the UNO).
 Move the Arduino application into your Applications folder.

FTDI Drivers

If you have an UNO, Mega2560, or Redboard, you shouldn’t need this step, so skip it!

 For other boards, you will need to install drivers for the FTDI chip on your
Arduino.
 Go to the FTDI website and download the latest version of the drivers.
 Once you’re done downloading, double click the package and follow the
instructions from the installer.
 Restart your computer after installing the drivers.

Launch and Blink!

After following the appropriate steps for your software install, we are now ready to
test your first program with your Arduino board!

 Launch the Arduino application

 If you disconnected your board, plug it back in
 Open the Blink example sketch by going to: File > Examples > 1.Basics > Blink

Page 53
 Select the type of Arduino board you’re using: Tools > Board > your board type

Page 54
 Select the serial port that your Arduino is attached to: Tools > Port > xxxxxx
(it’ll probably look something like “/dev/tty.usbmodemfd131” or
“/dev/tty.usbserial-131” but probably with a different number)

Page 55
 If you’re not sure which serial device is your Arduino, take a look at the
available ports, then unplug your Arduino and look again. The one that
disappeared is your Arduino.
 With your Arduino board connected and the Blink sketch open, press the
‘Upload’ button

Page 56
 After a second, you should see some LEDs flashing on your Arduino,
followed by the message ‘Done Uploading’ in the status bar of the Blink
sketch.
 If everything worked, the onboard LED on your Arduino should now be
blinking! You just programmed your first Arduino!

Page 57
Page 58
An Arduino is a popular open-source single-board microcontroller. Learn how to
program one and let the possibilities take shape.

HACK AN
ARDUINO STEP1
Arduino microcontrollers come in a variety of types. The most common is the
Arduino UNO, but there are specialized variations. Before you begin building, do a
little research to figure out which version will be the most appropriate for your
project.
STEP2
To begin, you'll need to install the Arduino Programmer, aka the integrated
development environment (IDE).
STEP3
Connect your Arduino to the USB port of your computer. This may require a specific
USB cable. Every Arduino has a different virtual serial-port address, so you 'll need to
reconfigure the port if you're using different Arduinos.
STEP4
Set the board type and the serial port in the Arduino Programmer.
STEP5
Test the microcontroller by using one of the preloaded programs, called sketches, in
the Arduino Programmer. Open one of the example sketches, and press the upload
button to load it. The Arduino should begin responding to the program: If you've set it
to blink an LED light, for example, the light should start blinking.
STEP6
To upload new code to the Arduino, either you'll need to have access to code you can
paste into the programmer, or you'll have to write it yourself, using the Arduino
programming language to create your own sketch. An Arduino sketch usually has five
parts: a header describing the sketch and its author; a section defining variables; a
setup routine that sets the initial conditions of variables and runs preliminary code; a
loop routine, which is where you add the main code that will execute repeatedly until
you stop running the sketch; and a section where you can list other functions that
activate during the setup and loop routines. All sketches must include the setup and
loop routines.

Page 59
Page 60
STEP7
once you've uploaded the new sketch to your Arduino, disconnect it from your
computer and integrate it into your project as directed.

Page 61
 CHAPTER-4

EXPERIMENTAL RESULT

Human voice is identified using a microphone in the android smart phone. This voice
is analyzed and converted in to English words using the android operating system
codes and artificial intelligence software. The voice recognition involves Bluetooth
application through a mobile-Arduino voice control. This app converts the input voice
message to text and transfers it through the Bluetooth device.

Page 62
 CHAPTER-5

ADVANTAGES AND APPLICATIONS

APPLICATIONS

In Domestic Use:
This project can be used at homes for many purposes like picking up and placing
some objects from one to other.
In Spying Operations:
This robot can help in spying operations. The object recognition and android
control makes it Hi-Fi.
For Handicapped People:
This project can help the handicapped people especially those who had lost their
feet unfortunately.
Robo Races:
The tilt control of robots can be used in robo races which will be revolutionary.
Miltary Application and Hostage Rescue

ADVANTAGES

1. The robot is small in size so can be used for spying.

2. With few additions and modifications, this robot can be used in the borders
for detecting and disposing hidden land mines.
3. The robot can be used for reconnaissance or surveillance.
It can be used in various industries where human intervention is not desired.
4. It can be used to develop robot with military applications.
5. It provides more application based on Android operating system.
6. With tremendous smart phone in markets, it is bound to have many more
applications in near future.

Page 63
 It is feasible to implement bluetooth communication between smart phone and
microcontroller.

CHAPTER -6
CONCLUSION AND FUTURESCOPE

CONCLUSION

The operating system of smart phone is android which can develop effective remote
control program. At the same time, this program uses blue-tooth connection to
communicate with robot. It has proven to allow for meaningful two-way
communication between the Android phone and the robot which would allow a non-
expert to interact with and adjust the functionality of a system which uses ATmega328
controller, a single board micro-controller intended to make the application of
interactive objects or environments more accessible. The surveillance is always has
been a quite sensitive task. And it includes so many risks. So it’s better to use robot
for this job instead of people. And if you are able to control the robots with efficiency
and accuracy then you can guarantee yourself with good results and success. This
system is a good step for secure surveillance using robots.

FUTURE SCOPE

A wireless camera is mounted on the robot vehicle for spying and surveillance
purpose even in night time by using infrared lighting. Future modifications can be
made to perform different tasks with precise control such as:

 A Robot Mounted with camera

 A headset, with a full-color display
 A mission control centre

Page 64
 REFERENCES

[1] Arvind Kumar Saini1,Garima Sharma2, Kamal Kishor Choure3, “BluBO:

Bluetooth Controlled Robot,” International Journal of Science and Research (IJSR)
National Conference on Knowledge, Innovation in Technology and Engineering
(NCKITE), 10-11 April 2015, pp. 325-328S.

[2] Arpit Sharma1, Reetesh Varma2, Saurabh Gupta3 and Sukhdeep Bhatia4,
“Android Phone Controlled Robot Using Bluetooth” IJEEE ISSN 0974-2174, Volume
7, Number 5 (2014, pp. 443-448)

[3] M.Selvam1, “Smart phone based robotic smart phone based robotic” IJRET
Volume: 03 Issue: 03, Mar-2014, pp. 229-232.

[4] Ritika Pahuja1, Narender Kumar2, “Android Mobile Phone Controlled Bluetooth
Robot Using 8051 International Research Journal of Engineering and Technology
(IRJET) e-ISSN: 2395 -0056 Volume: 03 Issue: 04 | Apr-2016 www.irjet.net p-ISSN:
2395-0072 © 2016, IRJET | Impact Factor value: 4.45 | ISO 9001:2008 Certified
Journal | Page 114 Microcontroller” IJSER, Volume 2 Issue 7, July 2014, Paper ID:
J2013324, pp. 14-17.

[5] Aniket R. Yeole1 , Sapana M. Bramhankar2 , Monali D. Wani3 , Mukesh P.

Mahajan4 , “Smart Phone Controlled Robot Using ATMEGA328 Microcontroller”,
IJIRC Vol. 3, Issue 1, January 2015, pp. 352-356

[6] Aiman Ansari *1, Yakub Ansari*2, Saquib Gadkari*3, Aarti Gokul#4, “Android
App Based Robot, IJCSIT, Vol. 6 (2) , 2015, pp.1598-1600

[7] Arita Dey 1 , Akash Pal 2 , Sayantan Nandi 3 , Lusika Roy 4 , “Three way
controlled android Smartphone based robotic vehicle via Bluetooth”, IJARCCE, Vol.
4, Issue 9, September 2015, pp. 212-216.

[8] Muhammad Gulfam1 and Mirza Waleed Iftikhar Baig2 , “WG11 Android based
Surveillance Robot Control”IJMSE,Vol. 3, March 2015, pp. 17-22

Page 65