This is a 3D vision based project in which the robotic arm will be picking up the objects kept in the bin/basket depending on the feedback from the vision system.ZED camera and Universal Robot UR5 were the key components for this project.The entire project was developed on ROS platform.

Segmentation of objects kept in bin would be done by the ZED camera .It also provides the 6 DOF of the item with respect to the camera coordinate system.Based on the coordinate values provided by the vision system, the robotic arm will be guided to the particular point and grasps the object with a vaccum gripper.The path planning ,optimization and execution of the UR5 robot were done using MoveIt package

An offensive smelling toilet is more often caused by a lack of cleaning.While regular cleaning definitely minimizes toilet odor,depending on the usage rate,the frequency in which toilet should be cleaned would varies.

In this project a solution is proposed to analyze and detect various odour levels in rest rooms/toilets.It produces alerts at instances where the odor level exceeds the limit.

The system consists of a transmitter module which is kept inside the toilet and a receiver/display module which is kept either just outside toilet or within the vicinity of cleaning staffs.

It contains various gas sensors like MQ2,MQ3,MQ6,MQ135 for detecting different gaseous componenets in the environment. The sensor values were logged for 5 hours and k-means clustering was done for classifying the values into two different regions.

Background Analysis

Parking is an essential component of the transportation system.With constant increase of vehicle agglomeration worldwide, car parking is one of the major concerns in terms of space occupation in densely populated cities. Drivers spend an unnecessarily large amount of time searching for the empty spots, because they do not have perfect knowledge about the available vacant spots. Though Multi Level Car Parking (MLCP) system provides a relief for this issue, looking for empty parking spaces and retrieving parked vehicles in congested parking spaces can be painstaking and time consuming.

Most of the solutions proposed so far in this field uses Wireless Sensor Network(WSN), which uses a large number of sensor modules which inturn increases the effective cost of the system.Also most of the time these systems will not keep track of the information regarding parked vehicle in a particular slot As a cost effective solution,an Android application controlled four wheel driven MLCP assisting robot application is proposed in order to avoid the difficulties drivers face during parking and retrieving of vehicles.It also keeps track of informations like parked vehicle registration number and corresponding slot number.Required information can be collected by making use of image processing and RFID technology.The information obtained will be updated in the cloud data base and can be used by the Android application and wearable Android gadget for checking the slot availability .The parked slot number can also be tracked using the android application.

Proposed Solution

A four wheel driven mobile was designed and developed which will be moving across the parking region ,stops in front of each parking slot and will collect vehicle registration number and corresponding slot number. Collected information will be updated in the cloud data base and this information will be used to monitor vehicles parked in the parking lot. The robot would be fully autonomous and will be initiated by the security guard using an Android application

The robot consisted of two controllers.Primary controller a.k.a Raspberry Pi was used for the high level decision control and image processing .The secondary controller a.k.a Arduino Mega was used for the low level control like driving the motors and controlling the motion

High precision quadrature encoders and IMU were used for controlling the odometry of the robot.Sharp IR sensors were used to detect the obstacles in the working environment.Image processing technique for collecting the vehicle registration number from the parked vehicle.

The images collected by the smart phones and the slot number will be updated into the cloud database.The images uploaded in the cloud data base will be processed later for obtaining valid information from it.The entire control of the robot will be done across wifi module using with the android application.T

Final Demo

The demo was done within lab environment.ArUco rkers were placed at certain intervals of distance.Based on the markers read by the camera,the decisions were taken and being executed by the Robot

User Section

Robot’s are becoming one of the major development in field of technology and robotics and are being used in many fields like defense, automobile, medical, construction etc. The main objective of this project work is to control a robot with gestures of our hand. A Gesture Controlled robot is a kind of robot which can be controlled by your hand gestures not by old buttons.You just need to wear a small transmitting device in your hand which included an acceleration meter.This will transmit an appropriate command to the robot so that it can do whatever we want. The transmitting device included a comparator IC for analog to digital conversion and an encoder IC(HT12E) which is use to encode the four bit data and then it will transmit by an RF Transmitter module. At the receiving end an RF Receiver module receives the encoded data and decode it by an decoder IC(HT12D). This data is then processed by a microcontroller and outputs would be generated based on which the motors would be driven by the motor driver

Robot Section

In the gesture device/user section the key component is the accelerometer ADXL335. An accelerometer is an electromechanical device that will measure acceleration forces.It will be having mainly three output pins each for the X-Y- Z axis.According to the tilt producing to the accelerometer , it will produce an analog output at each of its 3 output pins. This analog value will be converted to corresponding digital value using the Analog to Digital converter in the At- mega16A microcontroller. The digitalized value would be then compared with the predefined set of values stored in the microcontroller.And according to the digitalized value a 4 bit output data would be generated. This data would be fed to HT12E encoder IC for parallel to serial conversion.The output signal of the encoder would be then sent through RF transmitter. The user section also consists of a hand held device which displays the outputs of sensors placed in the robot.The sensor output would be sent to the user section and it would be received using RF receiver.The received data would be converted to 4bit code using HT12D decoder IC.This 4 bit value would be compared with the predefined value stored in the microcontroller and outputs would be generated accordingly.The temperature output would be displayed in the 16*2 LCD display.The human detector output and gas sensor output would be displayed in the hand held device.

The user section also consists of a hand held device which displays the outputs of sensors placed in the robot.The sensor output would be sent to the user section and it would be received using RF receiver.The received data would be converted to 4bit code using HT12D decoder IC.This 4 bit value would be compared with the predefined value stored in the microcontroller and outputs would be generated accordingly.The temperature output would be displayed in the 16*2 LCD display.The human detector output and gas sensor output would be displayed in the hand held device.

The robot section receives the instruction from the user section and would perform accordingly.The data sent by the transmitter would be received using RF receiver.This data would be converted to 4 bit data using HT12D decoder IC.The 4 bit data would be then compare with the values stored in Atmega 16A microcontroller.It would then produce another 4 bit output according to the input signal.This 4 bit data would be sent to the L293D motor driver IC, for controlling the robot movements.According to the signal the motor IC receives the speed of the motor also gets controlled.Thus there would be two separate speed variations would be possible for the robot motions. In the robot there are three sensors ,which could be used for rescue aiding operations.These are human detector sensor(PIR),gas sensor and temperature sensor LM35.

Final Product

The outputs of these sensors would be directed to the microcontroller.According to the different output combinations and the temperature sensor values, another 4 bit data would be sent out by the microcontroller.It would again converted serially by HT12E encoder IC and sent through RF transmitter .Since for the particular project two different RF transmitters are required, transmitters with two separate frequency of operation are selected.The RF transmitter receiver modules used are 433MHz and 315 Mhz This is done inorder to avoid frequency jamming hence data loss.

System Overview

There is a LED in the energy meter. It blinks after the consumption of 1Whr energy. When this repeats 1000 times it indicates that 1Kwhr is consumed. When the light from the LED falls on a LDR its resistance will change. Then PIC16F73 reduces the balance amount of energy. When there is no balance, the loads will be disconnected from the supply using a relay. A Unique key used to recharge the energy meter.

It consist of a Microcontroller, power supply, an optical sensor, a charging or recharging block and a switching circuit. The entire function of prepaid energy meter, i.e. charging, deduction of the charged amount corresponding to the consumption of electricity and finally the entire supply is cut off when the recharged amount is over etc. are done by the Microcontroller. The Microcontroller does this particular function after coding the Microcontroller with the required program. The power supply section consists of a step-down transformer, a capacitor filter and a regular IC. The output from the power supply section is around 12V. The charging or recharging is done by using an IC. The amount for which the entire system should be charged is done by recharging block.

The switching circuit used for switching on and off the loads connected to the mains. When there is sufficient recharged amount to run the loads the switching circuit will switch on the devices when it is required, or if it is below the required the amount to run the device the switching circuit will cut off the supply from the loads Optical sensor used here is an LDR. The resistance value of LDR varies with the amount of light falls on it. When its resistance value varies its voltage also varies. Thus measuring the voltage change, we can sense the presence of light on it or around it.

Finished Product

The circuit diagram consists of 6 sections. Microcontroller, power supply, recharging, comparator, relay and LCD display. PIC16F73 is used here as the microcontroller. It has 3 ports. Port A, B and C. These are bidirectional ports. It operates in wide range of voltages from2 to 5.5V. In the power supply section 230V 50Hz ac supply is stepped down into required voltage using a 6V/1A step down transformer.

It is then full wave rectified. A capacitor is used to remove the ripples produced in it. LM7805 IC is the voltage regulator. Its output is smoothed by a capacitor. By pressing the switch and inserting the key in the recharging section we can recharge the energy meter. A pull up resistor is used to avoid the uncertainty in the absence of a key.

The The LDR is connected to non-inverting terminal of comparator IC, LM358. LDR resistance in darkness was measured as 1.5MΩ and in maximum intensity as 150Ω. A resistance in between this also connected to the non inverting terminal. Inverting terminal voltage is set as 2.5V. When light from LED falls on LDR non inverting voltage exceeds 2.5V and comparator output goes high. This will act as an interrupt for PIC and it reduces 1 unit of energy. When there is no balance the relay contact will be opened and loads are disconnected. As it is a sudden process a high induced emf was produced in the inductor. Then relay is forced to be closed. To avoid this a fly back diode is used . BC547 is used for current amplification. A 16*2 LCD displays the balance amount