ENGD3000 Project: Voice Controlled Robot with WiFi Camera

This project details the design and implementation of a voice-controlled robot with a WiFi camera, developed by a student. The robot is controlled via an Android application that transmits voice commands through Bluetooth to an Arduino microcontroller. The project incorporates a DC motor driver, and a power source to enable the robot's movement. The document includes a block diagram, hardware and software specifications, circuit diagrams, and code snippets. The project's methodology involves voice recognition via an Android app, text conversion, Bluetooth communication, and microcontroller processing. The report also covers project planning, resource requirements, and a SWOT analysis, along with results, discussion, and potential future enhancements. The project aims to create a simple, cost-effective, and easily adaptable platform for robotics research and education, focusing on Bluetooth connectivity.

Electronics
Individual Project
Module Code : ENGD3000
PROJECT TITLE : VOICE CONTROLLED ROBOT WITH
WIFI CAMERA
Name of the Student :
Course:
Name of Supervisor :
1

Abstract
In this project, a voice-controlled personal assistant Robot has been designed. The
robot is capable of taking the human voice commands from the mobile app. It can take
the instructions and run them. It also provides a message using the sound signal. The
project is designed using a micro- controller related system. The performance can be
evaluated by obtaining good results of the starting experiments. Some better practices
are also studied involving some uses in the houses, medical treatment, cars and
industrial areas.
In the system discussed here, a speech recognition system is not needed for the
recognition of the human voice for controlling the robot. In the system used, an android
application has been used for the recognition as well as the processing of a person’s
sound that can be next converted to textual format ( using the speech to text converter
for this purpose ). The textual data can be moved towards the robot by the use of a
Bluetooth device. The textual data can be further altered and studied using the
microcontroller for controlling the robot accordingly. The purpose of this task is the
development of a simple robot hardware architecture having strong computing devices
so that the designer of the robots can pay attention on the research and studies and not
on the Bluetooth connection study. The students can also very effectively use the system
to carry out various experiments for the study of small applications of the system. It is
not very costly and very easy for using also.
2

Acknowledgements
3

Contents
Abstract........................................................................................................................................2
Acknowledgements......................................................................................................................3
Introduction.................................................................................................................................5
Background..............................................................................................................................5
Aims & Objectives....................................................................................................................5
Project Specification.................................................................................................................5
BLOCK DIAGRAM..........................................................................................................................8
Literature Research & Background Information...........................................................................9
Specification and Design............................................................................................................10
Details of Hardware requirements.........................................................................................11
Project Experiment or design Specification................................................................................17
Planning of the project...........................................................................................................17
Designing of the project:........................................................................................................18
Finalising the block diagram...................................................................................................18
Hardware and software requirments:....................................................................................18
Purchasing of the parts:.........................................................................................................18
Assembly and trial run:...........................................................................................................18
Code.......................................................................................................................................18
Real Time Progress.................................................................................................................22
Project Management..................................................................................................................25
GANTT Chart:.........................................................................................................................26
PERT Chart:.............................................................................................................................27
SWOT analysis:.......................................................................................................................28
Results and Discussion...............................................................................................................29
Future Work...............................................................................................................................29
Conclusions................................................................................................................................31
References.................................................................................................................................32
4

Introduction
Background
The project is to design a system with a robot that is capable of receiving the
commands using Bluetooth and working as per the instructions and also to design an
android application that allows a user to send the commands by using Bluetooth. The
robot is to be fitted with an Arduino UNO which is a microcontroller which on
receiving the command received via the Bluetooth and controls the driver motor. At first
stage the skeleton of the project was designed which was based on my research and
many related videos. After finalising the design the basic structure of my project was
designed. An andriod phone is to be used to input the command. The Bluetooth system
has to be used for receiving the command from the Android phone and for transmitting
the command towards the micro controller, which inturn drives the driver motor. After
studying about the circuits and based on my requirements of the working methodolody
of the robot the following block diagram was finalised.
Aims & Objectives
Controlling a moving object by voice is gaining more and more application. A super
market trolly controlled by voice is a popular example. This eliminates the need for the
buyer from pushing the trolly along with them. The buyer can just command the trolley
to follow them by voice control. In this project, we tried to control the movement of a
supermarket trolley with voice.
Project Specification
The trolley is fitted with wheels and DC motor driver. The blue tooth module fitted to
the trolley receives the voice from the buyer and feeds to the Aurdino micro controller.
The trolley is made to receive signals from the buyer for forward, reverse, left and right
movement. The driver of the motor is connected to the Ardunio controller. The DC
motors ( 2 ) are being employed for moving the trolley in various directions like the
5

forward, reverse, left or right direction. A 9V battery can be employed for powering the
motor driver in order to drive the motors.
The chosen task is the design of a system using a robot which can be controlled using
both voice signal and smart phone APP. In this project, a robot is built which is capable
of receiving a command using bluetooth and working as per the coommands. The
android application is developed that lets the user send the commands using a bluetooth
device. The Commands are interpreteded using a bluetooth modem which is attached to
Arduino UNO. The Arduino can control the motor that allows the movements of the
robot.
An example of a voice controlled robot is depicted in figure 1.
6

Figure 1
7

BLOCK DIAGRAM
Figure 2
Figure 3
8
MOBILE APP
CONTROLLING
DC MOTORS
WIFI CAMERA
L293D MOTOR DRIVER
POWER SOURCE
ARDUINO UNO
ATMEGA 328
BLUETOOTH
HC-05

Literature Research & Background Information
A voice controlled robotic system can be designed using an Arduino microcontroller.
Such a system can be used at the places where human entry is full of risk. An android
device can be used to control the robot using voice commands. A Bluetooth module can
be used for capturing and reading the voice commands. The operation of the robot
depends on the commands got from the android device used [ 1 ].
An android application can be used to transmit the data. The receiver can read these
commands and interpret them to control the robot. The commands for the movement of
the robot can be sent by an android device. Arduino microcontroller can be used for the
operation of the motor for movement of the robot when a command is received. Serial
communication is used between the receiver and the android device. A wireless camera
can also be interfaced to the Arduino microcontroller. A detector can be used for the
protection from obstacles ( by using ultrasonic sensor ).
Today, almost all the work is being done by the help of a robot or a robotic arm which
has some degrees of freedom depending on the application. If a wireless robotic arm is
designed which has vision and is gesture controlled, then 3 parts are needed. They are
the accelerometer, robotic arm and a platform. The robotic arm can be controlled using
a system based on accelerometer by the help of RF signals. An accelerometer can be
attached to a person’s hand which can capture the hand’s motion. The movement of the
robotic arm takes place according to the hand’s movements. The next accelerometer can
be attached to the person’s leg which helps in the movement of the platform. The
various movements which can be included are : pick and place, pick and drop, raise and
lower the object, forward, backward, right and left movement. An IP based camera can
be used for real time video streaming ( in mobile or laptop ) which is wireless [ 2 ].
A voice controlled robot shows the movements which can be controlled by a user using
some voice commands [ 3 ]. Zigbee module can be used for the transmission of the
digital signals [ 18 ] [ 19 ]. Servo motors can be used in the system designed using the
robots.
A vision based gesture recognition system can be easily implemented [ 6 ]. The motion
capture sensor recognition can be implemented using Arduino. A finger gesture
9

recognition system based on the active tracking mechanism can be implemented [ 8 ].
The gestures can be recognised using the acceleration data using ANNs ( Artificial
Neural Networks ) [ 9 ] [ 10 ] [ 11 ]. For the transmission and reception of any message
signal, an encoder and a decoder circuit is needed with the transmitter and the receiver
circuit [ 12 ]. The accelerometer can be easily interfaced with the microcontroller [ 13 ].
The smart phone camera can be used for the real time video stream [ 15 ]. The IP based
Android application can be used for the transmission of real time video using a wireless
connection [ 16 ].
The method followed is : Initially the board was fitted with 4 DC motors and the
wheels. The wheels were ensured that they are not tightly fitted and not gripping. All
other parts were assembled on the board as shown in the following circuit diagram.
The motor driver and the Bluetooth module was also fitted in the board. The pin
diagram of the motor driver is as shown in the following picture.
The android app is used for phones having an android based operating system. It can be
downloaded using the android app Market that is already present in all the android
phones.
The Android platform also provides the support for the Bluetooth network stack, that
allows a device to exchange data with other Bluetooth devices over a wireless mode.
The application framework can provide access to the Bluetooth functionality using the
Android Bluetooth APIs.
Once the assembly activity was completed, a trail run was carried out. Following
obstacles were observed.
It was observed that the command from the android phone was not received by the
Bluetooth module. Suitable modifications were carried out, to sort out the connectivity
issue.
The wheels were not rotating smoothly. The screws used for fitting the wheel to the
shaft of the DC motor were loosened to correct this problem.
The robot was moving very slowly. This was due to the insufficient power received by
the motor driver. A new battery with higher capacity was purchased and fitted.
10

The Robot was only moving in the forward and reverse direction. The robot was seen
struggling to turn left and right. Wheel movement matrix planned in the initial stage of
the project allowed rotation of left side wheels when making the right turn. The right
side wheels were not rotating. This matrix was modified to allow the right side wheels
to rotate anticlockwise, while the left side wheels were rotating clockwise. This change
has enabled the robot to turn left or right easily.
Suitable modifications to tackle the above listed problems were made and a rerun of the
trail was underataken and found the robot was working as expected. The following
picture/video shows how the robot was moving and responding to the commands given.
The Arduino based educational mobile robots can be easily integrated in Robot
Operating System [ 26 ]. This makes the design of the system very easy using an
Arduino microcontroller. Arduino is the first open source hardware and software
computer company which designs and uses development boards which are based on
microcontrollers [ 27 ]. The main reason for the use of Arduino Uno is that it is open
source and does not involve any associated cost. With the introduction of Arduino
which is an open source platform, the Do It Yourself projects in the field of electronics
have become easier to implement [ 28 ]. Any alterations can be made to the design with
minimum efforts and that too the students can implement themselves. This has made the
project designing very easy. Now a days, open source hardware is becoming significant
for research activities [ 29 ]. Many researchers are also using Arduino for their research
work. Arduino board can be used as a tool to study and in research work [ 30 ].
Arduino is a type of microcontroller which is very simple to use and has a large number
of sensors as well as libraries which help to enhance its capabilities [ 31 ]. The sensors
are very simple to interface with the Arduino microcontroller. There are many examples
where efficient systems have been designed using Arduino. Some of them are discussed
here. A weather monitoring station can be designed using Arduino for data collection
[ 32 ]. The various parameters used in weather monitoring are the temperature,
humidity, etc. which can be sensed using a sensor and then reported in a presentable
manner. A temperature sensor and a humidity sensor can be used for the purpose of
measuring the parameters. A cost effective and energy efficient smart drip irrigation
system can be designed using raspberry pi and arduino [ 33 ]. A low cost intelligent
smart home automation and security system can be designed using Arduino and Wi – Fi
[ 34 ]. In a smart home, various sensors can be installed which read various parameters
11

and then take an action accordingly. A heart rate monitoring system can be designed
through finger tip by using arduino and a processing software [ 35 ]. This shows that
various types of systems can be designed using Arduino microcontroller. The Wi – fi
module can also be interfaced and android app be merged into the system.
By the help of Bluetooth profile as well as android platform architecture different types
of Bluetooth applications can be designed.
The HC-05 Bluetooth Module is a type of class-2 Bluetooth module having Serial Port
Profile that can be configured as a Master or a Slave. It can be used mainly for serial
port replacing in order to create a connection between the MCU, PC to the embedded
system.
The Bluetooth protocol is the Bluetooth Specification v 2 . 0 + EDR. A value of
Frequency of 2.4 GHz is used in ISM band. The Modulation scheme used is the GFSK (
Gaussian Frequency Shift Keying ). The value of the Emission power is less than or
equal to 4 dBm and belongs to Class 2. The value of Sensitivity is not more than -84
dBm at 0.1% BER ( Bit Error Rate ). The Speed for an Asynchronous system is
2.1Mbps ( Max ) to 160 kbps and for the Synchronous system it is 1Mbps. For the
purpose of security, authentication and encryption are used. The profiles used is the
Bluetooth serial port. The Power supply used is +3.3VDC at 50mA. The working
temperature is -20 to +75 Centigrade. The Dimension is 26.9mm x 13mm x 2.2 mm.
Some project management techniques can be applied to the design. GANTT chart was
used to initially estimate the time frame required to complete the project, to sequence
the activities and to identify major milestones along the way. Regular updation of the
activities completed in the LOG BOOK can enable to check the progress of the project
inline with the time estimate originally envisaged. The achievement of major milestones
motivated me to complete the project on time.
Specification and Design
The following are the hardware parts required.
12

 Arduino Uno micro controller
 Bluetooth Module HC-05
 DC Motor Driver L293D
 12V DC Motors with Gearbox
 230V AC 50Hz step down transformer
 Bridge rectifier
 Filter & 5V regulator
 Power Supply
Also, the software (and the programming language) required for intergrating all parts
and making them to understand the command given and work according to the
command was also finalised. The following are the software and programming language
used in the project.
 Arduino IDE software
 Eclipse Android software development kit ( SDK )
 Languanges Embedded C/C++, Java & XML
BUDGETING OF THE PLAN
• Arduino Uno = 2000 RS
• Bluetooth Module HC-05 = RS 700
• DC Motor Driver L293D = RS.500
• DC Motor = RS 1000
• Power Supply = 1000
So the total costing would be around Rs.5000
The above parts was integrated as per the block diagram. And all the materials were
utilised effectively.
13

Details of Hardware requirements
Arduino Uno :
It is a type of Microcontroller device which is based on ATmega328P. It consists of
fourteen digital I / O pins ( out of them, 6 can be used as PWM outputs ) , 6 analog
inputs, a 16 MHz quartz crystal and a power jack . It is connected to a computer using a
USB cable or powered using AC – to - DC adapter or battery in the starting.
Arduino Uno microcontroller is capable of mounting the motor driver shield inside
itself. It is less costly, has simple design and consumes lesser area as many parts are to
be placed on the platform. The Arduino programming is very easy to learn for any
beginner level user.
Figure 4
Bluetooth Module HC-05
The Bluetooth module ( HC – 05 ) is employed for the communication between mobile
phone and microcontroller. It uses lesser Power , a volyage of 1.8 V and Operates on
1.8 to 3.6 V Input / output . The Serial port Bluetooth module has a Bluetooth 2.0 +
EDR ( increased data rate ) , 3Mbps modulation with complete 2.4 GHz radio
transceiver and baseband.
14

Figure 5
DC Motor Driver L293D
DC Motor Driver L293D has a quadruple high current half-H drivers. It has a wide
Supply-Voltage Range from 4.5 V to 36 V. It has High-Noise-Immunity Inputs. The
Output Current is 600mA Per Channel. The Peak Output Current is 1.2A Per Channel.
Figure 6
DC Motor
The DC motors used are the 10 to 200RPM 12V DC motors with Gearbox. They have
6mm shaft diameter with internal hole. The No-Load Current is equal to 60 mA
( maximum ). The Load Current is equal to 300mA ( maximum ).
15

Figure 7
Power Supply
The battery which I have used is a 1.4ah battery which is used to power the
microprocessor and the dc motor
Figure 8
Motor Driver Shield
The Motor Driver Shield is based on the L293 IC, which is a dual full-bridge driver. It
can be used for driving the inductive loads such as relays, solenoids, DC and stepping
motors. It allows the driving of four DC motors and 2 servos using the Arduino
microcontroller. The speed and direction of each motor can be controlled independently.
Time duration of the project
The proposed project is expected to complete in 2 weeks of time after getting the
necessary details and the purchase of all the components .
16

DESIGN SPECIFICATION
HC-05:
Vcc is connected to 5 volts. The point GND is connected to Ground. The Module Rx is
connected to Arduino Tx and Module Tx is connected to Arduino Rx. If a Bluetooth
module is not working properly, then a voltage divider can be designed by the use of a
1K and 2K resistor and connecting it to Rx pin of the module for converting 5v to 3.3v.
Motor to Motor Driver:
The connection of the left sided motors is done to the M3 and M4 terminals. The
connection of the right sided motors is done to M1 and M2 terminals. In case the motor
rotates in the opposite direction, then the wire connections are interchanged for rotating
all the motors in the same direction.
DESIGN OPTIMISATION
A microcontroller is capable of analyzing the message and taking the required action.
The aim is designing a moving robot that can be controlled using the servo motors. If a
command is given using a transmitter, the EasyVR module can carry the voice
commands and convert these voice commands to equivalent digital signals.
Apart from the above listed items, the board for placing all hardware items, 4 wheels,
wires, cables LED lights, LED display module etc. are also purchased.
Project management techniques
17

 BRAIN STORMING was done at various stages of the project. Initially a
session was carried out with the fellow students on how to go about. The
outcome of the session helped me in identifying the suitable tutorial websites.
Various You-tube videos were identified for further understanding of the
project.
Figure 9
 The root cause analysis was used to identify the reasons for the obstacles
observed during the trial run stage. This has helped me in identifying the root
cause for the problem and identify a suitable solution (again with the help of a
BRAIN STORMING session with friends and experts of the field)
Figure 10
Project Experiment or design Specification
Planning of the project
Based on my research 5 projects were chosen and detailed study was done on the
feasibility of the chosen projects. Later in consultaion of the faculty my project was
chosen. The project which I have chosen was to build a app controlled and voice
18

controlled robot. To finilaise the project plan, it is estimated to take me around a weeks
time.
Designing of the project:
After the planning the skeleton structure of the project was designed. My design was
based on my research and many videos related to my project. After finalising the design
the basic structure of my project was designed. To design this I may take around 1 week
Figure 11
Finalising the block diagram
At this step various parts of the project were decided and their integration was
finalised. It is estimated to take a couple of days to finalise the circuit diagram.
Hardware and software requirments:
Hardware and software requirements were finalised .The specification of the various
parts were frozen. For the software requirements coding and programming was
finalised. To finalise the above, the time period estimated was approximately 3 days.
Purchasing of the parts:
The necessary parts was purchased. The time period for the purchase of the parts is
expected to be around 2 days.
Assembly and trial run:
The various hardware and software requirements were assembled as per the circuit
diagram. A trial run was taken and based on the feedback from the trial run
modifiations were done and the final project was completed. The time scale for these
activities was approximately 15 days.
Code
#define ble Serial
String voice ;
const int ledPin = 4 ;
const int ledPin1 = 5 ;
19

const int ledPin2 = 6 ;
const int ledPin3 = 7 ;
const int rr1 = 6 ;
const int rr2 = 7 ;
void setup ( ) {
pinMode ( ledPin , OUTPUT ) ;
pinMode ( ledPin1 , OUTPUT ) ;
pinMode ( ledPin2 , OUTPUT ) ;
pinMode ( ledPin3 , OUTPUT ) ;
pinMode ( rr1 , OUTPUT ) ;
pinMode ( rr2 , OUTPUT ) ;
Serial.begin ( 9600 ) ;
ble.begin ( 9600 ) ;
digitalWrite ( rr1 , HIGH ) ;
digitalWrite ( rr2 , HIGH ) ;
delay ( 3000 ) ;
}
void loop ( )
{
Robo ( ) ;
}
void robo ( )
{
while ( ble.available ( ) )
{ // Check if there is an available byte to read
Delay ( 10 ) ; // Delay added to make thing stable
char c = ble.read ( ) ; // Conduct a serial read
Serial.println ( c ) ;
if ( c == ' # ' ) {
break ; // Exit the loop when the # is detected after the word
}
voice + = c; // Shorthand for voice = voice + c
}
20

if ( voice.length ( ) > 0 )
{
Serial.println ( voice ) ;
if ( voice == " *forward " )
{
Forward ( ) ;
// left ( ) ;
}
else if (voice == " *backward " )
{
Backward ( ) ;
// right ( ) ;
}
//----------Turn On One-By-One----------//
else if ( voice == " *right " )
{
Right ( ) ;
// forward ( ) ;
// left ( ) ;
}
else if ( voice == " *left " )
{
//right ( ) ;
Left ( ) ;
// backward ( ) ;
}
else if ( voice == " *stop " )
{
stopbot ( ) ;
}
voice = "";
}
21

Delay ( 300 ) ;
}
void forward ( )
{
Serial.print ( " FORWARD " ) ;
digitalWrite ( ledPin , HIGH ) ;
digitalWrite ( ledPin1 , LOW ) ;
digitalWrite ( ledPin2 , HIGH ) ;
digitalWrite ( ledPin3 , LOW ) ;
}
void backward ( )
{
Serial.print ( " BACKWARD " ) ;
digitalWrite ( ledPin , LOW ) ;
digitalWrite ( ledPin1 , HIGH ) ;
digitalWrite ( ledPin2 , LOW ) ;
digitalWrite ( ledPin3 , HIGH ) ;
}
void right ( )
{
Serial.print ( " RIGHT " ) ;
digitalWrite ( ledPin , HIGH ) ;
digitalWrite ( ledPin1 , LOW ) ;
digitalWrite ( ledPin2 , LOW ) ;
digitalWrite ( ledPin3 , HIGH ) ;
delay ( 2000 ) ;
digitalWrite ( ledPin , LOW ) ;
digitalWrite ( ledPin1 , LOW ) ;
digitalWrite ( ledPin2 , LOW ) ;
digitalWrite ( ledPin3 , LOW ) ;
}
void left ( )
{
22

Serial.print ( " LEFT " ) ;
digitalWrite ( ledPin , LOW ) ;
digitalWrite ( ledPin1, HIGH ) ;
digitalWrite ( ledPin2 , HIGH ) ;
digitalWrite ( ledPin3 , LOW ) ;
delay ( 2000 ) ;
digitalWrite ( ledPin , LOW ) ;
digitalWrite ( ledPin1, LOW ) ;
digitalWrite ( ledPin2 , LOW ) ;
digitalWrite ( ledPin3 , LOW ) ;
}
void stopbot ( )
{
digitalWrite ( rr1 , HIGH ) ;
digitalWrite ( rr2 , HIGH ) ;
digitalWrite ( ledPin , LOW ) ;
digitalWrite ( ledPin1 , LOW ) ;
digitalWrite ( ledPin2 , LOW ) ;
digitalWrite ( ledPin3 , LOW ) ;
}
23

Real Time Progress
Figure 12
Figure 13
Figure 14
24

Figure 15
Figure 16
25

Figure 17
26

Figure 18
Project Management
A GANTT chart is used to sequence the tasks / activitites and the time frame for
completing each of these. This is also used to identify the major milestones along the
way of the project. I have prepared a GANTT chart for my project. The length of the
blue band indicates the time estimate for completing that particular activity. The
sequence of the activities is also shown in the chart. The 3 red bands in the chart
indicates the important milestone of the project.
27

Figure 18
GANTT Chart:
At the beginning stages of this project, a GANTT chart was prepared, to represent
various key activities, their relationship, the time duration for each of them, important
milestones etc. in a single chart. The project envisaged 10 major activities to be
completed. The overall time taken to complete all these 10 major activities is estimated
to be 38 days. The blue colour horizontal bars represent the time duration planned for
each of these activities and the rod colour vertical bars represents the 3 milestones.
28

Activites of building voice &
APP controlled trolley 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45
Mile stone 1 --- Designing of the project
Mile stone 2 --- Completion of assembly of the hardware and uploading the software
Mile stone 3 --- Completion of the project
Final assembly
Puchasing of hardward & software
Assembly
Trial run and feed back
Modify block diagram & make changes
Trial run
Days
Planning of the project
Designing of the project
Finalising the block diagram
Hardware and software requirement
Figure 19
As represented in the above GANTT chart, there are 3 milestones identified along the
process of completing the project. The target for reaching the 1st milestone is estimated
to be 14th day, the 2nd milestone is around 27th day and the 3rd milestone is around 38th
day.
A LOG BOOK was maintained to track the various activities on a daily basis. From the
LOG BOOK, the actual time taken for these 10 activities is calculated and plotted in the
same GANTT chart. The “brown” colour horizontal bar represents the actual time taken
for each of the activity. It is evident from the GANTT chart, that I have taken more time
at the project planning stage. This is due to my prolonged deliberation of various project
ideas. As a result, the various milestones of the project were reached delayed and the
overall project was delayed by more than a week than planned.
PERT Chart:
Project evaluation and review technique (PERT) was used to estimate the total time
required for the various activities of my project and thus the total time for the project.
The PERT chart is used to identify the shortest possible route based on the time
29

duration. The weighted average and the standard deviation for each of the activites is
calculated as below.
Table 1
Activity
Represe
nted as
Optimistic
time (a)
Realistic
time (m)
Pessimistic
time (b)
weighted
average
Standard
deviation
Planning of the project A1 6 7 8 7.00 0.33
Designing of the project A2 5 6 7 6.00 0.33
Finalising the block diagram A3 1.5 2 3 2.08 0.25
Identifying the resource requirement A4 1 2.5 4 2.50 0.50
Purchasing the resources A5 1 3 4 2.83 0.50
Assembly A6 4 5 8 5.33 0.67
Train run & Feed back A7 1 1 1 1.00 0.00
Modification A8 3 5 8 5.17 0.83
Final run A9 1 1 1 1.00 0.00
Final assembly A10 3 5 7 5.00 0.67
The sequence in which these activites are performed is represented by means of a PERT
chart as below. Each activity is represented with a unique number and theie weighted
average and tandard deviation are mentioned in this diagram
(6, 0.33) (5.17,0.83)
A2 (2.5, 0.5) A8
(7, 0.33) A4
A1 A6 A7 A10
A5 (5.33,0.67) (1,0) (5,0.67)
(2.83,0.5) A9
A3 (1,0)
(2.08,0.25)
Figure 20
From the above PERT chart the activity sequencing was done follwing the shortest path.
The weighted average time for completing the project is estimated to be 38 days with
the variation of +/-4 days.
SWOT analysis:
SWOT analysis is an important project management technique, helps in analysing the
strength of the proposed project and its weaknesses. This information is required to
make advantage of the strong aspects of the project and focus our attention more on the
weaker areas. Also the opportunities for improving the project further & the threates it
faces are also identified by SWOT. The following is the result of SWOT analysis on my
project.
30

Strength
1. Flexible (multiple option for
controlling)
2. Economical parts
3. Quick response time for comments
4. Scalable model
Weakness
1. Poor battery life
2. Module design
3. Not having smooth turns
4. Operates in one fixed speed. Speed
control not possible
5. Can not carry heavy objects
Opportunity
1. Can be used as a personal assistant
2. Can be used for performing
repeated activities
3. Can be used as a monitoring device
Threat
1. Open source coding. Can be
manipuated by hackers
Results and Discussion
Hence, the project based on the moving bot is successfully designed. A bluetooth bot
has been selected which is capable of moving left and right and has these steering
features. The bot has two dc motors towards the front side and two dc motors towards
the back side. The first motor is used for giving instructions to the robot to turn to left or
right side. Also, the back side motor is used to move a robot in the front and back
direction. A Bluetooth module is used for receiving commands from an android phone
and Arduino UNO microcontroller is used to control the complete device.
Future Work
Any project is not an end by itself. Numerous improvements can be incorporated to
enhance the aesthetics, functionallity and operability. The voice & mobile APP
31

controlled robot which I completed, can also be improved further. The following are
some of the improvement areas identified by me.
Aesthetics improvement:
It is possible to improve the asethetics of the project, by covering the base board with
well designed plastic / acryllic board.
The wheel unit can be made more sturdy.
The LED display integrated here can be made to voice the command it receives
Functionallity improvement:
Wireless camera can be fitted to inspect the areas which can not be reached or which are
not safe for human to enter.
Sensor to detect obstacles and reroute the robot can be fixed
The robot can be modified to operate based on gestures
Arms can be fitted and controlled via a bluetooth module to unearth hidden bombs.
This robot can be used to perform repeated operation
Improvement on operability:
Robot can be modified to be controlled by hand gestures. It is possible to design a
bluetooth communication system using a smart phone as well as microcontroller. The
development for the applications using Android for Android SDK is very simple and
does not have any cost. It has an application in many industries in which human
interference is not needed. The Android operating system helps to design the
application. As the smart phones in markets are increasing, the applications are also
increasing day by day.
Conclusions
32

The Voice controlled robot has been developed in this project using Wifi. The sound
instructions are processed in real-time, by the use of an offline server. The voice signal
commands can be directly told to the server over a wired network. The design related to
the robot has been developed on a microcontroller based platform and it can be aware
of its current location. Some improvement can be done in various fields like in homes,
hospitals, cars and industrial areas.
References
33

[1]Chikhale, M.V., Gharat, M.R., Gogate, M.S. and Amireddy, M.R., 2017. Voice controlled
robotic system using Arduino microcontroller. International Journal of New Technology and
Research, 3(4).
[2]Aggarwal, L., Gaur, V. and Verma, P., 2013. Design and implementation of a wireless
gesture controlled robotic arm with vision. International Journal of Computer
Applications, 79(13).
[3]Kannan, K. and Selvakumar, J., 2015. Arduino based voice controlled robot. International
Research Journal of Engineering and Technology (IRJET), 2(01), pp.49-55.
[4] Pedro Neto, J. Norberto Pires, A. Paulo Moreira, “Accelerometer-Based Control of an
Industrial Robotic Arm” Available at: http://arxiv.org/ftp/arxiv/papers/1309/1309.2090.pdf
[5] Dr. R. V. Dharaskar, S. A. Chhabria, Sandeep Ganorkar, “Robotic Arm Control Using
Gesture and Voice”, In International Journal of Computer, Information Technology &
Bioinformatics (IJCITB), Vol. 1, Issue 1, pp. 41-46 Available at:
http://www.ijcitb.com/issues/paper_9.pdf
[6] S. Waldherr, R. Romero and S. Thrun, 2000, “A gesture based interface for human-robot
interaction”, In Autonomous Robots in Springer, vol. 9, Issue 2, pp. 151-173Available at
http://www.cs.cmu.edu/~thrun/papers/waldherr.gestures-journal.pdf
[7] K. Brahmani, K. S. Roy, Mahaboob Ali, April 2013, “Arm 7 Based Robotic Arm Control by
Electronic Gesture Recognition Unit Using Mems”, International Journal of Engineering Trends
and Technology, Vol. 4 Issue 4 Available at:
http://www.ijettjournal.org/volume-4/issue-4/IJETT-V4I4P347.pdf
[8] S. Perrin, A. Cassinelli and M. Ishikawa, May 2004, “Gesture Recognition Using Laser-
Based Tracing System”, In Automated Face and Gesture Recognition. Proceeding, Sixth IEEE
Conference, pp. 541-546 Available at: http://ieeexplore.ieee.org/xpls/abs_all.jsp?
arnumber=1301589
[9] Y. Song, S. Shin, S. Kim, D. Lee, and K. H. Lee, “Speed estimation from a tri-axial
accelerometer using neural networks, ” in 29th Annual International Conference of the IEEE
Engineering in Medicine and Biology Society, EMBS 2007, pp. 3224-3227, 2007 Available at:
http://www.ncbi.nlm.nih.gov/pubmed/18002682
34

[10] J. Yang, W. Bang, E. Choi, S. Cho, J. Oh, J. Cho, S. Kim, E. Ki and D. Kim, 2006, “A 3D
Hand drawn Gesture Input Device using Fuzzy ARTMAP-based Recognizer”, In Journal of
Systemic, Cybernetics and Informatics, Vol. 4 Issue 3, pp. 1-7. Available at:
http://www.iiisci.org/journal/CV$/sci/pdfs/P771618.pdf
[11] K. Murakami and H. Taguchi, 1991, “Gesture Recognition using Recurrent Neural
Networks”, In Proceedings of ACM CHI’91 Conference on Human Factors in Computing
Systems, New Orleans, USA, pp. 237-242. Available
at:http://openexhibits.org/wp-content/uploads/papers/Murakami_NNgesturerecognition_1993.p
df
[12] RF Module Available at: http://en.wikipedia.org/wiki/RF_module
[13] Accelerometer Available at: http://en.wikipedia.org/wiki/Accelerometer>
[14] ADXL3xx Accelerometer Available at: http://arduino.cc/en/Tutorial/ADXL3xx
[15] IP Camera Available at: <http://en.wikipedia.org/wiki/IP_camera>
[16] Android Application - IP Webcam Available at https://play.google.com/store/apps/details?
id=com.pas.webcam&hl=en>
[17] Wireless Transmission through RF Module Available at:
http://allaboutelectronics.hpage.in/wireless-transmission-through-rf-module_91868527.html>
[18] A study on real-time control of mobile robot with based on voice command, Byoung-Kyun
Shim ; Yoo-Ki Cho ; Jong-Baem Won;Sung-HyunHan Control, Automation and Systems
(ICCAS), 2011 11th International Conference on Publication Year: 2011
[19] Speech recognition and its application in voice-based robot control system, Luo Zhizeng;
ZhaoJingbing Intelligent Mechatronics and Automation, 2004. Proceedings. 2004 International
Conference,
[20] A study on precise control of autonomous driving robot by voice recognition, Sung-Won
Jung ; Ki-Won Sung ; Moon-Youl Park ; Eon-Uck Kang ;Won-Jun Hwang ; Jong-Dae Won;
Woo-Song Lee ; Sung-Hyun Han Robotics (ISR), 2013 44th International, Symposium on
DOI:10.1109/ISR.2013.6695640 Publication Year: 2013
35

[21] A mechanism for human - robot interaction through informal voice commands, D'Mello,
S.; Lee McCauley, ; Markham, James Robot and Human Interactive Communication, 2005.
ROMAN 2005. IEEE International Workshop, DOI:10.1109/ROMAN.2005.1513777,
Publication Year: 2005
[22]Badamasi, Yusuf Abdullahi. "The working principle of an Arduino." 2014 11th
International Conference on Electronics, Computer and Computation (ICECCO). IEEE,
2014.
[23]Arduino, Store Arduino. "Arduino." Arduino LLC (2015).
[24]Kumar, N. Sathish, et al. "IOT based smart garbage alert system using Arduino
UNO." 2016 IEEE Region 10 Conference (TENCON). IEEE, 2016.
[25]Bahrudin, Md Saifudaullah Bin, Rosni Abu Kassim, and Norlida Buniyamin.
"Development of fire alarm system using Raspberry Pi and Arduino Uno." 2013
International Conference on Electrical, Electronics and System Engineering (ICEESE).
IEEE, 2013.
[26]D’Ausilio, Alessandro. "Arduino: A low-cost multipurpose lab
equipment." Behavior research methods 44.2 (2012): 305-313.
[27]Bawa, Dipti, and C. Y. Patil. "Fuzzy control based solar tracker using Arduino
Uno." International Journal of Engineering and Innovative Technology 2.12 (2013):
179-187.
[28]Rai, Neerparaj, and Bijay Rai. "Neural network based closed loop speed control of
DC motor using arduino uno." International Journal of Engineering Trends and
Technology4.2 (2013): 137-140.
[29]Fransiska, R. W., et al. "Electrical power measurement using arduino uno
microcontroller and labview." 2013 3rd International Conference on Instrumentation,
Communications, Information Technology and Biomedical Engineering (ICICI-BME).
IEEE, 2013.
[30]Uno, Arduino. "Arduino Uno." (2015).
[31]Wang, Yanping, and Zongtao Chi. "System of wireless temperature and humidity
monitoring based on Arduino Uno Platform." 2016 Sixth International Conference on
36

Instrumentation & Measurement, Computer, Communication and Control (IMCCC).
IEEE, 2016.
[32] Hadwan, Hamid Hussain, and Y. P. Reddy. "Smart home control by using
Raspberry Pi & Arduino UNO." International Journal of Advanced Research in
Computer and Communication Engineering 5.4 (2016): 2278-1021.
[33] Pawar, Prajakta A. "Heart rate monitoring system using IR base sensor & Arduino
Uno." 2014 Conference on IT in Business, Industry and Government (CSIBIG). IEEE,
2014.
[34] Teikari, Petteri, et al. "An inexpensive Arduino-based LED stimulator system for
vision research." Journal of neuroscience methods 211.2 (2012): 227-236.
[35] Djuandi, Feri. "Pengenalan arduino." E-book. www. tobuku(2011): 1-24.
37