Volume 5, Issue 4, April – 2020 International Journal of Innovative Science and Research Technology

ISSN No:-2456-2165

IOTI Basedi Smarti Surveillancei

Roboti fori Industriali Application
Dr. P. K.Sasikumar1,i N.Rimanika2,i B.Rameethasri3,i R.Suryakala4,i S.Subangisureshpatel5
Assistanti Professor1,i Students2,i 3,i 4,i 5
Departmenti ofi Computeri Sciencei andi Engineering1,i 2,i 3,i 4,i 5
Vivekanandhai Collegei ofi Technologyi fori Women,i Tiruchengode,i Tamilnadu,i India

Abstract:- Thei maini objectivei behindi thisi paperi isi Moreover,i iti isi inconvenienti toi layi cablesi whichi
toi developi ai roboti toi performi thei acti ofi arei expensivei andi consumei time.i Ini orderi toi solvei
surveillancei ini industries.i Nowadaysi roboti playsi ai thei problems,i wei willi designi ai coali minei safetyi
vitali rolei ini ouri dayi toi dayi lifei activitiesi thusi monitoringi systemi basedi oni wirelessi sensori network,i
reducingi humani labori andi humani error.i Robotsi whichi cani improvei thei leveli ofi monitoringi productioni
cani bei manuallyi controlledi ori cani bei automatici safetyi andi reducei accidenti ini thei coali minesi Wirelessi
basedi oni thei requirement.i Thei purposei ofi thisi sensori networksi isi composedi ofi ai largei numberi ofi
roboti isi toi roami aroundi industriesi environmenti micro-sensori nodesi whichi havei smalli volumei andi lowi
informationi fromi thei giveni environmenti andi toi cost.i Iti possessesi self-organizedi capabilityi byi wirelessi
sendi thati obtainedi informationi toi thei user.i Communication.i Ini recenti years,i iti isi widelyi usedi ini
thei fieldsi ofi ouri lives,i scientifici research,i military,i
Ini thisi paper,i onei cani controli thei roboti withi intelligenti traffic.
thei helpi ofi mobilei ori laptopi throughi Interneti ofi
Thingsi (IoT)i andi alsoi cani geti gas,i temperaturei A. Existingi System:
andi firei detectioni bothi ini daytimei asi welli asi ati  Alreadyi existingi systemsi usei robotsi thati havei
nighti withi thei helpi ofi sensori fromi thei robot.i Thei limitedi rangei ofi communicationi asi theyi arei basedi
roboti cani bei controlledi bothi ini manuali asi welli asi oni RFi Technology,i Zigbeei i andi Bluetooth.i
ini automatedi modei withi thei helpi ofi ESP32i  Somei existingi projectsi usei shorti rangei wirelessi
microcontroller.i Thisi roboti alsoi usesi variousi camera.i Somei existingi robotsi cani onlyi bei
sensorsi thati collectsi datai andi sendsi iti toi thei controlledi withi ai manuali modei whichi needsi
ESP32i microcontrolleri whichi controlsi thei roboti humani supervisioni throughouti thei wholei
behavior.i Alongi withi thei obtainedi livei datai output.i surveillancei process.
Thusi thei actioni ofi surveillancei cani bei performed.i  Somei existingi systemi usei shorti rangei wirelessi
Furtheri advancementi ini ouri projecti cani providei camera.
surveillancei eveni ini industriali andi defensei areas.
 Existingi Ststemi I Disadvantage:
Keywords:-i ESP32-S2,i BLYNK.  Designi Costi isi high
 Lowi distancei communicationi
I. INTRODUCTION  Poweri consumptioni isi lowi
 Designi complexityi isi high
Indiai isi ai largei countryi withi richi coals.i
However,i thei currenti safei productioni leveli ofi coali B. Proposedi System:
minei isi stilli low,i especiallyi ini recenti years,i disastersi
Securityi basedi industriali monitoringi systemi isi
ini coali minei occuri frequently,i whichi leadi toi greati
proposed.i Thei proposedi systemi monitorsi thei industriali
lossi ofi possessioni andi life.i Thei safetyi problemsi ofi i workersi conditionsi ini everyi situation.i Thei proposedi
coali minei hasi graduallyi becomei toi thei focusi thati thei
systemi isi systemi consistingi ofi gasi sensor,i temperaturei
nationi andi societyi concerni on.i Thei disastersi sensor,i Temperaturei leveli andi gasi leveli isi alwaysi
happeningi ini coali minei arei duei toi thei complexityi ofi monitoredi ini thei industriali environment.i Hazardousi
minei environmenti andi thei varietyi ofi worki conditioni gasesi likei carboni monoxide,i carboni dioxidei contentsi
ofi coali mine,i soi iti isi veryi necessaryi toi monitori minei arei presenti morei ini underground.i Ifi thei gasesi arei
workingi environment.i Traditionali coali minei detectedi morei thani thei thresholdi value,i Iti willi
monitoringi systemsi tendi toi bei wiredi networki systems,i monitoredi ini thei monitoringi center.i
whichi playi ani importanti rolei ini coali minei safei
production.i Withi continuousi enlargingi ofi exploitingi
areasi andi extensioni ofi depthi ini coali mine,i manyi
lanewaysi becomei blindi areas,i wherei ini therei arei lotsi
ofi hiddeni dangers.

IJISRT20APR622 www.ijisrt.com 910

Volume 5, Issue 4, April – 2020 International Journal of Innovative Science and Research Technology
ISSN No:-2456-2165
Ini bothi condition,i informationi willi sendi toi thei slidei situation,i Byi thisi wei cani ablei toi knowi thei
monitoringi centeri throughi IoT.i Alongi withi thesei criticali situationsi ofi thei coali minei workersi
temperaturei leveli alsoi monitored.i Ifi iti increasedi andi immediately.i Alsoi ini casei ofi emergencyi wei cani ablei
decreasedi fromi thei thresholdi value,i Ini casei ofi landi toi givei immediatei treatmenti fori them.

Fig 1:- Blocki Diagram

 Proposedi Systemi Advantage: vehicle.i Belowi thei chassis,i thei wheelsi arei connectedi
 Byi interfacingi Wi-Fii modulei withi ESP32,i wei cani withi DCi motorsi thati arei ofi 30i rpmi each.i Eachi
geti unlimitedi rangei ofi operation. motori requiresi 12vi supply,i suppliedi byi meansi ofi ani
 Thei communicationi withi thei roboti occursi ini morei externali batteryi source.i Thei motorsi arei interfacedi
securedi manner. withi thei Arduinoi throughi relayi driver.i Fouri relayi
 Robotsi cani bei operatedi ini bothi manuali andi driversi arei employedi fori twoi motorsi andi theyi arei
automatici modes. usedi fori amplificationi purpose.i Thei microcontrolleri isi
 Thei designi costi isi low. codedi withi IDEi softwarei ini orderi toi operatei thei
 Highi Efficiency. roboti ini appropriatei directions.i Thisi isi thei manuali
 Lowi complexityi design. modei operationi associatedi withi it.i Severali sensorsi
 Highi speedi processing. suchi asi ultrasonici sensor,i infraredi sensori arei alsoi
usedi whichi arei interfacedi withi thei microcontrolleri ini
thei respectivei I/Oi pins.
II. SYSTEMI DESIGN
iiiii
Thei systemi consistsi ofi twoi majori sectionsi -i onei III. HARDWAREI USED
isi thei useri sectioni andi otheri isi thei roboti section.i Ini
Thisi surveillancei roboti requiresi ai loti ofi essentiali
thati thei useri sectioni cani possessi laptopi ori mobilei fori
hardwarei componentsi fori properi functioning.i Duei toi
communicatingi withi thei roboti end.i Thusi byi usingi ai
laptopi ori ai mobilei thei useri sectioni cani bei ai portablei advancementi ini technology,i thesei surveillancei robotsi
onei comparedi toi thosei thati usesi ai typicali stationaryi arei usedi ini remotei asi welli asi domestici areas.i Thei
maini componentsi usedi ini ouri projecti andi theiri
computeri system.i Thei communicationi cani bei
performedi withi RFi technologyi ori byi usingi ai Zigbeei specificationsi andi functionsi arei asi follows,
devicei ori byi usingi ai Bluetoothi technology,i buti thati
A. ESPi 32:
comesi ati thei costi ofi limitedi range.i Thusi ini orderi toi
ESP32i isi ai singlei chipi 2.4i GHzi Wi-Fii andi
implementi thei ideai ofi increasingi thei rangei wei cani go
connectingi thei useri sectioni withi thei interneti whichi isi Bluetoothi comboi chipi designedi withi TSMCi ultra-lowi
thei maini concepti ofi Interneti ofi Things.i Fori poweri 40i nmi technology.i Iti isi designedi andi
optimizedi fori thei besti poweri performance,i RFi
connectingi thei useri systemi withi thei internet,i thei
performance,i robustness,i versatility,i features,i andi
blynki softwarei isi used.
reliability,i fori ai widei varietyi ofi applications,i andi
Ati thei roboti end,i wei arei usingi ani Arduino differenti poweri profiles.
microcontrolleri placedi oni thei bodyi ori thei chassisi ofi iiiiii
thei robot,i whichi isi thei integrali parti ofi thei robotici

IJISRT20APR622 www.ijisrt.com 911

Volume 5, Issue 4, April – 2020 International Journal of Innovative Science and Research Technology
ISSN No:-2456-2165
Thei ESP32i isi thei mosti integratedi solutioni fori specifiedi devicei throughi isi GPIOsi withi minimali
Wi-Fii +i Bluetoothi applicationsi ini thei industryi withi developmenti upi fronti andi minimali loadingi duringi
lessi thani 10i externali components.i ESP32i integratesi runtime.i Thisi isi highi degreei ofi oni chipi integrationi
thei antennai switch,i RFi balun,i poweri amplifier,i lowi allowsi fori minimali externali circuitry.i Includingi thei
noisei receivei amplifier,i filters,i andi poweri managementi front-end-modulei isi designedi toi occupyi minimali PCBi
modules.i Asi such,i thei entirei solutioni occupiesi area.i Thei ESP32i SPPORTi APSDi fori IPi applicationi
minimali Printedi Circuiti Boardi (PCB)i area. andi Bluetoothi co-existencei interface.i Iti containsi ai self-
calibratedi RIi allowingi iti toi worki underi ai operatingi
B. WIFIi MODULE: conditions,i andi requiresi ai externali RFi parts.
Thei ESP32i Wi-Fii Modulei isi ai self-containedi soci
withi integratedi TCP/IPi protocoli stacki thati cani givei C. POWERi SUPPLY
anyi microcontrolleri accessi toi youri Wi-Fii network.i Ini mosti ofi ouri electronici productsi ori projectsi
Thei ESP32i isi capablei ofi eitheri hostingi ani applicationi wei needi ai poweri supplyi fori convertingi mainsi ACi
ori offloadingi alli Wi-Fii networkingi functionsi fromi voltagei toi ai regulatedi DCi voltage.i Fori makingi ai
anotheri applicationi processor.i Eachi ESP32i Modulei poweri supplyi designingi ofi eachi andi everyi componenti
comesi pre-programmedi withi ani AIi commandi seti isi essential.i Herei I’mi goingi toi discussi thei designingi
firmware,i meaning,i youi cani simplyi looki thisi upi toi ofi i regulatedi 5Vi Poweri Supply.
youri Arduinoi devicei andi geti abouti asi muchi Wi-Fii
abilityi asi ai Wi-Fii shieldi offers.i Thei ESP32i modulei  Componenti Listi :
isi ani extremelyi cost-effectivei boardi withi hugei andi  Stepi downi transformer
everi growing,i community.  Voltagei regulator
iiiiiiiiiiii  Capacitors
Thisi modulei hasi powerfuli enoughi on-boardi  Diodes
processingi andi storagei capabilityi thati allowsi iti toi bei
integratedi withi thei sensorsi andi otheri applicationi

Fig 2:- Poweri Supplyi Circuit

D. RELAY: lesseri cost.i Youi cani findi thei necessaryi pini diagram,i
L293Di isi ai typicali Motori driveri ori Motori working,i ai circuiti diagram,i Logici descriptioni andi
Driveri ICi whichi allowsi DCi motori toi drivei oni eitheri Projecti asi youi readi through.i Iti worksi oni thei concepti
direction.i L293Di isi ai 16-pini ICi whichi cani controli ai ofi H-bridge.i H-bridgei isi ai circuiti whichi allowsi thei
seti ofi twoi DCi motorsi simultaneouslyi ini anyi voltagei toi bei flowni ini eitheri direction.i Asi youi knowi
direction.i Iti meansi thati youi cani controli twoi DCi voltagei needi toi changei itsi directioni fori beingi ablei toi
motori withi ai singlei L293Di IC.i Duali H-bridgei Motori rotatei thei motori ini clockwisei ori anticlockwisei
Driveri integratedi circuiti (IC).i Thei l293di cani drivei direction,i Hencei H-bridgei ICi arei ideali fori drivingi ai
smalli andi quieti bigi motorsi asi well,i checki thei DCi motor.
Voltagei Specificationi ati thei endi ofi thisi pagei fori
morei info.i Youi cani Buyi L293Di ICi ini anyi electronici
shopi veryi easilyi andi iti costsi aroundi 70i Rupeesi
(INR)i ori aroundi 1i $i Dollari (approxi Cost)i ori eveni

IJISRT20APR622 www.ijisrt.com 912

Volume 5, Issue 4, April – 2020 International Journal of Innovative Science and Research Technology
ISSN No:-2456-2165
E. DHT11: F. Gasi Sensor:
Gasi sensorsi arei availablei ini widei specificationsi
dependingi oni thei sensitivityi levels,i typei ofi gasi toi bei
sensed,i physicali dimensionsi andi numerousi otheri
factors.i Thisi Insighti coversi ai methanei gasi sensori thati
cani sensei gasesi suchi asi ammoniai whichi mighti geti
producedi fromi methane.i Wheni ai gasi interactsi withi
thisi sensor,i iti isi firsti ionizedi intoi itsi constituentsi andi
isi theni adsorbedi byi thei sensingi element.i Thisi
adsorptioni createsi ai potentiali differencei oni thei
elementi whichi isi conveyedi toi thei processori uniti
throughi outputi pinsi ini formi ofi current.i Whati isi thisi
sensingi element?i Isi iti kepti ini somei chamberi ori isi
kepti exposed?i Howi doesi iti geti currenti andi howi iti isi
Fig 3 takeni out?i Let’si findi outi ini thisi Insight!!!

Thei DHT11i sensori cani eitheri bei purchasedi asi ai Thei gasi sensori modulei consistsi ofi ai steeli
sensori ori asi ai module.i Eitheri way,i thei performancei exoskeletoni underi whichi ai sensingi elementi isi housed.i
ofi thei sensori isi same.i Thei sensori willi comei asi ai 4- Thisi sensingi elementi isi subjectedi toi currenti throughi
pini packagei outi ofi whichi onlyi threei pinsi willi bei connectingi leads. thei sensingi elementi whichi altersi thei
usedi whereasi thei modulei willi comei withi threei pinsi valuei ofi thei currenti goingi outi ofi it.i connectingi leads.
asi showni above.i Thei onlyi differencei betweeni thei
sensori andi modulei isi thati thei modulei willi havei ai
filteringi capacitori andi pull-upi resistori inbuilt,i andi fori
thei sensor,i youi havei toi usei themi externallyi ifi
required.i Thei DHT11i isi ai commonlyi usedi
Temperaturei andi humidityi sensor.i Thei sensori comesi
withi ai dedicatedi NTCi toi measurei temperaturei andi ani
8-biti microcontrolleri toi outputi thei valuesi ofi
temperaturei andi humidityi asi seriali data.i Thei sensori isi
alsoi factoryi calibratedi andi hencei easyi toi interfacei
withi otheri microcontrollers.i Thei sensori cani measurei
temperaturei fromi 0°Ci toi 50°Ci andi humidityi fromi
20%i toi 90%i withi ani accuracyi ofi ±1°Ci Fori
measuringi temperaturei thisi sensori usesi ai Negativei
Temperaturei coefficienti thermistor,i whichi causesi ai Fig 4
decreasei ini itsi resistancei valuei withi increasei ini
temperature. IV. SOFTWAREI USED
iiiiiiii
Toi geti largeri resistancei valuei eveni fori thei A. ARDUINO
smallesti changei ini temperature,i thisi sensori isi usuallyi Arduinoi isi ai cross-platformi IDEi thati worksi ini
madei upi ofi semiconductori ceramicsi ori polymers.i Thei conjunctioni withi ani Arduinoi controlleri ini orderi toi
temperaturei rangei ofi DHT11i isi fromi 0i toi 50i degreei write,i compilei andi uploadi codei toi thei board.i Thei
Celsiusi withi ai 2-degreei accuracy.i Humidityi rangei ofi softwarei providesi supporti fori ai widei arrayi ofi
thisi sensori isi fromi 20i toi 80%i withi 5%i accuracy.i Arduinoi boards,i includingi Arduinoi Uno,i Nano,i Mega,i
Thei samplingi ratei ofi thisi sensori isi 1Hzi .i.e.i iti givesi Esplora,i Ethernet,i Fio,i Proi ori Proi Mini,i asi welli asi
onei readingi fori everyi second.i i DHT11i isi smalli ini LilyPadi Arduino.i Thei universali languagesi fori Arduinoi
sizei withi operatingi voltagei fromi 3i toi 5i volts.i Thei arei Ci andi C++,i thusi thei softwarei isi fiti fori
maximumi currenti usedi whilei measuringi isi 2.5mA.i professionalsi whoi arei familiari withi thesei two.i
Thisi sensori isi usedi ini variousi applicationsi suchi asi Featuresi suchi asi syntaxi highlighting,i automatici
measuringi humidityi andi temperaturei valuesi ini heating,i indentationi andi bracei matchingi makesi iti ai moderni
ventilationi andi airi conditioningi systems.i Weatheri alternativei toi otheri IDEs.i Wrappedi insidei ai
stationsi alsoi usei thesei sensorsi toi predicti weatheri streamlinedi interface,i thei softwarei featuresi bothi thei
conditions.i i Thei humidityi sensori isi usedi asi ai looksi andi thei functionalityi thati appeali toi Arduinoi
preventivei measurei ini homesi wherei peoplei arei developers,i pavingi thei wayi toi ai successfuli outputi viai
affectedi byi humidity.i i Offices,i cars,i museums,i thei debuggingi modules.i Alli ofi itsi featuresi arei hostedi
greenhousesi andi industriesi usei thisi sensori fori insidei ai fewi buttonsi andi menusi thati arei easyi toi
measuringi humidityi valuesi andi asi ai safetyi measure. navigatei andi understand,i especiallyi fori professionali
programmers.i Also,i thei built-ini collectioni ofi examplesi
mighti bei ofi greati helpi fori Arduinoi firsti timers.i
Providedi thati you’vei connectedi thei Arduinoi boardi toi

IJISRT20APR622 www.ijisrt.com 913

Volume 5, Issue 4, April – 2020 International Journal of Innovative Science and Research Technology
ISSN No:-2456-2165
thei computeri andi installedi alli thei necessaryi drivers,i
onei ofi thei firsti stepsi wei seei fiti isi toi choosei thei
modeli you’lli bei workingi withi usingi thei Toolsi menui
ofi thei application.i Then,i youi cani starti writingi thei
programsi usingi thei comfortablei environmenti thati
Arduinoi offers.
iiiiiii
Arduinoi isi ani open-sourcei computeri hardwarei
andi softwarei company,i projecti andi useri communityi
thati designsi andi manufacturesi microcontroller-basedi
kitsi fori buildingi digitali devicesi andi interactivei objectsi
thati cani sensei andi controli objectsi ini thei physicali
world.i Thei projecti isi basedi oni microcontrolleri boardi
designs,i manufacturedi byi severali vendors,i usingi
variousi microcontrollers.i Thesei systemsi providei setsi
ofi digitali andi analogi I/Oi pinsi thati cani bei interfacedi
toi variousi expansioni boardsi ("shields")i andi otheri
Fig 5:- Blynki Serveri Architecture
circuits.i
iiiii
Nowi imagine,i everyi timei youi pressi ai Buttoni ini
Thei boardsi featurei seriali communicationsi
interfaces,i includingi USBi oni somei models,i fori thei Blynki app,i thei messagei travelsi toi thei Blynki
loadingi programsi fromi personali computers.i Fori Cloud,i wherei iti magicallyi findsi itsi wayi toi youri
hardware.i Iti worksi thei samei ini thei oppositei directioni
programmingi thei microcontrollers,i thei Arduinoi projecti
providesi ani integratedi developmenti environmenti (IDE)i andi everythingi happensi ini ai blynki ofi ani eye.
basedi oni thei Processingi project,i whichi includesi
supporti fori thei Ci andi C++i programmingi languages.i V. RESULTI ANDI DISCUSSION

Thei systemi reducedi humani efforti byi providingi

B. BLYNKi SERVER:
automationi oni transformeri monitoringi andi controllingi
Blynki isi ai Platformi withi IOSi andi Androidi appsi
ini ai simplei andi costi effectivei method.i thei systemi
toi controli Arduino,i Raspberryi Pii andi thei likesi overi
cani bei usedi fori automatici controllingi dependsi Wifi.i
thei Internet.i It'si ai digitali dashboardi wherei youi cani
ini thisi methodi ioti technologyi isi usedi fori datai
buildi ai graphici interfacei fori ouri projecti byi simplyi
transmissioni effectivelyi fori monitoringi roboti throughi
draggingi andi droppingi widgets.i It'si reallyi simplei toi
mobilei phonei withi helpi androidi application.
seti everythingi upi andi you'lli starti tinkeringi ini lessi
thani 5i mins.i Blynki isi noti tiedi toi somei specifici
boardi ori shield.i Instead,i it'si supportingi hardwarei ofi VI. CONCLUSION
youri choice.i Whetheri youri Arduinoi ori Raspberryi Pii
isi linkedi toi thei Interneti overi Wi-Fi,i Etherneti ori thisi Thei projecti isi aimedi ati providingi humani safetyi
fori thei rescuei teami ini hazardousi environmentsi suchi
newi ESP8266i chip,i Blynki willi geti youi onlinei andi
asi coali mines.i Thisi isi ai prototypei whichi cani bei
readyi fori thei Interneti ofi Youri Things.i Blynki wasi
implementedi ini reali timei byi usingi componentsi withi
designedi fori thei Interneti ofi Things.i Iti cani controli
betteri rangei andi efficiency.i Thisi roboti entersi intoi
hardwarei remotely,i iti cani displayi sensori data,i iti cani
hazardousi environmentsi andi providesi datai likei thei
storei data,i visualizei iti andi doi manyi otheri cooli things.
Therei arei threei majori componentsi ini thei platform: contenti ofi gasesi afteri thei explosivei hasi occurredi andi
 Blynki Appi -i allowsi toi youi createi amazingi alsoi thei temperaturei basedi oni whichi thei rescuei teami
willi bei senti withi necessaryi precautionaryi measuresi ini
interfacesi fori youri projectsi usingi variousi widgetsi
wei provide. orderi toi makei surei thati thei rescuei teami doesi noti
 Blynki Serveri -i responsiblei fori alli thei comei toi anyi harm.
iiiiii
communicationsi betweeni thei smarti phonei andi
hardware.i Youi cani usei ouri Blynki Cloudi ori runi Ini futurei byi thei usei ofi higheri transmissioni
rangei transceiversi soi thati iti cani traveli fori ai greateri
youri privatei Blynki serveri locally.i Itsi open-source,i
distancei andi cani bei usedi ini differenti environmentsi
couldi easilyi handlei thousandsi ofi devicesi andi cani
basedi oni thei transmissioni range.i Developmenti cani
eveni bei launchedi oni ai Raspberryi Pi.
alsoi bei madei ini thei numberi ofi sensorsi incorporatedi
 Blynki Librariesi -i fori alli thei populari hardwarei
platformsi -i enablei communicationi i i withi thei ini thei robot.i Variousi otheri sensorsi likei O2i sensor,i
humidityi sensori cani bei addedi andi thusi helpingi toi geti
serveri andi processi alli thei incomingi andi outi
comingi commands. ai muchi improvedi imagei ofi thei environmentsi inside.i
Implementationi ofi ani armi oni thei roboti cani helpi thei
roboti picki upi samplesi ori removesi smalli debrisi fromi
path.i

IJISRT20APR622 www.ijisrt.com 914

Volume 5, Issue 4, April – 2020 International Journal of Innovative Science and Research Technology
ISSN No:-2456-2165
REFERENCES

[1]. Jayanti Nivrittii Patili “Advancedi Rescuei andi

Monitoringi Roboti Fori Coali i i i i Mine”i ini
Internationali Researchi Journali ofi Engineeringi andi
Technologyi (IRJET),i vol:i 04i issuei 7i Julyi 2017.
[2]. S.i D.i Mitragotri,i Dr.A.i R.i Karwankari “Coali
Minei Roboti Fori Detectioni ofi Hazardousi Gas”i ini
Internationali Journali ofi Advancedi Researchi ini
Electrical,i Electronicsi andi Instrumentationi
Engineeringi Vol.i 5,i Issuei 4,i Aprili 2016.
[3]. Sharathi Sethui Raghavan,i Jasimi M,i Aqibi Samani
K,i Jisnui Thomas,i Faheemi Ei S,i Lillyi Raffy
Cheerothai “Hazardousi Gasi &i Minei Detectingi
Robot“i ini i Internationali Journali ofi Computeri
Trendsi andi Technologyi (IJCTT)i –i volumei 28i
Numberi 1i –i Octoberi
[4]. Ti Si Kumari Reddy,i Gi Balai Sivai Krishnai
“Hazardousi Gasi Detectingi Rescuei Roboti Ini Coali
Minesi “i ini Internationali Journali ofi Mechanicali
Andi Productioni Engineering,i Volume-i 2,i Issue-i
5,i May-2014
[5]. Niui Zhigang,i Wangi Lui “Hazardousi Gasi
Detectingi Methodi Appliedi Ini Coali Minei
Detectioni Robot”i ini 2011i Thirdi Internationali
Conferencei oni Measuringi Technologyi andi
Mechatronicsi Automation.
[6]. Zhui Jianguo,i Gaoi Junyao,i Lii Kejie,i Lini Wei,i Bii
Shengjuni “Embeddedi Controli Systemi Designi Fori
Coali Minei Detecti Andi Rescuei Robot”i ini
Internationali Journali ofi Advancedi Researchi ini
2010.

IJISRT20APR622 www.ijisrt.com 915