1. Rajeev Rai Bhatia 2K7-MRCE-ME-040

2. Team: Rajeev R Bhatia Tushar Chugh Adeel Kidwai Mentor: Prof. M.S. Giri

3. Every year thousands of Soldiers die fighting for their country. Their job is the hardest one in which they have to confront the enemies. And now the terrorist attacks have made their job deadly. The Soldiers are employed on borders where the climate and other conditions like:  High and Low Temperature  Extensive Pressure  High Humidity  Hazardous Environment

4.  There the idea of WiziTank came to our mind. We thought why always the soldiers have to be in front of the enemy if it's the machines then we can save thousands of lives.  Wizitank can be handful in suicide attacks, bomb diffusion and more situations in which now Soldiers have to risk their lives. These vehicles can be used in areas at which we can't reach.  Not only we save the shedding of blood but also we save lots of other resources with implementation a number of WiziTanks.

5. Ebox Ultrasonic Sensors Digital Magnetic Compass Global Positioning Device Actuators Wireless CCD Camera

6. Ultrasonic sensors (ULS) Ultrasonic signals are like audible sound waves, except the frequencies are much higher. Ultrasonic transducers have piezoelectric crystals which resonate to a desired frequency and convert electric energy into acoustic energy and vice versa. Variables which can affect the operation of an ultrasonic sensor include: target surface angle, reflective surface roughness, and change in temperature or humidity. The targets can have any kind of reflective form and even round objects are an acceptable target.

7.  Positioning for the Wizitank is accomplished by one GPS unit (Global Positioning System) and an electrical compass.  The GPS unit uses GLOBALSAT ET-314 as the GPS Engine Board. This is a compact, high performance, and low power consumption (voltage required is 3.3 V) GPS engine board. It uses SiRF Star III chipset which can track up to 20 satellites at a time and perform TTFF (Time to first fix) in weak signal environments. It supports NMEA 0183 and SiRF binary protocols. Here we will be using NMEA 0183 v2.2 protocol (GGA, GSA, GSV, RMC, GLL, VTG). Serial port is used for communication with a baud rate of 9600.

8.  As the GPS tell about the location (lat, long) but not the angle of the vehicle therefore we have to use some other device for this reason.  Therefore, we use an Electric compass (made by Honeywell with I2c interface) to find out the actual direction of the vehicle. This gives the output to the microcontroller which then transmits the data to E-box.

9.  Wizitank uses a single CCD Camera as the vision sensors/ video capture device. CCD Camera converts light into electric charges and process it into electrical signals. In a CCD sensor, every pixel is transferred through a very limited number of output nodes to convert into voltage, buffered, and the output’s uniformity (a key factor for image quality) is high. CCD offers excellent imaging performance benchmarks in photography related to scientific research and other important areas.

10.  Wizitank is operated using a single CCD Camera which functions collectively to detect the path by color sensing deployed on the sides of the path as well as these detect the obstacles while working in the autonomous mode and video capture device while working in the manual mode.  The positioning of the camera is the centre of the front bumper. The function of the camera (CAM1) is to give an idea of the topography as well as some details about the obstacle and to detect the colored strips (if provided) provided along the path. The output is fed directly to E-box through USB.

11.  Software Architecture is one of the main areas which are to be emphasized. So after integrating the above mechanical and electronic modules we have to treat autonomous navigation as software problem.  The hardware diagram explains how various input devices are connecting to the processing unit which processes the information and finally it gives the output to the actuators.

12. CCD CAMERA GLOBAL POSITIONING DEVICE AND COMPASS ULTRASONIC SENSORS Ebox and Microcontrollers