COLLEGE OF ENGINEERING

SALMABAD
KINGDOM OF BAHRAIN

Cover page
Design Project Report
MICROCONTROLLER BASED RECTILINEAR LOCOMOTION SNAKE
ROBOT FOR PIPELINES INSPECTION

Submitted to the Faculty of the

College of Engineering
in
Partial Fulfillment of the Requirements for the Degree of
Bachelor of Science
in
Mechatronics Engineering

By

ABDULLA NASSER SALEH BH16500249

SAAD EBRAHIM BH16500676

BUKHAMMAS
SAYED DHEYA ALAWI BH16500059

AUGUST 2021

i
 UNIVERSITY OF TECHNOLOGY BAHRAIN
COLLEGE OF ENGINEERING

Acceptance sheet

The design project concept entitled “MICROCONTROLLER BASED RECTILINEAR

LOCOMOTION SNAKE ROBOT FOR PIPELINES INSPECTION” has been completed
and submitted by the proponents.

ABDULLA NASSER SALEH BH16500249

SAAD EBRAHIM BH16500676

BUKHAMMAS
SAYED DHEYA ALAWI BH16500059

And recommended for acceptance.

ZEYAD MOHAMMED A. ISMAIL, PhD.
Project Adviser

After a thorough review and evaluation of the Engineering Project criteria, the committee for the
Engineering Design Project has accepted the title.

Accepted this 3rd Trimester, the School Year 2020-2021.

Dr Beda Aleta
Dean, College of Engineering
Date of Acceptance:
Trimester: 3rd Trimester
School Year: 2020 – 2021

ii
 UNIVERSITY OF TECHNOLOGY BAHRAIN
COLLEGE OF ENGINEERING

Approval for the oral defence

ABDULLA NASSER
F. Name G. Name Signature
SAAD BUKHAMMAS
F. Name G. Name Signature
SAYED DHEYA
F. Name G. Name Signature

Have successfully passed the Engineering Project Pre-Defense and is recommended for Oral
Presentation

Recommending Approval:

ZEYAD MOHAMMED A. ISMAIL, PhD.

Project Adviser

iii
 UNIVERSITY OF TECHNOLOGY BAHRAIN
COLLEGE OF ENGINEERING

Approval for oral presentation

In partial fulfilment of the requirements for the Degree of Bachelor of Science in Mechatronics
Engineering ABDULLA NASSER, SAAD BUKHAMMAS & SAYED DHEYA ALAWI who are hereby
recommended for oral presentation have submitted this Engineering Design Project entitled
“MICROCONTROLLER BASED RECTILINEAR LOCOMOTION SNAKE ROBOT FOR PIPELINES
INSPECTION”.

ZEYAD MOHAMMED A. ISMAIL, PhD.

Project Adviser

PANEL OF EXAMINATION
Approved in partial fulfilment of the requirements for the degree of Bachelor of Science in
Mechatronics Engineering by the Oral Examinations Committee for the Engineering Design
Project with the grade of on .
ZEYAD MOHAMMED A. ISMAIL, PhD.
Project Adviser

NOAMAN M. NOAMAN, PhD.

Chairman

DR. RAJKUMAR PALANIAPPAN

Panel Member
ENGR. AHMED EBRAHIM
External Examiner

Accepted as partial fulfilment of the requirement for the Degree of Bachelor of Science in
Mechatronics Engineering (BSME).

Dr Beda Aleta
Dean, College of Engineering

iv
 Acknowledgement

Firstly, thanks to the glorious Allah Almighty and blessing upon his Prophet MUHAMMAD
(PBUH). Allah Almighty blessed us to work on this project with the noble cause of serving
humanity in these high critical times where the world is facing one of the deadliest pandemics.

We would also like to thank Mechatronics’ factuality especially Dr Zeyad & Dr Nouman to support
and guide us through this research.

In last but not least we would like to thanks our family and friends for keeping us motivated during
the low times we faced during this research.

v
 Dedication

We would also like to dedicate this project to our institute UTB, whose efforts helped us to gain
knowledge to build this research design project.

vi
 Abstract

In underground pipelines, several problems could affect the pipelines of cables gas or any other
underground tunnels few conditions can destroy those tunnels: collapse and erosion have the
highest tunnels, which implies that if the assets are restricted, this risk ought to be dealt with first.
It might take note that there is a cover of certainty stretches. Our designed prototype can help to
perform inspections in underground pipelines and narrow spaces. Microcontroller based rectilinear
locomotion snake robot for inspection which is designed in such a way that it will not just look
like a snake but also it will move in gliding motion just like a snake will move as it stretches out
the front body and pulls the rear part of the body in a zigzag motion. The robot will just move like
a snake we will design it in such a way that it will move like a snake after that we will implant a 2
AXIS camera on the head of the snake. This snake robot is a totally Arduino based controlling
device that is controlled by an android application via any device like smartphones, tablets, or
other devices. In that android application, we have control of the snake as well as cameras which
is 2 AXIS which can be moveable on the x-axis as well as on the y-axis.

Keywords: Microcontroller, servo motor, Axis, camera,

vii
 Table of Contents
Cover page ....................................................................................................................................... i
Acceptance sheet ............................................................................................................................. ii
Approval for the oral defence ........................................................................................................ iii
Approval for oral presentation ....................................................................................................... iv
Acknowledgement .......................................................................................................................... v
Dedication ...................................................................................................................................... vi
Abstract ......................................................................................................................................... vii
List of figures .................................................................................................................................. x
List of tables.................................................................................................................................. xii
List of graphs ............................................................................................................................... xiii
List of equations ........................................................................................................................... xiv
Chapter 1 ......................................................................................................................................... 1
Introduction ..................................................................................................................................... 1
Chapter 2 ......................................................................................................................................... 3
Background of study ....................................................................................................................... 3
2.1 Area of investigation ........................................................................................................ 3
2.2 Problem statement ............................................................................................................ 5
2.3 Objectives of research design project............................................................................... 6
2.4 Significance of the design ................................................................................................ 6
2.5 Scope and Delimitations................................................................................................... 8
2.6 Definition of terms ........................................................................................................... 9
Chapter 3 ....................................................................................................................................... 10
Review of related literature and studies ........................................................................................ 10
3.1 Local studies................................................................................................................... 12
3.2 Foreign studies ............................................................................................................... 16
3.3 Synthesis......................................................................................................................... 20
Chapter 4 ....................................................................................................................................... 21
Design specifications .................................................................................................................... 21
4.1 Research paradigm ......................................................................................................... 21
4.2 Functions ........................................................................................................................ 22
4.3 Means ............................................................................................................................. 22

viii
 4.4 Project development ....................................................................................................... 23
4.5 Design standards ............................................................................................................ 25
4.6 Project issues .................................................................................................................. 27
4.7 Multiple design constraints ............................................................................................ 27
4.7.1 Weight decision matrix ............................................................................................... 28
4.8 Bill of materials .............................................................................................................. 33
4.9 Project flow chart ........................................................................................................... 34
4.10 Project block diagram ................................................................................................. 36
4.11 Project circuit diagram................................................................................................ 37
4.12 Project Gantt chart ...................................................................................................... 38
Chapter 5 ....................................................................................................................................... 39
Design procedure, functional analysis & implementation. ........................................................... 39
5.1 Project description .......................................................................................................... 39
5.2 Project function analysis ................................................................................................ 39
5.3 Project Implementation .................................................................................................. 40
5.4 Component specifications .............................................................................................. 43
5.5 Project evaluation ........................................................................................................... 47
5.5.1 Failure modes and effects analysis (FMEA) .............................................................. 47
5.5.2 Benefit cost ratio (BCR) ............................................................................................. 48
5.5.3 Amortization chart ...................................................................................................... 49
Chapter 6 ....................................................................................................................................... 54
Summary ....................................................................................................................................... 54
6.1 Project summary ............................................................................................................. 54
6.2 Conclusion...................................................................................................................... 54
Chapter 7 ....................................................................................................................................... 56
Recommendations ......................................................................................................................... 56
References ..................................................................................................................................... 57
Appendix A ................................................................................................................................... 60
Appendix B ................................................................................................................................... 78
Design standards ....................................................................................................................... 78

ix
 List of figures

Figure 1.1 UNIMATION robot ...................................................................................................... 1

Figure 2.1 Construction site ........................................................................................................... 4

Figure 2.2 Haiti 2010 earthquake ................................................................................................... 4

Figure 2.3 RPN examinations ....................................................................................................... 5

Figure 3.1 Arduino Mega block diagram ..................................................................................... 10

Figure 3.2 In-pipe leak detection robot ....................................................................................... 12

Figure 3.3 Impact of spillages of pipelines .................................................................................. 13

Figure 3.4 Flow Meter Maintenance Robot ................................................................................ 14

Figure 3.5 Amphibious robot ...................................................................................................... 15

Figure 3.6 Super servo design ...................................................................................................... 16

Figure 3.7 Snake robot ................................................................................................................. 17

Figure 3.8 wheel-less snake robot model .................................................................................... 18

Figure 3.9 Amphibious Snake Robot ........................................................................................... 19

Figure 4.1 Project IPO model ...................................................................................................... 21

Figure 4.2 flowchart 1 ................................................................................................................... 35

Figure 4.3 Project circuit diagram ............................................................................................... 37

x
Figure 4.4 Project block diagram ................................................................................................. 36

figure 5.1 Snake robot control GUI 1 ........................................................................................... 41

figure 5.2 Project implementation 1.............................................................................................. 42

figure 5.3 Final project 1 ............................................................................................................... 42

figure 5.4 Microcontroller Arduino mega 1 ................................................................................. 43

Figure 5.5 IR sensor 1 .................................................................................................................. 44

figure 5.6 Servomotor-MG995 1 .................................................................................................. 45

figure 5.7 Servo shield 1 ............................................................................................................... 46

xi
 List of tables
Table 4.1 Multiple design plans ................................................................................................... 28

Table 4.2 Weight decision matrix ................................................................................................ 29

Table 4.3 Bill of materials ........................................................................................................... 33

Table 4.4 Project GANTT chart ................................................................................................... 38

Table 5.1 Arduino mega specs 1 ................................................................................................... 43

Table 5.2 IR sensor specs 1........................................................................................................... 44

Table 5.3 Servomotor-MG995 specs 1 ......................................................................................... 45

Table 5.4 Servo shield specs 1 ...................................................................................................... 46

Table 5.5 FEMA analysis 1 .......................................................................................................... 47

Table 5.6 Benefit cost ratio analysis 1 .......................................................................................... 48

Table 5.7 Amortization chart 1 ..................................................................................................... 49

xii
 List of graphs

Graph 4.1 cost vs weighted score ................................................................................................ 30

Graph 4.2 time vs weighted score ............................................................................................... 30

Graph 4.3 reliability vs weighted score ...................................................................................... 31

Graph 4.4 availability vs weighted score ..................................................................................... 32

Graph 4.5 safety vs weighted score ............................................................................................ 32

Graph 5.1 Amortization chart 1 .................................................................................................... 53

xiii
 List of equations

Equation 4.1 Weighted score formula ......................................................................................... 29

Equation 4.2 Score determination formula .................................................................................. 29

xiv
 Chapter 1
Introduction

The Robotics world is evolving and making things easier for humans. Let us know a little history
of ROBOTS, the earliest robot was built in the 1950s and it was first created by George C. Devol.
He made and took the robot to sell in the market but couldn’t succeed in the mission. Later then,
in the 1960s an Engineer and businessman named Joseph Eagleburger got Devol’s Robot and
modify it to use in industrial efforts. Finally, it was a success, and he launched the company named
UNIMATION (figure 1.1) for the production of market ROBOTs. Joseph Eagleburger is also
known as the father of ROBOTICS. Big companies like GM and Ford used their robotic machines
to work in the production industries of cars. [1]

figure 1.1 UNIMATION robot

In the early days of the evolution of ROBOTS, people think that they will be replaced by ROBOT
and they will lose their jobs and ROBOTS will work because there won’t be any kind of salary
that they have to pay to ROBOTS. But the reality is quite opposite ROBOTS are there to perform
tasks that can be harmful or impossible for humans to work on. Robots are very helpful in many
daily routine tasks as well. Such as a coffee maker, automated car washing systems, automated
home appliances and much more. Like working in a Car production industry there are many tasks
in which is heavy weight material deployment methods are in common working in that case only

1
a ROBOT will come in time to rescue. The most benefit we get from ROBOT TIME the basic
benefit of using a ROBOT instead of a human is that you will save a lot of time because a ROBOT
cannot be tired as humans do, they need break and energies to work constantly. CONSISTENCY
we also get consistent working with the help of ROBOTS. As they will not get tired after working
like humans. SPEED ROBOTS can have more speedy working than a human because they are set
to work on a specific speed which is controlled by humans so there is no restriction of speed. We
just need to do the perfect automation and robots engineering on the machine to give perfect
working in the meantime. ACCURACY ROBOTS are more accurate than humans due to the
reason that humans can make mistakes which are known as human errors, but ROBOTS cannot
make mistakes, they will perform only what we will feed in the system on ROBOTS, but they will
not work as per their willing.

2
 Chapter 2
Background of study

This snake robot is based on Arduino controllers with the help of these controllers it is easy to
access any device which is then controlled by Bluetooth. Arduino is an open-source electronic
platform easy to use on hardware and software. It was born in Ivrea Interaction Design institute
where students with zero background in electronics used to do experiments and make things out
of it. Later, Arduino begins to use differently with many other transformations. It is now used to
connect IoT devices, 3D printers, home appliances and embedded products related to electronic
items. Whenever you want to open a bulb, run a motor-based device or any other electronic item
you just have to give the signal to the Arduino microcontroller from which the signal came and do
the specific task you want to perform and with the help of wiring your switch will turn on or any
of your motors will start running. To do such a task you need Arduino based programming
language (based on wires) and Arduino software (IDE) which is entirely based on processing. [2]

2.1 Area of investigation

MICROCONTROLLER BASED RECTILINEAR LOCOMOTION SNAKE ROBOT FOR

INSPECTION is very useful for many conditions where the path is narrow and there is no way of
getting inside then this ROBOT come to rescue the situation and help in many ways to rescue. Let
us assume few conditions on to which the ROBOT can play an important role in helping the
situation:

❖ Construction conditions: - in some conditions, while doing the construction or dealing with
pipelines underground or inspecting of grinders (figure 2.1) which is deep down the earth
sometimes and it is very hard to get into the area of investigation. Even though some
cameras or rods are there but they are not flexible enough like a snake to get into the
position. There this SNAKE ROBOT will come to rescue the solution because for snakes
there is no hard situation to get into any area, we can observe that they can be reached
anywhere deep down the difficult places.

3
 figure 2.1 Construction site

❖ Earthquake situation: - sometimes, when an earthquake hit badly with the magnitude above
7 to few cities as we knew like Haiti in 2010 (figure 2.2), Indonesia 2004, China 2008 and
many other countries or cities have been affected so far. When these disasters came, we
can observe a lot of destruction and collapse of buildings occur and, in few areas, we can’t
reach. But we must know first whether any human is alive or not, for that our SNAKE
ROBOT can also monitor the situation in case of any disaster situations we can send the
ROBOT and it will monitor the situation. SNAKE ROBOT can also be useful for spying
purposes and it is very much obedient that we could control the motion from our androids
and any other smart device which can handle the software.

figure 2.2 Haiti 2010 earthquake

4
2.2 Problem statement

It is quite a problem for making a success in such areas as discussed above around investigation.
That, this problem is not just for Bahrain but internationally, there will be a great use of this robot
in the world and this will help in many situations.

In underground pipelines, several problems could affect the pipelines of cables gas or any other
underground tunnels few conditions can destroy those tunnels: collapse and erosion have the
highest tunnels, which implies that if the assets are restricted, this risk ought to be dealt with
first. It might take note that there is the cover of certainty stretches. for example, the fifth 95th %
of disappointed instruments may be because of managing a restricted measure of information for
RPN examinations (figure 2.3). [3]

figure 2.3 RPN examinations

5
2.3 Objectives of research design project

➢ One of the main objective of this design project, easy to use the ROBOT less practice is
required and very easy to handle the software to control the ROBOT. Other than that, the
camera is also easy to use and we can rotate and move the camera effortlessly.
➢ Objective for developing microcontroller based rectilinear locomotion snake robot for
inspection is to performe inspection in pipelines.
➢ Considering the environmental factor, while working it does not leave any kind of residual or
by-products because it is totally on battery and very eco-friendly which means it does not harm
the environment.
➢ This robot is developed to avoid human errors and it will help to do many tasks which can’t be
performed by a human during inspection in confined spaces.
➢ Objective of this research is to develop simple to use and it does not make any difficulties and
very minimal training is required to control the robot.

2.4 Significance of the design

The design is made as per the latest technology. we get to know many new things in the design of
the SNAKE ROBOT this technology will improve many methods and procedures in the market
and will replace many old traditional methods which are not only difficult but also, are not as
effective or efficient as this ROBOT is. This robot will not just gove benefit new technology but
in terms of business, this will cover a large market in the world. The company can make a proper
designed ROBOT with company name and design and promote worldwide which will enhance the
business and give good cash back to us from which we can innovate more new technology and
make our nation proud of our technology.

1. The KINGDOM OF BAHRAIN is already looking forward to enhancing the technology in

the country people are very much talented to show and contribute their parts in investing and
creating innovations in the country. The topographically minimized Kingdom of Bahrain took
an early preferring to everything mechanical, turning into the primary country in the MENA

6
 locale to receive the utilization of centralized server PCs and satellites during the 1960s. Very
nearly 50 years on, the nation is as yet a local herald in the reception of new advancements in
terms of technology. Bahrain's ICT area is quite possibly the most changed and advanced
country among the GCC (Gulf Cooperation Council), and this has organizations, for example,
Botelho only is enough to rank among the first on the planet to carry out innovations like 3G,
3.5G, fast 4G LTE, and, most as of late, 5G networks these technologies are growing like a
fire in the jungle.

2. In any case, as a country with a talent for business, Bahrainis are particularly excited about the
utilization of innovation for the performance of an advanced economy due to the reason which
is additionally supported by the Kingdom's financial improvement board. advancement of a
cross country computerized economy has demonstrated productivity up until this point,
drawing in outstanding ventures from global tech giants. In 2017, alone, Bahrain's EDB
assumed an immediate part in drawing in over USD733 million worth of unfamiliar venture
which is quite impressive among all the Arab countries they came in first to serve the
technology. This is why this innovation gives us another boost to prove ourselves something
productive in the market so that the international market will always consider BAHRAIN for
more investments in technology and science.

3. UTB will represent this project for which will get international recognition. The Science
industry will get to know that our university is working hard for innovations and technology
for which the firms like IEEE and other technology firms will come and invest in our students
to appreciate them. New students will learn a lot more from our project and they can also
innovate more things in the future to make useful innovations. This project will surely make
the university a proud institute not only in BAHRAIN but in GCC and the world as well.

4. Students will get a lot of benefit in terms of learning this is very much productive for new
students as well as they will get to learn a lot newer things towards science and technology.
Our students will go to many places in future and make us proud of their upcoming innovations.

7
2.5 Scope and Delimitations

Scope

➢ The Microcontroller based rectilinear locomotion snake robot for inspection will do many tasks
as discussed earlier that it will perform inspections of many places during construction or any
other maintenance work. The SNAKE ROBOT is designed to move like snakes and as we
know snakes have fully flexible bodies with their zigzag motions and it is very easy for them
to go places that are most difficult to get through.

➢ In some of the maintenance sectors, we have few scenarios like going into the narrow tunnel
which has many other directions and then we need to get footage or live coverage of the area
of inspection to know the problem. In that scenario, only this robot will come and rescue the
situation because it is flexible and secondly it has 2 AXIS Cameras from which we can have a
full view of the problem and we can see the inside view very easily then think for the further
solution.

Delimitations

➢ Battery: we need to charge the batteries and then send the robot to the mission because if
any time the battery will finish it will eventually turn off and we have no option left if the
snake robot is under a very deep point. So, better we need to check the batteries it is up to
us that how will we keep the batteries alive.

➢ Wi-Fi: as we know that this ROBOT is fully Arduino based and this system is running on
IoT so we need to connect the ROBOT with an internet connection so that it will easily be
controlled on the android of the system. As soon as the internet connection is gone it won’t
be able to work as required.

8
2.6 Definition of terms

➢ Rectilinear locomotion: Rectilinear headway or rectilinear movement is a method of velocity

frequently connected with snakes. Specifically, it is related to substantial bodied species like
earthly pythons and boas; in any case, most snakes are equipped for it. It is one of in any event
five types of headway utilized by snakes, the others being sidelong undulation, sidewinding,
concertina development, and slide-pushing. In contrast to any remaining methods of snake
velocity, which incorporate the snake twisting its body, the snake flexes its body just when
turning in rectilinear headway. [4]

➢ Arduino Mega: The Arduino Mega 2560 is a microcontroller board dependent on the
ATmega2560 (datasheet). It has 54 advanced info/yield pins (of which 14 can be utilized as
PWM yields), 16 simple data sources, 4 UARTs (equipment sequential ports), a 16 MHz gem
oscillator, a USB association, a force jack, an ICSP header, and a reset button. [5]

➢ Servo motor: A servomotor is a revolving actuator or direct actuator that takes into
consideration exact control of rakish or straight position, speed and acceleration.[1] It
comprises an appropriate engine coupled to a sensor for position criticism. It additionally
requires a generally complex regulator, regularly a committed module planned explicitly for
use with servomotors. Servomotors are not a particular class of engine, albeit the term
servomotor is frequently used to allude to an engine appropriate for use in a shut circle control
framework. [6]

➢ Servo shield: This is an expansion safeguard that can drive 4 and more servos, 2 DC engines
and one stepper engine. You should simply plug the safeguard into the Uno or Mega2560
board. It is controlled by two sources – when associated with a control board, it's fueled by the
yield of the board; to drive an enormous ebb and flow engine, you can interface an outside
supply for the Motor Driver Shield and the control board. There's a marker LED on the
safeguard. At the point when it's not being used, you can control the safeguard off by the switch
and it will not impact the utilization of the control board. The working voltage is 6.5V-12V.
[7]

9
 Chapter 3
Review of related literature and studies

This project is designed to make solutions easy to improve the quality of inspections and make
things more effective and efficient. The purpose of making this ROBOT is to get things done in
harsh conditions. This snake will work in many more things it depends on the user’s need to get
things done under certain conditions. When we observe the need in basic construction times or
inspecting of pipelines in narrow tunnels, the idea came into our mind to make a machine which
will easily go to the points like these and will solve our problem the SNAKE came to our mind
that it could help in those situations, and we started working on it. After hard work and studies, we
got to know few aspects of Arduino (figure 3.1) which will further be described in the project.
With the help of this micro controller, our project became more meaningful, and a light of hope
came in this project.

figure 3.1 Arduino Mega block diagram

10
Our team worked hard day and night to make it successful with the help of our faculty and I can
proudly say that they helped us to give this successful prototype that we are presenting. ARDUINO
mega 2560 is the updated version of ‘Arduino mega’ has 54 digital pins which are used to give
input and outputs. Out of which 15 are used as PWM while the 16 are as inputs analogue, 4 for
hardware serial ports (UARTs), 16 MHz crystal oscillator, a USB connection, a power circuit,
ICSP header and the last is the for the reset button. It contains almost everything you need to get
started just connecting to the USB with your computer and the board is designed which is
compatible with most shields for Uno and former boards. It is a computer on wheels. The Arduino
is a micro controlling board on which many devices can run, and it is connected with the IoT.
Because of its basic and open user experience, Arduino has been utilized in a great many various
tasks and applications in the world of technology. [8]

The Arduino programming is not difficult to use for new users who are not aware of using these
robots, yet adaptable enough for cutting new users. It runs on Mac, Windows, and Linux.
programmers use it to construct minimal effort logical instruments, to demonstrate science and
physical science standards, or to begin with programming and advanced mechanics. Creators and
engineers construct intuitive models, artists and craftsmen use them for establishments and to
explore different avenues regarding new instruments. Producers use it to fabricate large numbers
of the ventures displayed at the technological platforms for instance. Arduino is a vital device to
learn new things. Anybody youngsters, students, engineer, developers can use this technology
experimenting simply adhering to the bit-by-bit guidelines of a unit or sharing thoughts online
with different individuals from the Arduino people group very less effort is required to learn it
mechanism and working. Let us know a few more specifications of this Arduino micro controlling
board. [9]

11
3.1 Local studies

1. An In-Pipe Leak Detection Robot with a Neural-Network-Based Leak Verification System:

This paper presents a hand crafted in-pipe leak detection robot (figure 3.2) that is produced for
a line of measurement 0.203 m, ordinarily found in the oil and gas industry. A few pressing
factor sensors are joined on board the robot that is utilized for distinguishing spills. The robot
has a propeller course of action that drives the robot forward as well as recreates a stream in a
vacant line, and in this manner helps the location of breaks. Besides, the hole discovery
framework is increased by a neural organization-based confirmation structure that improves
the vigour of break location by permitting the administrator to check their recognizable proof
of a hole by going it through a neural organization-based framework. This paper presents the
subtleties of the development of the real robot and presents trial information, which shows the
fruitful neural-networks-based location of breaks in different situations. [10]

figure 3.2 In-pipe leak detection robot

12
2. Wireless sensor networks for leak detection in pipelines:

The checking of breaks in pipelines is a significant issue to be tended to by analysts and people
in general. This is expected the way that they can have an incredible effect both financially and
on earth. As of late, the impact of spillages of pipelines (figure 3.3) conveying oil, gas and
atomic liquids have represented a danger on people just as marine life. This paper gives an
overview of ongoing techniques for recognizing pipeline spills with an exceptional spotlight
on programming-based strategies. These strategies incorporate negative pressing factor wave,
mass/volume balance, pressure point investigation, constant transient displaying, measurable
techniques just as techniques that utilizing advanced sign preparing. This paper likewise
reviews a portion of the new examination endeavours that emphasise the work of remote sensor
networks for spill identification and present exploration challenges that can be experienced in
such conditions. [11]

figure 3.3 Impact of spillages of pipelines

3. Design and Implementation of Flow Meter Maintenance Robot for Oil & Gas Industries:
In this paper, a robot is intended to clean kept places, for example, pipelines. The utilization of
robots (figure 3.4) is more normal today than at any time in recent memory. Mechanical
technology utilized in accuracy cutting, electrical, peril places, welding, clinical fizzled and
different employments. A few plans of In-pipe examination robots have been proposed in the
writing to tackle the issues related to the assessment of these confounded inner calculations.
Planning of an in-pipe investigation robot is a troublesome assignment, particularly when it
travels through basic gadgets inside the line, for example, an attractive stream meter. In this
paper, planned a robot that can enter a line that furnished with an attractive stream meter. This

13
 thought is showed up while working in an oil field organization that has a few units furnished
with a 12" attractive stream meter introduced in a line. The stream meter is used to gauge the
progression of conductive liquid like water, gel or other water-based substance. It got sullied
after specific long stretches of utilized and begin to show vacillation in perusing. This robot is
furnished with a camera and I carried out utilizing android programming APK to control the
robot utilizing the Bluetooth module. [12]

figure 3.4 Flow Meter Maintenance Robot

4. Design and Implementation of Hybrid-Climbing Legged Robot:

In this paper, the cross breed climbing legged robot is planned, carried out, and tried. The robot
has four legs masterminded evenly around the body that was intended for climbing wire
network fence. Every leg in the robot has 3DOF which moves the robot is adaptable. The robot
can climb the dividers vertically by utilizing a remarkable plan of gripper gadget included
metal snares. The system of the development is a mix of two procedures, the first is the regular
route for the progressive development like gecko by utilizing four appendages, and the second
is contingent upon the strategy that utilized by felines for jumping on the trees utilizing paws,
hence, the robot is named mixture climbing legged robot. The development component of the
climbing robot is accomplished by copying the movement conduct of the gecko, which assisted
with inferring the kinematic conditions of the robot. The robot was carried out by utilizing a
microcontroller for the mainboard regulator while the construction of the robot body is planned

14
 via AutoCAD programming. A few analyses acted to test the accomplishment of jumping on
the vertical wire network fence. [13]

5. An experimental study of the amphibious robot inspired by biological duck foot:

A ton of issues are looked at in the investigation because of the intricacy of landscape as well
as startling climate, because of which numerous spots are left unmapped. The point of this task
is to plan and build up a land and/or water capable robot (figure 3.5) which uses webbed duck
feet configuration to stroll on various territories, swim in the water, and tackle obstacles in its
way. A few robots are introduced which can do the comparative assignment, with various
strolling and swimming methods. These plans are not ideal because of their restricted
versatility in various territories and should be handled utilizing a solitary framework for water
and earthly investigation. The planned robot was smaller and had capacities to walk, swim,
and recognize deterrents as tried by the assembled model. This was finished by planning a
pivoted webbed foot, which shadowed the natural plan of a duck. The strolling and swimming
movement was imagined utilizing the Klann linkage, which changes rotational movement over
to a creature's walk. The plan was adequate to support the heap of the robot and had a folded
opening and shutting system to swim in the water. This plan could be utilized in a limited scope
investigation of caverns, to get to zones through lopsided territories, and to handle the presence
of water during the investigation. [14]

figure 3.5 Amphibious robot

15
3.2 Foreign studies

1. Design of a modular snake robot:

Numerous variables like size, force, and weight compel the plan of measured snake robots.
Meeting these imperatives requires carrying out complex mechanical and electrical
engineering. Here we present our answer, which includes the development of sixteen
aluminium modules and the formation of the Super Servo, a changed diversion servo. To make
the Super Servo (figure 3.6), we have supplanted the hardware in a pastime servo, adding such
parts as sensors to screen current and temperature, a correspondences transport, and a
programmable microcontroller. Any vigorous arrangement should likewise shield parts from
perilous conditions like sand and brush. To determine this difficulty we embed the robots into
skins that cover their surface. Capacities, for example, climbing within and outside of a line
add another element of collaboration. Consequently, we connect an agreeable, high-contact
material to each module, which aids undertakings that require holding. This blend of
mechanical and electrical models brings about a hearty and flexible robot. [15]

figure 3.6 Super servo design

2. A survey on snake robot modelling and locomotion:

Snake robots (figure 3.7) have the potential to make substantial contributions in areas such as
rescue missions, firefighting, and maintenance where they may either be too narrow or too
dangerous for personnel to operate. During the last 10–15 years, the published literature on
snake robots has increased significantly. The purpose of this paper is to give a survey of the

16
 various mathematical models and motion patterns presented for snake robots. Both purely
kinematic models and models including dynamics are investigated. Moreover, the different
approaches to biologically inspired locomotion and artificially generated motion patterns for
snake robots are discussed. [16]

figure 3.7 Snake robot

3. Snake Robot Obstacle-Aided Locomotion: Modeling, Simulations, and Experiments:

Snakes use inconsistencies in the landscape, like rocks and vegetation, for quicker and more
effective velocity. This propels the advancement of snake robots that effectively utilize the
territory for movement, i.e., obstruction helped headway. To precisely demonstrate and
comprehend this marvel, this paper presents a novel non-smooth (half breed) numerical model
for wheel-less snake robots (figure 3.8), which permits the snake robot to push against outer
impediments separated from level ground. The structure of non-smooth elements and curved
investigation permits us to deliberately and precisely consolidate both one-sided contact
powers (from the hindrances) and isotropic rubbing powers dependent on Coulomb's law
utilizing set-esteemed power laws. The numerical model is checked through tests. Specifically,
a consecutive examination between mathematical reproductions and exploratory outcomes is
introduced. It is, moreover, shown that the snake robot can push ahead quicker and all the more
vigorously by abusing hindrances. [17]

17
 figure 3.8 wheel-less snake robot model

4. Online Optimization of Swimming and Crawling in an Amphibious Snake Robot:

The significant issue in the control of the movement of robots with numerous levels of
opportunity (e.g., biomimetic robots) is to adjust the locomotor examples to the properties of
the climate. This article tends to this issue for the velocity of a land and/or water capable snake
robot (figure 3.9), and targets recognizing quick swimming and creeping steps for an
assortment of conditions. Our methodology utilizes a headway regulator dependent on the
natural idea of focal example generators (CPGs) along with an inclination free enhancement
strategy, Powell's technique. A critical part of our methodology is that the strides are upgraded
on the web, i.e., while moving, instead of as a disconnected improvement measure. We present
different trials with the genuine robot and in reproduction: swimming, slithering on level
ground, and creeping on slants. For every one of these various circumstances, the streamlined
walks are contrasted and the consequences of methodical investigations of the boundary space.
The primary results of the examinations are: 1) ideal strides are fundamentally not quite the

18
 same as one medium to the next; 2) the ideal states are typically crested, i.e., speed quickly
becomes problematic when the boundaries are moved away from the ideal qualities; 3) our
methodology finds ideal steps in many fewer emphases than the deliberate inquiry, and 4) the
CPG has no issue managing the sudden boundary changes during the advancement interaction.
The importance of mechanical motion control is examined. [18]

figure 3.9 Amphibious Snake Robot

5. Snake-like locomotion: Experimentations with a biologically inspired wheel-less snake robot

This paper presents the consequences of a test concentrate on limbless snake-like movement.
The trial plate structure comprises a 9-DOF wheel-less snake-like robot and a fitting fake
climate. The wheel-less snake-like system has a planar design and is predominantly devoted
to travel through parallel undulation, the most well-known limbless motion type saw in
common snakes. The mechanical plan, direction age and control strategy have been naturally
enlivened. With the shut circle control, the fake component has prevailed with regards to
applying the common standards of parallel undulation in a self-governing way aside from the
force supply. Another limbless motion type has likewise been explored in different avenues
regarding a similar instrument. [19]

19
3.3 Synthesis

The conceptual and research literature tell us the significance of the project as this snake is already
designed and used in the market. But the basic need to give the proposal to design the snake robot
is to get more accurate results in terms of controlling and handling the robot with a clearer view
and more inspecting behaviour. In some of the previous projects in the market has few drawbacks.
As those were not designed under Arduino based structure and it was not easy to get proper signals
from wireless remotes or controllers to handle and moving the snake.

But in our design, we have made such a Bluetooth based system to connect the user with the
machine very effectively and there is no need to get actions that cause troubles. Bluetooth i is the
only need that makes the working more accurate and technical in terms of Arduino ROBOT. We
have made things more innovative and effective than the previous projects in this design the more
you use you will get to know the working and its stability towards the field work.

The snake robot is way more technical and enhanced than the traditional robots further on the
working and designing will be explained in the next chapters to know more findings and working
of the robot.

20
 Chapter 4
Design specifications

In this portion of the research project report, we will discuss our project paradigm. It is essential
for any design of prototype with different variables and other factors like hardware, knowledge of
processes, movements, design specifications, input, and outputs etc. A research paradigm is
a model or approach to research that is considered the standard by a substantial number of
researchers in the field based on having been both verified and practised for a long period.

4.1 Research paradigm

Every engineering prototype is consisting of a different variable. Through these variables, we can
predict the functionality of the process and represent the integration by the Input-Process-Output
schematic. For our research project these variables are represented in the following schematics
(figure 4.1):

figure 4.1 Project IPO model

21
4.2 Functions

“Microcontroller based rectilinear locomotion snake robot for inspection” which is designed in
such a way that it will not just look like a snake but also it will move in gliding motion just like a
snake will move as it stretches out the front body and pulls the rear part of the body in a zigzag
motion. The robot will just move like a snake we will design it in such a way that it will move like
a snake after that we will implant a 2 AXIS camera on the head of the snake.

This snake robot is a totally Arduino based controlling device that is controlled by an android
application via any device like smartphones, tablets, or other devices. In that android application,
we have control of the snake as well as cameras which is 2 AXIS which can be moveable on the
x-axis as well as on the y-axis.

4.3 Means

The complete working of SNAKE ROBOT, the power supply is used to supply current from a 7.4
voltage of power pack cell battery. This current then went towards the rectifiers and there they will
regulate the current towards the IR sensor this sensor will sense the signals from software via
Bluetooth which is present in our device. Arduino 2560 is the board of controller we are using in
this project. This Arduino will transmit the signals through wires and connectors to the SERVO
motor the motor then run according to the signal and make the SNAKE move in the Zigzag motion.
The camera will place on the head of the snake and from cameras, we can monitor the problem
situation very easily with 2 axis motions towards X-axis and Y-axis. The snake ROBOT contains
twelve segments consist of servo motor and got together with metal sections. The servos are
constrained by an Arduino Mega and controlled by a 7.4-volt battery pack. The snake can be
constrained by an android application utilizing Bluetooth. The snake is likewise equipped for
independent development. Such a robot can be built with a wide range of sorts of servos and
sections. Every one of the 12 fragments comprises a servo engine, a C-section, a side section, a
wire cut and a bunch of Lego wheels. Two screw openings are to be bored into the Lego wheel
pivot to allow it to be associated with the C-section.

22
4.4 Project development

For knowing the project description, we will get to know the programming of the ROBOT that
how is it connected all together. This snake robot is based on Arduino controllers with the help of
these controllers it is easy to access any device which is then controlled by Bluetooth. Arduino is
an open-source electronic platform easy to use on hardware and software. It was born in Ivrea
Interaction Design institute where students with zero background in electronics used to do
experiments and make things out of it. Later, Arduino begins to use differently with many other
transformations. It is now used to connect IoT devices, 3D printers, home appliances and
embedded products related to electronic items. Whenever you want to open a bulb, run a motor-
based device or any other electronic item you just have to give the signal to the Arduino
microcontroller from which the signal came and do the specific task you want to perform and with
the help of wiring your switch will turn on or any of your motors will start running. To do such a
task you need Arduino based programming language (based on wires) and Arduino software (IDE)
which is entirely based on processing.

❖ Arduino Mega2560

Arduino 2560 is the latest micro controller in the market the functioning is discussed earlier,
and we got to know about this fast-running processor on wheels which helps to give a roper
platform for software hardware devices. It is already installed with the software you just need
to give proper signals to the Arduino then the pins will get the signal and through wires, it will
transfer those signals to the specific point to move and received.

❖ WIFI camera

In the SNAKE ROBOT, we are also deploying a 2 AXIS servo camera with the help of which
we can see and inspect the problem situation very easily. This camera has X-axis (movement
towards left and right directions) and Y-axis (movement towards up and downward directions).
It is a servo camera it controlled via Bluetooth, and it is very easy to use. You just need to slide
the buttons to change the positions axis wise.

23
❖ Arduino Mega Servo Shield

Arduino mega’ has 54 digital pins which are used to give input and outputs. Out of which 15 are
used as PWM while the 16 are as inputs analogue, 4 for hardware serial ports (UARTs), 16 MHz
crystal oscillator, a USB connection, a power circuit, ICSP header and the last is the for a reset
button.

❖ Bluetooth Module

The Bluetooth is connected with the android app from where the ROBOT can be handled and
control with perfection.

❖ Capacitors

Capacitors are used in electric circuits to store energy in the form of electrostatic fields between
the plates.

❖ Cables and Connectors

Cables and connectors are used to transfer current as well as the signals or energies in the form
of electrostatic energies to run the machine as per the working.

❖ Battery

The 7.4-volt battery pack is to provide the current to the SNAKE ROBOT so that I can run
smoothly with 6 hours of continuous working.

24
4.5 Design standards

It is necessary to follow the standards and design standards in the building of any engineering
prototype. The IEEE is an expert affiliation that creates, characterizes, and surveys hardware and
software engineering norms. The historical backdrop of the IEEE traces back to the 1800s when
power began to impact society.

1. IEEE 1872-2015 - IEEE 1872-2015 indicates the fundamental, most broad ideas, relations,
and maxims of advanced mechanics and mechanization (R&A) is characterized in this
norm, which is expected as a source of perspective for information portrayal and thinking
in robots, just as a proper reference jargon for conveying information about R&A among
robots and people. This standard is made from a centre metaphysics about R&A, called
CORA, along with different ontologies that offer help to CORA. [20]
Application: This above-mentioned standard is used in the determination and defining of
ontology or movement safety of robots.

2. IEEE 1118.1-1990 - A sequential control transport for INTER-DEVICE-HTRA-

BUILDING just as the intracity interconnection of microcontrollers is depicted. The
transport, which is characterized for (however not restricted to) microcontrollers and
gadgets with restricted re-programmability, gives a multidrop cycle sequential
correspondence convention that will permit the interconnection of appropriated
Independently fabricated gadgets. The convention is streamlined for instrumentation,
appropriated information procurement frameworks, control gadgets, and test and
estimation. Details for typical engineering, conventional transport administrations,
framework management, information connect, and a few physical media are given. The
sequential control transport develops BIT BUS without making existing gadgets out of
date. Framework unwavering quality has been improved by the expansion of a framework
the executive’s layer, and nonexclusive transport administrations have been extended. [21]
Application: This standard is used for a serial control bus for inter-device/intrabuilding
interconnection of microcontrollers.

25
3. ISO 13857:2019 - Consistence with the necessities in this record will forestall admittance
to the danger zone. All things considered, the client of this report is prompted that it doesn't
give the necessary danger decrease to each risk (for example dangers identified with
machine emanations, for example, ionizing radiation, heat sources, commotion, dust). The
statements covering lower appendages apply on their solitary when access by the upper
appendages to a similar peril zone isn't predictable as indicated by the danger evaluation.
[22]
Application: This standard we used in considering the safety of robot chassis.

4. IEEE 802 Wi-fi/LAN/WAN Communication/ Bluetooth - is a standard published by the

Institute for Electrical and Electronic Engineers which is used for Wi-fi communication.
The protocols mentioned in the IEEE802 are followed and implemented in this project for
the transmission of data.
Application: This standard is used during the implementation of the Bluetooth module and
establishing its connectivity.

5. ANSI/IEEE std 991-1986 – This provides standard guidelines for logic circuit diagrams.
It includes definitions, requirements for assignment of logic levels, application of logic
symbols, presentation techniques, and labelling requirements. According to standard a
logic circuit diagram predominantly uses symbols for logic functions to depict the overall
function of a circuit. The standard divided the logic circuit diagram into two types’ i.e.
Basic and detailed circuit diagrams. The proponent’s circuit diagram is according to the
standard Basic Circuit Type Diagram. It provides logic symbols and other necessary
functional symbols, together with their signal and major control path connections.
Application: This standard is used in the implementation of wiring and circuit cabling
safety.

26
4.6 Project issues

The project is designed in such a way that no kind of error can be seen in the project and we are
perfectly making the design with zero problems in terms of the design of fittings. Even though the
robot itself is waterproof and no residual or leftover can be seen over the inspections.

Only two major problems can be considered as problem variables:

❖ Battery: This snake robot contains 7.4 VOLTS of current and having a 5AA battery holder.
So, we need to charge the batteries timely with the proper time of use we need to keep an
update on the battery status because once the battery finishes it will automatically stop the
surveillance and your mission will be stuck on one point. Sometimes, if you don’t consider
the batteries on time it can be stuck where it is difficult to rescue the ROBOT then this will
become a problem. To avoid this kind of problem you must keep them charged and changes
the battery if required.

❖ Bluetooth: Bluetooth connections are very important to keep our ROBOT working as this
whole controller is based on Bluetooth connectivity and the whole system is connected to
the server from where the signals and data is transferring to your device from where you
can control and run the device in according to your specific directions and need. once you
have lost the connection from any side whether your smart device or ROBOT, the machine
will stop running and you must connect again to keep your ROBOT running. To ignore
this problem, you should have a secondary source of internet, if the one connection loses
you can connect to another server to keep things on track without any kind of hurdles.

4.7 Multiple design constraints

In the development of our research project, we considered different factors to make our project
optimal in all the perspectives like cost, availability, technical specification, durability etc.
Following table 4.1 will show the comparison between different constraints and components,
which we considered in the development of our project:

27
 Table 4.1 Multiple design plans

NO. COMPONENTS PLAN A PLAN B PLAN C

1 Microcontroller Arduino Mega2560 Raspberry Pi 3B Adafruit Trinket

Price: 53 BD Price: 48 BD Price: 61 BD

2 Camera WIFI-Cam Pi camera R3 Logitech webcam RE331

Price: 13 BD Price: 25 BD Price: 11 BD

3 Dual shaft servo TOPICS dual shaft DIGI servo FLEIX dual shaft servo
servo Price: 15 BD Price: 22 BD
Price: 8 BD
4 Bluetooth module ARDU-HC05 eUnistone 31308/2 X1s Bluetooth 4.0
Price: 33 BD Price: 45 BD Module
Price: 51 BD

5 Servo shield Adafruit 16-Channel Pi shield 2 PCA9685 HAT-servo driver

12-bit PWM/Servo Price: 32 BD Price: 29 BD
Shield
Price: 26 BD

4.7.1 Weight decision matrix

A fundamental choice framework comprises of setting up a bunch of rules and a gathering of

potential competitor plans. One of these is a reference up-and-comer plan. Different plans are then
contrasted with this reference plan and being positioned as better, more terrible, or same dependent
on every measure. The occasions "better" and "more terrible" showed up for each plan is then
shown, however not summarized. A weighted choice lattice works similarly to the essential choice
grid yet presents the idea of weighting the standards arranged by significance. The more significant
the standards the higher the weighting it should be given. Weighted decision matrix activity can
be observed in following table 4.2

28
 Table 4.2 Weight decision matrix

WEIGHT DECISION MATRIX

PLAN A PLAN B PLAN C

CRITERIA Weight Score Weighted Score Weighted Score Weighted

Score Score Score

COST 35% 0.5 0.18 0.3 0.11 0.3 0.11

TIME 22% 0.4 0.09 0.2 0.04 0.3 0.07
RELIABILITY 13% 0.3 0.04 0.3 0.04 0.4 0.05
AVAILABILITY 10% 0.4 0.04 0.1 0.01 0.3 0.03
SAFETY 20% 0.5 0.10 0.2 0.04 0.3 0.06

TOTAL SCORE 1 0.4 0.2 0.3

Formulas:
➢ Weighted score=assigned weight (%) ×rating score
Equation 4.1 Weighted score formula

Equation 4.1 we used for the calculation of the weighted score. In equation 4.1 the assigned weight
can be assigned as a numerical representation of importance to the criteria we assigned. In our
case, we assigned cost & safety the highest weights. Rating score can be defined as the outcome
after researching.

𝒊𝒏𝒑𝒖𝒕 𝒗𝒂𝒍𝒖𝒆−𝒍𝒐𝒘
➢ 𝑺𝒄𝒐𝒓𝒆 𝒅𝒆𝒕𝒆𝒓𝒎𝒊𝒏𝒂𝒕𝒊𝒐𝒏 =
𝒉𝒊𝒈𝒉−𝒍𝒐𝒘

Equation 4.2 score determination formula

Equation 4.2 we used for score determination. Scores are the values of certain criteria that came
up depending on the status of each constraint. By plugging the maximum expected value of criteria
and minimum value we determine the score, which is used for weighted score calculations.

29
Graph 4.1 demonstrate the relation between cost and the weighted score of different plans we
proposed. Graph 4.1 shows and justifies our choice of adopting plan A. the higher the value of
calculation the better choice it is.

COST VS WEIGHTED SCORE

0.2 A

0.2
B C
0.1

0.1

0.0
0 0.5 1 1.5 2 2.5 3 3.5

graph 4.1 cost vs weighted score

Graph 4.2 is the demonstration of the comparison of different plans concerning time constraints &
weighted score calculation. Time is a very important criterion in our project. As per time is
effective to our project development plan A is giving us the total of 0.09 weighted score which is
higher than the plan B & C.

TIME VS WEIGHTED SCORE

0.10 A

0.08 C

0.06
B
0.04

0.02

0.00
0 0.5 1 1.5 2 2.5 3 3.5

graph 4.2 Time vs weighted score

30
Graph 4.3 demonstrate the relationship between reliability and the weighted score of the different
plans we proposed. In terms of reliability, an important criterion for our project development. Our
project is designed for inspection purposes in harsh environments like rocky, dusty etc.
environments, so that’s why we must use components that are reliable and make our prototype
more reliable than its competitors. Graph 4.3 shows and justifies our choice of adopting plan A.
the higher the value of calculation the better choice it is.

RELIABILITY VS WEIGHTED SCORE

0.06 A
0.05 C
0.04
0.03
0.02 B
0.01
0.00
0 0.5 1 1.5 2 2.5 3 3.5

graph 4.3 Reliability vs weighted score

Graph 4.4 is the demonstration of comparison of different plans concerning Availability constraint
& weighted score calculation. Availability is a very important criterion in our project. In terms of
developments of the project and as well as maintenance is required the availability of parts should
be scored well otherwise the smooth functionality of project will be compromised. As per
availability is effective to our project development plan A is giving us the total of 0.04 weighted
score which is higher than plan B which is 0.01 & C 0.03.

31
 AVAILABILITY VS WEIGHTED SCORE
0.05 A
0.04 C
0.03
0.02 B
0.01
0.00
0 0.5 1 1.5 2 2.5 3 3.5

graph 4.4 Availability vs weighted score

Graph 4.5 demonstrate the relation between safety and a weighted score of different plans we
proposed. Graph 4.5 shows and justifies our choice of adopting plan A. the higher the value of
calculation the better choice it is. So, our weighted score for plan A, B & C was 0.10, 0.04 & 0.06
respectively.

SAFETY VS WEIGHTED SCORE

0.12 A
0.10
0.08 C
0.06 B
0.04
0.02
0.00
0 0.5 1 1.5 2 2.5 3 3.5

graph 4.5 Safety vs weighted score

The benefit of the dynamic graphs plotting is that it invigorates self-reflection among the
individuals from a planning group to examine every up-and-comer with a limited predisposition
(for colleagues can be one-sided towards specific plans, for example, their own). Another
favourable position of this strategy is that affectability studies can be performed. An illustration
by the above graphs of this may be to perceive how much your assessment would need to change
together for a lower positioned choice to outclass a contending elective.

32
4.8 Bill of materials

Table 4.3 is a demonstration of the bill of materials. In this BOM we mentioned the names of the
components along with their manufacturers. We created columns for a unit price of components,
the quantity of these components required and the final price for each component we purchased.
The total price for our materials is calculated to be 251 BD.

Table 4.3 Bill of materials

NO. COMPONENTS MANUFACTURER PRICE QUANTITY PRICE

PER UNIT

1 Microcontroller Arduino Mega2560 53 BD 1 53 BD

2 Camera WIFI-Cam 13 BD 1 13 BD

3 Dual shaft servo TOOPACS dual 8 BD 12 96 BD

shaft servo:

4 Bluetooth ARDU-HC05 33 BD 1 33 BD
module

5 Servo shield Adafruit 16-Channel 26 BD 1 26 BD

12-bit PWM/Servo
Shield

6 Servo motor NIKPO servos 5 BD 2 10 BD

7 Jumpers MISHI ELEC. 10 BD 1 pack 10 BD

8 Wheels Lego wheels 5 BD 2 packs 10 BD

GRAND TOTAL 251 BD

33
4.9 Project flow chart

The flow chart is a kind of chart that addresses a work process or interaction. A flowchart can
likewise be characterized as a diagrammatic portrayal of a calculation, a bit-by-bit way to deal
with settling an undertaking. The flowchart shows the means as boxes of different sorts, and their
request by interfacing the containers with bolts. According to the following flow chart (figure 4.2),
our system starts with checking the connectivity of Bluetooth with the mobile device, from which
we will give movement input command and robot will start giving us accordingly output which
will be forward or reverse. In case of any obstacle detection, the robot will follow the command
by altering its current angles.

Continues

34
figure 4.2 flowchart 1

35
4.10 Project block diagram

Following figure 4.3 Demonstrate the block diagram of the snake robot project. A Block diagram
is an outline appearing in schematic structure the overall course of action of the parts or segments
of an intricate framework or interaction, like a modern mechanical assembly or an electronic
circuit. Arduino mega2560 is a microcontroller, which is taking input from Bluetooth and drives
the dual shaft servo motors. These 12 servo motors are integrated with a servo shield which allows
the connections of up to 20 servo motors. This servo shield requires also VCC 5V. two separate
servo motors are integrated with a Wi-Fi camera which will help to control and move the camera
by 2-axis.

figure 4.3 Project block diagram

36
4.11 Project circuit diagram

Following figure 4.4 is the demonstration of a circuit diagram for the snake robot project. Arduino
Mega is the central processing unit used for this project. 12 dual shaft servo motors relate to servo
shield and servo shield is integrated with microcontroller. servo shield allows connecting of up to
20 servos to Arduino board boards. The selectable power supply for these servos enables you to
choose the supply from either the onboard regulator or other suitable power sources through
separate servo power terminals. For connectivity purposes, the Bluetooth module is integrated
with Arduino mega. Two servo motors we used for 2 axis camera which can be controlled by
mobile device.

figure 4.4 Project circuit diagram

37
 4.12 Project Gantt chart

Following table 4.4 is the demonstration of the GANTT chart. The GANTT chart will help to
visualize the timeline of the project with the assigned activities to each member of the team. For
the sake of simplicity, we demonstrated the timeline of activities in the form of months and further
sub divided in the week’s numbers of each month. According to table 4.4, we started our project
on the 1st week of April and the expected finishing is the last week of August.

Table 4.4 Project GANTT chart

ACTIVITY APRIL MAY JUNE JULY AUGUST

TASKS (WEEK) 1 2 3 4 1 2 3 4 1 2 3 4 1 2 3 4 1 2 3 4

IDEA RESEARCH

DOCUMENTATION
PROJECT A
DEFENSE
CODING
PROJECT
ASSEMBLY
FINAL TESTING

PRESENTATION

SAAD
BUKHAMMAS

ABDULLAH
NASEER

SAYED
DHEYA

38
 Chapter 5
Design procedure, functional analysis & implementation.

In this chapter, all kinds of technical details regarding the research project will be discussed like
project functionalities, implementations, and components specifications. Also, different project
evaluations in terms of qualitative and quantitively will be performed to justifies the better working
and scope of our research design project.

5.1 Project description

Arduino based rectilinear locomotion snake robot for inspection” which is designed in such a way
that it will not just look like a snake but also it will move in gliding motion just like a snake will
move as it stretches out the front body and pulls the rear part of the body in a zigzag motion. The
robot will just move like a snake we will design it in such a way that it will move like a snake after
that we will implant a 2 AXIS camera on the head of the snake.

This snake robot is a totally Arduino based controlling device that is controlled by an android
application via any device like smartphones, tablets, or other devices. In that android application,
we have control of the snake as well as cameras which is 2 AXIS which can be moveable on the
x-axis as well as on the y-axis.

5.2 Project function analysis

The complete working of snake robot, the power supply is used to supply current from a 7.4 voltage
of power pack cell battery. This current then went towards the rectifiers and there they will regulate
the current towards the IR sensor this sensor will sense the signals from software via Bluetooth
which is present in our device. Arduino 2560 is the board of controller we are using in this project.
This Arduino will transmit the signals through wires and connectors to the SERVO motor the
motor then run according to the signal and make the SNAKE move in the Zigzag motion.
The camera will place on the head of the snake and from cameras, we can monitor the problem
situation very easily with 2 axis motion towards X-axis and Y-axis. The snake ROBOT contains

39
twelve segments consist of servo motor and got together with metal sections. The servos are
constrained by an Arduino Mega and controlled by a 7.4-volt battery pack. The snake can be
constrained by an android application utilizing Bluetooth. The snake is likewise equipped for
independent development. Such a robot can be built with a wide range of sorts of servos and
sections. Every one of the 12 fragments comprises a servo engine, a C-section, a side section, a
wire cut and a bunch of Lego wheels. Two screw openings are to be bored into the Lego wheel
pivot to allow it to be associated with the C-section.

5.3 Project Implementation

In this part, we will discuss the implementation procedure of our project. Which includes full
assembling for the prototype (figure 5.2). These implementation steps are as follows:

❖ Extensive research regarding parts and buying of components from local and international
vendors.
❖ Combing and forming the arrangement of MG995 servo motors and forming snake body
replica.
❖ Integration of tilt brackets with servo arrangements with the help of screws and bolts.
❖ Installation of metal LEGO wheels with the body.
❖ Wiring and integration of servo motors with the servo shield.
❖ Integration of servo shield with Arduino mega.
❖ Integration of Bluetooth module with microcontroller.
❖ Installation of IR sensor & micro servo motor.
❖ Installation of 2 more micro servo motors for two-axis cameras.
❖ Writing the code in Arduino IDE.
❖ Forming control GUI in CUSTOM-ROBOTICS app (figure 5.1).
❖ Testing and debugging of code.
❖ Testing and re-testing.

40
figure 5.1 Snake robot control GUI 1

41
figure 5.2 Project implementation 1

figure 5.3 Final project 1

42
5.4 Component specifications

In this part of chapter 5, we will discuss all the components which we used in our project in terms
of their technical specifications.

Microcontroller Arduino Mega 2560:

The Microcontroller Arduino Mega 2560 (figure 5.4) is a microcontroller board dependent on the
ATmega2560 (datasheet). It has 54 advanced info/yield pins (of which 14 can be utilized as PWM
yields), 16 simple data sources, 4 UARTs (equipment sequential ports), a 16 MHz gem oscillator,
a USB association, a force jack, an ICSP header, and a reset button. It contains all that is expected
to help the microcontroller; just associate it to a PC with a USB link or force it with an AC-to-DC
connector or battery to begin. Arduino mega specifications are discussed following in table 5.1

figure 5.4 Microcontroller Arduino mega 1

Table 5.1 Arduino mega specs 1

Microcontroller Atmega2560
Operating Voltage 5V
Input Voltage 6-20V
Digital I/O Pins 54
Analog Input Pins 16
Flash Memory 256KB
EEPROM 4 KB
Clock Speed 16 MHz

43
Distance IR sensor:

Infrared sensors (figure 5.5) work on the rule of mirrored light waves. The infrared light is reflected
from articles or sent from an infrared distance or signal. Infrared sensors are additionally used to
quantify distance or vicinity. The mirrored light is recognized and afterwards, a gauge of distance
is determined among sensor and item. Its specifications are discussed following in table 5.2

Figure 5.5 IR sensor 1

Table 5.2 IR sensor specs 1

Maximum range: 80 cm
Minimum range: 10 cm
Sampling rate: 26 Hz1
Minimum operating voltage: 4.5 V
Maximum operating voltage: 5.5 V
Supply current: 30 mA2
Output type: analogue voltage
Output voltage differential: 1.9 V

44
Servo motor-MG995:
Servomotor-MG995 (figure 5.6) is a rotating actuator or straight actuator that considers exact
control of precise or direct position, speed, and acceleration. It comprises an appropriate engine
coupled to a sensor for position input. It additionally requires a generally complex regulator,
frequently a devoted module planned explicitly for use with servomotors. Servomotors are not a
particular class of engine, albeit the term servomotor is frequently used to allude to an engine
reasonable for use in a shut circle control framework. Servomotors are utilized in applications like
advanced mechanics, CNC apparatus or mechanized assembling. Its specifications are discussed
following in table 5.3

figure 5.6 Servomotor-MG995 1

Table 5.3 Servomotor-MG995 specs 1

Operating voltage 4.8V

Idle current 5mA

No-load speed 0.17sec/60°

Running current 350mA

Peak stall torque 9.0kg.cm

45
Arduino servo-shield:
The Arduino Servo Shield (figure 5.7) depends on the L298, which is a double full-connect
driver intended to drive inductive loads like transfers, solenoids, servo, and venturing engines. It
allows you to drive up to 20 servo engines with your Arduino board, controlling the speed and
course of everyone freely. Its specifications are discussed following in table 5.4.

figure 5.7 Servo shield 1

Table 5.4 Servo shield specs 1

Operating Voltage 5V to 12V

Motor controller L298P, Drives 2 DC motors or 1

stepper motor
Max current 2A per channel or 4A max (with
external power supply)

Current sensing 1.65V/A

Free running stop and brake Yes

function

46
5.5 Project evaluation

Evaluation or testing of any engineering research project is very important. Through evaluation
project, feasibility and future can be determined. Generally, there are two kinds of evaluation is
used, the first is qualitative evaluation & the second is quantitively evaluation. In following both
evaluations will be performed to show the functionality of the project and statistically benefit.

5.5.1 Failure modes and effects analysis (FMEA)

FMEA is an organized way to deal with finding potential disappointments that may exist inside
the plan of an item or cycle. Disappointment modes are the manners by which a cycle can fizzle.
Impacts are the manners in which that these disappointments can prompt waste, absconds or
destructive results for the client. During the testing of our project student team done more than 5
runs, every time some different issues the team faced. Which are, FEMA analysis can be observed
in the following table 5.5.

Table 5.5 FEMA analysis 1

No. Component Failure Effects Safeguards Corrective actions

Mode
1 Check Check the power supply
Servo motor No power All process connections from the servo shield.
stops
2 Bluetooth No No movement Test before Replace with a new one.
module connectivity installation.

3 Microcontroller No power All process Check Check the power

stops. connections supply source. Check
power jack. Check the
surface where the
microcontroller is placed.
4 IR sensor Broken pin. No distance Always buy a Replaced with the new one.
detection. quality
product.

47
5.5.2 Benefit cost ratio (BCR)

BCR is a marker, utilized in money-saving advantage investigation, that endeavours to sum up the

general incentive for cash of a venture or proposition. A BCR is the proportion of the advantages

of a venture or proposition, communicated in financial terms, comparative with its expenses,

additionally communicated in money-related terms. BCR activity can be observed in the following

table 5.6.

Table 5.6 Benefit cost ratio analysis 1

COST BENEFIT RATIO

Investment $150,000
Annual Cash Flow $10,000
Years 10
Discount Rate 8%
Sum of Present value of Cost $150,000
Sum of Present value of Benefit $67,100.81
Benefit-Cost Ratio 0.44733876

Cashflow Present Value

Years Cost Benefit Cost Benefit
0 $150,000 $0 $150,000.00 $0.00
1 $10,000 $0 $9,259.26 $0.00
2 $500 $2,000 $428.67 $1,714.68
3 $450 $5,000 $357.22 $3,969.16
4 $450 $10,000 $330.76 $7,350.30
5 $400 $15,000 $272.23 $10,208.75
6 $400 $18,000 $252.07 $11,343.05
7 $325 $20,000 $189.63 $11,669.81
8 $300 $25,000 $162.08 $13,506.72
9 $300 $35,000 $150.07 $17,508.71
10 $300 $45,000 $138.96 $20,843.71

TOTAL $163,425 $175,000 $161,540.97 $98,114.89

BCR 0.60736847

48
5.5.3 Amortization chart

An amortization plan (table 5.7) is a table itemizing each occasional instalment on an amortizing
credit (ordinarily a home loan), as produced by an amortization number cruncher. Amortization
alludes to the way toward taking care of an obligation (frequently from a credit or home loan) over
the long haul through normal instalments. A bit of every instalment is for interest while the excess
sum is applied towards the chief equilibrium. The level of interest versus head in every instalment
is resolved in an amortization plan. The timetable separates the segment of instalment that has a
place with revenue cost from the part used to close the hole of a markdown or premium from the
head after every instalment. While a part of each instalment is applied towards both the interest
and the chief equilibrium of the credit, the specific sum applied to the chief each time changes
(with the rest of to intrigue).

Table 5.7 Amortization chart 1

Amount Borrowed $150,000

Periods (Years) 10 Years
Period 132
Annual Interest Rate 8%
Monthly Interest Rate 0.006666667
Payment $1,712.32

Months Beginning Payment Interest Principle Ending Balance

1 $150,000 $1,712.32 $1,000 $712.32 $149,287.68
2 $149,287.68 $1,712.32 $995.25 $717.07 $148,570.62
3 $148,570.62 $1,712.32 $990.47 $721.85 $147,848.77
4 $147,848.77 $1,712.32 $985.66 $726.66 $147,122.11
5 $147,122.11 $1,712.32 $980.81 $731.50 $146,390.61
6 $146,390.61 $1,712.32 $975.94 $736.38 $145,654.23
7 $145,654.23 $1,712.32 $971.03 $741.29 $144,912.94
8 $144,912.94 $1,712.32 $966.09 $746.23 $144,166.71
9 $144,166.71 $1,712.32 $961.11 $751.21 $143,415.50
10 $143,415.50 $1,712.32 $956.10 $756.21 $142,659.29
11 $142,659.29 $1,712.32 $951.06 $761.26 $141,898.04
12 $141,898.04 $1,712.32 $945.99 $766.33 $141,131.71
13 $141,131.71 $1,712.32 $940.88 $771.44 $140,360.27
14 $140,360.27 $1,712.32 $935.74 $776.58 $139,583.68
15 $139,583.68 $1,712.32 $930.56 $781.76 $138,801.93

Continues 49
 16 $138,801.93 $1,712.32 $925.35 $786.97 $138,014.95
17 $138,014.95 $1,712.32 $920.10 $792.22 $137,222.74
18 $137,222.74 $1,712.32 $914.82 $797.50 $136,425.24
19 $136,425.24 $1,712.32 $909.50 $802.82 $135,622.42
20 $135,622.42 $1,712.32 $904.15 $808.17 $134,814.26
21 $134,814.26 $1,712.32 $898.76 $813.56 $134,000.70
22 $134,000.70 $1,712.32 $893.34 $818.98 $133,181.72
23 $133,181.72 $1,712.32 $887.88 $824.44 $132,357.28
24 $132,357.28 $1,712.32 $882.38 $829.94 $131,527.35
25 $131,527.35 $1,712.32 $876.85 $835.47 $130,691.88
26 $130,691.88 $1,712.32 $871.28 $841.04 $129,850.84
27 $129,850.84 $1,712.32 $865.67 $846.64 $129,004.20
28 $129,004.20 $1,712.32 $860.03 $852.29 $128,151.91
29 $128,151.91 $1,712.32 $854.35 $857.97 $127,293.94
30 $127,293.94 $1,712.32 $848.63 $863.69 $126,430.25
31 $126,430.25 $1,712.32 $842.87 $869.45 $125,560.80
32 $125,560.80 $1,712.32 $837.07 $875.25 $124,685.55
33 $124,685.55 $1,712.32 $831.24 $881.08 $123,804.47
34 $123,804.47 $1,712.32 $825.36 $886.95 $122,917.52
35 $122,917.52 $1,712.32 $819.45 $892.87 $122,024.65
36 $122,024.65 $1,712.32 $813.50 $898.82 $121,125.83
37 $121,125.83 $1,712.32 $807.51 $904.81 $120,221.02
38 $120,221.02 $1,712.32 $801.47 $910.84 $119,310.18
39 $119,310.18 $1,712.32 $795.40 $916.92 $118,393.26
40 $118,393.26 $1,712.32 $789.29 $923.03 $117,470.23
41 $117,470.23 $1,712.32 $783.13 $929.18 $116,541.05
42 $116,541.05 $1,712.32 $776.94 $935.38 $115,605.67
43 $115,605.67 $1,712.32 $770.70 $941.61 $114,664.06
44 $114,664.06 $1,712.32 $764.43 $947.89 $113,716.17
45 $113,716.17 $1,712.32 $758.11 $954.21 $112,761.96
46 $112,761.96 $1,712.32 $751.75 $960.57 $111,801.39
47 $111,801.39 $1,712.32 $745.34 $966.97 $110,834.42
48 $110,834.42 $1,712.32 $738.90 $973.42 $109,861.00
49 $109,861.00 $1,712.32 $732.41 $979.91 $108,881.09
50 $108,881.09 $1,712.32 $725.87 $986.44 $107,894.64
51 $107,894.64 $1,712.32 $719.30 $993.02 $106,901.62
52 $106,901.62 $1,712.32 $712.68 $999.64 $105,901.98
53 $105,901.98 $1,712.32 $706.01 $1,006.30 $104,895.68
54 $104,895.68 $1,712.32 $699.30 $1,013.01 $103,882.67
55 $103,882.67 $1,712.32 $692.55 $1,019.77 $102,862.90
56 $102,862.90 $1,712.32 $685.75 $1,026.56 $101,836.34
57 $101,836.34 $1,712.32 $678.91 $1,033.41 $100,802.93
58 $100,802.93 $1,712.32 $672.02 $1,040.30 $99,762.63

Continues 50
 59 $99,762.63 $1,712.32 $665.08 $1,047.23 $98,715.40
60 $98,715.40 $1,712.32 $658.10 $1,054.21 $97,661.18
61 $97,661.18 $1,712.32 $651.07 $1,061.24 $96,599.94
62 $96,599.94 $1,712.32 $644.00 $1,068.32 $95,531.62
63 $95,531.62 $1,712.32 $636.88 $1,075.44 $94,456.18
64 $94,456.18 $1,712.32 $629.71 $1,082.61 $93,373.58
65 $93,373.58 $1,712.32 $622.49 $1,089.83 $92,283.75
66 $92,283.75 $1,712.32 $615.22 $1,097.09 $91,186.66
67 $91,186.66 $1,712.32 $607.91 $1,104.41 $90,082.25
68 $90,082.25 $1,712.32 $600.55 $1,111.77 $88,970.48
69 $88,970.48 $1,712.32 $593.14 $1,119.18 $87,851.30
70 $87,851.30 $1,712.32 $585.68 $1,126.64 $86,724.66
71 $86,724.66 $1,712.32 $578.16 $1,134.15 $85,590.51
72 $85,590.51 $1,712.32 $570.60 $1,141.71 $84,448.79
73 $84,448.79 $1,712.32 $562.99 $1,149.33 $83,299.47
74 $83,299.47 $1,712.32 $555.33 $1,156.99 $82,142.48
75 $82,142.48 $1,712.32 $547.62 $1,164.70 $80,977.78
76 $80,977.78 $1,712.32 $539.85 $1,172.47 $79,805.32
77 $79,805.32 $1,712.32 $532.04 $1,180.28 $78,625.03
78 $78,625.03 $1,712.32 $524.17 $1,188.15 $77,436.88
79 $77,436.88 $1,712.32 $516.25 $1,196.07 $76,240.81
80 $76,240.81 $1,712.32 $508.27 $1,204.04 $75,036.77
81 $75,036.77 $1,712.32 $500.25 $1,212.07 $73,824.70
82 $73,824.70 $1,712.32 $492.16 $1,220.15 $72,604.54
83 $72,604.54 $1,712.32 $484.03 $1,228.29 $71,376.26
84 $71,376.26 $1,712.32 $475.84 $1,236.48 $70,139.78
85 $70,139.78 $1,712.32 $467.60 $1,244.72 $68,895.06
86 $68,895.06 $1,712.32 $459.30 $1,253.02 $67,642.05
87 $67,642.05 $1,712.32 $450.95 $1,261.37 $66,380.68
88 $66,380.68 $1,712.32 $442.54 $1,269.78 $65,110.90
89 $65,110.90 $1,712.32 $434.07 $1,278.24 $63,832.65
90 $63,832.65 $1,712.32 $425.55 $1,286.77 $62,545.89
91 $62,545.89 $1,712.32 $416.97 $1,295.34 $61,250.54
92 $61,250.54 $1,712.32 $408.34 $1,303.98 $59,946.56
93 $59,946.56 $1,712.32 $399.64 $1,312.67 $58,633.89
94 $58,633.89 $1,712.32 $390.89 $1,321.42 $57,312.46
95 $57,312.46 $1,712.32 $382.08 $1,330.23 $55,982.23
96 $55,982.23 $1,712.32 $373.21 $1,339.10 $54,643.13
97 $54,643.13 $1,712.32 $364.29 $1,348.03 $53,295.10
98 $53,295.10 $1,712.32 $355.30 $1,357.02 $51,938.08
99 $51,938.08 $1,712.32 $346.25 $1,366.06 $50,572.02
100 $50,572.02 $1,712.32 $337.15 $1,375.17 $49,196.85
101 $49,196.85 $1,712.32 $327.98 $1,384.34 $47,812.51

Continues 51
102 $47,812.51 $1,712.32 $318.75 $1,393.57 $46,418.94
103 $46,418.94 $1,712.32 $309.46 $1,402.86 $45,016.09
104 $45,016.09 $1,712.32 $300.11 $1,412.21 $43,603.88
105 $43,603.88 $1,712.32 $290.69 $1,421.62 $42,182.25
106 $42,182.25 $1,712.32 $281.22 $1,431.10 $40,751.15
107 $40,751.15 $1,712.32 $271.67 $1,440.64 $39,310.51
108 $39,310.51 $1,712.32 $262.07 $1,450.25 $37,860.26
109 $37,860.26 $1,712.32 $252.40 $1,459.92 $36,400.35
110 $36,400.35 $1,712.32 $242.67 $1,469.65 $34,930.70
111 $34,930.70 $1,712.32 $232.87 $1,479.45 $33,451.25
112 $33,451.25 $1,712.32 $223.01 $1,489.31 $31,961.94
113 $31,961.94 $1,712.32 $213.08 $1,499.24 $30,462.71
114 $30,462.71 $1,712.32 $203.08 $1,509.23 $28,953.47
115 $28,953.47 $1,712.32 $193.02 $1,519.29 $27,434.18
116 $27,434.18 $1,712.32 $182.89 $1,529.42 $25,904.76
117 $25,904.76 $1,712.32 $172.70 $1,539.62 $24,365.14
118 $24,365.14 $1,712.32 $162.43 $1,549.88 $22,815.26
119 $22,815.26 $1,712.32 $152.10 $1,560.22 $21,255.04
120 $21,255.04 $1,712.32 $141.70 $1,570.62 $19,684.42
121 $19,684.42 $1,712.32 $131.23 $1,581.09 $18,103.34
122 $18,103.34 $1,712.32 $120.69 $1,591.63 $16,511.71
123 $16,511.71 $1,712.32 $110.08 $1,602.24 $14,909.47
124 $14,909.47 $1,712.32 $99.40 $1,612.92 $13,296.55
125 $13,296.55 $1,712.32 $88.64 $1,623.67 $11,672.87
126 $11,672.87 $1,712.32 $77.82 $1,634.50 $10,038.38
127 $10,038.38 $1,712.32 $66.92 $1,645.39 $8,392.98
128 $8,392.98 $1,712.32 $55.95 $1,656.36 $6,736.62
129 $6,736.62 $1,712.32 $44.91 $1,667.41 $5,069.21
130 $5,069.21 $1,712.32 $33.79 $1,678.52 $3,390.69
131 $3,390.69 $1,712.32 $22.60 $1,689.71 $1,700.98
132 $1,700.98 $1,712.32 $11.34 $1,700.98 $0.00

52
 Amortization chart
$160,000

$140,000

$120,000

$100,000

$80,000

$60,000

$40,000

$20,000

$0
0 20 40 60 80 100 120 140

Beginning Payment Interest Principle Ending Balance

Graph 5.1 Amortization chart 1

The above-performed amortization plan activity demonstrates the particular money related sum
put towards revenue, just as the particular sum put towards the chief equilibrium, with every
instalment. At first, an enormous segment of every instalment is dedicated to intrigue. As the
advance develops, bigger parts go towards settling the head.

53
 Chapter 6
Summary

6.1 Project summary

The complete working of SNAKE ROBOT, the power supply is used to supply current from a 7.4
voltage of power pack cell battery. This current then went towards the rectifiers and there they will
regulate the current towards the IR sensor this sensor will sense the signals from software via
Bluetooth which is present in our device. Arduino 2560 is the board of controller we are using in
this project. This Arduino will transmit the signals through wires and connectors to the SERVO
motor the motor then run according to the signal and make the SNAKE move in the Zigzag motion.
The camera will place on the head of the snake and from cameras, we can monitor the problem
situation very easily with 2 axis motions towards X-axis and Y-axis. The snake ROBOT contains
twelve segments consist of servo motor and got together with metal sections. The servos are
constrained by an Arduino Mega and controlled by a 7.4-volt battery pack. The snake can be
constrained by an android application utilizing Bluetooth. The snake is likewise equipped for
independent development. Such a robot can be built with a wide range of sorts of servos and
sections. Every one of the 12 fragments comprises a servo engine, a C-section, a side section, a
wire cut and a bunch of Lego wheels. Two screw openings are to be bored into the Lego wheel
pivot to allow it to be associated with the C-section.

6.2 Conclusion

“Arduino based rectilinear locomotion snake robot for inspection” which is designed in such a way
that it will not just look like a snake but also it will move in gliding motion just like a snake will
move as it stretches out the front body and pulls the rear part of the body in a zigzag motion. The
robot will just move like a snake we will design it in such a way that it will move like a snake after
that we will implant a 2 AXIS camera on the head of the snake. This snake robot is a totally
Arduino based controlling device that is controlled by an android application via any device like
smartphones, tablets, or other devices. In that android application, we have control of the snake as

54
well as cameras which is 2 AXIS which can be moveable on the x-axis as well as on the y-axis.
All above-mentioned functionalities were achieved successfully & upon the test run the desired
output was obtained like all direction movement, line motion and live video feed on the mobile
device. After the successful development of the snake robot the student team achieved the desires
output functionalities i.e., rectilinear locomotion (zigzag movement), all direction (forward, back,
right, and left) movement upon the user input from GUI. Two cameras have also provided us with
the live video feed on the mobile device. All these functionalities are required to perform pipe
inspection.

55
 Chapter 7
Recommendations

In terms of recommendations, we listed some of the points which will be helpful and useful for the
users of this robot and helpful for future engineers, who want to carry on the research further.
These recommendations are as following:

➢ By replacing the Bluetooth module with a Wi-Fi module will increase the connectivity.
➢ Installing the ultrasonic sensor will add the functionality of crack detection during the in-pipe
inspection.
➢ By adding a GPS module will provide us with the location of this robot during the underground
inspection.
➢ Installation of the protective case over the body of the robot will make this robot safe while
operating in harsh conditions.
➢ Integration of path defining algorithm will increase the mobility of this snake robot.

56
 References

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industrial robotics, 3-10.

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international conference on electronics, computer, and computation (ICECCO) (pp. 1-4). IEEE.

[3] Garmabaki, A. H. S., Marklund, S., Thaduri, A., Hedström, A., & Kumar, U. (2020).
Underground pipelines and railway infrastructure–failure consequences and restrictions. Structure
and Infrastructure Engineering, 16(3), 412-430.

[4] Tang, W., Reyes, F., & Ma, S. (2015, September). Study on rectilinear locomotion based on a
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Robots and Systems (IROS) (pp. 950-955). IEEE.

[5] Kusriyanto, M., & Putra, B. D. (2016, August). Smart home using local area network (LAN)
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[8] Alshamsi, H., Këpuska, V., & Alshamsi, H. (2016). Real-time vehicle tracking using Arduino
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[10] Waleed, D., Mustafa, S. H., Mukhopadhyay, S., Abdel-Hafez, M. F., Jaradat, M. A. K., Dias,
K. R., ... & Ahmed, J. I. (2018). An in-pipe leak detection robot with a neural-network-based leak
verification system. IEEE Sensors Journal, 19(3), 1153-1165.

57
[11] Sheltami, T. R., Bala, A., & Shakshuki, E. M. (2016). Wireless sensor networks for leak
detection in pipelines: a survey. Journal of Ambient Intelligence and Humanized Computing, 7(3),
347-356.

[12] Al Zaabi, K., & Hussain, J. Design and Implementation of Flow Meter Maintenance Robot
for Oil & Gas Industries.

[13] Hassan, M. Y., Rashid, M. T., & Abdulaali, A. H. (2019). Design and Implementation of
Hybrid-Climbing Legged Robot. Iraqi Journal of Electrical and Electronic Engineering, 15(1-
2019).

[14] Al-Sada, M. (2019, March). Design Space of Multipurpose Daily Worn Snake-Shaped
Robotic Appendages. In 2019 IEEE International Conference on Pervasive Computing and
Communications Workshops (PerCom Workshops) (pp. 455-456). IEEE.

[15] Wright, C., Johnson, A., Peck, A., McCord, Z., Naaktgeboren, A., Gianfortoni, P., ... &
Choset, H. (2007, October). Design of a modular snake robot. In 2007 IEEE/RSJ International
Conference on Intelligent Robots and Systems (pp. 2609-2614). IEEE.

[16] Transeth, A. A., Pettersen, K. Y., & Liljeback, P. (2009). A survey on snake robot modelling
and locomotion.

[17] Transeth, A. A., Leine, R. I., Glocker, C., Pettersen, K. Y., & Liljebäck, P. (2008). Snake
robot obstacle-aided locomotion: Modeling, simulations, and experiments. IEEE Transactions on
Robotics, 24(1), 88-104.

[18] Crespi, A., & Ijspeert, A. J. (2008). Online optimization of swimming and crawling in an
amphibious snake robot. IEEE Transactions on Robotics, 24(1), 75-87.

[19] Bayraktaroglu, Z. Y. (2009). Snake-like locomotion: Experimentations with a biologically

inspired wheel-less snake robot. Mechanism and Machine Theory, 44(3), 591-602.

[20] I.E.E.E. (20165–02-16). IEEE 1872–2015 - IEEE Standard Ontologies for Robotics and
Automation. IEEE SA. https://standards.ieee.org/standard/1872-2015.html

[21] I.E.E.E. (1990, June 12). IEEE 1118.1-1990 - IEEE Standard for Microcontroller System
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58
[22] I.S.O. (2019, January 1). ISO 13857:2019(en) Safety of machinery — Safety distances to
prevent hazard zones from being reached by upper and lower limbs. ISO STANDARDS.
https://www.iso.org/obp/ui/#iso:std:iso:13857:ed-2:v1:en

59
 Appendix A

Arduino Code:

#include <Servo.h> //add servo library

Servo s1; // Define servo objects for the snake segments

Servo s2;
Servo s3;
Servo s4;
Servo s5;
Servo s6;
Servo s7;
Servo s8;
Servo s9;
Servo s10;
Servo s11;
Servo s12;
Servo panServo;

#define IRpin A15 //set IR pin

int distanceReading;
int wallDistance;
int wallDistanceTolerance = 30;
int distanceReadingLeft;
int distanceReadingRight;
int wallDistanceLeft;
int wallDistanceRight;
int panDelay = 1000;
int flex = 45; // Angle to flex a joint
int smoothnessDelay = 15;
int forwardVal = 0; // Remote control variables
int reverseVal = 0;
int rightVal = 0;
int leftVal = 0;
int pos = 0;
int counter = 0; // Loop counter variable
float lag = .5712; // Phase lag between segments
int frequency = 1; // Oscillation frequency of segments.
int amplitude = 45; // Amplitude of the serpentine motion of
the snake
int rightOffset = 5; // Right turn offset
int leftOffset = -5; // Left turn offset
int offset = 6; // Variable to correct servos that are
not exactly centered
int delayTime = 3; // Delay between limb movements
int startPause = 5000; // Delay time to position robot
int test = -3; // Test varialble takes values from -
6 to +5

60
void setup() {
// put your setup code here, to run once:
s1.attach(2);
s2.attach(3);
s3.attach(4);
s4.attach(5);
s5.attach(6);
s6.attach(7);
s7.attach(8);
s8.attach(9);
s9.attach(10);
s10.attach(11);
s11.attach(12);
s12.attach(13);
panServo.attach(14);

s1.write(90+offset+amplitude*cos(5*lag));
s2.write(90+offset+amplitude*cos(4*lag));
s3.write(90+offset+amplitude*cos(3*lag));
s4.write(90+amplitude*cos(2*lag));
s5.write(90+amplitude*cos(1*lag));
s6.write(90+amplitude*cos(0*lag));
s7.write(90+amplitude*cos(-1*lag));
s8.write(90+amplitude*cos(-2*lag));
s9.write(90+amplitude*cos(-3*lag));
s10.write(90+amplitude*cos(-4*lag));
s11.write(90+amplitude*cos(-5*lag));
s12.write(90+amplitude*cos(-6*lag));

delay(startPause); // Pause to position robot

Serial.begin(9600);
}

void loop() {
// put your main code here, to run repeatedly:

while (Serial.available() == 1)
{
char val = Serial.read();
Serial.println(val);
while (val == 'F')
{
for(counter = 0; counter < 360; counter += 1)
{
delay(delayTime);

s1.write(90+offset+amplitude*cos(frequency*counter*3.14159/180+5*lag));

s2.write(90+offset+amplitude*cos(frequency*counter*3.14159/180+4*lag));

s3.write(90+offset+amplitude*cos(frequency*counter*3.14159/180+3*lag));
s4.write(90+amplitude*cos(frequency*counter*3.14159/180+2*lag));
s5.write(90+amplitude*cos(frequency*counter*3.14159/180+1*lag));
s6.write(90+amplitude*cos(frequency*counter*3.14159/180+0*lag));

61
 s7.write(90+amplitude*cos(frequency*counter*3.14159/180-1*lag));
s8.write(90+amplitude*cos(frequency*counter*3.14159/180-2*lag));
s9.write(90+amplitude*cos(frequency*counter*3.14159/180-3*lag));
s10.write(90+amplitude*cos(frequency*counter*3.14159/180-
4*lag));
s11.write(90+amplitude*cos(frequency*counter*3.14159/180-
5*lag));
s12.write(90+amplitude*cos(frequency*counter*3.14159/180-
6*lag));

Serial.println("forward");
}
if (Serial.available() == 1)
{
val = Serial.read();
Serial.println(val);
if (val == 'X')
{
Serial.println("break");
break;
}
}
}
while (val == 'L')
{
// Left turn
// Ramp up turn offset
for(counter = 0; counter < 10; counter += 1)
{
delay(delayTime);

s1.write(90+offset+.1*counter*leftOffset+amplitude*cos(frequency*counter*3
.14159/180+5*lag));

s2.write(90+offset+.1*counter*leftOffset+amplitude*cos(frequency*counter*3
.14159/180+4*lag));

s3.write(90+offset+.1*counter*leftOffset+amplitude*cos(frequency*counter*3
.14159/180+3*lag));

s4.write(90+.1*counter*leftOffset+amplitude*cos(frequency*counter*3.14159/
180+2*lag));

s5.write(90+.1*counter*leftOffset+amplitude*cos(frequency*counter*3.14159/
180+1*lag));

s6.write(90+.1*counter*leftOffset+amplitude*cos(frequency*counter*3.14159/
180+0*lag));

s7.write(90+.1*counter*leftOffset+amplitude*cos(frequency*counter*3.14159/
180-1*lag));

s8.write(90+.1*counter*leftOffset+amplitude*cos(frequency*counter*3.14159/
180-2*lag));

62
s9.write(90+.1*counter*leftOffset+amplitude*cos(frequency*counter*3.14159/
180-3*lag));

s10.write(90+.1*counter*leftOffset+amplitude*cos(frequency*counter*3.14159
/180-4*lag));

s11.write(90+.1*counter*leftOffset+amplitude*cos(frequency*counter*3.14159
/180-5*lag));

s12.write(90+.1*counter*leftOffset+amplitude*cos(frequency*counter*3.14159
/180-6*lag));
Serial.println("left");
}
//
Continue left turn
for(counter = 11; counter < 350; counter += 1)
{
delay(delayTime);

s1.write(90+offset+leftOffset+amplitude*cos(frequency*counter*3.14159/180+
5*lag));

s2.write(90+offset+leftOffset+amplitude*cos(frequency*counter*3.14159/180+
4*lag));

s3.write(90+offset+leftOffset+amplitude*cos(frequency*counter*3.14159/180+
3*lag));

s4.write(90+leftOffset+amplitude*cos(frequency*counter*3.14159/180+2*lag))
;

s5.write(90+leftOffset+amplitude*cos(frequency*counter*3.14159/180+1*lag))
;

s6.write(90+leftOffset+amplitude*cos(frequency*counter*3.14159/180+0*lag))
;

s7.write(90+leftOffset+amplitude*cos(frequency*counter*3.14159/180-
1*lag));

s8.write(90+leftOffset+amplitude*cos(frequency*counter*3.14159/180-
2*lag));

s9.write(90+leftOffset+amplitude*cos(frequency*counter*3.14159/180-
3*lag));

s10.write(90+leftOffset+amplitude*cos(frequency*counter*3.14159/180-
4*lag));

s11.write(90+leftOffset+amplitude*cos(frequency*counter*3.14159/180-
5*lag));

63
s12.write(90+leftOffset+amplitude*cos(frequency*counter*3.14159/180-
6*lag));
Serial.println("left");
}
// Ramp
down turn offset
for(counter = 350; counter < 360; counter += 1)
{
delay(delayTime);
s1.write(90+offset+.1*(360-
counter)*leftOffset+amplitude*cos(frequency*counter*3.14159/180+5*lag));
s2.write(90+offset+.1*(360-
counter)*leftOffset+amplitude*cos(frequency*counter*3.14159/180+4*lag));
s3.write(90+offset+.1*(360-
counter)*leftOffset+amplitude*cos(frequency*counter*3.14159/180+3*lag));
s4.write(90+.1*(360-
counter)*leftOffset+amplitude*cos(frequency*counter*3.14159/180+2*lag));
s5.write(90+.1*(360-
counter)*leftOffset+amplitude*cos(frequency*counter*3.14159/180+1*lag));
s6.write(90+.1*(360-
counter)*leftOffset+amplitude*cos(frequency*counter*3.14159/180+0*lag));
s7.write(90+.1*(360-
counter)*leftOffset+amplitude*cos(frequency*counter*3.14159/180-1*lag));
s8.write(90+.1*(360-
counter)*leftOffset+amplitude*cos(frequency*counter*3.14159/180-2*lag));
s9.write(90+.1*(360-
counter)*leftOffset+amplitude*cos(frequency*counter*3.14159/180-3*lag));
s10.write(90+.1*(360-
counter)*leftOffset+amplitude*cos(frequency*counter*3.14159/180-4*lag));
s11.write(90+.1*(360-
counter)*leftOffset+amplitude*cos(frequency*counter*3.14159/180-5*lag));
s12.write(90+.1*(360-
counter)*leftOffset+amplitude*cos(frequency*counter*3.14159/180-6*lag));
Serial.println("left");
}
if (Serial.available() == 1)
{
val = Serial.read();
Serial.println(val);
if (val == 'X')
{
Serial.println("break");
break;
}
}
}
while (val == 'R')
{
// Turn right
// Ramp up
turn offset
for(counter = 0; counter < 10; counter += 1)
{

64
 delay(delayTime);

s1.write(90+offset+.1*counter*rightOffset+amplitude*cos(frequency*counter*
3.14159/180+5*lag));

s2.write(90+offset+.1*counter*rightOffset+amplitude*cos(frequency*counter*
3.14159/180+4*lag));

s3.write(90+offset+.1*counter*rightOffset+amplitude*cos(frequency*counter*
3.14159/180+3*lag));

s4.write(90+.1*counter*rightOffset+amplitude*cos(frequency*counter*3.14159
/180+2*lag));

s5.write(90+.1*counter*rightOffset+amplitude*cos(frequency*counter*3.14159
/180+1*lag));

s6.write(90+.1*counter*rightOffset+amplitude*cos(frequency*counter*3.14159
/180+0*lag));

s7.write(90+.1*counter*rightOffset+amplitude*cos(frequency*counter*3.14159
/180-1*lag));

s8.write(90+.1*counter*rightOffset+amplitude*cos(frequency*counter*3.14159
/180-2*lag));

s9.write(90+.1*counter*rightOffset+amplitude*cos(frequency*counter*3.14159
/180-3*lag));

s10.write(90+.1*counter*rightOffset+amplitude*cos(frequency*counter*3.1415
9/180-4*lag));

s11.write(90+.1*counter*rightOffset+amplitude*cos(frequency*counter*3.1415
9/180-5*lag));

s12.write(90+.1*counter*rightOffset+amplitude*cos(frequency*counter*3.1415
9/180-6*lag));
Serial.println("right");
}

// Continue right turn

for(counter = 11; counter < 350; counter += 1)
{
delay(delayTime);

s1.write(90+offset+rightOffset+amplitude*cos(frequency*counter*3.14159/180
+5*lag));

s2.write(90+offset+rightOffset+amplitude*cos(frequency*counter*3.14159/180
+4*lag));

s3.write(90+offset+rightOffset+amplitude*cos(frequency*counter*3.14159/180
+3*lag));

65
s4.write(90+rightOffset+amplitude*cos(frequency*counter*3.14159/180+2*lag)
);

s5.write(90+rightOffset+amplitude*cos(frequency*counter*3.14159/180+1*lag)
);

s6.write(90+rightOffset+amplitude*cos(frequency*counter*3.14159/180+0*lag)
);

s7.write(90+rightOffset+amplitude*cos(frequency*counter*3.14159/180-
1*lag));

s8.write(90+rightOffset+amplitude*cos(frequency*counter*3.14159/180-
2*lag));

s9.write(90+rightOffset+amplitude*cos(frequency*counter*3.14159/180-
3*lag));

s10.write(90+rightOffset+amplitude*cos(frequency*counter*3.14159/180-
4*lag));

s11.write(90+rightOffset+amplitude*cos(frequency*counter*3.14159/180-
5*lag));

s12.write(90+rightOffset+amplitude*cos(frequency*counter*3.14159/180-
6*lag));
Serial.println("right");
}

// Ramp down turn offset

for(counter = 350; counter < 360; counter += 1)
{
delay(delayTime);
s1.write(90+offset+.1*(360-
counter)*rightOffset+amplitude*cos(frequency*counter*3.14159/180+5*lag));
s2.write(90+offset+.1*(360-
counter)*rightOffset+amplitude*cos(frequency*counter*3.14159/180+4*lag));
s3.write(90+offset+.1*(360-
counter)*rightOffset+amplitude*cos(frequency*counter*3.14159/180+3*lag));
s4.write(90+.1*(360-
counter)*rightOffset+amplitude*cos(frequency*counter*3.14159/180+2*lag));
s5.write(90+.1*(360-
counter)*rightOffset+amplitude*cos(frequency*counter*3.14159/180+1*lag));
s6.write(90+.1*(360-
counter)*rightOffset+amplitude*cos(frequency*counter*3.14159/180+0*lag));
s7.write(90+.1*(360-
counter)*rightOffset+amplitude*cos(frequency*counter*3.14159/180-1*lag));
s8.write(90+.1*(360-
counter)*rightOffset+amplitude*cos(frequency*counter*3.14159/180-2*lag));
s9.write(90+.1*(360-
counter)*rightOffset+amplitude*cos(frequency*counter*3.14159/180-3*lag));
s10.write(90+.1*(360-
counter)*rightOffset+amplitude*cos(frequency*counter*3.14159/180-4*lag));

66
 s11.write(90+.1*(360-
counter)*rightOffset+amplitude*cos(frequency*counter*3.14159/180-5*lag));
s12.write(90+.1*(360-
counter)*rightOffset+amplitude*cos(frequency*counter*3.14159/180-6*lag));
Serial.println("right");
}
if (Serial.available() == 1)
{
val = Serial.read();
Serial.println(val);
if (val == 'X')
{
Serial.println("break");
break;
}
}
}
while (val == 'B')
{
for(counter = 360; counter > 0; counter -= 1)
{
delay(delayTime);

s1.write(90+offset+amplitude*cos(frequency*counter*3.14159/180+5*lag));

s2.write(90+offset+amplitude*cos(frequency*counter*3.14159/180+4*lag));

s3.write(90+offset+amplitude*cos(frequency*counter*3.14159/180+3*lag));
s4.write(90+amplitude*cos(frequency*counter*3.14159/180+2*lag));
s5.write(90+amplitude*cos(frequency*counter*3.14159/180+1*lag));
s6.write(90+amplitude*cos(frequency*counter*3.14159/180+0*lag));
s7.write(90+amplitude*cos(frequency*counter*3.14159/180-1*lag));
s8.write(90+amplitude*cos(frequency*counter*3.14159/180-2*lag));
s9.write(90+amplitude*cos(frequency*counter*3.14159/180-3*lag));
s10.write(90+amplitude*cos(frequency*counter*3.14159/180-
4*lag));
s11.write(90+amplitude*cos(frequency*counter*3.14159/180-
5*lag));
s12.write(90+amplitude*cos(frequency*counter*3.14159/180-
6*lag));
Serial.println("Backward");
}
if (Serial.available() == 1)
{
val = Serial.read();
Serial.println(val);
if (val == 'X')
{
Serial.println("break");
break;
}
}
}
if (val == 'S')

67
{
s1.write(90);
s2.write(90);
s3.write(90);
s4.write(90);
s5.write(90);
s6.write(90);
s7.write(90);
s8.write(90);
s9.write(90);
s10.write(90);
s11.write(90);
s12.write(90);
delay(1000);
}
if(val == 'Z')
{
s1.write(0);
s2.write(90);
s3.write(90);
s4.write(90);
s5.write(90);
s6.write(90);
s7.write(90);
s8.write(90);
s9.write(90);
s10.write(90);
s11.write(90);
s12.write(90);
delay(1000);
delay(delayTime);
for(pos = 0; pos < flex; pos += 1)
{
s12.write(90-pos);
s11.write(90+2*pos);
s10.write(90-pos);
delay(smoothnessDelay);
}

delay(delayTime);
for(pos = 0; pos < flex; pos += 1)
{
s12.write(90-flex+pos);
s11.write(90+2*flex-3*pos);
s10.write(90-flex+3*pos);
s9.write(90-pos);
delay(smoothnessDelay);
}

delay(delayTime);
for(pos = 0; pos < flex; pos += 1)
{
s11.write(90-flex+pos);
s10.write(90+2*flex-3*pos);

68
 s9.write(90-flex+3*pos);
s8.write(90-pos);
delay(smoothnessDelay);
}

delay(delayTime);
for(pos = 0; pos < flex; pos += 1)
{
s10.write(90-flex+pos);
s9.write(90+2*flex-3*pos);
s8.write(90-flex+3*pos);
s7.write(90-pos);
delay(smoothnessDelay);
}

delay(delayTime);
for(pos = 0; pos < flex; pos += 1)
{
s9.write(90-flex+pos);
s8.write(90+2*flex-3*pos);
s7.write(90-flex+3*pos);
s6.write(90-pos);
delay(smoothnessDelay);
}

delay(delayTime);
for(pos = 0; pos < flex; pos += 1)
{
s8.write(90-flex+pos);
s7.write(90+2*flex-3*pos);
s6.write(90-flex+3*pos);
s5.write(90-pos);
delay(smoothnessDelay);
}

delay(delayTime);
for(pos = 0; pos < flex; pos += 1)
{
s7.write(90-flex+pos);
s6.write(90+2*flex-3*pos);
s5.write(90-flex+3*pos);
s4.write(90-pos);
delay(smoothnessDelay);
}

delay(delayTime);
for(pos = 0; pos < flex; pos += 1)
{
s6.write(90-flex+pos);
s5.write(90+2*flex-3*pos);
s4.write(90-flex+3*pos);
s3.write(90-pos);
delay(smoothnessDelay);
}

69
 delay(delayTime);
for(pos = 0; pos < flex; pos += 1)
{
s5.write(90-flex+pos);
s4.write(90+2*flex-3*pos);
s3.write(90-flex+3*pos);
s2.write(90-pos);
delay(smoothnessDelay);
}

delay(delayTime);
for(pos = 0; pos < flex; pos += 1)
{
s4.write(90-flex+pos);
s3.write(90+2*flex-2*pos);
s2.write(90-flex+pos);
delay(smoothnessDelay);
}
}
while(val == 'A')
{
// Point distance sensor straight ahead
panServo.write(90);
// Take reading from distance sensor
delay(1000);
distanceReading = analogRead(IRpin);
wallDistance = 40-distanceReading/10;

// If wallDistance > wallDistanceTolerance, move forward

if (wallDistance > wallDistanceTolerance)
{
for(counter = 0; counter < 360; counter += 1)
{
delay(delayTime);

s1.write(90+offset+amplitude*cos(frequency*counter*3.14159/180+5*lag));

s2.write(90+offset+amplitude*cos(frequency*counter*3.14159/180+4*lag));

s3.write(90+offset+amplitude*cos(frequency*counter*3.14159/180+3*lag));
s4.write(90+amplitude*cos(frequency*counter*3.14159/180+2*lag));
s5.write(90+amplitude*cos(frequency*counter*3.14159/180+1*lag));
s6.write(90+amplitude*cos(frequency*counter*3.14159/180+0*lag));
s7.write(90+amplitude*cos(frequency*counter*3.14159/180-1*lag));
s8.write(90+amplitude*cos(frequency*counter*3.14159/180-2*lag));
s9.write(90+amplitude*cos(frequency*counter*3.14159/180-3*lag));
s10.write(90+amplitude*cos(frequency*counter*3.14159/180-
4*lag));
s11.write(90+amplitude*cos(frequency*counter*3.14159/180-
5*lag));
s12.write(90+amplitude*cos(frequency*counter*3.14159/180-
6*lag));
}

70
 }

// If wallDistance , wallDistanceTolerance, stop and take

// distance measurements to the left and right
if (wallDistance < wallDistanceTolerance)
{
panServo.write(170);
delay(panDelay);
distanceReadingLeft = analogRead(IRpin);
delay(panDelay);
wallDistanceLeft = 40-distanceReadingLeft/10;

panServo.write(20);
delay(panDelay);
distanceReadingRight = analogRead(IRpin);
delay(panDelay);
wallDistanceRight = 40-distanceReadingRight/10;
panServo.write(90);
delay(panDelay);

if (wallDistanceLeft > wallDistanceRight)

{
// Reverse and then turn left
// Reverse
for(counter = 360; counter > 0; counter -= 1)
{
delay(delayTime);

s1.write(90+offset+amplitude*cos(frequency*counter*3.14159/180+5*lag));

s2.write(90+offset+amplitude*cos(frequency*counter*3.14159/180+4*lag));

s3.write(90+offset+amplitude*cos(frequency*counter*3.14159/180+3*lag));

s4.write(90+amplitude*cos(frequency*counter*3.14159/180+2*lag));

s5.write(90+amplitude*cos(frequency*counter*3.14159/180+1*lag));

s6.write(90+amplitude*cos(frequency*counter*3.14159/180+0*lag));
s7.write(90+amplitude*cos(frequency*counter*3.14159/180-
1*lag));
s8.write(90+amplitude*cos(frequency*counter*3.14159/180-
2*lag));
s9.write(90+amplitude*cos(frequency*counter*3.14159/180-
3*lag));
s10.write(90+amplitude*cos(frequency*counter*3.14159/180-
4*lag));
s11.write(90+amplitude*cos(frequency*counter*3.14159/180-
5*lag));
s12.write(90+amplitude*cos(frequency*counter*3.14159/180-
6*lag));
}

71
 // Left turn
// Ramp up turn offset
for(counter = 0; counter < 10; counter += 1)
{
delay(delayTime);

s1.write(90+offset+.1*counter*leftOffset+amplitude*cos(frequency*counter*3
.14159/180+5*lag));

s2.write(90+offset+.1*counter*leftOffset+amplitude*cos(frequency*counter*3
.14159/180+4*lag));

s3.write(90+offset+.1*counter*leftOffset+amplitude*cos(frequency*counter*3
.14159/180+3*lag));

s4.write(90+.1*counter*leftOffset+amplitude*cos(frequency*counter*3.14159/
180+2*lag));

s5.write(90+.1*counter*leftOffset+amplitude*cos(frequency*counter*3.14159/
180+1*lag));

s6.write(90+.1*counter*leftOffset+amplitude*cos(frequency*counter*3.14159/
180+0*lag));

s7.write(90+.1*counter*leftOffset+amplitude*cos(frequency*counter*3.14159/
180-1*lag));

s8.write(90+.1*counter*leftOffset+amplitude*cos(frequency*counter*3.14159/
180-2*lag));

s9.write(90+.1*counter*leftOffset+amplitude*cos(frequency*counter*3.14159/
180-3*lag));

s10.write(90+.1*counter*leftOffset+amplitude*cos(frequency*counter*3.14159
/180-4*lag));

s11.write(90+.1*counter*leftOffset+amplitude*cos(frequency*counter*3.14159
/180-5*lag));

s12.write(90+.1*counter*leftOffset+amplitude*cos(frequency*counter*3.14159
/180-6*lag));
}
// Continue left turn
for(counter = 11; counter < 350; counter += 1)
{
delay(delayTime);

s1.write(90+offset+leftOffset+amplitude*cos(frequency*counter*3.14159/180+
5*lag));

s2.write(90+offset+leftOffset+amplitude*cos(frequency*counter*3.14159/180+
4*lag));

72
s3.write(90+offset+leftOffset+amplitude*cos(frequency*counter*3.14159/180+
3*lag));

s4.write(90+leftOffset+amplitude*cos(frequency*counter*3.14159/180+2*lag))
;

s5.write(90+leftOffset+amplitude*cos(frequency*counter*3.14159/180+1*lag))
;

s6.write(90+leftOffset+amplitude*cos(frequency*counter*3.14159/180+0*lag))
;

s7.write(90+leftOffset+amplitude*cos(frequency*counter*3.14159/180-
1*lag));

s8.write(90+leftOffset+amplitude*cos(frequency*counter*3.14159/180-
2*lag));

s9.write(90+leftOffset+amplitude*cos(frequency*counter*3.14159/180-
3*lag));

s10.write(90+leftOffset+amplitude*cos(frequency*counter*3.14159/180-
4*lag));

s11.write(90+leftOffset+amplitude*cos(frequency*counter*3.14159/180-
5*lag));

s12.write(90+leftOffset+amplitude*cos(frequency*counter*3.14159/180-
6*lag));
}
// Ramp down turn offset
for(counter = 350; counter < 360; counter += 1)
{
delay(delayTime);
s1.write(90+offset+.1*(360-
counter)*leftOffset+amplitude*cos(frequency*counter*3.14159/180+5*lag));
s2.write(90+offset+.1*(360-
counter)*leftOffset+amplitude*cos(frequency*counter*3.14159/180+4*lag));
s3.write(90+offset+.1*(360-
counter)*leftOffset+amplitude*cos(frequency*counter*3.14159/180+3*lag));
s4.write(90+.1*(360-
counter)*leftOffset+amplitude*cos(frequency*counter*3.14159/180+2*lag));
s5.write(90+.1*(360-
counter)*leftOffset+amplitude*cos(frequency*counter*3.14159/180+1*lag));
s6.write(90+.1*(360-
counter)*leftOffset+amplitude*cos(frequency*counter*3.14159/180+0*lag));
s7.write(90+.1*(360-
counter)*leftOffset+amplitude*cos(frequency*counter*3.14159/180-1*lag));
s8.write(90+.1*(360-
counter)*leftOffset+amplitude*cos(frequency*counter*3.14159/180-2*lag));
s9.write(90+.1*(360-
counter)*leftOffset+amplitude*cos(frequency*counter*3.14159/180-3*lag));

73
 s10.write(90+.1*(360-
counter)*leftOffset+amplitude*cos(frequency*counter*3.14159/180-4*lag));
s11.write(90+.1*(360-
counter)*leftOffset+amplitude*cos(frequency*counter*3.14159/180-5*lag));
s12.write(90+.1*(360-
counter)*leftOffset+amplitude*cos(frequency*counter*3.14159/180-6*lag));
}
}

if (wallDistanceLeft <= wallDistanceRight)

{

// Reverse and turn right

// Reverse
for(counter = 360; counter > 0; counter -= 1)
{
delay(delayTime);

s1.write(90+offset+amplitude*cos(frequency*counter*3.14159/180+5*lag));

s2.write(90+offset+amplitude*cos(frequency*counter*3.14159/180+4*lag));

s3.write(90+offset+amplitude*cos(frequency*counter*3.14159/180+3*lag));

s4.write(90+amplitude*cos(frequency*counter*3.14159/180+2*lag));

s5.write(90+amplitude*cos(frequency*counter*3.14159/180+1*lag));

s6.write(90+amplitude*cos(frequency*counter*3.14159/180+0*lag));
s7.write(90+amplitude*cos(frequency*counter*3.14159/180-
1*lag));
s8.write(90+amplitude*cos(frequency*counter*3.14159/180-
2*lag));
s9.write(90+amplitude*cos(frequency*counter*3.14159/180-
3*lag));
s10.write(90+amplitude*cos(frequency*counter*3.14159/180-
4*lag));
s11.write(90+amplitude*cos(frequency*counter*3.14159/180-
5*lag));
s12.write(90+amplitude*cos(frequency*counter*3.14159/180-
6*lag));
}
// Turn right
// Ramp up turn offset
for(counter = 0; counter < 10; counter += 1)
{
delay(delayTime);

s1.write(90+offset+.1*counter*rightOffset+amplitude*cos(frequency*counter*
3.14159/180+5*lag));

s2.write(90+offset+.1*counter*rightOffset+amplitude*cos(frequency*counter*
3.14159/180+4*lag));

74
s3.write(90+offset+.1*counter*rightOffset+amplitude*cos(frequency*counter*
3.14159/180+3*lag));

s4.write(90+.1*counter*rightOffset+amplitude*cos(frequency*counter*3.14159
/180+2*lag));

s5.write(90+.1*counter*rightOffset+amplitude*cos(frequency*counter*3.14159
/180+1*lag));

s6.write(90+.1*counter*rightOffset+amplitude*cos(frequency*counter*3.14159
/180+0*lag));

s7.write(90+.1*counter*rightOffset+amplitude*cos(frequency*counter*3.14159
/180-1*lag));

s8.write(90+.1*counter*rightOffset+amplitude*cos(frequency*counter*3.14159
/180-2*lag));

s9.write(90+.1*counter*rightOffset+amplitude*cos(frequency*counter*3.14159
/180-3*lag));

s10.write(90+.1*counter*rightOffset+amplitude*cos(frequency*counter*3.1415
9/180-4*lag));

s11.write(90+.1*counter*rightOffset+amplitude*cos(frequency*counter*3.1415
9/180-5*lag));

s12.write(90+.1*counter*rightOffset+amplitude*cos(frequency*counter*3.1415
9/180-6*lag));
}
// Continue right turn
for(counter = 11; counter < 350; counter += 1)
{
delay(delayTime);

s1.write(90+offset+rightOffset+amplitude*cos(frequency*counter*3.14159/180
+5*lag));

s2.write(90+offset+rightOffset+amplitude*cos(frequency*counter*3.14159/180
+4*lag));

s3.write(90+offset+rightOffset+amplitude*cos(frequency*counter*3.14159/180
+3*lag));

s4.write(90+rightOffset+amplitude*cos(frequency*counter*3.14159/180+2*lag)
);

s5.write(90+rightOffset+amplitude*cos(frequency*counter*3.14159/180+1*lag)
);

s6.write(90+rightOffset+amplitude*cos(frequency*counter*3.14159/180+0*lag)
);

75
s7.write(90+rightOffset+amplitude*cos(frequency*counter*3.14159/180-
1*lag));

s8.write(90+rightOffset+amplitude*cos(frequency*counter*3.14159/180-
2*lag));

s9.write(90+rightOffset+amplitude*cos(frequency*counter*3.14159/180-
3*lag));

s10.write(90+rightOffset+amplitude*cos(frequency*counter*3.14159/180-
4*lag));

s11.write(90+rightOffset+amplitude*cos(frequency*counter*3.14159/180-
5*lag));

s12.write(90+rightOffset+amplitude*cos(frequency*counter*3.14159/180-
6*lag));
}
// Ramp down turn offset
for(counter = 350; counter < 360; counter += 1)
{
delay(delayTime);
s1.write(90+offset+.1*(360-
counter)*rightOffset+amplitude*cos(frequency*counter*3.14159/180+5*lag));
s2.write(90+offset+.1*(360-
counter)*rightOffset+amplitude*cos(frequency*counter*3.14159/180+4*lag));
s3.write(90+offset+.1*(360-
counter)*rightOffset+amplitude*cos(frequency*counter*3.14159/180+3*lag));
s4.write(90+.1*(360-
counter)*rightOffset+amplitude*cos(frequency*counter*3.14159/180+2*lag));
s5.write(90+.1*(360-
counter)*rightOffset+amplitude*cos(frequency*counter*3.14159/180+1*lag));
s6.write(90+.1*(360-
counter)*rightOffset+amplitude*cos(frequency*counter*3.14159/180+0*lag));
s7.write(90+.1*(360-
counter)*rightOffset+amplitude*cos(frequency*counter*3.14159/180-1*lag));
s8.write(90+.1*(360-
counter)*rightOffset+amplitude*cos(frequency*counter*3.14159/180-2*lag));
s9.write(90+.1*(360-
counter)*rightOffset+amplitude*cos(frequency*counter*3.14159/180-3*lag));
s10.write(90+.1*(360-
counter)*rightOffset+amplitude*cos(frequency*counter*3.14159/180-4*lag));
s11.write(90+.1*(360-
counter)*rightOffset+amplitude*cos(frequency*counter*3.14159/180-5*lag));
s12.write(90+.1*(360-
counter)*rightOffset+amplitude*cos(frequency*counter*3.14159/180-6*lag));
}
}
}
if(Serial.available() == 1)
{
val = Serial.read();
Serial.println(val);

76
 if(val == 'X')
{
break;
}
}
}
if(val == 'I')
{
s1.write(90);
s2.write(180);
s3.write(90);
s4.write(90);
s5.write(90);
s6.write(180);
s7.write(90);
s8.write(90);
s9.write(90);
s10.write(180);
s11.write(90);
s12.write(90);
delay(1000);
}
if(val == 'T')
{
s1.write(90);
s2.write(90);
s3.write(210);
s4.write(90);
s5.write(90);
s6.write(90);
s7.write(90);
s8.write(90);
s9.write(210);
s10.write(90);
s11.write(90);
s12.write(90);
delay(1000);
}
}
}

77
 Appendix B

Design standards

It is necessary to follow the standards and design standards in the building of any engineering
prototype. The IEEE is an expert affiliation that creates, characterizes, and surveys hardware and
software engineering norms. The historical backdrop of the IEEE traces back to the 1800s when
power began to impact society.

1. IEEE 1872-2015 - IEEE 1872-2015 indicates the fundamental, most broad ideas, relations,
and maxims of advanced mechanics and mechanization (R&A) is characterized in this
norm, which is expected as a source of perspective for information portrayal and thinking
in robots, just as a proper reference jargon for conveying information about R&A among
robots and people. This standard is made from a centre metaphysics about R&A, called
CORA, along with different ontologies that offer help to CORA. [20]
Application: This above-mentioned standard is used in the determination and defining of
ontology or movement safety of robots.

2. IEEE 1118.1-1990 - A sequential control transport for INTER-DEVICE-HTRA-

BUILDING just as the intracity interconnection of microcontrollers is depicted. The
transport, which is characterized for (however not restricted to) microcontrollers and
gadgets with restricted re-programmability, gives a multidrop cycle sequential
correspondence convention that will permit the interconnection of appropriated
Independently fabricated gadgets. The convention is streamlined for instrumentation,
appropriated information procurement frameworks, control gadgets, and test and
estimation. Details for typical engineering, conventional transport administrations,
framework management, information connect, and a few physical media are given. The
sequential control transport develops BIT BUS without making existing gadgets out of
date. Framework unwavering quality has been improved by the expansion of a framework
the executive’s layer, and nonexclusive transport administrations have been extended. [21]

78
 Application: This standard is used for a serial control bus for inter-device/intrabuilding
interconnection of microcontrollers.

3. ISO 13857:2019 - Consistence with the necessities in this record will forestall admittance
to the danger zone. All things considered, the client of this report is prompted that it doesn't
give the necessary danger decrease to each risk (for example dangers identified with
machine emanations, for example, ionizing radiation, heat sources, commotion, dust). The
statements covering lower appendages apply on their solitary when access by the upper
appendages to a similar peril zone isn't predictable as indicated by the danger evaluation.
[22]
Application: This standard we used in considering the safety of robot chassis.

4. IEEE 802 Wi-fi/LAN/WAN Communication/ Bluetooth - is a standard published by the

Institute for Electrical and Electronics Engineers which is used for Wi-fi communication.
The protocols mentioned in the IEEE802 are followed and implemented in this project for
the transmission of data.
Application: This standard is used during the implementation of the Bluetooth module and
establishing its connectivity.

5. ANSI/IEEE std 991-1986 – This provides standard guidelines for logic circuit diagrams.
It includes definitions, requirements for assignment of logic levels, application of logic
symbols, presentation techniques, and labelling requirements. According to standard a
logic circuit diagram predominantly uses symbols for logic functions to depict the overall
function of a circuit. The standard divided the logic circuit diagram into two types’ i.e.
Basic and detailed circuit diagrams. The proponent’s circuit diagram is according to the
standard Basic Circuit Type Diagram. It provides logic symbols and other necessary
functional symbols, together with their signal and major control path connections.
Application: This standard is used in the implementation of wiring and circuit cabling
safety.

79
 Sayed Dheya Amin Alawi
House 2601, Road 8325, Block 583, Salman City
Mobile: +973 66945365
Email: [email protected]
SUMMARY

• Profile Male, 23 years

• Nationality Bahraini
• Marital Status Single
• C.P.R. # 980307627
• Date Of Birth 27/03/1998
• Driving License: Since 2016

EDUCATION

2015-2016 Aljabriya Technical Secondary Boys School Bahrain

Advanced stream-Computer Main

WORKING EXPERIENCE

SAAM for Electrical & Plumbing Material [2016-2019]

ADDITIONAL SKILLS

Interpersonal: Demonstrable Decision Making, Problem Solving and analytical skills.

Always willing to learn and have new experience.

Languages: Arabic – English

Fluent both Spoken and Written

Computer (IT SKILLS): Computer literate, Knowledge of all Windows.

Word, Power Point, Excel, Access, (Programming Language) and extensive
knowledge on the internet.
KEY SKILLS

• Able to work under pressure

• Good interpersonal skills
• Good leadership skills
• Willing to learn and work hard

REFERENCES

References are available upon request Official transcripts, certificates, recommendation and employment
letters will be provided.
 ABDULLA NASSER

PERSONAL I have extensive knowledge of security operations, personnel management & security
planning for national and international projects. I am an excellent communicator at all
Name
levels of the organization (in private or public sectors). My strengths are the ability to
ABDULLA NASSER
manage change and adapt to new situations with flexibility and professionalism whilst
Address
also being proactive, and an excellent team player
HOUSE 164 - ROAD 2303 - BLOCK 923 - EAST RIFFA
00973 RIFFA
Phone number
+97333731771 WORK EXPERIENCE
Email Marine Operator Jul 2015 - Present
[email protected] Bahrain Petroleum Company (BAPCO), Sitra
Date of birth
Manage day‑to‑day vessel operations and ensure that vessels, agents and terminals
30-03-1995
are given proper instructions, and are performing as required
Place of birth Propose and implement contingency plans, and assist in maintaining the standard
BAHRAIN
service contingency handbook of assigned services
Gender Be able to identify and raise issues on vessel performance on assigned service and
Male
raise through the proper channels
Nationality Towing operations, including line handling
BAHRAINI Mooring operations of the vessel being operated
Marital status Safety/Security/Contingency Exercises as required
SINGLE
LinkedIn
E D U C AT I O N A N D Q U A L I F I C AT I O N S
ABDULLA AL AHMED
Secondary Certificate 2011 - 2013
Sheikh Abdulla Bin Isa Technical School, Isa Town

Bachelor of Science in Mechatronics Engineering 2016 - 2021

AMA International University, Salmabad

SKILLS
Microsoft Office
English Language (Writing +
Speaking)
Arabic Language
(Writing+Speaking)
Problem-solving
Teamwork
Leadership
Creativity
Educational Commitment

CO U R S E S
English Course Level 3 2014 - 2015
British Council

Fire Safety Level 2 2018 - 2019

BAPCO

STCW Jul 2018 - Aug 2018

Gulf Aviation Academy
 Curriculum Vitae

Personal Details:
Name: Saad Ebrahim Saad Bu Khammas
Nationality: Bahraini
C.P.R No.: 841201412
Date of Birth: 26 December 1984
Marital Status: Married
Address: Villa 5, Road 8, Block 225, Busaiteen, Bahrain
Phone Number: 38880018-38881898
E-mail: [email protected],

Objective:

To find a new challenging managerial role in administration and employ serves with which I can
implement all my experience, skill and qualification and yet continue my learning process.

Education:

2016 – Present AMA university Salmabad – Kingdom of Bahrain

Bachelor of Science in Mechatronics Engineering

2013 – 2016 British Council Tatweer petroleum class

Pre intermediate in English languish

2006 – 2010 Kingdom University Al zing – Kingdom of Bahrain

B.S.C in Business Management
Cre. No.KU100571

2003 - 2006 EDEXCEL Isa Town – Kingdom of Bahrain

Level 3 National Diploma
Cre.No.W543970

2004 – 2006 Bahrain Training Institute Isa Town – Kingdom of Bahrain

Mechanical Engineering (National Diploma)
Cre. No. 022007-20030552

2003 – 2004 Bahrain Training Institute Isa Town – Kingdom of Bahrain

Mechanical Engineering (First Diploma)
Cre. No.042005-20030552

2000 – 2003 Muharraq Technical Secondary School Muharaaq – Kingdom of Bahrain

Secondary Certificate – Mechanical

Professional Curses

Certification Training Date Location Certification Training Date Location

HSE Orientation 22/1/2011 Online NORM 10/12/2012 Online
2012 Tatweer IT
9/2/2012
Cyber Security Defensive
13/3/2013 Online 19/12/2012 Online
Awareness- Driving
26/3/2014
English

1|Page
 Training Mine
13/3/2013
New User 9/2/2012 Online Heat Stress Online
1/7/2014
Tutorial
Tatweer
Defensive 12/2/2012
Online Employment 7/4/2013 Online
Driving 12/12/2013
Policy Document

Certification Training Date Location Certification Training Date Location

Tatweer
Asset Integrity
Electrical Power
Management
2/4/2012 Online System 5/9/2013 Online
System
Awareness
Overview
Program
Tatweer Anti-
Harassment Near Miss
7/6/2012 Online 30/10/2013 Online
Policy for Reporting
Employees
Training Mine
Code of Business
Overview for
27/8/2012 Online Conduct (CBC) 12/12/2013 Online
Learners and
Training
Supervisors
11/10/2012 Driving Safety
Fire Fighting Online 10/2/2014 Online
17/8/2014 Awareness
Waste 15/10/2012
Management Online Heat Stress 10/2/2014 Online
19/8/2014
14/10/2012
Hazcom MSDS Online MOC Procedures 29/4/2014 Online
17/9/2014
Tatweer
Hazard Employment
15/10/2012
Assessment Online Policy 11/6/2014 Online
17/9/2014
Document-
English
Process Risk
Management 16/10/2012 Defensive
Online 19/12/2012 Online
Awareness 15/9/2014 Driving

Hearing 13/3/2013
Conservation 10/12/2012 Online Heat Stress Online
1/7/2014
Tatweer
HSE Orientation 10/12/2012 Online Employment 7/4/2013 Online
Policy Document
Magnetic Particle 17/11/2012 Liquid Penetrate 17/11/2012
Testing level 1 To
KSA-
Testing level 1 To KSA-Dammam
and level 2 21/11/2012
Dammam
and level 2 21/11/2012
Ultrasonic 22/12/2012 MS-Excel 2007 24/11/2013
Testing level 1 To
KSA-
(Basic to To BIBF
and level 2 26/12/2012
Dammam
Intermediate) 26/11/2013
Quality and
04/08/2001 inspecting of 01/12/2008 Municipal
MS Win 98 To
Cambridge
undertaking To Training
Institute
28/08/2001 contraction 04/12/2008 Centre
projects
Ministry of Appreciation
Legal Inspector 13/04/2007
Justice Certificate for Motorsport
an deputy officer 07/07/2009 To
Kingdom of the outstanding Marshals Club
15/04/2007
Bahrain performance
Ethics of dealing Municipal Appreciation
through work 19/07/2010 Training Certificate for April2014
Tatweer
task Centre hard work
Petroleum

2|Page
Conferences and forums attended:
1. 1st Bahrain Waste Management Forum and Exhibition ”Towards Zero Waste” 14-15th /11/2011
2. 14th Middle East Corrosion Conference and Exhibition 14/2/2012
3. 6th Middle East Non Destructive Testing Conference & Exhibition 07/10/2012

Experience:
January 2012 to Present Tatweer Petroleum Bahrain
(Inspector) Non destructive Testing Technician

- Complete assigned non destructive testing works and reports as per the
corrective work order within the time frame set be engineer.
- Complete assigned T&I inspection schedules as per the PM plan.
- Work with Credo system data UT thickness gauging results.
- Work with reliability engineer and perform rotary equipment vibration
monitoring and Thermograph test per the PM schedule.
- visual inspection – using lenses
- thermal imaging - used to find defects in concrete and other building materials
- Magnetic particle testing – applying magnetic particles to magnetised
materials, so they line up along cracks and defects.
- ultrasonic testing – firing high frequency sound pulses into materials and
analysing the differences in the reflected signals
- Holiday testing – Testing of Protective Coatings

August 2008 to 2012 Manama municipality technical service department (Inspector)

Main Responsibilities:
- Customer Service, call center and Receiving notes and compellation.
- Study and understanding notes and completion.
- Organize coordinate compellation.
- Notify the client of any discrepant and violation
- Showed and discussed case whit engineer
- Negotiation with client to find solution
- Using (GIS) & (violation system) to entry data
- Find all regulation data whit it need it to prepare report
- Print all the documents and send the to the legal department

August 2005 to 2008 B.D.F (Technical Maintenance Unit) – Mechanical Department

(Mechanical Technician)

Main Responsibilities:
- Repairing parts of motors and vehicle.
- Maintenance for different kind of Machine.
- Material Casting.
- Create new support machines that help us in our day to day work.
- Prepare a daily report for the Department activities.
- Responsible for staff schedule.
- Worked in centre lathe machine.
- Worked in milling machine.
- Worked with shaping machines.
- Work in welding.

March 2003 – April 2003 Ministry of Electricity and Water – Kingdom of Bahrain
(Trainee – Workshop Division)

Main Responsibilities:
- Create parts to improve Generators performance.
- Maintenance for Generators and Motors.

3|Page
Achievements:

• Past with honour my graduation project for the national diploma

• Trainer for bodybuilding
• Certified in Formula one with marshal club

Skills:
Languages: Arabic and English.
Personal Skills: Team player, Problem solver, and Good Communicator.
Computer Skills: Microsoft office (Word, Excel, PowerPoint and Access).
Strong communication skills.
Strive for continued excellence.
Provide exceptional contributions to customer service.
I am a self-starter.
Eager to learn new things.
Ability to complete tasks under pressure.
Adapt in different work environments and bond well with teams
Ambitious and hardworking.

Interests and Hobbies:

Travelling, Meeting new people, sports, Working on the computer, and Surfing the Web.

4|Page
 Word Count: 11424

Plagiarism Percentage
10%

sources:

1% match (Internet from 24-Sep-2020)

1
https://ieeexplore.ieee.org/document/8372507/

1% match (Internet from 21-Dec-2020)

2
https://ieeexplore.ieee.org/document/8519788/

1% match (Internet from 07-May-2021)

3
https://standards.ieee.org/standard/1872-2015.html

1% match (Internet from 25-Sep-2020)

4
https://www.cambridge.org/core/journals/robotica/article/survey-on-snake-robot-modeling-and-
locomotion/7E4D2D8D6DC00B7482BAE8B5540B82FC

1% match (Internet from 11-Sep-2020)

5
https://ewall.com.pk/product_view.php/Arduino-Mega2560-R3-(High-Quality)-with-USB-Cable/4

1% match (publications)
6
Alessandro Crespi. "Online Optimization of Swimming and Crawling in an Amphibious Snake
Robot", IEEE Transactions on Robotics, 02/2008

< 1% match (Internet from 26-Apr-2021)

7
https://standards.ieee.org/standard/1118_1-1990.html

< 1% match (Internet from 11-Sep-2020)

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https://ewall.com.pk/blog/arduino-complete-guide-for-beginners

< 1% match (Internet from 20-Aug-2020)

9
https://www.ijert.org/design-and-implementation-of-flow-meter-maintenance-robot-for-oil-gas-
industries

< 1% match (Internet from 17-Jul-2020)

10
https://www.provotech.in/arduino-board-and-shields.html
 < 1% match (Internet from 04-Dec-2018)
11
https://www.irjet.net/archives/V5/i3/IRJET-V5I3256.pdf

< 1% match (publications)

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paper text:

i ii iii iv v Chapter 1 Introduction 35

Robotics world is evolving and making things easier for humans. Let us know a little history of ROBOTS, the
earliest robot was built in 1950’s and it was first created by George C. Devol. He made and took the
robot to sell in the market but couldn’t succeed in the mission. Later then, in 1960’s an Engineer
and businessman named Joseph Eagleburger got Devol’s Robot and modify it to use in the industrial
efforts. Finally, it was a success and he launched the company named as UNIMATION (figure 1.1) for
production of market ROBOTs. Joseph Eagleburger also known as the father of ROBOTICS. Big companies
like GM and Ford used their robotic machines to work in the production industries of car. [1] figure 1.1
UNIMATION robot In early days of evolution of ROBOTS, people think that they will be replaced by ROBOT
and they will lose their jobs and ROBOTS will work because there won’t be any kind of salary that they
have to pay to ROBOTS. But the reality is quite opposite ROBOTS are there to perform the tasks which can
be harmful or impossible for humans to work on. Robots are very helpful in many daily routine tasks as well.
Such as a coffee maker, automated car washing systems, automated home appliances and much more.
Like working in a Car production industry there are many tasks which is heavy weight material deployment
methods are in common working in that case only a ROBOT will come in time to rescue. The most benefit
we get from ROBOT TIME the basic benefit 1 of using a ROBOT instead of human is that you will save a lot
of time because a ROBOT cannot be tired as humans do, they need break and energies to work constantly.
CONSISTENCY we also get consistent working with the help of ROBOTS. As they will not get tired after
working like humans. SPEED ROBOTS can have more speedy working than a human because they are set
to work on a specific speed which are controlled by humans so there is no restriction of speed. We just need
to do the perfect automation and robots engineering on the machine to give perfect working in a mean time.
ACCURACY ROBOTS are more accurate than humans due to the reason that humans can make mistakes
which are known as human errors but ROBOTS cannot make mistakes, they will perform only what we will
feed in the system on ROBOTS but they will not work as per their own willing. 2 Chapter 2 Background of
study This snake robot is totally based on Arduino controllers with the help of these controllers it is easy to
access any device which is then controlled Bluetooth. Arduino is

an open-source electronic platform easy to use on hardware and 15

software. It was born in Ivrea Interaction Design institute

where students with zero background of electronics used to do experiments and make things out of it. Later,
Arduino begin to use differently with many other transformations. It is now used to connect IOT devices, 3D
printers, home appliances and embedded products related to electronic items. Whenever you want to open
a bulb, run a motor-based device or any other electronic item you just have to give signal to the Arduino
microcontroller from which the signal came and do the specific task you want to perform and with the help of
wiring your switch will turn on or any of your motor will start running. To do such task you need Arduino
based programming language (based on wires) and Arduino software (IDE) which is entirely based on
processing. [2] 2.1 Area of investigation ARDUINO BASED RECTILINEAR LOCOMOTION SNAKE ROBOT
FOR INSPECTION is very useful for many conditions where the path is narrow and there is no way of
getting inside then this ROBOT come to rescue the situation and help in many ways to rescue. Let us
assume few conditions on to which the ROBOT can play an important role in helping the situation: ?
Construction conditions: - in some conditions, while doing the construction or dealing with pipelines
underground or inspecting of gridders (figure 2.1) which is deep down the earth sometimes and it is very
hard to get into the area of investigation. Even though, some cameras or rods are there but they are not
flexible enough like snake to get into the position. There this SNAKE ROBOT will come to rescue the
solution, because for snakes there is no hard situation to get into any area, we can observe that they can be
reach anywhere deep down the difficult places. 3 figure 2.1 Construction site ? Earthquake situation: -
sometimes, when an earthquake hit badly with the magnitude above 7 to few cities like we knew like Haiti in
2010 (figure 2.2), Indonesia 2004, China 2008 and many other countries or cities have been affected so far.
When these disasters came, we can observe a lot of destruction and collapse of buildings occur and, in few
areas, we can’t reach. But we must know first whether any human is alive or not, for that our SNAKE
ROBOT can also monitor the situation in case of any disaster situations we can send the ROBOT and it will
monitor the situation. SNAKE ROBOT can also be useful for spying purpose and it is very much obedient
that we could control the motion from our androids and any other smart device which can handle the
software. figure 2.2 Haiti 2010 earthquake 4 2.2 Problem statement It is quite a problem for making a
success in such areas as discussed above around investigation. That, this problem is not just for Bahrain
but internationally, there will be the great use of this robot in the world and this will help in many situations.
In underground pipelines there are several problems that could affect the pipelines of cables gas or any
other underground tunnels few conditions can destroy those tunnels: collapse and erosion have the highest
tunnels, which implies that if the assets are restricted, this risk ought to be dealt with first. It might take note
of that there is cover of certainty stretches. for example, fifth 95th % of disappointment instruments which
may because of managing a restricted measure of information for RPN examinations (figure 2.3). [3] figure
2.3 RPN examinations 5 2.3 Objectives of research design project ‣ It is very easy to use the ROBOT
less practice is required and very easy to handle the software to control the ROBOT. Other than that, the
camera is also easy to use and we can rotate and move the camera effortlessly. ‣ Arduino based
rectilinear locomotion snake robot for inspection is very easy to use and very safe it does not harm any kind
of living organism and it is effective as well. ‣ While working it does not leave any kind of residual or by
products because it is totally on battery and very eco-friendly which means it does not harm the
environment. ‣ This robot is made to avoid the human errors and it will help to do many tasks which canâ
€™t be perform by human. ‣ it is very simple to use and it does not make any difficulties and very minimal
training is required to control the robot. 2.4 Significance of the design The design is made as per the latest
technology. we get to know many new things in the design of the SNAKE ROBOT this technology will
improve many methods and procedures in the market and will replace many old traditional methods which
are not only difficult but also, they are not effective or efficient as this ROBOT is. This robot will not just gove
benefit to new technology but in terms of business this will cover a large market in the world. The company
can make a proper designed ROBOT with company name and design and promote worldwide which will
enhance the business and give good cash back to us from which we can innovate more new technology and
make our nation proud of our technology. 1. KINGDOM OF BAHRAIN is already looking forward to
enhancing the technology in the country people are very much talented to show and contribute their parts in
investing and creating new innovations in the country. The topographically minimized Kingdom of Bahrain
took an early preferring to everything mechanical, turning into the primary country in the MENA locale to
receive the utilization of centralized server PCs and satellites during the 6 1960s. Very nearly 50 years on,
the nation is as yet a local herald in the reception of new advancements in terms of technology. Bahrain's
ICT area is quite possibly the most changed and advanced country among the GCC (Gulf Cooperation
Council), and this has organizations, for example, Botelho only is enough to rank among the first on the
planet to carry out innovations like 3G, 3.5G, fast 4G LTE, and, most as of late, 5G networks these
technologies are growing like a fire in the jungle. 2. In any case, as a country with a talent for business,
Bahrainis are particularly excited about the utilization of innovation for the performance of an advanced
economy due to the reason which is additionally supported by the Kingdom's financial improvement board.
advancement of a cross country computerized economy has demonstrated productive up until this point,
drawing in outstanding ventures from global tech giants. In 2017, alone, Bahrain's EDB assumed an
immediate part in drawing in over USD733 million worth of unfamiliar venture which is quite impressive
among all the Arab countries they came in first to serve the technology. This is why this innovation give us
another boost to prove ourselves something productive in the market so that international market will always
consider BAHRAIN for more investments in the technology and science. 3. AMA INTERNATIONAL
UNIVERSITY will represent this project for which will get international recognition. Science industry will get
to know that our university is working hard for new innovations and technology for which the firms like IEEE
and other technological firms will come and invest on our students to appreciate them. New students will
learn a lot more from our project and they can also innovate more things in the future to make useful
innovations. This project will surely make the university a proud institute not only in BAHRAIN but in GCC
and world as well. 4. Students will get a lot on benefit in terms of learning this is very much productive for
new students as well as they will get to learn a lot newer things towards science and technology. Our
students will go many places in future and make us proud for their upcoming innovations. 7 2.5 Scope and
Delimitations Scope ‣ The Arduino based rectilinear locomotion snake robot for inspection will do many
tasks as discussed earlier that it will perform inspections of many places during construction or any other
maintenance work. The SNAKE ROBOT is basically designed to move like snakes and as we know snakes
have fully flexible bodies with their zigzag motions and it is very easy for them to go places which are mostly
difficult to get through. ‣ In some of the maintenance sector, we have few scenarios like going into the
narrow tunnel which has many other directions and then we need to get footage or live coverage of the area
of inspection to know the problem. In that scenario, only this robot will come and rescue the situation
because it is flexible and secondly it has 2 AXIS Camera from which we can have full view of the problem
and we can see the inside view very easily then think for the further solution. Delimitations ‣ Battery: we
need to charge the batteries and then send the robot to the mission because if any time the battery will finish
it will eventually turn off and we have no option left if the snake robot is under very deep point. So, better we
need to check the batteries it is up to us that how will we keep the batteries alive. ‣ Wi-Fi: as we know
that this ROBOT is fully Arduino based and this system is running on IOT so we need to connect the
ROBOT with internet connection so that it will easily be controlled on android of the system. As soon as the
internet connection gone it won’t be able to work as required. 8 2.6 Definition of terms ‣ Rectilinear
locomotion: Rectilinear headway or rectilinear movement is a method of velocity frequently connected with
snakes. Specifically, it is related with substantial bodied species like earthly pythons and boas; in any case,
most snakes are equipped for it. It is one of in any event five types of headway utilized by snakes, the others
being sidelong undulation, sidewinding, concertina development, and slide-pushing. In contrast to any
remaining methods of snake velocity, which incorporate the snake twisting its body, the snake flexes its
body just when turning in rectilinear headway. [4] ‣

Arduino Mega: The Arduino Mega 2560 is a microcontroller board 26

dependent on the

ATmega2560 (datasheet). It has 54 advanced info/yield pins (of which 14 can be utilized as PWM yields), 16
simple data sources, 4 UARTs (equipment sequential ports), a 16 MHz gem oscillator, a USB association, a
force jack, an ICSP header, and a reset button. [5] ‣

Servo motor: A servomotor is a 12

revolving

actuator or direct actuator that takes into 12

consideration exact control of rakish or straight position, speed and acceleration.[1] It comprises of an
appropriate engine coupled to a sensor for position criticism. It additionally requires a generally complex
regulator, regularly a committed module planned explicitly for use with servomotors. Servomotors are not a
particular class of engine, albeit the term servomotor is frequently used to allude to an engine appropriate for
use in a shut circle control framework. [6] ‣ Servo shield: This is an expansion safeguard that can drive 4
and more servos, 2 DC engines and one stepper engine. You should simply plug the safeguard into the Uno
or Mega2560 board. It is controlled by two sources – when associated with a control board, it's fueled by
the yield of the board; to drive an enormous ebb and flow engine, you can interface an outside supply for the
Motor Driver Shield and the control board. There's a marker LED on the safeguard. At the point when it's not
being used, you can control the safeguard off by the switch and it will not impact the utilization of the control
board. The working voltage is 6.5V-12V. [7] 9 Chapter 3 Review of related literature and studies This project
is basically designed to make solutions easy to improve the quality of inspections and make things more
effective and efficient. The purpose of making this ROBOT is to get things done in harsh conditions. This
snake will work in many more things it depends on the user’s need to get things done under certain
conditions. When we observe the need in basic construction times or inspecting of pipelines in narrow
tunnels, the idea came into our mind to make a machine which will easily go to the points like these and will
solve our problem the SNAKE came in our mind that it could help in those situations and we started working
on it. After hard work and studies, we got to know few aspects of Arduino (figure 3.1) which will further be
describe in the project. With the help of this micro controller our project became more meaningful and a light
of hope came in this project. figure 3.1 Arduino Mega block diagram 10 Our team worked hard day and night
to make it successful with the help of our faculty and I can proudly say that they helped us to give this
successful prototype that we are presenting. ARDUINO mega 2560 is the update version of ‘Arduino
mega’ has 54 digital pins which is used to give input and outputs. Out of which 15 are used as PWM
while the 16 are as inputs analog, 4 for

hardware serial ports (UARTs), 16 MHz crystal oscillator, a USB 10

connection, a power circuit, ICSP header and

the last is the for reset button. It contains almost you need to get start just connecting to the usb with your
computer and the board is designed which

is compatible with most shields for Uno and former boards 10

. It is basically a computer on wheels. The Arduino is a micro controlling board on which many devices can
run, and it is connect with the IOT. Because of its basic and open user experience, Arduino has been utilized
in great many various tasks and applications in the world of technology. [8] The Arduino programming is not
difficult to-use for new users who are not aware of using these robots, yet adaptable enough for cutting new
users. It runs on Mac, Windows, and Linux. programmers use

it to construct minimal effort logical instruments, to demonstrate 11

science and physical science standards, or to begin with programming
and advanced mechanics. Creators and engineers construct intuitive models,
artists and craftsmen use it for establishments and to explore different
avenues regarding new instruments. Producers, obviously, use it to

fabricate large numbers of the ventures displayed at the technological platforms

for instance. Arduino is a vital device to learn new things. Anybody 11

youngsters, students, engineer, developers can use this technology experimenting

simply adhering to the bit-by-bit guidelines of a unit, or sharing thoughts 8

online with different individuals from the Arduino people group

very less effort is required to learn it mechanism and working. Let us know few more specification of this
Arduino micro controlling board. [9] 11 3.1 Local studies

1. An In-Pipe Leak Detection Robot with a Neural-Network-Based Leak 21

 Verification System

This paper presents a hand crafted in-pipe leak detection robot 21

(figure 3.2)

that is produced for a line of measurement 0.203 m, ordinarily found in the oil 2
and gas industry

. A few pressing factor

sensors are joined on board the robot that are utilized for distinguishing 2
spills. The robot has a propeller course of action that drives the robot
forward

as well as recreates a stream in a vacant line, and in this manner helps the location of breaks. Besides, the
hole discovery framework is increased

by a neural organization-based confirmation structure that improves the vigor 2

of break location by permitting the administrator to check their recognizable
proof of a hole by going it through a neural organization-based framework. This
paper presents the subtleties of the development of the real robot and presents
trial information, which show fruitful neural-networks-based location of breaks in

different situations. [10] figure 3.2 In-pipe leak detection robot 12 2.

Wireless sensor networks for leak detection in pipelines: The checking 28

of breaks in pipelines

is a significant issue to be tended to by analysts and people in general. This is expected the way that they
can have an incredible effect both financially and earth. As of late, the impact of spillages of pipelines (figure
3.3) conveying oil, gas and atomic liquids have represented a danger on people just as marine life. This
paper gives an overview of ongoing techniques for recognizing pipeline spills with exceptional spotlight on
programming-based strategies. These strategies incorporate negative pressing factor wave, mass/volume
balance, pressure point investigation, constant transient displaying, measurable techniques just as
techniques that utilizing advanced sign preparing. This paper likewise reviews a portion of the new
examination endeavors that emphasis on the work of remote sensor networks for spill identification and
present exploration challenges that can be experienced in such conditions. [11] figure 3.3 Impact of spillages
of pipelines 3.

Design and Implementation of Flow Meter Maintenance Robot for Oil & 9
Gas Industries

: In this paper a robot is intended to clean kept places, for example, pipelines. The utilization of robots (figure
3.4) is more normal today than any time in recent memory. Mechanical technology utilized in accuracy
cutting, electrical, peril places, welding, clinical fizzled and different employments. A few plans of In-pipe
examination robots have been proposed in the writing to tackle the issues related with assessment of these
confounded inner calculations. Planning of an in-pipe investigation robot is a troublesome assignment,
particularly when its travel through basic gadgets inside the line, for example, attractive stream meter. In this
paper, planned a robot that can enter a line that furnished with attractive stream meter. This thought 13

is showed up while working in oil field organization that has a few units 9
furnished with 12" attractive stream meter introduced in a line. The stream
meter used to gauge the progression of conductive liquid like water, gel or other
water base substance. It got sullied after specific long stretches of utilized and begin
to show vacillation in perusing. This robot is furnished with camera and I carried
out utilizing android programming APK to control robot utilizing Bluetooth module

. [12] figure 3.4 Flow Meter Maintenance Robot 4.

Design and Implementation of Hybrid-Climbing Legged Robot 34

: In this paper, the cross breed climbing legged robot is planned, carried out, and basically tried. The robot
has four legs masterminded evenly around the body were intended for climbing wire network fence. Every
leg in robot has 3DOF which makes the movement of the robot is adaptable. The robot can climb the
dividers vertically by utilizing a remarkable plan of gripper gadget included metal snares. The system of the
development is a mix of two procedures, the first is the regular route for the progressive development like
gecko by utilizing four appendages, and the second contingent upon the strategy that utilized by felines for
jumping on the trees utilizing paws, hence, the robot is named mixture climbing legged robot. The
development component of the climbing robot is accomplished by copying the movement conduct of the
gecko, which assisted with inferring the kinematic conditions of the robot. The robot was basically carried out
by utilizing a microcontroller for the mainboard regulator while 14 the construction of the robot body is
planned via AutoCAD programming. A few analyses acted to test the accomplishment of jumping on the
vertical wire network fence. [13] 5.
 An experimental study of the amphibious robot inspired by biological 27
duck foot: A

ton of issues are looked in the investigation because of intricacy of landscape as well as startling climate,
because of which numerous spots are left unmapped. The point of this task is to plan and build up a land
and/or water capable robot (figure 3.5)

which uses webbed duck feet configuration to stroll on various territories, 1

swim in water, and tackle obstacles in its way. A few robots are introduced
which can do comparative assignment, with various strolling and swimming
methods. These plans are not ideal because of their restricted versatility in various
territories, and should be handled utilizing a

solitary framework

for water and earthly investigation. The planned robot was smaller, and had 1
capacities to walk, swim, and recognize deterrent as tried by the assembled
model. This was finished by planning a pivoted webbed foot, which shadowed the
natural plan of a duck. The strolling and swimming movement was imagined
utilizing the Klann linkage, which changes rotational movement over to a creature's
walk. The plan was adequate to support the heap of the robot, and had a fold
opening and shutting system to swim in water. This plan could be utilized in
limited scope investigation of caverns, to get to zones through lopsided territories, and
to handle the presence of water during the

investigation. [14] figure 3.5 Amphibious robot 15 3.2 Foreign studies 1. Design of a modular snake robot:
Numerous variables like size, force, and weight compel the plan of measured snake robots. Meeting these
imperatives requires carrying out a complex mechanical and electrical engineering. Here we present our
answer, which includes the development of sixteen aluminum modules and formation of the Super Servo, a
changed diversion servo. To make the Super Servo (figure 3.6), we have supplanted the hardware in a
pastime servo, adding such parts as sensors to screen current and temperature, a correspondences
transport, and a programmable microcontroller. Any vigorous arrangement should likewise shield parts from
perilous conditions like sand and brush. To determine this difficult we embed the robots into skins that cover
their surface. Capacities, for example, climbing within and outside of a line add another element of
collaboration. Consequently, we connect an agreeable, high-contact material to each module, which aids
undertakings that require holding. This blend of the mechanical and electrical models brings about a hearty
and flexible robot. [15] figure 3.6 Super servo design 2.

A survey on snake robot modeling and locomotion 4

: Snake robots (figure 3.7)

have the potential to make substantial contributions in areas such as 4

rescue missions, firefighting, and maintenance where it may either be
too narrow or too dangerous for personnel to operate. During the last 10â
€“15 years, the published literature on snake robots has increased
significantly. The purpose of this paper is to give a survey of the 16 various
mathematical models and motion patterns presented for snake robots. Both
purely kinematic models and models including dynamics are investigated.
Moreover, the different approaches to biologically inspired locomotion and
artificially generated motion patterns for snake robots are discussed

. [16] figure 3.7 Snake robot 3.

Snake Robot Obstacle-Aided Locomotion: Modeling, Simulations, and 4

Experiments

: Snakes use inconsistencies in the landscape, like rocks and vegetation, for quicker and more effective
velocity. This propels the advancement of snake robots that effectively utilize the territory for movement, i.e.,
obstruction helped headway. To precisely demonstrate and comprehend this marvel, this paper presents a
novel non-smooth (half breed) numerical model for wheel-less snake robots (figure 3.8), which permits the
snake robot to push against outer impediments separated from a level ground. The structure of non-smooth
elements and curved investigation permits us to deliberately and precisely consolidate both one-sided
contact powers (from the hindrances) and isotropic rubbing powers dependent on Coulomb's law utilizing
set-esteemed power laws. The numerical model is checked through tests. Specifically, a consecutive
examination between mathematical reproductions and exploratory outcomes is introduced. It is, moreover,
shown that the snake robot can push ahead quicker and all the more vigorously by abusing hindrances. [17]
17 figure 3.8 wheel-less snake robot model 4.

Online Optimization of Swimming and Crawling in an Amphibious 20

Snake Robot

: The significant issue

in the control of movement of robots with numerous levels of opportunity 6

(e.g., biomimetic robots) is to adjust the locomotor examples to the
properties of the climate. This article tends to this issue for the velocity of
a land and/or water capable snake robot (figure 3.9), and targets recognizing quick swimming and creeping
steps for an assortment of conditions. Our methodology utilizes a headway regulator dependent on the
natural idea of focal example generators (CPGs) along with an inclination free enhancement strategy,
Powell's technique. A critical part of our methodology is that the strides are upgraded on the web, i.e., while
moving, instead of as a disconnected improvement measure. We present different trials

with the genuine robot and in reproduction: swimming, slithering on level 6

ground, and creeping on slants. For every one of these various circumstances,
the streamlined walks are

contrasted and the consequences of methodical investigations of the boundary space. The primary results of
the examinations are: 1) ideal strides are fundamentally not quite the same as

one medium 18 to the next; 2) the ideal states are typically crested, i.e., 6
speed quickly becomes problematic when the boundaries are moved away
from the ideal qualities; 3) our methodology finds ideal steps in many less emphases
than the deliberate inquiry; and 4) the CPG has no issue managing the sudden
boundary changes during the advancement interaction. The importance for
mechanical motion control is

examined. [18] figure 3.9 Amphibious Snake Robot 5.

Snake-like locomotion: Experimentations with a biologically inspired 20

wheel-less snake robot

This paper presents the consequences of a test concentrate on limbless snake-like movement. The trial
plate-structure comprises of a 9-DOF wheel-less snake-like robot and a fitting fake climate. The wheel-less
snake-like system has a planar design and is predominantly devoted to travel through parallel undulation,
the most well-known limbless motion type saw in common snakes. The mechanical plan, direction age and
control strategy have been naturally enlivened. With the shut circle control, the fake component has
prevailing with regards to applying the common standards of parallel undulation in a self-governing way
aside from the force supply. Another limbless motion type has likewise been explored different avenues
regarding a similar instrument. [19] 19 3.3 Synthesis The conceptual and research literature tell us the
significance of the project as this snake is already designed and used in the market. But the basic need to
give the proposal to design the snake robot is to get more accurate results in terms of controlling and
handling the robot with clearer view and more inspecting behavior. In some of the previous projects in the
market has few draw backs. As those were not designed under Arduino based structure and it was not easy
to get proper signals from wireless remotes or controller to handle and moving the snake. But in our design,
we have made such a Bluetooth based system to connect the user with the machine very affectively and
there is no need to get actions which causes troubles. Bluetooth i is the only need which makes the working
more accurate and technical in terms of Arduino ROBOT. We have made things more innovative and
effective than the previous projects in this design the more you use you will get to know the working and its
stability towards the field work. The snake robot is way more technical and enhanced than the traditional
robots further on the working and designing will be explain in next chapters to know more findings and
working of the robot. 20 Chapter 4 Design specifications In this portion of research project report, we will
discuss our project paradigm. It is essential for any design of prototype with different variables and other
factors like hardware, knowledge of processes, movements, design specifications, input, and outputs etc.

A research paradigm is a model or approach to research that is 14

considered the standard by a substantial number of researchers in the
field based on having been both verified and practiced for a long period of
time

. 4.1 Research paradigm Every engineering prototype is consisting of different variable. Through these
variables we can predict the functionality of the process and represent the integration by Input-Process-
Output schematic. For our research project these variables are represented in the following schematics
(figure 4.1): figure 4.1 Project IPO model 21 4.2 Functions “Arduino based rectilinear locomotion snake
robot for inspection†which is designed in such a way that it will not just look like a snake but also it will
move in gliding motion just like a snake will move as it stretch out the front body and pull the rear part of the
body in zigzag motion. The robot will just move like a snake we will design it in such a way that it will move
like a snake after that we will implant a 2 AXIS camera on the head of the snake. This snake robot is totally
Arduino based controlling device which is controlled by android application via any device like smart phones,
tablets, or other devices. In that android application we have control of the snake as well as cameras which
is 2 AXIS which can be moveable in x axis as well as in y axis. 4.3 Means The complete working of SNAKE
ROBOT, the power supply is used to supply current from a 7.4 voltage of power pack cell battery. This
current then went towards the rectifiers and there they will regulate the current towards the IR sensor this
sensor will sense the signals from software via Bluetooth which is present in our device. Arduino 2560 is the
board of controller we are using in this project. This Arduino will transmit the signals through wires and
connectors to the SERVO motor the motor then run according to the signal and make the SNAKE move in
the Zigzag motion. The camera will place on the head of the snake and from cameras we can monitor the
problem situation very easily with 2 axis motion towards X-axis and Y-axis. The snake ROBOT contains
twelve segments consist by servo motor and got together with metal sections. The servos are constrained
by an Arduino Mega and controlled by a 7.4-volt battery pack. The snake can be constrained by an android
application utilizing Bluetooth. The snake is likewise equipped for independent development. Such a robot
can be built with a wide range of sorts of servos and sections. Every one of the 12 fragments comprise of a
servo engine, a C-section, a side section, a wire cut and a bunch of Lego wheels. Two screw openings are
to be bored into the Lego wheel pivot to allow it to be associated with the C-section. 22 4.4 Project
development For having the knowledge of project description, we will get to know the programming of the
ROBOT that how is it connected all together. This snake robot is totally based on Arduino controllers with
the help of these controllers it is easy to access any device which is then controlled Bluetooth. Arduino is

an open-source electronic platform easy to use on hardware and 15

 software. It was born in Ivrea Interaction Design institute

where students with zero background of electronics used to do experiments and make things out of it. Later,
Arduino begin to use differently with many other transformations. It is now used to connect IOT devices, 3D
printers, home appliances and embedded products related to electronic items. Whenever you want to open
a bulb, run a motor-based device or any other electronic item you just have to give signal to the Arduino
microcontroller from which the signal came and do the specific task you want to perform and with the help of
wiring your switch will turn on or any of your motor will start running. To do such task you need Arduino
based programming language (based on wires) and Arduino software (IDE) which is entirely based on
processing. ? Arduino Mega2560 Arduino 2560 is the latest micro controller in the market the functioning is
discussed earlier and we got to know about this fast-running processor on wheels which helps to give a
roper platform for software hard ware devices. It is already installed with the software you just need to give
proper signals to the Arduino then the pins will get the signal and through wires it will transfer those signals
to the specific point to make the movement and received. ? WIFI camera In the SNAKE ROBOT we are also
deploying a 2 AXIS servo camera with the help of which we can see and inspect the problem situation very
easily. This camera has X-axis (movement towards left and right directions) and Y-axis (movement towards
up and downward directions). It is basically servo cameras it controlled via Bluetooth and it is very easy to
use. You just need to slide the buttons to change the positions axis wise. 23 ? Arduino Mega servo Shield
Arduino mega’ has 54 digital pins which is used to give input and outputs. Out of which 15 are used as
PWM while the 16 are as inputs analog, 4 for

hardware serial ports (UARTs), 16 MHz crystal oscillator, a USB 10

connection, a power circuit, ICSP header and

the last is the for reset button. ? Bluetooth Module The Bluetooth is connected with the android app from
where the ROBOT can be handled and control with perfection. ? Capacitors Capacitors are used in electric
circuits to store the energy in the form of electrostatic fields between the plates. ? Cables and Connectors
Cables and connectors are used to transfer current as well as the signals or energies in the form of
electrostatic energies to run the machine as per the working. ? Battery The 7.4-volt battery pack is to provide
the current to the SNAKE ROBOT so that I can run smoothly with 6 hours of continuous working. 24 4.5
Design standards 1. IEEE 1872-2015 - IEEE 1872-2015indicates the fundamental, most broad ideas,
relations, and maxims of advanced mechanics and mechanization (

R&A) is characterized in this norm, which is expected as a source of 3

perspective for information portrayal and thinking in robots, just as a proper
reference jargon for

conveying information

about R&A among robots and people. This standard is made from a center 3
metaphysics about R&A, called CORA, along with different ontologies that
 offer help to CORA

. [20] 2. IEEE 1118.1-1990 - A sequential control transport for INTER-DEVICE-HTRA- BUILDING just as
intracity

interconnection of microcontrollers is depicted. The transport, which is 7

characterized for (however not restricted to) microcontrollers and gadgets
with

restricted re-programmability, gives a multidrop cycle sequential correspondence convention

that will permit the interconnection of appropriated Independently 7

fabricated gadgets. The convention is streamlined for instrumentation

, appropriated information procurement frameworks, control gadgets, and test and estimation. Details for a
typical engineering, conventional transport administrations, framework wagement, information connect, and
a few physical media are given. The sequential control transport develops BITBUS without making existing
gadgets out of date. Framework unwavering quality has been improved by the expansion of a framework the
executive’s layer, and nonexclusive transport administrations have been extended. [21] 3. ISO
13857:2019 - Consistence with the necessities in this record will forestall admittance to the danger zone. All
things considered the client of this report is prompted that it doesn't give the necessary danger decrease to
each risk (for example dangers identified with machine emanations, for example,

ionizing radiation, heat sources, commotion, dust). The statements 13

covering lower appendages apply on their own solitary when access by
the upper appendages to a similar peril zone

isn't predictable as indicated by the danger evaluation. [22] 25 4.6 Project issues The project is designed in
such a way that there is no kind of error can be seen in the project and we are perfectly making the design
with zero problem in terms of design of fittings. Even though the robot itself is waterproof and no residual or
left over can be seen over the inspections. Only two major problems can be considered as problem
variables: ? Battery: This snake robot contains 7.4 VOLTS of current and having 5AA battery holder. So, we
need to charge the batteries timely with proper time of using we need to keep update of the battery status
because once the battery finishes it will automatically stop the surveillance and your mission will stuck on
one point. Sometimes, if you don’t consider the batteries on time it can be stuck where it is difficult to
rescue the ROBOT then this will become problem. To avoid this kind of problems you must keep them
charged and changes the battery if required. ? Bluetooth: Bluetooth connections are very important to keep
our ROBOT in working as this whole controller is based on Bluetooth connectivity and the whole system is
connected to the server from where the signals and data is transferring to your device from where you can
control and run the device in according to your specific directions and need. once you have lost the
connection from any side whether your smart device or ROBOT, the machine will stop running and you must
connect again to keep your ROBOT running. To ignore this problem, you should have the secondary source
of internet, if the one connection loses you can connect to another server to keep things in track without and
kind of hurdles. 4.7 Multiple design constraints In the development of our research project we considered
different factors to make our project optimal in all the perspectives like cost, availability, technical
specification, durability etc. Following table 4.1 will show the compare between different constraints and
components, which we considered in the development of our project: 26 Table 4.1 Multiple design plans NO.
COMPONENTS PLAN A PLAN B PLAN C 1 Microcontroller 2 Camera 3 Dual shaft servo 4 Bluetooth
module 5 Servo shield Arduino Mega2560 Price: 53 BD WIFI-Cam Price: 13 BD TOOPACS dual shaft servo
Price: 8 BD ARDU-HC05 Price: 33 BD

Adafruit 16-Channel 12-bit PWM/Servo Shield 36

Price: 26 BD Raspberry Pi 3B Price: 48 BD Pi camera R3 Price: 25 BD DIGI servo Price: 15 BD eUnistone

31308/2 Price: 45 BD Pi shield 2 PCA9685 Price: 32 BD Adafruit Trinket Price: 61 BD Logitech webcam
RE331 Price: 11 BD FLEIX dual shaft servo Price: 22 BD X1s Bluetooth 4.0 Module Price: 51 BD HAT-servo
driver Price: 29 BD 4.7.1 Weight decision matrix A fundamental choice framework comprises of setting up a
bunch of rules and a gathering of potential competitor plans. One of these is a reference up-and-comer plan.
Different plans are then contrasted with this reference plan and being positioned as better, more terrible, or
same dependent on every measures. The occasions "better" and "more terrible" showed up for each plan is
then shown, however not summarized. A weighted choice lattice works similarly as the essential choice grid
yet presents the idea of weighting the standards arranged by significance. The more significant the
standards the higher the weighting it should be given. Weighted decision matrix activity

can be observed in following table 4.2 27 Table 4.2 30

Weight decision matrix WEIGHT DECISION MATRIX PLAN A PLAN B PLAN C CRITERIA Weighted
Weighted Weighted Weight

Score Score Score Score Score Score COST 35% 0.5 0.18 0.3 0.11 0 29

.3 0.11 TIME 22% 0.4 0.09 0.2 0.04 0.3 0.07 RELIABILITY 13% 0.3 0.04 0.3 0.04 0.4 0.05 AVAILABILITY
10% 0.4 0.04 0.1 0.01 0.3 0.03 SAFETY 20% 0.5 0.10 0.2 0.04 0.3 0.06 TOTAL SCORE 1 0.4 0.2 0.3
Formulas: ‣ Weighted score=assigned weight (%) ×rating score Equation 4.1 Weighted score formula
Equation 4.1 we used for the calculation of weighted score. In equation 4.1 the assigned weigh can be
assigned as numerical representation of importance to criteria we assigned. In our case we assigned cost &
safety highest weights. Rating score can be defined as the outcome after researching. ‣
ð ‘ºð ’„ð ’ ð ’“ð ’„ ð ’„ð ’„ð ’•ð ’„ð ’“ð ’ ð ’ˆð ’ ð ’‚ð ’•ð ’ˆð ’ ð ’ = ð ’ˆð ’ ð ’ ð ’•ð ’•
ð ’•ð ’‚ð ’ ð ’•ð ’„âˆ’ð ’ ð ’ ð ’• ð ’ˆð ’ˆð ’ˆð ’ˆâˆ’ð ’ ð ’ ð ’• Equation 4.2 Score
determination formula Equation 4.2 we used for score determination. Score are the values of certain
criterion which came up depending the status of each constraint. By plugging maximum expected value of
criteria and minimum value we determine the score, which is used for weighted score calculations. 28 Graph
4.1 demonstrate the relation between cost and weighted score of different plans we proposed. This graph
4.1 show and justifies our choice of adopting plan A. the higher the value of calculation the better choice it is.
0.2 COST VS WEIGHTED SCORE A 0.2 0.1 B 0.1 0.0 0 0.5 1 1.5 2 2.5 C 3 3.5 graph 4.1 cost vs weighted
score Graph 4.2 is the demonstration of comparison of different plans with respect to time constraint &
weighted score calculation. The time is very important criteria in our project. As per time is effective to our
project development plan A is giving us the total of 0.09 weighted score which is higher than the plan B & C.
TIME VS WEIGHTED SCORE 0.10 A 0.08 0.06 B 0.04 0.02 0.00 0 0.5 1 1.5 2 2.5 C 3 3.5 graph 4.2 Time
vs weighted score 29 Graph 4.3 demonstrate the relation between reliability and weighted score of different
plans we proposed. In terms of reliability, important criteria for our project development. Our project is
designed of inspection purpose in harsh environments like rocky, dusty etc. environment, so that’s why
we must use components which are reliable and make our prototype more reliable than its competitors. This
graph 4.3 show and justifies our choice of adopting plan A. the higher the value of calculation the better
choice it is. RELIABILITY VS WEIGHTED SCORE 0.06 A 0.05 0.04 0.03 0.02 B 0.01 0.00 0 0.5 1 1.5 2 2.5
C 3 3.5 graph 4.3 Reliability vs weighted score Graph 4.4 is the demonstration of comparison of different
plans with respect to Availability constraint & weighted score calculation. The availability is very important
criteria in our project. In terms of developments of project and as well as maintenance is required the
availability of parts should be scored good otherwise the smooth functionality of project will be compromised.
As per availability is effective to our project development plan A is giving us the total of 0.04 weighted score
which is higher than the plan B which is 0.01 & C 0.03. 30 AVAILABILITY VS WEIGHTED SCORE 0.05 A
0.04 C 0.03 0.02 B 0.01 0.00 0 0.5 1 1.5 2 2.5 3 3.5 graph 4.4 Availability vs weighted score Graph 4.5
demonstrate the relation between safety and weighted score of different plans we proposed. This graph 4.5
show and justifies our choice of adopting plan A. the higher the value of calculation the better choice it is.
So, our weighted score for plan A, B & C was 0.10, 0.04 & 0.06 respectively. SAFETY VS WEIGHTED
SCORE 0.12 A 0.10 0.08 0.06 B 0.04 0.02 0.00 0 0.5 1 1.5 2 2.5 C 3 3.5 graph 4.5 Safety vs weighted score
The benefit of the dynamic graphs plotting is that it invigorates self-reflection among the individuals from a
plan group to examine every up-and-comer with a limited predisposition (for colleagues can be one-sided
towards specific plans, for example, their own). Another favorable position of this strategy is that affectability
studies can be performed. An illustration by above graphs of this may be to perceive how much your
assessment would need to change all together for a lower positioned choice to outclass a contending
elective. 31 4.8 Bill of materials Table 4.3 is demonstration of bill of materials. In this BOM we mentioned the
components names along with their manufacturers. We created columns for unit price of components,
quantity of these components required and the final price for each component we purchased. The total price
for our materials is calculated to be 251 BD. Table 4.3 Bill of materials NO. COMPONENTS
MANUFACTURER PRICE PER UNIT 1 Microcontroller 2 Camera 3 Dual shaft servo 4 Bluetooth module 5 6
7 8 Arduino Mega2560 53 BD WIFI-Cam 13 BD TOOPACS dual 8 BD shaft servo: ARDU-HC05 33 BD

Servo shield Adafruit 16-Channel 12-bit PWM/Servo Shield 31

26 BD Servo motor NIKPO servos 5 BD Jumpers MISHI ELEC. 10 BD Wheels Lego wheels 5 BD GRAND
TOTAL QUANTITY PRICE 1 53 BD 1 13 BD 12 96 BD 1 33 BD 1 26 BD 2 10 BD 1 pack 10 BD 2 packs 10
BD 251 BD 32 4.9 Project flow chart 33 4.10 Project circuit diagram Following figure 4.3 is the
demonstration of circuit diagram for snake robot project. Arduino mega is central processing unit used for
this project. 12 dual shaft servo motors relate to servo shield and servo shield is integrated with
microcontroller.
 servo shield allows to connect up to 20 servos to 10

Arduino board

boards. The selectable power supply for these servos enables you to 17
choose the supply from either the on-board regulator or other suitable
power sources through separate servo power terminals. For

connectivity purpose the Bluetooth module is integrated with Arduino mega. Two servo motor we used for 2
axis camera which can be controlled by mobile device. figure 4.3 Project circuit diagram 34 4.11 Project

block diagram Following figure 4. Demonstrate the block diagram of 33

snake robot project. Block diagram is an outline appearing in schematic structure the overall course of action
of the parts or segments of an intricate framework or interaction, like a modern mechanical assembly or an
electronic circuit. Arduino mega2560 is microcontroller, which is taking input from Bluetooth and drives the
dual shaft servo motors. These 12 servo motors are integrated with servo shield which allows the
connections up to 20 servo motors. This servo shield requires also VCC 5V. two separate servo motors are
integrated with Wi-Fi camera which will help to control and move camera by 2-axis. figure 4.4 Project block
diagram 35 4.12 Project Gantt chart Following table 4.4 is the demonstration of GANTT chart. The GANTT
chart will help to visualize the timeline of project with the assigned activities to each member of team. For
the sake of simplicity, we demonstrated the timeline of activities in the form of months and further sub
divided in the week’s numbers of each month. According to table 4.4 we started our project on 1st week
of February and expected finishing is last week of June. Table 4.4 Project GANTT chart ACTIVITY

FEBRUARY MARCH APRIL MAY JUNE TASKS (WEEK) 1 2 3 4 1 2 3 4 1 19

23412341234

IDEA RESEARCH

DOCUMENTATION CHAPTER 1 CHAPTER 2 CHAPTER 3 CHAPTER 4 32

PRESENTATION SAAD BUKHAMMAS ABDULLAH NASEER SAYED DHEYA 36 Chapter 5 Design

procedure, functional analysis & implementation. In this chapter all kind of technical details regarding
research project will be discussed like project functionalities, implementations, and components
specifications. Also, different project evaluations in terms of qualitative and quantitively will be performed to
justifies the better working and scope of our research design project. 5.1 Project description Arduino based
rectilinear locomotion snake robot for inspection†which is designed in such a way that it will not just look
like a snake but also it will move in gliding motion just like a snake will move as it stretch out the front body
and pull the rear part of the body in zigzag motion. The robot will just move like a snake we will design it in
such a way that it will move like a snake after that we will implant a 2 AXIS camera on the head of the
snake. This snake robot is totally Arduino based controlling device which is controlled by android application
via any device like smart phones, tablets, or other devices. In that android application we have control of the
snake as well as cameras which is 2 AXIS which can be moveable in x axis as well as in y axis. 5.2 Project
function analysis The complete working of snake robot, the power supply is used to supply current from a
7.4 voltage of power pack cell battery. This current then went towards the rectifiers and there they will
regulate the current towards the IR sensor this sensor will sense the signals from software via Bluetooth
which is present in our device. Arduino 2560 is the board of controller we are using in this project. This
Arduino will transmit the signals through wires and connectors to the SERVO motor the motor then run
according to the signal and make the SNAKE move in the Zigzag motion. The camera will place on the head
of the snake and from cameras we can monitor the problem situation very easily with 2 axis motion towards
X-axis and Y-axis. The snake ROBOT contains 37 twelve segments consist by servo motor and got together
with metal sections. The servos are constrained by an Arduino Mega and controlled by a 7.4-volt battery
pack. The snake can be constrained by an android application utilizing Bluetooth. The snake is likewise
equipped for independent development. Such a robot can be built with a wide range of sorts of servos and
sections. Every one of the 12 fragments comprise of a servo engine, a C-section, a side section, a wire cut
and a bunch of Lego wheels. Two screw openings are to be bored into the Lego wheel pivot to allow it to be
associated with the C-section. 5.3 Project Implementation In this part we will discuss the implementation
procedure of our project. Which includes full assembling for prototype (figure 5.2). These implementation
steps are as following: ? Extensive research regarding parts and buying of components from local and
international vendors. ? Combing and forming the arrangement of MG995 servo motors and forming snake
body replica. ? Integration of tilt brackets with servo arrangements with the help of screws and bolts. ?
Installation of metal LEGO wheels with the body. ? Wiring and integration of servo motors with the servo
shield. ? Integration of servo shield with Arduino mega. ? Integration of Bluetooth module with
microcontroller. ? Installation of IR sensor & micro servo motor. ? Installation of 2 more micro servo motors
for two axis cameras. ? Writing the code in Arduino IDE. ? Forming control GUI in CUSTOM-ROBOTICS
app (figure 5.1). ? Testing and debugging of code. ? Testing and re-testing. 38 figure 5.1 Snake robot
control GUI 1 figure 5.2 Fully assembled project 1 39 5.4 Component specifications In this part of chapter 5
we will discuss all the components which we used in our project in terms of its technical specifications.

Arduino Mega 2560: The Arduino Mega 2560 37

(figure 5.3)

is a microcontroller board dependent on the ATmega2560 (datasheet). It 5

has 54 advanced info/yield pins (of which 14 can be utilized as PWM
yields), 16 simple data sources, 4 UARTs (equipment sequential ports), a 16
MHz gem oscillator, a USB association, a force jack, an ICSP header, and a
reset button. It contains all that expected to help the microcontroller; just
associate it to a PC with a USB link or force it with an AC-to-DC connector or
battery to begin. Arduino mega specifications is
discussed following in table 5.1 figure 5.3 Arduino mega 1 Table 5.1 Arduino mega specs 1 Microcontroller
Atmega2560

Operating Voltage 5V Input Voltage 6-20V Digital I/O Pins 54 Analog 23

Input Pins 16 Flash Memory 256KB EEPROM 4 KB Clock Speed 16 MHz

40 Distance IR sensor: Infrared sensors (figure 5.4) work on the rule of mirrored

light waves. Infrared light reflected from articles or sent from an 18

infrared distant or signal. Infrared sensors are additionally used to
quantify distance or vicinity. The

mirrored light is recognized and afterward

a gauge of distance is determined among sensor and 18

item. Its specifications are discussed following in table 5.2 Figure 5.4 IR sensor 1 Table 5.2 IR sensor specs
1 Maximum range: Minimum range: Sampling rate: Minimum operating voltage: Maximum operating voltage:
Supply current: Output type: Output voltage differential: 80 cm 10 cm 26 Hz1 4.5 V 5.5 V 30 mA2 analog
voltage 1.9 V 41 Servo motor-MG995: Servomotor-MG995 (figure 5.5) is a rotating actuator or straight
actuator that considers

exact control of precise or direct position, speed, and acceleration. It 12

comprises of an appropriate engine coupled to a sensor for position
input. It additionally requires a generally complex regulator, frequently a devoted
module planned explicitly for use with servomotors

. Servomotors are not a particular class of engine, albeit the term

servomotor is frequently used to allude to an engine reasonable for 25

use in a shut circle control framework

. Servomotors are utilized in applications like advanced mechanics, CNC apparatus or mechanized
assembling. Its specifications are discussed following in table 5.3 figure 5.5 Servomotor-MG995 1 Table 5.3
Servomotor-MG995 specs 1

Operating voltage 4.8V Idle current 5mA No load speed 0.17sec/60° 22

 Running current 350mA Peak stall torque 9.0kg.cm

42 Arduino servo-shield: The Arduino Servo Shield (figure 5.5) depends on the

L298, which is a double full-connect driver intended to drive inductive 24

loads like transfers, solenoids, servo, and venturing engines. It

allows you to drive up to 20 servo engines

with your Arduino board, controlling the speed and course of 10

everyone freely. Its specifications are discussed following in table 5.4. figure 5.6 Servo shield 1 Table 5.4
Servo shield specs 1 Operating Voltage Motor controller Max current

5V to 12V L298P, Drives 2 DC motors or 1 stepper motor 2A per 16

channel or 4A max (with external power supply) Current sensing
1.65V/A Free running stop and brake function

43 5.5 Project evaluation Evaluation or testing of any engineering research project is very important.
Through evaluation project feasibility and future can be determined. Generally, there are two kind of
evaluation is used, first is qualitative evaluation & second is quantitively evaluation. In following both
evaluations will be performed to show the functionality of the project and statistically benefit. 5.5.1 Failure
modes and effects analysis (FMEA) FMEA is an organized way to deal with finding potential
disappointments that may exist inside the plan of an item or cycle. Disappointment modes are the manners
by which a cycle can fizzle. Impacts are the manners in which that these disappointments can prompt waste,
absconds or destructive results for the client. FEMA analysis can be observed in following table 5.5. Table
5.5 FEMA analysis 1 No. Component Failure Effects Safeguards Corrective actions Mode 1 Servo motor No
power 2 Bluetooth module No connectivity 3 Microcontroller No power All process stops No movement
Check connections Check the power supply from servo shield. Test before Replace with new one.
installation. All process Check Check the power stops. connections supply source. Check power jack. Check
the surface where the microcontroller is placed. 4 IR sensor Broken pin. No distance Always buy Replaced
with new one. detection. quality product. 44 5.5.2 Benefit cost ratio (BCR) BCR is a marker, utilized in
money saving advantage investigation, that endeavors to sum up the general incentive for cash of a venture
or proposition. A BCR is the proportion of the advantages of a venture or proposition, communicated in
financial terms, comparative with its expenses, additionally communicated in money related terms. BCR
activity can be observe in following table 5.6. Table 5.6 Benefit cost ratio analysis 1 COST BENEFIT RATIO
Investment Annual Cash Flow Years Discount Rate Sum of Present value of Cost Sum of Present value of
Benefit Benefit-Cost Ratio $150,000 $10,000 10 8% $150,000 $67,100.81 0.44733876 Years Cost Cashflow
Benefit Cost Present Value Benefit 0 $150,000 $0 $150,000.00 $0.00 1 $10,000 $0 $9,259.26 $0.00 2 $500
$2,000 $428.67 $1,714.68 3 $450 $5,000 $357.22 $3,969.16 4 $450 $10,000 $330.76 $7,350.30 5 $400
$15,000 $272.23 $10,208.75 6 $400 $18,000 $252.07 $11,343.05 7 $325 $20,000 $189.63 $11,669.81 8
$300 $25,000 $162.08 $13,506.72 9 $300 $35,000 $150.07 $17,508.71 10 $300 $45,000 $138.96
$20,843.71 TOTAL $163,425 $175,000 $161,540.97 $98,114.89 BCR 0.60736847 45 5.5.3 Amortization
chart An amortization plan (table 5.7) is a table itemizing each occasional installment on an amortizing credit
(ordinarily a home loan), as produced by an amortization number cruncher. Amortization alludes to the way
toward taking care of an obligation (frequently from a credit or home loan) over the long haul through normal
installments. A bit of every installment is for interest while the excess sum is applied towards the chief
equilibrium. The level of interest versus head in every installment is resolved in an amortization plan. The
timetable separates the segment of installment that has a place with revenue cost from the part used to
close the hole of a markdown or premium from the head after every installment. While a part of each
installment is applied towards both the interest and the chief equilibrium of the credit, the specific sum
applied to chief each time changes (with the rest of to intrigue). Table 5.7 Amortization chart 1 Amount
Borrowed Periods (Years) Period Annual Interest Rate Monthly Interest Rate Payment $150,000 10 Years
132 8% 0.006666667 $1,712.32 Months Beginning 1 $150,000 Payment $1,712.32 Interest $1,000 Principle
$712.32 Ending Balance $149,287.68 2 $149,287.68 $1,712.32 $995.25 $717.07 $148,570.62 3
$148,570.62 $1,712.32 $990.47 $721.85 $147,848.77 4 $147,848.77 $1,712.32 $985.66 $726.66
$147,122.11 5 $147,122.11 $1,712.32 $980.81 $731.50 $146,390.61 6 $146,390.61 $1,712.32 $975.94
$736.38 $145,654.23 7 $145,654.23 $1,712.32 $971.03 $741.29 $144,912.94 8 $144,912.94 $1,712.32
$966.09 $746.23 $144,166.71 9 $144,166.71 $1,712.32 $961.11 $751.21 $143,415.50 10 $143,415.50
$1,712.32 $956.10 $756.21 $142,659.29 11 $142,659.29 $1,712.32 $951.06 $761.26 $141,898.04 12
$141,898.04 $1,712.32 $945.99 $766.33 $141,131.71 13 $141,131.71 $1,712.32 $940.88 $771.44
$140,360.27 14 $140,360.27 $1,712.32 $935.74 $776.58 $139,583.68 15 $139,583.68 $1,712.32 $930.56
$781.76 $138,801.93 Continues 46 16 $138,801.93 $1,712.32 $925.35 $786.97 $138,014.95 17
$138,014.95 $1,712.32 $920.10 $792.22 $137,222.74 18 $137,222.74 $1,712.32 $914.82 $797.50
$136,425.24 19 $136,425.24 $1,712.32 $909.50 $802.82 $135,622.42 20 $135,622.42 $1,712.32 $904.15
$808.17 $134,814.26 21 $134,814.26 $1,712.32 $898.76 $813.56 $134,000.70 22 $134,000.70 $1,712.32
$893.34 $818.98 $133,181.72 23 $133,181.72 $1,712.32 $887.88 $824.44 $132,357.28 24 $132,357.28
$1,712.32 $882.38 $829.94 $131,527.35 25 $131,527.35 $1,712.32 $876.85 $835.47 $130,691.88 26
$130,691.88 $1,712.32 $871.28 $841.04 $129,850.84 27 $129,850.84 $1,712.32 $865.67 $846.64
$129,004.20 28 $129,004.20 $1,712.32 $860.03 $852.29 $128,151.91 29 $128,151.91 $1,712.32 $854.35
$857.97 $127,293.94 30 $127,293.94 $1,712.32 $848.63 $863.69 $126,430.25 31 $126,430.25 $1,712.32
$842.87 $869.45 $125,560.80 32 $125,560.80 $1,712.32 $837.07 $875.25 $124,685.55 33 $124,685.55
$1,712.32 $831.24 $881.08 $123,804.47 34 $123,804.47 $1,712.32 $825.36 $886.95 $122,917.52 35
$122,917.52 $1,712.32 $819.45 $892.87 $122,024.65 36 $122,024.65 $1,712.32 $813.50 $898.82
$121,125.83 37 $121,125.83 $1,712.32 $807.51 $904.81 $120,221.02 38 $120,221.02 $1,712.32 $801.47
$910.84 $119,310.18 39 $119,310.18 $1,712.32 $795.40 $916.92 $118,393.26 40 $118,393.26 $1,712.32
$789.29 $923.03 $117,470.23 41 $117,470.23 $1,712.32 $783.13 $929.18 $116,541.05 42 $116,541.05
$1,712.32 $776.94 $935.38 $115,605.67 43 $115,605.67 $1,712.32 $770.70 $941.61 $114,664.06 44
$114,664.06 $1,712.32 $764.43 $947.89 $113,716.17 45 $113,716.17 $1,712.32 $758.11 $954.21
$112,761.96 46 $112,761.96 $1,712.32 $751.75 $960.57 $111,801.39 47 $111,801.39 $1,712.32 $745.34
$966.97 $110,834.42 48 $110,834.42 $1,712.32 $738.90 $973.42 $109,861.00 49 $109,861.00 $1,712.32
$732.41 $979.91 $108,881.09 50 $108,881.09 $1,712.32 $725.87 $986.44 $107,894.64 51 $107,894.64
$1,712.32 $719.30 $993.02 $106,901.62 52 $106,901.62 $1,712.32 $712.68 $999.64 $105,901.98 53
$105,901.98 $1,712.32 $706.01 $1,006.30 $104,895.68 54 $104,895.68 $1,712.32 $699.30 $1,013.01
$103,882.67 55 $103,882.67 $1,712.32 $692.55 $1,019.77 $102,862.90 56 $102,862.90 $1,712.32 $685.75
$1,026.56 $101,836.34 57 $101,836.34 $1,712.32 $678.91 $1,033.41 $100,802.93 58 $100,802.93
$1,712.32 $672.02 $1,040.30 $99,762.63 Continues 47 59 $99,762.63 $1,712.32 $665.08 $1,047.23
$98,715.40 60 $98,715.40 $1,712.32 $658.10 $1,054.21 $97,661.18 61 $97,661.18 $1,712.32 $651.07
$1,061.24 $96,599.94 62 $96,599.94 $1,712.32 $644.00 $1,068.32 $95,531.62 63 $95,531.62 $1,712.32
$636.88 $1,075.44 $94,456.18 64 $94,456.18 $1,712.32 $629.71 $1,082.61 $93,373.58 65 $93,373.58
$1,712.32 $622.49 $1,089.83 $92,283.75 66 $92,283.75 $1,712.32 $615.22 $1,097.09 $91,186.66 67
$91,186.66 $1,712.32 $607.91 $1,104.41 $90,082.25 68 $90,082.25 $1,712.32 $600.55 $1,111.77
$88,970.48 69 $88,970.48 $1,712.32 $593.14 $1,119.18 $87,851.30 70 $87,851.30 $1,712.32 $585.68
$1,126.64 $86,724.66 71 $86,724.66 $1,712.32 $578.16 $1,134.15 $85,590.51 72 $85,590.51 $1,712.32
$570.60 $1,141.71 $84,448.79 73 $84,448.79 $1,712.32 $562.99 $1,149.33 $83,299.47 74 $83,299.47
$1,712.32 $555.33 $1,156.99 $82,142.48 75 $82,142.48 $1,712.32 $547.62 $1,164.70 $80,977.78 76
$80,977.78 $1,712.32 $539.85 $1,172.47 $79,805.32 77 $79,805.32 $1,712.32 $532.04 $1,180.28
$78,625.03 78 $78,625.03 $1,712.32 $524.17 $1,188.15 $77,436.88 79 $77,436.88 $1,712.32 $516.25
$1,196.07 $76,240.81 80 $76,240.81 $1,712.32 $508.27 $1,204.04 $75,036.77 81 $75,036.77 $1,712.32
$500.25 $1,212.07 $73,824.70 82 $73,824.70 $1,712.32 $492.16 $1,220.15 $72,604.54 83 $72,604.54
$1,712.32 $484.03 $1,228.29 $71,376.26 84 $71,376.26 $1,712.32 $475.84 $1,236.48 $70,139.78 85
$70,139.78 $1,712.32 $467.60 $1,244.72 $68,895.06 86 $68,895.06 $1,712.32 $459.30 $1,253.02
$67,642.05 87 $67,642.05 $1,712.32 $450.95 $1,261.37 $66,380.68 88 $66,380.68 $1,712.32 $442.54
$1,269.78 $65,110.90 89 $65,110.90 $1,712.32 $434.07 $1,278.24 $63,832.65 90 $63,832.65 $1,712.32
$425.55 $1,286.77 $62,545.89 91 $62,545.89 $1,712.32 $416.97 $1,295.34 $61,250.54 92 $61,250.54
$1,712.32 $408.34 $1,303.98 $59,946.56 93 $59,946.56 $1,712.32 $399.64 $1,312.67 $58,633.89 94
$58,633.89 $1,712.32 $390.89 $1,321.42 $57,312.46 95 $57,312.46 $1,712.32 $382.08 $1,330.23
$55,982.23 96 $55,982.23 $1,712.32 $373.21 $1,339.10 $54,643.13 97 $54,643.13 $1,712.32 $364.29
$1,348.03 $53,295.10 98 $53,295.10 $1,712.32 $355.30 $1,357.02 $51,938.08 99 $51,938.08 $1,712.32
$346.25 $1,366.06 $50,572.02 100 $50,572.02 $1,712.32 $337.15 $1,375.17 $49,196.85 101 $49,196.85
$1,712.32 $327.98 $1,384.34 $47,812.51 Continues 48 102 $47,812.51 $1,712.32 $318.75 $1,393.57
$46,418.94 103 $46,418.94 $1,712.32 $309.46 $1,402.86 $45,016.09 104 $45,016.09 $1,712.32 $300.11
$1,412.21 $43,603.88 105 $43,603.88 $1,712.32 $290.69 $1,421.62 $42,182.25 106 $42,182.25 $1,712.32
$281.22 $1,431.10 $40,751.15 107 $40,751.15 $1,712.32 $271.67 $1,440.64 $39,310.51 108 $39,310.51
$1,712.32 $262.07 $1,450.25 $37,860.26 109 $37,860.26 $1,712.32 $252.40 $1,459.92 $36,400.35 110
$36,400.35 $1,712.32 $242.67 $1,469.65 $34,930.70 111 $34,930.70 $1,712.32 $232.87 $1,479.45
$33,451.25 112 $33,451.25 $1,712.32 $223.01 $1,489.31 $31,961.94 113 $31,961.94 $1,712.32 $213.08
$1,499.24 $30,462.71 114 $30,462.71 $1,712.32 $203.08 $1,509.23 $28,953.47 115 $28,953.47 $1,712.32
$193.02 $1,519.29 $27,434.18 116 $27,434.18 $1,712.32 $182.89 $1,529.42 $25,904.76 117 $25,904.76
$1,712.32 $172.70 $1,539.62 $24,365.14 118 $24,365.14 $1,712.32 $162.43 $1,549.88 $22,815.26 119
$22,815.26 $1,712.32 $152.10 $1,560.22 $21,255.04 120 $21,255.04 $1,712.32 $141.70 $1,570.62
$19,684.42 121 $19,684.42 $1,712.32 $131.23 $1,581.09 $18,103.34 122 $18,103.34 $1,712.32 $120.69
$1,591.63 $16,511.71 123 $16,511.71 $1,712.32 $110.08 $1,602.24 $14,909.47 124 $14,909.47 $1,712.32
$99.40 $1,612.92 $13,296.55 125 $13,296.55 $1,712.32 $88.64 $1,623.67 $11,672.87 126 $11,672.87
$1,712.32 $77.82 $1,634.50 $10,038.38 127 $10,038.38 $1,712.32 $66.92 $1,645.39 $8,392.98 128
$8,392.98 $1,712.32 $55.95 $1,656.36 $6,736.62 129 $6,736.62 $1,712.32 $44.91 $1,667.41 $5,069.21
130 $5,069.21 $1,712.32 $33.79 $1,678.52 $3,390.69 131 $3,390.69 $1,712.32 $22.60 $1,689.71
$1,700.98 132 $1,700.98 $1,712.32 $11.34 $1,700.98 $0.00 An amortization plan demonstrates the
particular money related sum put towards revenue, just as the particular sum put towards the chief
equilibrium, with every installment. At first, an enormous segment of every installment is dedicated to
intrigue. As the advance develops, bigger parts go towards settling the head. 49 Chapter 6 Summary 50
Chapter 7 Recommendations 51 References [1] Engelberger, J. F. (1999). Historical Perspective and role in
automation. Handbook of industrial robotics, 3-10. [2] Badamasi, Y. A. (2014, September). The working
principle of an Arduino. In 2014 11th international conference on electronics, computer, and computation
(ICECCO) (pp. 1-4). IEEE. [3] Garmabaki, A. H. S., Marklund, S., Thaduri, A., Hedström, A., & Kumar, U.
(2020). Underground pipelines and railway infrastructure–failure consequences and restrictions. Structure
and Infrastructure Engineering, 16(3), 412-430. [4] Tang, W., Reyes, F., & Ma, S. (2015, September). Study
on rectilinear locomotion based on a snake robot with passive anchor. In 2015 IEEE/RSJ International
Conference on Intelligent Robots and Systems (IROS) (pp. 950-955). IEEE. [5] Kusriyanto, M., & Putra, B.
D. (2016, August). Smart home using local area network (LAN) based arduino mega 2560. In 2016 2nd
International Conference on Wireless and Telematics (ICWT) (pp. 127-131). IEEE. [6] Van de Straete, H. J.,
Degezelle, P., De Schutter, J., & Belmans, R. J. (1998). Servo motor selection criterion for mechatronic
applications. IEEE/ASME Transactions on mechatronics, 3(1), 43-50. [7] Krishnan, R. (1987). Selection
criteria for servo motor drives. IEEE Transactions on Industry Applications, (2), 270-275. [8] Alshamsi, H.,
Këpuska, V., & Alshamsi, H. (2016). Real time vehicle tracking using arduino mega. International Journal
of Science and Technology, 5(12), 624. [9] Badamasi, Y. A. (2014, September). The working principle of an
Arduino. In 2014 11th international conference on electronics, computer and computation (ICECCO) (pp. 1-
4). IEEE. [10] Waleed, D., Mustafa, S. H., Mukhopadhyay, S., Abdel-Hafez, M. F., Jaradat, M. A. K., Dias, K.
R., ... & Ahmed, J. I. (2018). An in-pipe leak detection robot with a neural-network-based leak verification
system. IEEE Sensors Journal, 19(3), 1153-1165. 52 [11] Sheltami, T. R., Bala, A., & Shakshuki, E. M.
(2016). Wireless sensor networks for leak detection in pipelines: a survey. Journal of Ambient Intelligence
and Humanized Computing, 7(3), 347-356. [12] Al Zaabi, K., & Hussain, J. Design and Implementation of
Flow Meter Maintenance Robot for Oil & Gas Industries. [13] Hassan, M. Y., Rashid, M. T., & Abdulaali, A.
H. (2019). Design and Implementation of Hybrid-Climbing Legged Robot. Iraqi Journal of Electrical and
Electronic Engineering, 15(1- 2019). [14] Al-Sada, M. (2019, March). Design Space of Multipurpose Daily
Worn Snake-Shaped Robotic Appendages. In 2019 IEEE International Conference on Pervasive Computing
and Communications Workshops (PerCom Workshops) (pp. 455-456). IEEE. [15] Wright, C., Johnson, A.,
Peck, A., McCord, Z., Naaktgeboren, A., Gianfortoni, P., ... & Choset, H. (2007, October). Design of a
modular snake robot. In 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems (pp.
2609-2614). IEEE. [16] Transeth, A. A., Pettersen, K. Y., & Liljeback, P. (2009). A survey on snake robot
modeling and locomotion. [17] Transeth, A. A., Leine, R. I., Glocker, C., Pettersen, K. Y., & Liljebäck, P.
(2008). Snake robot obstacle-aided locomotion: Modeling, simulations, and experiments. IEEE Transactions
on Robotics, 24(1), 88-104. [18] Crespi, A., & Ijspeert, A. J. (2008). Online optimization of swimming and
crawling in an amphibious snake robot. IEEE Transactions on Robotics, 24(1), 75-87. [19] Bayraktaroglu, Z.
Y. (2009). Snake-like locomotion: Experimentations with a biologically inspired wheel-less snake robot.
Mechanism and Machine Theory, 44(3), 591-602. [20] I.E.E.E. (20165–02-16). IEEE 1872–2015 - IEEE
Standard Ontologies for Robotics and Automation. IEEE SA. https://standards.ieee.org/standard/1872-
2015.html [21] I.E.E.E. (1990, June 12). IEEE 1118.1-1990 - IEEE Standard for Microcontroller System
Serial Control Bus. IEEE SA. https://standards.ieee.org/standard/1118_1-1990.html 53 [22] I.S.O. (2019,
January 1). ISO 13857:2019(en) Safety of machinery — Safety distances to prevent hazard zones being
reached by upper and lower limbs. ISO STANDARDS. https://www.iso.org/obp/ui/#iso:std:iso:13857:ed-
2:v1:en 54 Appendix A Design standards 4. IEEE 1872-2015 - IEEE 1872-2015indicates the fundamental,
most broad ideas, relations, and maxims of advanced mechanics and mechanization (

R&A) is characterized in this norm, which is expected as a source of 3

perspective for information portrayal and thinking in robots, just as a proper
reference jargon for
conveying information

about R&A among robots and people. This standard is made from a center 3
metaphysics about R&A, called CORA, along with different ontologies that
offer help to CORA

. [20] 5. IEEE 1118.1-1990 - A sequential control transport for INTER-DEVICE-HTRA- BUILDING just as
intracity

interconnection of microcontrollers is depicted. The transport, which is 7

characterized for (however not restricted to) microcontrollers and gadgets
with

restricted re-programmability, gives a multidrop cycle sequential correspondence convention

that will permit the interconnection of appropriated Independently 7

fabricated gadgets. The convention is streamlined for instrumentation

, appropriated information procurement frameworks, control gadgets, and test and estimation. Details for a
typical engineering, conventional transport administrations, framework wagement, information connect, and
a few physical media are given. The sequential control transport develops BITBUS without making existing
gadgets out of date. Framework unwavering quality has been improved by the expansion of a framework the
executive’s layer, and nonexclusive transport administrations have been extended. [21] 6. ISO
13857:2019 - Consistence with the necessities in this record will forestall admittance to the danger zone. All
things considered the client of this report is prompted that it doesn't give the necessary danger decrease to
each risk (for example dangers identified with machine emanations, for example,

ionizing radiation, heat sources, commotion, dust). The statements 13

covering lower appendages apply on their own solitary when access by
the upper appendages to a similar peril zone
17th August 2021

Certification - To Whom It May Concern

This is to certify that the “MICROCONTROLLER BASED RECTILINEAR LOCOMOTION SNAKE ROBOT
FOR PIPELINES INSPECTION” research paper was reviewed and edited, as requested, only for
grammatical and spelling (punctuation and capitalization) accuracy.

This certification is issued at the request of the under mentioned student for whatever purpose it
may serve them.

1. ABDULLA NASSER BH16500249

2. SAAD BUKHAMMAS BH16500676

3. SYED DHEYA ALAWI BH16500059

Iconics Computers and Information Systems

Al Hamalah, Bahrain | Email: [email protected] | Tel: +973 34121374 | CR No: 114405

Report: MICROCONTROLLER BASED RECTILINEAR LOCOMOTION SNAKE ROBOT FOR INSPE…

MICROCONTROLLER BASED
RECTILINEAR LOCOMOTION
SNAKE ROBOT FOR PIPELINES
INSPECTION
by Muddassar

General metrics
90,926 13,921 953 55 min 41 sec 1 hr 47 min
characters words sentences reading speaking
time time

Score Writing Issues

329
72 Critical

Writing Issues
329 Correctness
34 Wrong or missing prepositions
24 Comma misuse within clauses
104 Determiner use (a/an/the/this, etc.)
22 Mixed dialects of english
2 Improper formatting
Report: MICROCONTROLLER BASED RECTILINEAR LOCOMOTION SNAKE ROBOT FOR INSPE…

35 Misspelled words
33 Incorrect noun number
10 Pronoun use
29 Confused words
1 Conjunction use
11 Incorrect verb forms
11 Faulty subject-verb agreement
6 Misuse of modi ers
2 Misuse of quanti ers
1 Misuse of semicolons, quotation marks, etc.
1 Commonly confused words
2 Punctuation in compound/complex
sentences
1 Modal verbs

9 Clarity
9 Wordy sentences

Unique Words 15%

Measures vocabulary diversity by calculating the unique words
percentage of words used only once in your
document

Rare Words 48%

Measures depth of vocabulary by identifying words rare words
that are not among the 5,000 most common English
words.
Report: MICROCONTROLLER BASED RECTILINEAR LOCOMOTION SNAKE ROBOT FOR INSPE…

MICROCONTROLLER BASED
RECTILINEAR LOCOMOTION
SNAKE ROBOT FOR PIPELINES
INSPECTION
by Muddassar

General metrics
91,170 13,957 945 55 min 49 sec 1 hr 47 min
characters words sentences reading speaking
time time

Score Writing Issues

80 Critical

Unique Words 15%

Measures vocabulary diversity by calculating the unique words
percentage of words used only once in your
document
Report: MICROCONTROLLER BASED RECTILINEAR LOCOMOTION SNAKE ROBOT FOR INSPE…

Rare Words 49%

Measures depth of vocabulary by identifying words rare words
that are not among the 5,000 most common English
words.

Word Length 4.5

Measures average word length characters per word

Sentence Length 14.8

Measures average sentence length words per sentence