VELAMMAL INSTITUTE OF TECHNOLOGY

Department of Electronics and Communication and Engineering

BORDER INTRUDER DETECTION SYSTEM USING

MOBILE SENSOR/ROBOTIC NETWORK

TEAM MEMBERS PROJECT GUIDE

 G ARUN PRASATH Mrs. K GOMATHY
 V GAUTHAM RAM
 R HARISH
 R PRABUVIGNESHWAR
ABSTRACT
The main objective of the project is to detect the presence of intruder near the border between
the countries and take preventive action accordingly with help of border intruder detection system
using mobile sensor and robotic network. Mobile robots equipped with sensors are able to
cooperatively work together via wireless communication technologies in order to achieve security.
We go for this project mainly because fragile states need to protect themselves internally and
engage internationally through the legitimate transfer of goods, peoples, and services, or else they
are vulnerable to sliding back into conflict. Building and reforming the border security system in
post-conflict states is necessary for a successful peace building process. There are always
unmonitored locations due to the limited number of mobile sensors/robots that cannot monitor and
cover the whole field. In order to solve such a problem, the mobile robots/sensors need to patrol the
entire field in order to cover it completely. We propose control strategies that, while making
minimal or no assumptions on communications between agents, provide the same level of steady-
state performance achieved by the best known decentralized strategies.
 INTRODUCTION
Mobile robots equipped with sensors are able to cooperatively work together via wireless communication
technologies in order to achieve and obtain surveillance teaming as well as task accomplishments in a large,
complex field. There are always unmonitored locations due to the limited number of mobile sensors/robots that
cannot monitor and cover the whole field. In order to solve such a problem, the
mobile robots/sensors need to patrol the entire field in order to cover it completely. Unfortunately, we are uncertain
as to how to group the robots/sensors to achieve a low cost.
The size of the robot/sensor groups could be either large or small. It is not easy to intuitively determine which
grouping size is the more efficient. In existing system we consider intruders as robots which misbehave, which do
not follow the rules, because of either spontaneous failures or malicious reprogramming. Our goal is to detect
intruders by observing the congruence of their behavior with the social rules as applied to the current state of the
overall system. Moreover, the detection itself must be performed by individual robots, based only on local
information, which can lead to disadvantages like robots not following the rules, only monitoring process is
possible but not prevention process. Hence we go for new system project to overcome the difficulties and facilitate
legitimate transfer of goods and service.
 LITERATURE SURVEY
1. Studying Bio-Inspired Coalition Formation of Robots for Detecting Intrusions Using Game
Theory :
In this paper, inspired by the society of animals, we study the coalition formation of robots for detecting
intrusions using game theory. We consider coalition formation in a group of three robots that detect and capture
intrusions in a closed curve loop. In our analytical model, individuals seek alliances if they think that their
detect regions are too short to gain an intrusion capturing probability larger than their own. We assume that
coalition seeking has an investment cost and that the formation of a coalition determines the outcomes of
parities, with the detect length of a coalition simply being the sum of those of separate coalition members. We
derive that, for any cost, always detecting alone is an evolutionarily stable strategy (ESS), and that, if the cost is
below a threshold, always trying to form a coalition is an ESS (thus a three-way coalition arises).
 Author: Xiannuan Liang and Yang Xiao, Senior Member, IEEE
 Publish: IEEE TRANSACTIONS ON SYSTEMS, MAN, AND CYBERNETICS—PART B:
CYBERNETICS, VOL. 40, NO. 3, JUNE 2010
2. Group Size Studies for Collaborated Sensors/Robots :
In this paper The major challenge of communication in the large and complex field is that the number of
mobile sensors is insufficient for continuously communication network used by intra/inter-groups. While
each group may be able to maintain communication within the group at all times, a complete path for
constant end-to-end data communication for any pairs of source and destination in different groups may not
exist. There are always un monitored locations, due to the limited number of mobile sensors/robots that
cannot monitor and cover the whole field. With an intention to solve such a coverage problem, the mobile
robots/sensors need to patrol the entire field in order to cover it completely. Unfortunately, we are uncertain
as to how to group the robots/sensors so that the time cost for movement is high. The size of the robot/sensor
groups could be either large or small.
 Author : Bo Fu and Yang Xiao* Department of Computer Science The University of Alabama
 Publish: IPSN 2003, LNCS 2634, pp. 63–79, 2003.
EXISTING SYSTEM:
We consider intruders as robots which misbehave, i.e. Do not follow the rules, because of either
spontaneous failures or malicious reprogramming. Our goal is to detect intruders by observing the congruence
of their behavior with the social rules as applied to the current state of the overall system. Moreover, the
detection itself must be performed by individual robots,based only on local information.
DISADVANTAGE:
 Do not follow the rules
 Monitoring process only possible, Prevention process not possible.
PROPOSED SYSTEM:
The proposed system of our project is to monitor the border of the nation by using robots. The image
processing will be done by using the MATLAB. The information will be transmitted through the WSN
transmitter. And the control will be to mode of operation are Automatic and Manual mode In robot section,
Robot monitors the boundary compare with the information from the WSN receiver. If any intruder is found,
then the robot will automatically emits the chloroform. Ultrasonic sensor used to find the obstacle. If obstacle is
present automatically it will take another path. If human will detected around the robot then laser light will be
turn on. If anyone attack that robot then it will get self-destructed.
ADVANTAGE:
It can support both auto and manual process.
It can be use a border security system.
ROBOT SECTION:
HARDWARE REQUIREMENTS:
 MICROCONTROLLER(AT89S52)
 RELAY
 PIR SENSOR
 VIBRATION SENSOR
 ULTRASONIC SENSOR
 DC MOTOR
 ROBO RELAY
 ROBOT
 WSN

SOFTWARE REQUIREMENTS:
 KEIL IDE
 EMBEDDED C
 MATLAB
HARDWARE REQUIREMENTS
AT89S52 MICROCONTROLLER:

 The AT89S52 is a low-power, high-performance CMOS 8-bit microcontroller with 8K

bytes of in-system programmable Flash memory. The device is manufactured using
Atmel’s high-density nonvolatile memory technology and is compatible with the Indus-
try-standard 80C51 instruction set and pin out
 The AT89S52 provides the following standard features: 8K bytes of Flash, 256 bytes of
RAM, 32 I/O lines, Watchdog timer, two data pointers, three 16-bit timer/counters, a
six-vector two-level interrupt architecture, a full duplex serial port, on-chip oscillator,
and clock circuitry
FEATURES:
 8K Bytes of In-System Programmable (ISP) Flash Memory –
Endurance: 1000 Write/Erase Cycles.
 4.0V to 5.5V Operating Range.
 Fully Static Operation: 0 Hz to 33 MHz
 Three-level Program Memory Lock.
 256 x 8-bit Internal RAM.
 32 Programmable I/O Lines.]
 Three 16-bit Timer/Counters.
 Eight Interrupt Sources.
ULTRASONIC SENSOR:

 Ultrasonic sensors (also known as transceivers when they both send and receive) work on a
principle similar to Radar or Sonar which evaluate attributes of a target by interpreting the
echoes from radio or sound waves respectively. Ultrasonic sensors generate high frequency
sound waves and evaluate the echo which is received back by the sensor. Sensors calculate the
time interval between sending the signal and receiving the echo to determine the distance to an
object.
 An ultrasonic transducer is a device that converts energy into Ultrasound, or sound waves
above the normal range of human hearing. While technically a dog whistle is an ultrasonic
transducer that converts mechanical energy in the form of air pressure into ultrasonic sound
waves, the term is more apt to be used to refer to piezo-electric transducer that convert
electrical energy into sound.
PIN DEFINITION:
PIR SENSOR:

 PIR is a pyro electric sensor module which developed for human body detection. A PIR
detector combined with a Fresnel lens are mounted on a compact size PCB together
with an analog IC, SB0061, and limited components to form the module. High level
output of variable width is provided.
 PIR ( passive infra-red ) controller , using analog mixing digital design technique and
manufactures by CMOS Process which can either drive TRIAC or RELAY depending
on user’s choice. With special noise immunity technique , M7612 is the most stable
PIR controller you can find on the market
PIN DEFINITIONS:
VIBRATION SENSOR:

 A piezoelectric sensor is a device that uses the piezoelectric force to measure

pressure, acceleration, strain and force by converting them to an electrical signal.
 Piezoelectric sensors have proven to be versatile tools for the measurement of various
processes. They are used for quality assurance, process control and for research and
development in many different industries. Although the piezoelectric effect was
discovered by curie in 1880, it was only in the 1950s that the piezoelectric effect
started to be used for industrial sensing applications. Since then, this measuring
principle has been increasingly used and can be regarded as a mature technology with
an outstanding inherent reliability.
RELAY:

 A relay is an electrically operated switch. Many relays use an electromagnet to operate

a switching mechanism mechanically, but other operating principles are also used.
Relays are used where it is necessary to control a circuit by a low-power signal (with
complete electrical isolation between control and controlled circuits), or where several
circuits must be controlled by one signal.
 A relay is an electrically operated switch. Current flowing through the coil of the
relay creates a magnetic field which attracts a lever and changes the switch contacts.
The coil current can be on or off so relays have two switch positions and most have
double throw (changeover) switch contacts as shown in the diagram
SPECIFICATION:

 Operating Voltage: 12 Volts DC Nominal.

 Current Draw: 30 milliamps.
 Minimum Pull-in Voltage: 9 Volts DC.
 Diode Protection Across Relay Coil.
 Contact Ratings:
 7 Amps @ 30 Volts DC
 10 Amps @ 125 Volts AC
 Size: 1.1" X1.55 " (28mm X 39mm) Ea.
DC MOTOR:
 In any electric motor, operation is based on simple electromagnetism. A current
conductor generates a magnetic field when this is then placed in an external magnetic
field, it will experience a force proportional to the current in the conductor, and to the
strength of the external magnetic field. The internal configuration of a DC motor is
designed to harness the magnetic interaction between a current-carrying conductor and
an external magnetic field to generate rotational motion.
 The shunt motor is different from the series motor in that the field winding is
connected in parallel with the armature instead of in series. Let's start by looking at a
simple 2-pole DC electric motor (here red represents a magnet or winding with a
"North" polarization, while green represents a magnet or winding with a "South"
polarization).
WSN:

 WSN is a specification for a suite of high level communication protocols using small,
low-power digital radios based on the IEEE 802.15.4-2003 standard for Low-Rate
Wireless Personal Area Networks (LR-WPANs), such as wireless light switches with
lamps, electrical meters with in-home-displays, consumer electronics equipment via
short-range radio needing low rates of data transfer.
 WSN is a low-cost, low-power, wireless mesh networking standard. First, the low cost
allows the technology to be widely deployed in wireless control and monitoring
applications. Second, the low power-usage allows longer life with smaller batteries.
Third, the mesh networking provides high reliability and more extensive range
UART:
 A universal asynchronous receiver/transmitter is a type of "asynchronous
receiver/transmitter", a piece of computer hardware that translates data between parallel
and serial forms. UARTs are commonly used in conjunction with other communication
standards such as EIA RS-232.
 A UART is usually an individual (or part of an) integrated circuit used for serial
communications over a computer or peripheral device serial port. UARTs are now
commonly included in microcontrollers. A dual UART or DUART combines two UARTs
into a single chip. Many modern ICs now come with a UART that can also communicate
synchronously; these devices are called USARTs.
SOFTWARE REQUIREMENTS:
MATLAB SECTION:
FEATURE EXTRACTION:
 In machine learning and pattern recognition and in image processing, feature
extraction starts from an initial set of measured data and builds derived values
(features) intended to be informative, non redundant, facilitating the subsequent
learning and generalization steps, in some cases leading to better human interpretations.
Feature extraction is related to dimensionality reduction.
 When the input data to an algorithm is too large to be processed and it is suspected to
be redundant (e.g. the same measurement in both feet and meters, or the repetitiveness
of images presented as pixels), then it can be transformed into a reduced set of features
(also named features vector). This process is called feature extraction.
 Feature extraction involves reducing the amount of resources required to describe a
large set of data. When performing analysis of complex data one of the major problems
stems from the number of variables involved. Analysis with a large number of variables
generally requires a large amount of memory and computation power or a classification
algorithm which over fits the training sample and generalizes poorly to new samples.
Feature extraction is a general term for methods of constructing combinations of the
variables to get around these problems while still describing the data with sufficient
accuracy.
EDGE DETECTION:
 Edge detection is the name for a set of mathematical methods which aim at identifying points in a
digital image at which the image brightness changes sharply or, more formally, has
discontinuities. The points at which image brightness changes sharply are typically organized into a
set of curved line segments termed edges. The same problem of finding discontinuities in 1D
signals is known as step detection and the problem of finding signal discontinuities over time is
known as change detection. Edge detection is a fundamental tool in image processing, machine
vision and computer vision, particularly in the areas of feature detection and feature extraction.

HISTOGRAMS:
 An image histogram is a type of histogram that acts as a graphical representation of the total
distribution in a digital image. It plots the number of pixels for each tonal value. By looking at the
histogram for a specific image a viewer will be able to judge the entire tonal distribution at a
glance.
 Image histograms are present on many modern digital cameras. Photographers can use them as an
aid to show the distribution of tones captured, and whether image detail has been lost to blown-out
highlights or blacked-out shadows. This is less useful when using a raw image format, as the
dynamic range of the displayed image may only be an approximation to that in the raw file.
CONCLUSION:
The main aim of this project is to monitor the border and prevent any intrusion thus
providing security and promote legitimate transfer of goods and service. In this paper we
implemented a design robot to monitor the border and prevent any intrusion thus providing
security and promote legitimate transfer of goods and service. The sensor networks are
programmed with various user interfaces suitable for users of varying ability and for expert users
such that the system can be maintained easily and interacted very simply. For the future work, we
will consider the intruder that is able to make channel attack or other kinds of attacks to damage
the wireless sensor network. The intruders do not behave as they have intelligence that they can
make smart moves (e.g., avoid robot patrols, group together, move to positions that have been
patrolled, destroy the robots, etc.) in this paper. A more realistic opponent model that also affects
which group size performs better would be proposed in the future work.
THANK YOU