design and implementation of invisible border alert system

Design and Implementation of Invisible Border Alert

System in Military Field Sowmya.S1, Smitha Elsa Peter2, S.Devi3, A. Rijuvana Begum4, A.Sujathapriyadharshini5

1PG Student [Communication Systems], Dept. of ECE,

2Associate Professor,

3Professor,

4Associate Professor,

5Assistant Professor,

PRIST University, Thanjavur, Tamilnadu, India

[email protected], [email protected]

Abstract

The Tanker which is mainly used in military applications have

electronic sensors which project images of the surrounding

environment back onto the outside of the vehicle enabling it to

merge into the landscape and evade attack .The electronic

camouflage will acts like a chameleon which adopt the color as

where it is, this ability help to invisible from the place. It means

that the tanker is not disappearing but it‟s invisible with the

help of color sensor. The proposed architecture is to implement

the omran software and hardware to prevent loss of human in

the battle field.

Keywords: camouflage, electronic sensors, Omran, Evade

1 Introduction

The electronic sensor is attached to the tanker which helps to

sense the abject where the colour sensors are used to invisible

the Tanker in the battlefield. A rotating gun is designed for

front line combat. It can be operated in two modes. One is

automatic mode and other one is manual mode. In automatic

mode once the sensor sense the object the tanker stops the

movement and gun starts firing automatically. In manual mode

the operation is controlled manually. These features enable the

tanker to perform well in a tactical situation the combination of

powerful weapons fire from their tanker gun and their ability to

resist enemy fire means the tanker can take hold of and control

an area and prevent other enemy vehicles from advancing.

Consequently, tankers underwent tremendous shifts in

capability during the World Wars of the 20th century. The

project aims at designing a sophisticated tanker which is

adaptable to the environment either depending on the colour

pattern or an image background on the environment. The tanker

is automated by using several sensors such as colour sensor,

proximity sensor and infra-red sensor. They are capable of

taking automatic decisions by sensing the environment. The

battle tankers are comprised with a tanker gun and one machine

gun. It also has sophisticated fire control system, range finders,

computerised fire control and stabilizers which are used to find

the target. To allowing for a reduction in turret size, MBTs

with an autoloader need one less crew member and the

autoloader needs less space than its human counterpart.

Further, an autoloader can be designed to handle rounds which

would be too difficult for a human to load. This reduces the

silhouette which improves the MBT's target profile. The

tanker's machine guns are usually equipped with between 500

and 3000 rounds each.

2 Previous Works

In [1] the authors proposed the increased research interest in

providing uniform distribution of autonomous mobile nodes

controlled by active running software agents over an unknown

geographical area in mobile ad-hoc networks (MANETs). This

problem becomes more challenging under the harsh and

bandwidth limited conditions imposed by military applications.

In [2] the authors proposed to assess and the real time

guarantees are compared that each proposal can offer. With

these result, next step will be evaluate and its implemented in

practical issues. In [3] it‟s a very readable resource and its

helpful for analysts and engineers those who research in the

field of engineering, industry, government and research. The

authors of [4] proposed the description and it compared the

strategies of visual measurement in the simulation environment

of AAR. The post estimation between tanker and UAV receiver

aircraft are employed in the visual measurement methods. The

authors proposed a home navigation system[5], which consists

of a wheelchair as input for it from android phone which used

the Bluetooth and navigates according to command. It is very

helpful for the physically disabled person and the senior

citizens to move anywhere inside home without any

complication. In the approach proposed by [6] there is a major

problem of this design is to minimize the electric actuator

International Journal of Pure and Applied MathematicsVolume 119 No. 16 2018, 3987-3995ISSN: 1314-3395 (on-line version)url: http://www.acadpubl.eu/hub/Special Issue http://www.acadpubl.eu/hub/

3987

volume and weight. In the literature [7] proposed the different

suppliers as the base platform and the application are separated.

Therefore, it generates a more complex process of integration.

In [8] the authors presented a method in which generation old

military communication network is currently used but it‟s not

an effective one because there must be many requirements

needed for the future embedded military applications. To

overcome this limitations, a new interconnection system is

needed. Full Duplex Switched Ethernet are based upon two

new communication network. To avoid this process, the second

proposal consists in keeping the current centralized

communication scheme. The real time guarantees are compared

so that each proposal can offer. To support the required time

constrained communications, this paper includes the functional

description of each proposed communication network and a

military avionic application to highlight proposals ability. In

[9] the authors focused on the description and comparison of

visual measurement strategies in the simulation environment of

AAR of UAVs. To ensure system stability when wind

turbulence is induced, the boom and station keeping controllers

are designed. To demonstrate the feasibility and effectiveness

of the proposed scenarios in actual conditions, the hardware-in-

loop simulation platform is built. In [10] the researchers

discussed about the Department of Defence and the military

continually grapple with complex scientific, engineering, and

technological problems. The main goal of defence systems

analysis is not important to find out a particular solution for the

issue but it helps to solve the roadmap to a solution or to

understand the relative value of some other solution. It

discusses red teaming (the search for vulnerabilities that might

be exploited by an adversary) and its complement, blue

teaming (the search for solutions to known shortcomings).

3 Proposed Architecture In this section, we discuss about the block diagram and the

circuit diagram of proposed architecture.

A.Overview

The Tanker which is mainly used in military applications have

electronic sensors which is project images of the surrounding

environment back onto the outside of the vehicle enabling it to

merge into the landscape and evade attack .The electronic

camouflage will acts like a chameleon which adopt the color as

where it is, this ability help to invisible from the place. It means

that the tanker is not disappear but its invisible with the help of

colour sensor. The proposed architecture is to implement the

omran software and hardware to prevent loss of human in battle

field. The major disadvantage of the existing system is the

machine is visible and need a man power to control the

machine. Our aim is to construct an invisible sophisticated

tanker. This is a sophisticated tanker which senses the

movement in border area without manpower and launches its

tube towards the target. PIC16F877A is used to take control of

the device. Also by using screen and lens over the machine, it

has been invisible by adapting towards the environment. It will

change the colour pattern depends on the environment. Every

process will be handled and controlled by Microcontroller (PIC

series).Field instruments such as IR sensor used to find object

movement and range . Depends on the feedback of IR sensor,

the servo motor will turn the launching tube towards the target.

Metal sensor used to find the landmine. Selection switch will

design the mode to be operated.

B. Block Diagram

Fig 1: Block Diagram of a proposed system

C. Block diagram description

Infrared (IR) sensor which is used the find the target in the

battlefield as the wavelength range from 0.74 µm and extended

appropriately to 300 µm. Its frequency range 1 to 400Hz and

include most of the thermal radiation emitted by objects near

room temperature. They change their rotational-vibration

movements when the IR light is typically emitted or absorbed

by molecules.

A servomotor which is used to move the tanker in the

battlefield. It controls the tanker movement, velocity and

acceleration. It consists of a suitable motor coupled to a sensor

for position feedback. It is controlled by sending an electrical

pulse of variable width, or pulse width modulation (PWM),

through the control wire.

4 Module Description

A.HARDWARE DESCRIPTION

A.PIC 16F877A Controller

From microchip,PIC 16F877 is one of the most advanced

microcontroller. Because of its low price, wide range of

applications, high quality, and ease of availability, the

controller is widely used for experimental and modern

applications. In machine control applications, measurement

devices, study purpose, PIC is ideal for these type of

applications. The PIC 16F877 have all the features as same as

all the microcontroller have. In automotive, industrial,

appliances and consumer applications, PIC16F877 is one of the

most commonly used microcontrollers. PIC is made by

Microchip Technology and it is a family of Harvard

architecture microcontrollers and originally developed by

General Instrument's Microelectronics Division. "Peripheral

Interface Controller" is the expansion form of PIC. As due to

their low cost, wide availability, large user base, extensive

collection of application notes, availability of low cost or free

development tools, and serial programming (and re-

programming with flash memory) capability, PICs are most

popular with both industrial developers and hobbyists With the

International Journal of Pure and Applied Mathematics Special Issue

3988

help of FLASH memory technology the data can write and

erase as many times as possible and its one of the main

advantage of this microcontroller. It comprises of 40 pins

totally,33 pins are dedicated to input and output. PIC16F877A

is used in many microcontroller projects and has many

applications in digital electronics circuits.

B.Main Features

It has High-Performance RISC CPU

It help to learn 35 single word instructions only

Except for program branches all instructions are single cycle

(1µs)

DC - 20MHz clock input is its operating speed

Flash Program Memory is 8 Kbytes

RAM Data Memory is 368 byte

EEPROM Data Memory is 256 byte

In-circuit Serial Programming

Interrupt Capability (up to 10 sources)

There are two 8-bit timer/counter(TMR0, TMR2) with

8-bit programmable prescalar

One 16 bit timer/counter (TMR1)

High current source/sink for direct LED drive

Watchdog Timer (WDT) with Separate RC Oscillator

Two Capture, Compare, PWM Modules

Synchronous Serial Port with SPI and I²C

Eight Channel, 10-bit Analog to Digital Converter

Universal Synchronous Asynchronous Receiver

Transmitter (USART)

C.Pin Configuration and Description of PIC16F877A

As it has been mentioned before, totally there are 40

pins in this microcontroller IC. It comprises of one 16 bit and

two 8 bit timer.

PIN 1: MCLR

The master clear pin is the first pin of this IC. It resets the

microcontroller and is active low, meaning that it should

constantly be given a voltage of 5V and if 0 V are given then

the controller is reset. When the controller is reset it means that

it bring back the first line of the program.

A push button and a resistor is connected to the pin. Constant

5V is already supplied to the pin. When we push the button

MCLR pin to 0 it just reset the IC and have the potential

thereby resetting the controller.

PIN 2: RA0/AN0

PORTA is a bidirectional input/output pins comprises of

6 pins, from pin 2 to pin 7. The first pin of this port is pin 2.

This pin can also be used as an analog pin AN0. It is built

in analog to digital converter.

PIN 3: RA1/AN1

This can be the analog input 1.

Fig 2 PIC 16F877A Pin Description

PIN 4: RA2/AN2/Vref-

It can act as the analog negative reference voltage or it

can be the analog input 2.

PIN 5: RA3/AN3/Vref+

It can act as the analog positive reference voltage it can be the

analog input 3.

PIN 6: RA0/T0CKI

The type of output is open drain and T0 timer0 can act as the

clock input pin.

PIN 7: RA5/SS/AN

This pin can be used as the slave select for that port and there is

synchronous serial port in the controller. This can be the analog

input 4

PIN 8: RE0/RD/AN5

This is a bidirectional input output port and PORTE starts from

pin 8 to pin 10. For parallel slave port it can act as a „read

control‟ pin which will be active low and it can be the analog

input 5.

PIN 9: RE1/WR/AN6

The parallel slave port it can act as the „write control‟ which

will be active low or it can be the analog input 6.

PIN 10: RE2/CS/A7

For the parallel slave port it can act as the „control

select‟, it just like read and write control pins which will also

be active low or it can be the analog input 7.

PIN 11 and 32: VDD

These two pins should be connected to 5V and are the

positive supply for the input/output and logic pins.

PIN 12 and 31: VS

It should be connected to 0 potential and these pins are the

ground reference for input/output and logic pins.

PIN 13: OSC1/CLKIN

This is the oscillator input or the external clock input

pin.

PIN 14: OSC2/CLKOUT

This is the oscillator output pin. It provide external

clock to the microcontroller and a crystal resonator is

connected between pin13 and 14.This indicates the instruction

cycle rate.

PIN 15: RC0/T1OCO/T1CKI

It is a bidirectional input output port and PORTC

consists of 8 pins.Pin 15 is the first of them. It can act as a

timer 1 is the clock input or timer 2 is the oscillator output.

PIN 16: RC1/T1OSI/CCP2

It can be the oscillator input of timer 1 or the

capture 2 input/compare 2 output/ PWM 2 output.

PIN 17: RC2/CCP1

It can be the capture 1 input/ compare 1 output/

PWM 1 output.

PIN 18: RC3/SCK/SCL

It can be the input/output for synchronous serial clock


3989

and also it can be the output for SPI or I2C modes

PIN 23: RC4/SDI/SDA

It can be the SPI data in pin. Or in I2C mode it can be

data input/output pin.

PIN 24: RC5/SDO

It can be the data out of SPI in the SPI mode.

PIN 25: RC6/TX/CK

It can be the synchronous clock or USART

Asynchronous transmit pin.

PIN 26: RC7/RX/DT

It can be the synchronous data pin or the USART

receive pin.

PIN 19,20,21,22,27,28,29,30:

PORTD is a bidirectional input and output port and it

comprises of 8 pins.

PIN 33-40: PORT B

All these 8 pins belong to PORTB. RB0 is used as the external

interrupt pin and RB6 and RB7 can be used as in-circuit

debugger pins.

D.Memory Organization

IC16F87XA devices comprises of three memory blocks. The

program memory and data memory have separate buses. The

EEPROM data memory block is detailed in “Data EEPROM

and Flash Program Memory”. Additional information on device

memory may be found in the PIC micro® Mid-Range MCU

Family Reference Manual (DS33023).

B.ZIGBEE

A.Overview

Zigbee is an IEEE 802.15.4 and its a high-level

communication protocols used to create personal area

networks with small,low-power digital radios.

Fig 3.ZigBee CC2500 pin diagram

It provides long battery life devices in wireless control and

monitoring applications and it‟s a low-cost, low power;

wireless mesh network standard targeted at the wide

development.

C. CIRCUIT DIAGRAM

The circuit diagram clearly demonstrate the ooo operation

of the Tanker circuit.

Fig 4.Circuit Diagram

A.Overview

There are several types of power supply. Most of them are

designed to convert high voltage AC electricity to a suitable

low voltage supply for electronic circuits and other devices. A

power supply can by broken down into a series of blocks, a

particular function is perform by each. There are two types of

transformer like step-down and step- up transformer.

Fig 5.Power Supplies

B.Transformer

Step-down transformer is used here which Steps down

high voltage AC mains to low voltage AC. with little loss of

power transformers convert AC electricity from one voltage to

another. Mains electricity is AC and this because transformers

work only with AC. Step-up transformers are used to increase

the voltage and step-down transformers are used to reduce the

voltage. They are linked by an alternating magnetic field

created in the soft-iron core of the transformer and there is no

electrical connection between the two coils. The two lines in

the middle of the circuit symbol represent the core.

C.Rectifier

Rectifier are used to convert AC to DC, hence it has the

varying DC. There are several methods in connecting the

diodes to make a rectifier to convert AC to DC. Full-wave

varying DC is produced by the bridge rectifier and it is the

most important rectifier. Just two diodes if a centre-tap

transformer is used and it can act as a full-wave rectifier but its

rarely used now as the diodes are cheaper. Half-wave varying

DC is produced by a single diode and it can be used as a

rectifier but it only uses the positive (+) parts of the AC wave.

D.Smoothing (Filter)

Electrolytic capacitor which has a large value is

connected across the DC supply to act as a reservoir and

perform the smoothing, the varying DC voltage from the

rectifier is falling when it supply current to the output. For


3990

many circuits, its a satisfactory when a ripple is 10% of the

supply voltage. Fewer ripples are obtained in a larger capacitor.

When smoothing half-wave DC, the capacitor value must be

doubled.

E.Regulator

Voltage regulator ICs are comprises of two types as fixed

output voltage and variable output voltage. Fixed output

voltage are normally 5, 12 and 15V. It can be rated by the

maximum current as they can pass. All electronics circuits

require a DC power supply to work. You really do plug in the

wires of your electronic items in AC mains supply but they do

have AC to DC converters too provide DC to the circuits.

Fig 6. Circuit Diagram For 7805

F.Infrared Sensor

Infrared (IR) sensor which is used the find the target in the

battlefield as the wavelength range from 0.74 µm and extended

appropriately to 300 µm. Its frequency range 1 to 400Hz and

include most of the thermal radiation emitted by objects near

room temperature. They change their rotational-vibration

movements when the IR light is typically emitted or absorbed

by molecules.

G.Relay

A relay is an electrically operated switch. To operate a

switching mechanism mechanically, many relays use an

electromagnet. To control a circuit by a low-power signal

relays are used where it is necessary or one signal control the

several circuits.

H. Servomotor

A servomotor which is used to move the tanker in the

battlefield. It controls the tanker movement, velocity and

acceleration. It consists of a suitable motor coupled to a sensor

for position feedback. Through the control wire, it is controlled

by sending an electrical pulse of variable width, or pulse width

modulation (PWM).

I.Buzzer

The buzzer has a coil inside which oscillates a metal plate

against another when given voltage difference produces sound

of a predefined frequency therefore it is said to be

electromagnetic type audio signalling device. In many

appliances, you able to hear the BEEP sound which is the

sound of buzzer.

J. Color Sensor (TCS3200)

It gives serial output of RBG value which is used to identify the

colour. Giving RGB value for the detected color, it can identify

16.7 million color shades. The detected colour is identified as

amount of three primary color values namely Red, Green &

Blue with 8 bit accuracy for each primary colour. By using

three primary color Red, Green and Blue we can separated or

combined any color.

L. RF/RX Module

RF modem can be used for applications that need two way

wireless data transmission. It features adjustable data rate and

reliable transmission distance. The communication protocol is

self-controlled and completely transparent to user interface.

The module can be embedded to your current design so that

wireless communication can be setup easily.

D.SOFTWARE DESCRIPTION

A.Software Tools

OMRAN ZEN

PROTEUS LANGUAGE

B.Introduction to OMRAN ZEN

ZEN is small in size and offers a great number of

functions which allow for any type of customised solution,

either automatic or connected to a network by AS bus or

Compobus/S. It allows logical connections instead of wiring by

simply pressing a key. Flexibility of application, which offers a

great deal of space for modifying or expanding the application.

C.Main Features

At low cost, it has capacity to carry out small scale automatic

control Ladder diagram programming

It has 96 lines of maximum program capacity

Very small dimensions: 90 x 70 x 56 mm.

Using 3 expansion modules, it can be expandable up

to 18 inputs and 16 outputs

By using memory cassette, programs are easily copied

Programming and monitoring by computer.

Large switch capacity, up to 8 A /contact with 250

VAC.

Direct AC inputs between 110 and 240 VAC.

Equipped with 8 configurable timers in 4 operating

modes and 3 timer ranges.

It can work either inclined or declined by using 8

counters.

It comprises of clock-calendar functions.

2 analog inputs in voltage mode (0 to 10 V).

To avoid noise influence there is a possibility of

configuring input filters

D.Ladder Diagram

To document industrial control logic systems, ladder

diagrams are specialized schematics. It resemble like a ladder

as it has two vertical rails (supply power) and as many “rungs”

(horizontal lines) as there are control circuits to represent,

hence it is said to be “ladder” diagrams.


3991

Fig 7.Ladder Diagram

E. Program Protection

This function is used to prevent incorrect use of the

ladder program, or as prevention against manipulation

of settings carried out in the module.

The password code comprises the range „0000‟ to

„9999‟ (4 decimal points)

Activating the password prevents entry into the

following points:

Editing ladder programs.

Monitoring ladder programs.

Changing or deleting the password.

Setting the input filter.

Setting the node number.

E.PROTEUS (PROGRAMMING LANGUAGE)

In 1998 Simone Zanella created Proteus as a fully functional

and procedural programming language. It incorporates many

functions as its derived from several other languages: C,

BASIC, Assembly, Clipper/dBase; when dealing with strings it

is especially versatile and also have hundreds of dedicated

functions; for text manipulation it is one of the richest

languages. Proteus owes its name to a Greek god of the sea

(Proteus), who took care of Neptune's crowd and gave

responses; he was renowned for being able to transform

himself, assuming different shapes. the main usage of this

language is to transform the data from one form to another.

To manipulate text and binary files, Proteus was initially

created as a multiplatform (DOS, Windows, Unix) system

utility. By adding hundreds of specialized functions then the

language was later focused on Windows, for: network and

serial communication, database interrogation, system service

creation, console applications, keyboard emulation. even

though a Linux version is still available but most of these

additional functions are only available in the Windows flavour

of the interpreter. Proteus was designed to be practical (easy to

use, efficient, complete), readable and consistent.

Its strongest points are:

Its string manipulation is powerful;

It has comprehensibility of Proteus scripts;

Advanced data structures are available like arrays and

queues.

By adding user functions written a proteus or created

in C/C++, the language can be extended

5 Result And Discussion

Tanker circuit Comprises of :

Power supply unit

PIC 16F877A Microcontroller

IR Sensor

Servo Motor

Gear Motor

Relay

Metal Sensor

Color Sensor (TCS3200)

ZigBee

RF/RX Module

Buzzer

Fig 8. Prototype of the Tanker Circuit

Fig 9.Movement of Tanker System

I0 is the selection switch, this switch is to select Auto

mode or Manual mode.If it ON in Auto mode,the Tanker

system starts to move automatically.

If it works in Manual Mode,the total operation sytem

should be controlled manually.

when it is select the total tanker system starts to move,

its corresponding output is Q0.

Here Manual mode is selected,its corresponding input

is I0. So the total Tanker sytem starts to move.Hence its

corresponding output Q0 ,ON.


3992

Fig 10.Metal Sensor Output

As Metal Sensor is used to find the Landmine in the

path of Tanker System.

Here I1 is the metal sensor, when its select the

movement of the total Tanker System stops

Its corresponding output is Q1 and its turn ON.

Fig 11.Movement Of Gun(Right)

I3 is the switch for the movement of Gun, if I3 is

selected the Gun starts to rotate.

Its rotate in left and right direction in all degrees.

The movement of Gun direction can be changed in a

time interval.

For example, if the time interval is given as 10sec

meant that it changes the direction from right to left in

10sec time interval.

Its corresponding output is Q2.

Hence the Gun rotate in a right direction, its

corresponding output Q2 , ON.

After 10sec time interval Gun change its direction to

left

As this figure indicates the arrow head in right

direction

Fig 12.Movement Of Gun(Left)

I3 is the switch for the movement of Gun, if I3 is

selected the Gun starts to rotate.

Its rotate in left and right direction in all degrees.

The movement of Gun direction can be changed in a

time interval.

For example, if the time interval is given as 10sec

meant that it changes the direction from left to right in

10sec time interval.

Its corresponding output is Q3.

Hence the Gun rotate in a right direction, its

corresponding output Q2 , ON.

After 10sec time interval Gun change its direction to

right

As this figure indicates the arrow head in left direction

Fig 13.Output of Firing

I2 is the switch for firing, once the I2 is ON the

movement of Gun stops

I2 the input switch for firing, where I0 is the input

switch for the movement of Tanker system

Whereas I2 and I3 are the corresponding inputs for

the movement of Gun in left and right direction

As the Gun rotates in a particular time interval

If I2 is ON, the movement of Tanker stops and also

the movement of Gun stops.

It meant that object is find out, so the Gun starts

Firing.

As the figure shows that firing also displayed in the

front panel.

Fig 14.Color Sensor Output(RED)

As the tanker will change the color pattern depends on

the environment.

Hence consider as the environment is in red color.

Color sensor is used to sense the surrounding

environment

Here it sense the red color

And the corresponding output is displayed in the panel

Once the Tanker placed in the environment, first it


3993

change the color depends on the outer atmosphere

After that only it starts its operation

For ouput purpose here red color is kept on a

particular switch

If click that switch red color is displayed in the panel

Fig 15. Color Sensor Output(GREEN)


the environment.

Hence consider as the environment is in Green color.


environment

Here it sense the green color





For ouput purpose here green color is kept on a

particular switch

If click that switch green color is displayed in the

panel

Fig 16. Color Sensor output(BLUE)


the environment.

Hence consider as the environment is in Blue color.


environment

Here it sense the blue color





For ouput purpose here blue color is kept on a

particular switch

If click that switch blue color is displayed in the panel

6 Conclusions The intent was to provide an overall idea of the activities and

also some details on specifications and requirements relevant to

military applications. In the military, there are various

applications that call for much higher power than is necessary

in regular commercial vehicles, and the environment of the

application can be very harsh in terms of temperature and

vibration. Some of the important differences between military

and regular commercial applications were noted. To meet the

army‟s needs, both robust and high efficiency devices are

important. Since the military is seriously considering the

electrification of many types of equipment and vehicles, this

article described a few areas, which, hopefully, the reader will

find beneficial. There are additional activities pertaining to

power electronics and electric drives that have started recently

or have not yet been completed, and those are not included

here. This article is intended to provide a general overview of

the important technologies that are highly relevant for power

and mobility related to military applications.

References 1 Carlson,T and Y.Demiris, “Collaborative Control

For A Robotic Wheelchair: Evaluation Of Performance,

Attention, And Workload”. IEEE Transactions On Systems,

Man, And Cybernetics, Part B: Cybernetics, Vol. 42, No. 3, Pp.

876–888, 2012.

2 Frank, J. Ward, N. Orwell, C. Mccullagh, And M.

Belcher, “Introduction Of A New NHS Electric-Powered

Indoor/Outdoor Chair (EPIOC) Service: Benefits, Risks And

implications For Prescribers”, Clinical Rehabilitation, Vol

No.14, Pp. 665– 673, 2000.

3 Galan,F, P. W. Ferrez, F. Oliva, J. Guardia, And J. D.

R. Millan, “Feature Extraction For Multi-Class BCI Using

Canonical Variates Analysis”, In IEEE IntSymp Intelligent

Signal Processing, 2007.

4 Ganesan,P, J.M.M.Jenitha, “The Trends and

challenges in Brain Computer Interface Technology”,.Pakistan

Journal Of Biotechnology, Vol.14, Pp.353-356, 2017.

5 Iturrate, J. Antelis, A. Kubler,¨ And J. Minguez, ,”A

Noninvasive Brain-Actuated Wheelchair Based On A P300

Neuro physiological Protocol And Automated Navigation”,

IEEE Transactions On Robotics, Vol. 25, No. 3, Pp. 614– 627,

2009.

6 Lucas,G, “A Tutorial And Elementary Trajectory

Model For The Differential Steering System Of Robot Wheel

Actuators”, The Rossum Project, Tech.Rep, 2000.

7 Millan,,J.D.R, F. Galan, D. Vanhooydonck, E.Lew,

J.Philips And M.Nuttin, “Asynchronous Non-Invasive Brain-

Actuated Control Of An Intelligent Wheelchair”, In Proc. 31st

Annual Int. Conf. IEEE Eng. Med. Biol. Soc, Pp. 3361–3364

,2009.

8 Millan,,J.D.R, F. Renkens, J. Mourino, And

W.Gerstner, “Noninvasive Brain-Actuated Control Of A

Mobile Robot By Human EEG”, IEEE Trans Biomed Eng,

Vol. 51, No. 6, Pp. 1026–1033, 2004.

9 Nandhakumar,K, T.Viswanathan, “Real Time

Simulator for Field Survey Mobile Robot”, Pakistan Journal Of

Biotechnology, Vol.14, Pp.68-71, 2017.

10 Perdikis, S,H. Bayati, R. Leeb, and J. D. R. Millan,

“Evidence Accumulation In Asynchronous BCI,” International

Journal Of Bio electromagnetism, Vol. 13, No. 3, Pp. 131–132,

2011.

11 Van Drongelen, B. Roszek, E.S.M. Hilbers-

Modderman, M.Kallewaard and C.Wassenaar, “Wheelchair

Incidents”, .Bilthoven,NL,Tech.Rep.,Vol.81,Pp:261-271, 2002.


3994

design and implementation of invisible border alert system

Documents