bio-hazard robot

BIO HAZARD ROBOT

Muhammad Affan Khan Roll No. 2012-BM- 040

Hashim Chughtai Roll No. 2012-BM- 029

Samik Farhat Roll No. 2012-BM- 036

Syed Muhammad Haider Raza Roll No. 2012-BM- 026

Supervised by

Engr. M. Muzammil Khan

A Final Year Project report is submitted in the partial fulfilment for the degree ofBachelor of Science in Biomedical Engineering

Department of Biomedical EngineeringSir Syed University of Engineering & Technology

Karachi, Pakistan January 20, 2016(Wednesday)

DECLARATION

We hereby declare that this project report is based on my original work except for citations

and quotations which have been duly acknowledged. I also declare that it has not been

previously and concurrently submitted for any other degree or other institutions.

Names : MUHAMMAD AFFAN KHAN

Signature : ___________________________________________

Roll no. : ___________________________________________

Date : ___________________________________________

Names : HASHIM CHUGHTAI

Signature : ___________________________________________

Roll no. : ___________________________________________

Date : ___________________________________________

Names : SAMIK FARHAT

Signature : ___________________________________________

Roll no. : ___________________________________________

Date : ___________________________________________

Names : SYED MUHAMMAD HAIDER RAZA

Signature : ___________________________________________

Roll no. : ___________________________________________

Date : ___________________________________________

APPROVAL FOR SUBMISSION

I certify that this project report entitled “BIO-HAZARD ROBOT” was prepared by

MUHAMMAD AFFAN KHAN, HASHIM CHUGHTAI, SAMIK FARHAT, SYED

MUHAMMAD HAIDER RAZA have met the required standard for submission in partial

fulfilment of the requirements for the award of BS in Biomedical Engineering at Sir Syed

University of Engineering and Technology, Karachi.

Approved by Supervisor

Signature: _________________________

Name: Engr. M.MUZAMMIL KHAN

Associate/Assistant Professor, BMED, SSUET

Approved by Head of Department

Signature: _________________________

Professor Dr. M. A. Haleem

Chairman, BMED

Date: _________________________

ACKNOWLEDGEMENT

For the first I like to thanks ALLAH to give the courage and strength to

work on this project. The completion of “BIO HAZARD ROBOT” was

not an easy task for us. The project was bit different from other software

based projects and a huge hardware and electronic knowledge were

required. In accomplishing this goal many personals gave the helping

hand for us. We would like to appreciate their guidance and

encouragement since without their support the project would not have

been a success.

First of all we would like to thank Professor Dr. M. A. Haleem, Head

of the Department of biomedical Engineering who gave us tremendous

help by providing necessary guidance for our final year projects. It is a

pleasure to mention ENGR, M.MUZAMMIL KHAN Assistant Professor

of Department of biomedical Engineering who was the supervisor of the

project, gave us support specially giving us some required electronic

measuring equipment and precious advices when we were stuck with

technical problems and an enormous And as the supervisor gave us a

fabulous help and guidance in the whole period of the project.

Then we would like to thank all the staff members of the Department of

Biomedical Engineering for the friendly support and encouragement

given by them. It’s quite happy to announce that each dead line that was

there helped us to urge the development and complete this on time. Our

team was together as a family, each member contributed maximum to

make this a success. We would like to thank all other colleagues that

were not mentioned here for their great support provided.

BIO HAZARD ROBOT

ABSTRACT

Our Robot deals with designing a mobile robot and its arm, which can be

used to pick and place the objects. A robotic arm is designed and is able

to pick the objects with a specific weight and place them in a desired

location to facilitate the paramedical staff. Pick and place robot is the

combination of three subsection which are Robotic mechanism,

hardware driver circuit and controlling software. The main part will be

the mechanism that actually forms the body of robot means moving

robotic arm that picks or places any object. Function of hardware driver

circuit is to drive all three motors and actuates all the motions of robot.

Controlling software is also an important part of this robot because it

will take care of all controlling actions.

TABLE OF CONTENTS

DECLARATION ii

APPROVAL FOR SUBMISSION iii

ACKNOWLEDGEMENT iv

ABSTRACT v

TABLE OF CONTENTS vi

LIST OF TABLES viii

LIST OF FIGURES ix

LIST OF SYMBOLS / ABBREVIATIONS x

LIST OF APPENDICES xi

CHAPTERS

1 INTRODUCTION 12

1.1 Background 12

1.2 History of mobile robots 12

1.3 Aims and Objectives 13

2 LITRATURE REVIEW AND BACKGROUND 14

2.1 Robotics 14

2.2 Manipulator 14

2.2.1 Mechanical gripper 15

2.3 Robot pick and place 15

2.4 Handling and movement 15

3 METHODOLOGY

3.1 Design and development 16

3.2 Initial structure 16

3.3 Final structure 17

3.3.1 Working principle 18

3.4 Phases of robot 18

3.4.1 Technical phase 18

3.4.1.1 Base of the body 18

3.4.1.2 Antenna 18

3.4.1.3 Rf-Module 19

3.4.1.4 Manipulator 19

3.4.2 Electrical phase 20

3.4.2.1 Power source 20

3.4.2.2 Relays 20

3.4.2.3 NPN transistor 20

3.4.2.4 LM317 20

3.4.2.5 Optocoupler 20

3.4.2.6 Voltage regulator 21

3.4.2.7 Timer circuit 21

3.4.2.8 DC gear motor 21

3.5 Mechanical phase 21

3.6 Block diagram 22

3.7 Structure block diagram 22

3.8 Schematic diagram 23

4 RESULTS AND DISCUSSION 24

4.1 Result 24

4.2 Division of time 25

5 CONCLUSION AND RECOMENDATION 26

5.1 Conclusion 26

5,2 Future recommendation 26

REFERENCES 27

APPENDICES 36

LIST OF FIGURES

FIGURE TITLE PAGE

1 Sir Syed University of Engineering & Technology Logo 1

3.2 Initial Structure 16

3.3 Final structure 17

3.4.1.3 RF Module 19

3.4.1.4 Manipulator 19

3.6 Block diagram 22

3.7 Structure block diagram 22

3.8 Schematic diagram 23

LIST OF SYMBOLS / ABBREVIATIONS

RF Radio Frequency

Dc direct current

Ac alternating current

Ssr solid state relay

mA mili ampere

mV mili volts

.

LIST OF APPENDICES

APPENDIX TITLE PAGE

APPENDIX A: Meeting Minutes

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CHAPTER 1

INTRODUCTION

1.1 Background

The aim of our project is to design an eminent robot which will be capable of picking and placing the medicines or other medical equipments from one place to another by reducing the effort of paramedical and nursing staff in the hospitals in different circumstances and different conditions. During certain medical conditions of patients where there are chances of some kind of viruses like Ebola and Congo which can be spread from person to person, the doctors have to take some necessary precautions. So the robot can be used in the replacement of nursing staff to provide some basic medical assistance to the patient. The robot will be a programmable remote controlled device which will be capable of doing precise and accurate actions and can be controlled by the doctor or any paramedical staff.

1.2 History of Mobile robots

BioHazard was a heavyweight robot from California built by Carlo Bertocchini. It

competed in all seven BattleBots events, from 1999 to 2002, winning four titles in

the process, also being runner-up once, and a quarter-finalist twice. BioHazard also

competed in U.S. Robot Wars, and won the title twice, in 1996 and 1997. Biohazard

was the most successful bot in battlebots history.

BioHazard was created by Carlo Bertocchini for Robot Wars. BioHazard was

first designed entirely on a computer before a single part was even purchased.[3]

Carlo said that designing BioHazard's low-profile frame was one of his greatest

engineering accomplishments. It is also likely to be the heavyweight robot with the

second smallest height at just 4 inches, or 10cm, high.

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Robot itself has gone through many changes. Originally, it had two forklift-

like plates on its lifting arm and no anti-wedge skirts but it had spring loaded anti-

intrusion device underneath its frame which prevent wedges from getting underneath.

The anti-wedge skirts were added in 1997 for more protection against flipping.

However, the skirts led to Bio-Hazard's demise when it was flipped in the Las Vegas

1999 quarterfinals--because of the skirts, Bio-Hazard was unable to right itself.

In a Com Bots 2005 event, Bio-Hazard had its lifter end and side skirt ripped

off by Megabyte. It then suffered extreme damage to the front of its chassis from

Brutality, causing Bio-Hazard to retire.Bertocchini was also building a super heavy

weight robot for the later Battle Bots events, but it was never completed.

1.3 Aims and Objectives

The aim of our project is to design an eminent robot which will be capable of picking and placing the medicines or other medical equipments from one place to another by reducing the effort of paramedical and nursing staff in the hospitals in different circumstances and different conditions. During certain medical conditions of patients where there are chances of some kind of viruses like Ebola and Congo which can be spread from person to person, the doctors have to take some necessary precautions. So the robot can be used in the replacement of nursing staff to provide some basic medical assistance to the patient. The robot will be a programmable remote controlled device which will be capable of doing precise and accurate actions and can be controlled by the doctor or any paramedical staff.

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CHAPTER 2

LITERATURE REVIEW OR BACKGROUND

2.1 Robotics

Robotics research today is focused on developing systems that exhibit modularity, flexibility, redundancy, fault-tolerance, a general and extensible software environment and seamless connectivity to other machines, some researchers focus on completely automating a manufacturing process or a task, by providing sensor based intelligence to the robot arm, while others try to solidify the analytical foundations on which many of the basic concepts in robotics are built.

In this highly developing society time and man power are critical constrains for completion of task in large scales. The automation is playing important role to save human efforts in most of the regular and frequently carried works. One of the major and most commonly performed works is picking and placing of jobs from source to destination

The pick and place robot is a microcontroller based mechatronic system that detects the object, picks that object from source location and places at desired location.[8] For detection of object, infrared sensors are used which detect presence of object as the transmitter to receiver path for RF-Module and is interrupted by placed object.

2.2 Manipulator

Robots which must work in the real world require some way to manipulate objects; pick up, modify, destroy, or otherwise have an effect. Thus the 'hands' of a robot are often referred to as end effectors, while the arm is referred to as a manipulator. Most robot arms have replaceable effectors, each allowing them to perform some small range of tasks. Some have a fixed manipulator which cannot be replaced, while a few have one very general purpose manipulator, for example a humanoid hand. Such as,

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2.2.1 Mechanical Grippers

One of the most common effectors is the gripper. In its simplest manifestation it consists of just two fingers which can open and close to pick up and let go of a range of small objects. Fingers can for example be made of a chain with a metal wire run through it.

2.3 Robot pick-and-place

The use of robots for placing products in cartons and transfer of cartons and products between different stations in the packaging lines is very common in all industries. High speed pick-and-place robots for placing small items like candy and cookies in packages are often combined with a visual observation system for identifying products.

2.4 Handling and Movement

Flexible packaging material is the generic term for soft packages made of film, foil or paper sheeting. Popular forms are stand-up pouches, bags, sachets and envelopes and medicine boxes. These packages are often formed, filled and sealed in a vertical or horizontal form-fill-seal machine. The package is then finally put into a case by top loading.

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CHAPTER 3

METHODOLGY

3.1 Design and development

Since this project is the “Bio-Hazard Robot”. This robot which is pick and place

robot is capable of balancing while travelling along multi-sloped platform.The robot

has RF-Module, Relays and several Ic’s which transmits or receive radio signals to

other devices and to communicate with other device wireless. The base of the robot

has two DC motors drive wheels and caster wheel moving forward, backword, left

and right . A circuit inside takes input signal from RF-Module and controls the speed

of wheels’ rotation’. Then the main focus of this work was to design, develop and

implementation of competitively robotic arm. This robotic arm was designed with

two degrees and talented to accomplish accurately simple tasks, such as light

medicine box handling. This robotic arm is equipped with one servo-motor which do

links between arm and arm movement.

3.2 Initial structure

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In initial phase we tested the the movements of the robots which includes backward and forward movements. Then we included the movement in 360 degree. We tested the robot on the single plastic sheet frame which was not efficient because it was not enough strong to hold or support the whole structure of the body. So we replaced the whole body by two plastic sheets.

3.3 Final structure.

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3.3.1 Working principle

The working principle of the robot is to move in forward and backward directions and in 360 degree also. And a robotic arm is used to pick and place the objects. All the motions of the robot is controlled by the RF module.

3.4 Phases of robot

The robot is generally a complicated device therefore it is usually consisting of different part which becomes better for analysis and troubleshooting. Here the robot is divided into two phases which are as follows.

3.4.1 Technical phase

Technical phase includes,

3.4.1.1 Base of the body:

The base of the robot is supported by a hard plastic sheet which is 0.5cm thick. The length of the sheet is about 30 cm and the width is about 15 cm. It can support the whole structure of the body.

3.4.1.2 Antenna

An antenna plural antennae or antennas, or aerial, is an electrical device which converts electric power into radio waves, and vice versa. It is usually used with a radio transmitter or radio receiver.

https://en.wikipedia.org/wiki/Receiver_(radio)

https://en.wikipedia.org/wiki/Transmitter

https://en.wikipedia.org/wiki/Radio_wave

https://en.wikipedia.org/wiki/Electric_power

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3.4.1.3 RF module

An RF Module is a small electronic circuit which is used to receive, transmit or receive radio waves on one of a number of carrier frequencies.

3.4.1.4 Manipulator

In robotics a manipulator is a device used to manipulate materials without direct contact. The applications were originally for dealing with radioactive or biohazard materials, using robotic arms, or they were used in inaccessible places.

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3.4.2 Electrical phase:

3.4.2.1 Power Source

One of the reliable power source is battery. Here we used rechargeable batteries of 22v and 2.1A each which is used to operate all the three motors of the robot. The power supply of circuit is given by LM 317 IC.

3.4.2.2 Relays

A relay is an electrically operated switch. Many relays use an electromagnet to mechanically operate a switch, but other operating principles are also used, such as solid-state relays. Relays are used where it is necessary to control a circuit by a low-power signal.

3.4.2.3 NPN transistor

NPN is one of the two types of bipolar transistors, consisting of a layer of P-doped semiconductor (the "base") between two N-doped layers. A small current entering the base is amplified to produce a large collector and emitter current.

3.4.2.4 LM 317

The LM 317 voltage regulator is a 3-terminal adjustable voltage regulator which can supply an output voltage adjustable from 12v to 37v. It can supply more than 1.5A of load current to a load

3.4.2.5 Optocoupler

Optocoupler is a component that transfers electrical signals between two isolated circuits by using light. Opto-isolators prevent high voltages from affecting the

https://en.wikipedia.org/wiki/Solid-state_relay

https://en.wikipedia.org/wiki/Electromagnet

https://en.wikipedia.org/wiki/Switch

https://en.wikipedia.org/wiki/Electric

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system receiving the signal. It uses a short optical transmission path to transfer an electrical signal between circuits or elements of a circuit. While keeping them electricaly isolated from eachother.

3.4.2.6 Voltage regulator

A voltage regulator is designed to automatically maintain a constant voltage level. A voltage regulator may be a simple "feed-forward" design or may include negative feedback control loops.

3.4.2.7 Timer circuit

The 555 timer IC is an integrated circuit (chip) used in a variety of timer, pulse generation and oscillator applications. The 555 can be used to provide time delays, as an oscillator and as a flip-flop element.

3.4.2.8 DC Gear Motor

A gear motor is a type of electrical motor. Like all electrical motors, it uses the magnetism induced by an electrical current to rotate a rotor that is connected to a shaft. The energy transferred from the rotor to the shaft is then used to power a connected device.

In a gear motor, the energy output is used to turn a series of gears in an integrated gear train. Here we used 3 DC gear motors. 2 gear motors are used for forward and backward movements and 1 gear motor is used for robotic arm to pick and place the objects.

3.5 Mechanical phase

In order to design a robot that can achieve all the targets that we need. Here we targeted to pick and place the few grams of object and also the movements of the robot (forward and backward directions).

https://en.wikipedia.org/wiki/Control_theory

https://en.wikipedia.org/wiki/Negative_feedback

https://en.wikipedia.org/wiki/Negative_feedback

https://en.wikipedia.org/wiki/Feed_forward_(control)

https://en.wikipedia.org/wiki/Voltage_source

Technical phase Mechanical phase

Controlling board (RF module)

Electrical phase

Driving circuit

Final phase

MotorsManipulator

Power source

RF Module

Motor driving circuit

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3.6 Block diagram

3.7 Structure Block Diagram

23

3.8 Schematic diagram

CLK14

E13

MR15 CO 12

Q0 3

Q1 2

Q2 4

Q3 7

Q4 10

Q5 1

Q6 5

Q7 6

Q8 9

Q9 11

U1

4017

BAT118V

R1

1k

R2

1k

C2

0.01uF

R4

DC 7

Q 3

GN

D1

VC

C8

TR2 TH 6

CV5

U2

NE555

R7

1k

R8

1k

Q1NPN D1

DIODE

R910k

Q3NPN D3

DIODE

R1110k

Q4NPN D4

DIODE

R1210k

Q2NPN D2

DIODE

R1010k

R4

1k50%

RV15k

A

K

C

E

1

2

4

3

U3

PC817

A

K

C

E

1

2

4

3

U4

PC817

A

K

C

E

1

2

4

3

U5

PC817

A

K

C

E

1

2

4

3

U6

PC817

R3330

R5330

R6330

R13330

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CHAPTER 4

RESULTS AND DISCUSSIONS

4.1 Result

In this project we used three motors for the operation of the system, two for the

operation for the movement of the wheels, one for the manipulator for pick and place

operation. The robotic arm consist of one motor and one for the jaw opening and

closing. The aim of this work is the development of wireless control of a pick and

place robot using RF-Module. This is designed to handle a maximum weight of 100

to 200 grams. The weight handling capacity of pick and place robot is determined by

the capacity of DC motors and vice versa.

4.2 Division of time

Final year project principle and technique was decided in the beginning. This project is

comprised of two semesters of the last year of graduation. Therefore the work of the

project was widely spread to overcome this issue to manage everything in a proper

manner; the work was divided according to the time which was given. Each was

interlinked with each other therefore the delay on any will affect the whole plan this is

how FYP time division of work has been shown.

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S.no Area of work Time Taken Achieved 1 Electrical 3.5 months

2 Electronics 3 months

3 Mechanical 2 months

4 Designing 1 week

Fig. no. 4.2 Division Of Time

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CHAPTER 5

CONCLUSION AND RECOMMENDATIONS

5.1 Conclusion

This pick and place robot system utilizes programmable RF-Module, gear motors, Relays,

Gripper and Manipulator. The robotic arm is composed of loading system. It can be generalized

that the robotic arm pick and place system has satisfied the motion sequence of the system

intended to manipulate every process by programmable RF-Module. This Module used to

execute the motion sequence of the robotic arm pick and place system. By this Module work is

made easy, and this also decreases the quantity of human failures.

5.2 Future Recommendations

Health care is channeling the future to present times by utilizing biohazard robotic technologies

in such functions as patient food service, medication distribution and infection control. The

demand is projected to grow exponentially because of its many advantages. According to

proponents, biohazard robots can curtail labor costs, add operational efficiencies, create better

clinical outcomes and replace humans in potentially unsafe situations. We can recommend

biohazard robots in many places where the chances of spreading certain infections are high. For

e.g: we can recommend biohazard robots in different Hospitals, Clinics and other places where

patient is suffering from certain type of infection or virus so the paramedical staff does not have

to make direct contact with the patient for every small task.

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REFERENCES[1]. P. Heyrati, A. Aghagani, "Science of Robot Disgn and Build Robot", Azarakhsh Publication, 2008.

[2]. M. Mashaghi, "Robotic Guide", Kanone Oloum Publication, 2008.

[3] http://battlebots.wikia.com/wiki/BioHazard

[4]. Maloney, Timothy, Industrial Electronics, 7th edition, Tint Printing, Health Company, 1995.

[5]. Andren, Gerald B., Robot Design Handbook, SRI International, Mitsubishi Electric Company, 1988.

[6]. Montecastro, Anna Marie N., Info Net Magazine, 2nd quarter issue, Vol. 8, 2000

[7]. Rehg, James, Introduction to Robotics, Prentice Hall, Inc., Englewood Cliffs, New Jersey, 1988.

[8] Mohamed Naufal bin Omar,“Pick and place robotic arm controlled by remote control”,

UniversititeknikalMalaysia, Melaka April 2007.

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APPENDIX A: Meeting Minutes

Sir Syed University of Engineering and Technology

Department of Biomedical Engineering

FYP Group Meeting with Supervisor Meeting Summary

Meeting attended by: M.Affan Khan (2012-BM-040), Hashim Chughtai (2012-BM-029), M. Samik

Farhat (2012-BM-036), Syed Muhammad Haider Raza (2012-BM-026)

Absent from meeting: NIL

Date: 9th April 2015

Time: 3PM- 4PM

Location: DFT-3

Agenda: Feasibility report presentation Meeting No: 1

Points of Meeting:

Discussed the objective and related material in the meeting and demonstrate in presentation.

Next Meeting: With all supervisors in April 2015 Signature: (Supervisor)

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Date: 18th May 2015

Time: 10:30 AM- 11:30 AM

Location: DFT-3

Agenda: Discussed about the base of robot Meeting No: 2

Points of Meeting:

Designing the base of the robot and the components we neededNext Meeting: With all supervisors in May 2015 Signature: (Supervisor)

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Date: 7th July 2015

Time: 1 PM- 2 PM

Location: DFT-3

Agenda: Discussed about circuit design Meeting No: 3

Points of Meeting:

Designing the circuit.Next Meeting: With all supervisors in July 2015 Signature: (Supervisor)

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Date: 25rd Aug 2015

Time: 3 PM- 4 PM

Location: DFT-3

Agenda: Discussed on RF-Module Meeting No: 4

Points of Meeting:

Implementation of RF-ModuleNext Meeting: With all supervisors in August 2015 Signature: (Supervisor)

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Date: 10th sep 2015

Time: 1:30 PM- 2:30 PM

Location: DFT-3

Agenda: Discussed on range of robot Meeting No: 5

Points of Meeting:

Adjusting the range according to the RF-ModuleNext Meeting: With all supervisors in September 2015 Signature: (Supervisor)

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Date: 28th Oct 2015

Time: 4:30 PM- 5PM

Location: DFT-3

Agenda: Discussed on manipulator Meeting No: 6

Points of Meeting:

How to make the robotic armNext Meeting: With all supervisors in October 2015 Signature: (Supervisor)

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Date: 4th Nov 2015

Time: 9 AM- 10 AM

Location: DFT-3

Agenda: Discussed on Gripper Meeting No: 7

Points of Meeting:

How to make the gripper and how to fix the gripper on robotic armNext Meeting: With all supervisors in November 2015 Signature: (Supervisor)

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Date: 22nd Dec 2015

Time: 10 AM – 11AM

Location: DFT-3

Agenda: Discussed to transfer the signal from RF-Module to manipulator

Meeting No: 8

Points of Meeting:

How to transfer the signal from RF-Module to manipulator.Next Meeting: With all supervisors in December 2015 Signature: (Supervisor)

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Date: 7th jan 2016

Time: 11AM- 12PM

Location: DFT-3

Agenda: Final proteus circuit diagram/designing of the robot Meeting No: 9

Points of Meeting:

Arrangement of the componentsThe casing material and weight of the robotNext Meeting: With all supervisors in January2016 Signature: (Supervisor)

bio-hazard robot

Healthcare