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Figure 4.1 Relation between angle and torque.

Figure 4 1 Relation between angle and torque.

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Figure 1.1 Objective tree for surveillance robot.
Figure 1.1 Objective tree for surveillance robot.
robot is not only on an incline, but accelerating up it, see figure 2.1
robot is not only on an incline, but accelerating up it, see figure 2.1
Figure 2.2. Schematic diagram of L298d motor driver. ‘lockwise or anticlockwise direction, Hence, H-bridge IC are ideal for driving a DC motor
Figure 2.2. Schematic diagram of L298d motor driver. ‘lockwise or anticlockwise direction, Hence, H-bridge IC are ideal for driving a DC motor
Figure 2.3. Pin diagram of L298d motor driver.
Figure 2.3. Pin diagram of L298d motor driver.
Table 2.1. Control mode and state of motor 2.3 Fundamental Concepts of Face Detection So, working of the motor depending on the input conditions will be as follows[8]:
Table 2.1. Control mode and state of motor 2.3 Fundamental Concepts of Face Detection So, working of the motor depending on the input conditions will be as follows[8]:
Figure 2.4. Block diagram of L298d motor driver.
Figure 2.4. Block diagram of L298d motor driver.
Table 2.2. Confusion matrix faces may not be detected. This inaccuracy can be calculated with a matrix given below:
Table 2.2. Confusion matrix faces may not be detected. This inaccuracy can be calculated with a matrix given below:
Figure 2.5. Features of human face. Each of these figures represents a general feature of a human face. Combining all
Figure 2.5. Features of human face. Each of these figures represents a general feature of a human face. Combining all
the features together we, indeed, receive something that resembles a face.
the features together we, indeed, receive something that resembles a face.
solid model with details parameters to work on [13].
solid model with details parameters to work on [13].
Table 3.1. Motor functional requirement Moreover, they are more efficient than other DC motors. In fig. 3.2. Used brushless moto:
Table 3.1. Motor functional requirement Moreover, they are more efficient than other DC motors. In fig. 3.2. Used brushless moto:
longer than 1.5ms will turn the servo in a clockwise direction toward the 180° position.
longer than 1.5ms will turn the servo in a clockwise direction toward the 180° position.
rigid so as to minimize the vibrations produced by the motors.
rigid so as to minimize the vibrations produced by the motors.
Table 3.3 Motor driver functional requirement
Table 3.3 Motor driver functional requirement
Figure 3.6 Raspberry pi3 model B (a) bottom view (b) top view. but we selected model B because of its USB port specification and its better Wi-Fi difference between this two models. Though model A consumes less power than model B
Figure 3.6 Raspberry pi3 model B (a) bottom view (b) top view. but we selected model B because of its USB port specification and its better Wi-Fi difference between this two models. Though model A consumes less power than model B
Figure 3.7. Overall view of 11.1 V lipo battery. consider while selecting battery and this battery is sufficient for the robot. Table 3.5 Battery functional requirement
Figure 3.7. Overall view of 11.1 V lipo battery. consider while selecting battery and this battery is sufficient for the robot. Table 3.5 Battery functional requirement
Table 3.6 Camera functional requirement 3.3. Program and Simulation of Surveillance Robot
Table 3.6 Camera functional requirement 3.3. Program and Simulation of Surveillance Robot
functions and methods.
functions and methods.
Figure 4.2 Face recognition of single face. single face to detect and other half we had samples without any face.
Figure 4.2 Face recognition of single face. single face to detect and other half we had samples without any face.
Table 4.2 Confusion matrix for single face detection The values of TN, TP, FN and FP are placed in a graph for better understanding.
Table 4.2 Confusion matrix for single face detection The values of TN, TP, FN and FP are placed in a graph for better understanding.
face while 3 faces given, a not recognized case.
face while 3 faces given, a not recognized case.
Table 4.3.Confusion matrix for multiple face detection
Table 4.3.Confusion matrix for multiple face detection
understanding. The fig above indicates that true negative and true positive value are lower compared
understanding. The fig above indicates that true negative and true positive value are lower compared
Table 4.4 Confusion matrix for face detection with closed eyes
Table 4.4 Confusion matrix for face detection with closed eyes
Table 4.5 Confusion matrix for face detection with angled face
Table 4.5 Confusion matrix for face detection with angled face
Figure 4.9 Comparison of face detection accuracy of different modes.
Figure 4.9 Comparison of face detection accuracy of different modes.
Figure 4.10 Comparison of precision and recall. is when it's actually yes, how often it does predict yes. From Table 4.2, Table 4.3, Table
Figure 4.10 Comparison of precision and recall. is when it's actually yes, how often it does predict yes. From Table 4.2, Table 4.3, Table
Figure 4.11 Comparison of true positive rate and false positive rate.
Figure 4.11 Comparison of true positive rate and false positive rate.
Figure 4.12 Comparison of specificity and precision. 4.4, Table 4.5 we got different values of precision and recall.
Figure 4.12 Comparison of specificity and precision. 4.4, Table 4.5 we got different values of precision and recall.
Figure 4.13 Camera adjustability setup.
Figure 4.13 Camera adjustability setup.
Figure 4.14 GUI of senso-pedals pro robot. camera control and another one for robot control. GUI of SENSO-Pedals Pro robot [15] given above which seems complex. made has simple 3 categorized buttons. One category is for video feed, other twos, one for
Figure 4.14 GUI of senso-pedals pro robot. camera control and another one for robot control. GUI of SENSO-Pedals Pro robot [15] given above which seems complex. made has simple 3 categorized buttons. One category is for video feed, other twos, one for
GUI we used for the robot, given below clearly indicates easy access and control of
GUI we used for the robot, given below clearly indicates easy access and control of
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