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MOVING A BODY (ROBOT) VERTICALLY IN PIPES
A MINIPROJECT REPORT
Submitted by
MOHAN NIVAS N (141MC147)
NAVEEN KUMAR G P (151MC525)
THIRUNAVUKKARASU V (151MC515)
DEPARTMENT OF MECHATRONICS
BANNARI AMMAN INSTITUTE OF TECHNOLOGY
SATHYAMANGALAM
NOVEMBER 2015

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BANNARI AMMAN INSTITUTE OF TECHNOLOGY
(An autonomous Institute Affiliated to Anna University, Chennai)
Sathyamangalam-638401
BONAFIDE CERTIFICATE
It is certified that the project report “MOVING A BODY (ROBOT)
VERTICALLY IN PIPES” is a bonafide work of
MOHAN NIVAS N (141MC147)
NAVEEN KUMAR G P (151MC515)
THIRUNAVUKKARASU V (151MC525)
who carried out the project work under my supervision.
SIGNATURE OF PROJECT GUIDE

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TABLE OF CONTENT
CHAPTER NO TITLE PAGE NO
Abstract 4
1. Introduction
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2. Circuit diagram 6
3. Components 7
4. Working 11
5. Conclusion 12
6. Reference 13

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ABSTRACT-Controlof mosquitoes is something of utmost importance in the
present day with rising number of mosquito borne illnesses. Specialty products like
mosquito repellent used to combat mosquitoes are required. This project proposal
presents the design and testing of an electronic mosquito repellent. The project is
aimed at developing a device that is capable of emitting ultrasonic energy of varied
frequencies. These frequencies do affect the auditory senses of pests such as
mosquitoes, rodents, avian and nocturnal insects by making them uncomfortable in
their abode. However these frequencies do not affect the hearing ability of humans.
This electronic mosquito repellent is based on the 555 timer IC is a simple and
useful mosquito repellent .The mosquito repellent circuit generates an ultrasonic
sound with a high output frequency that allows spreading mosquitoes within a
wide radius. The circuit is quite simple and requires few external components. The
oscillation frequency is given by the value of the resistors and a capacitor
components and can be modified changing the value of components or replacing
the fixed resistor with a variable resistor (potentiometer) .
The actual oscillation frequency of this electronic mosquito repellent is above 20
KHz so what is needed is a good high frequency speaker, example being a piezo-
speaker.
The electronic mosquito repellent circuit can be supplied from a 12 V DC power
supply.

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CHAPTER 1
INTRODUCTION
An electronic insect repellent is a safer alternative compared to toxic insect
repellents. These are electronic devices that have either electromagnetic or ultra
sound waves to repel insects like mosquitoes and roaches. The effectiveness of
these devices has not been clearly established but the numerous studies for
experiments have shown that these electrical devices are indeed effective in
repelling or eliminating pests. Some examples of electronic insects repellents are
plug in electronic repellents, ultrasonic transmitters and the electromagnetic lamps.
These electronic pestcontrol devices are very affordable. And despite the fact that
they have been around for more than two decades, they have just recently been
acknowledged worldwide because of their environmentally friendly claims. Apart
from this, they have also been proven to be less noticeable and cumbersome. The
absence of stinking spray repellents is truly a blessing by itself.
Several methods have been used and are still being used for the control of
pest; many of them have been proved ineffective in one way or the other of pest
control. The commonest method is the use of pesticides (chemicals). Pesticides are
substances or a mixture of substances used for destroying, preventing, repelling or
mitigating pests. Pesticides are commonly used in and around homes because they
are easy to apply, fast-acting, and effective against a wide variety of pests. There
are instances where the use of pesticides in rodents control may be effective, but
there is no registration which specifically refers to the use of pesticide against pests
control which does not constitute a potential hazard to man and his environment.
Chemical method of pest controlhas been found to be very effective but quite
expensive to maintain. Also, these chemicals are highly poisonous and harsh both
to humans and pests alike as a result of their ability to pollute the air. Air pollution
is thought to be one of the most important risk factors for respiratory diseases,
particularly for bronchial asthma and chronic obstructive pulmonary disease
(COPD). However, a direct causal relationship is not easy to prove becauseair
pollutants do not occuras individual entities but in combination. In addition, the
concentration and duration of exposure to air pollutants required for inducing an
adverse pulmonary effect have not yet been determined. Moreover, it adversely
affects the environment that it brings about the genetic mutation of the internal
make up of these pests that they produceoffspring that are immune to these
chemicals that were used on their predecessor. This, coupled with society‟s
growing concern about environmental risks, makes alternative methods of pest
control increasingly attractive

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CHAPTER 2
CIRCUIT DIAGRAM

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CHAPTER 3
COMPONENTS
 555 timer
 Preset resistors
 Variable resistors
 Speakers
 Capacitors
555 TIMER
The main theory of the electronic mosquito repellent circuit is how it
generates variable frequency and how to control the frequencies generated.
In order to perform the function of this circuit fully, a 555 Timer has to be used.
The reason 555 Timer is used in this circuit is because it can convert an analog
signal input (voltage) to digital signal output (frequency), which functions as an
ADC (Analog to Digital Converter).
555 timer based circuit is a kind of voltmeter, also an analog to digital converter,
which converts the analog input voltage to digital output pulses.
The output pulse width is proportional to the difference between the analog input
voltage and the voltage across the capacitor.
It can measure from +5V to +18V.
The accuracy is high in the range of 6V to 18V. The readings are about the same
with the 10 bit ADC readings.
The accuracy depends on only the +5V supply voltage and the microcontroller's
clock frequency.
An Astable Multivibrator is often called also an oscillator. A 555 can be
used to generate clock pulses in a wide range of frequencies with enough output
power to drive several ICs
Depending to the manufacturer, a 555 could have around 20 transistors, 15
resistors and a couple of diodes

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The oscillation frequency is calculated with the following formula:
F =1/(0.67 (R1 + 2 x R2) x C)

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The same circuit can be used to control DC loads such as LEDs, lamps and DC
motors. The idea is to use this circuit as a PWM signal generator. To do this, you
need to replace R2 in with a potentiometer. By altering the potentiometer's value,
this results in changing the duty cycle output.
The duty cycle is calculated as follows:
D = TTOTAL / THIGH
D =R1 + R2/(R1 + 2 x R2)
=220+5000/220+2*5000
=51.08%
Preset Resistors
Preset resistors are used in circuits when it is necessary to alter the
resistance. Dark/light and temperature sensors usually have these components as
the preset resistor allows the circuit to be made more or less sensitive (they can be
turned up or down - reducing or increasing resistance).

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VARIABLE RESISTORS
 The variable resistor is a resistor with a resistance value that can be
adjusted either mechanically by means of a revolving or sliding.
 It is also often referred to as VR.
 It has a resistance value which varies as choosing a fixed resistor.
 The types of VR are the type of potentiometer or preset.
PIEZO SPEAKER
 Speaker uses a coil of wire, which acts as an electromagnet, set inside of a
magnetic gap of a permanent magnet.
 The speaker converts the electronic frequency to sound frequency.
 The frequency of the sound will be kept as high as possible. So that the
annoying sound will be heard by insects only but not human because humans
don’tnormally hear sound of frequency higher than 20 KHz.
CAPACITORS
 A capacitor is an electrical device that can store energy in the electric field
between a pair of closely spaced conductors (called 'plates').
 When voltage is applied to the capacitor, electric charges of equal
magnitude, but opposite polarity, build up on each plate.
 Capacitors are used in electrical circuits as energy-storage devices.
 They can also be used to differentiate between high-frequency and low-
frequency signals and this makes them useful in electronic filters.

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CHAPTER 4
WORKING
The circuit is functioning well as follows the Astable Mode Theorem of
Analog Integrated Circuit Timer (IC Timer) 555. The conceptof the circuit is to
generate continuous stream of rectangular pulses having a specified frequency. At
the output speaker, there was a high pitch sound heard (a buzz) which triggers the
mosquitoes auditory senses thus scaring them away.
Resistor R1 is connected between VCC and the discharge pin (pin 7) and
another resistor (RV1) is connected between the discharge pin (pin 7), and the
trigger (pin 2) and threshold (pin 6) pins that share a common node. Hence the
capacitor is charged through R1 and (RV1), and discharged only through RV2,
since pin 7 has low impedance to ground during output low intervals of the cycle,
therefore discharging the capacitor. In the astable mode, the frequency of the pulse
stream depends on the values of R1, R2 and C:
F =1/0.67 (R1 + 2 x R2) x C
F =1/0.67 (220 + 2 x 5000) x 0.005uf
= 29.208 kHz
For our case, we used a variable resistor of 1M ohm (RV1) whereby I varied
and used 5000 ohm in its place. The frequency generated from the simulation
approximately the same with the frequency calculated by using the astable
frequency theory. From the theory, this sound at this frequency is annoying,
disturbing noise for insects specially mosquitoes, and drives them away.
To repel other animal such as dog and cat, the variable resistance need to be adjust
to as a result the circuit will generate around sound frequency.

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CHAPTER 5
CONCLUSION
Preliminary results obtained from the preliminary performance evaluation
revealed that the device has the potential to eliminate mosquitoes.
Based on the simulation, the circuit successfully runs as what is expected
based on the theory.The conceptof the circuit is to generate continuous stream of
rectangular pulses having a specified frequency. When 555 Timer is in the astable
mode, the frequency of the pulse stream depends on the values of R1, RV1 and C
as can be calculated using a formula. Thus, when the value of R1, R2 and C are
220, 5000 and 0.005μF, the speaker will emit a frequency of 29.208 kHz this
range of frequency is known to be annoying for insect like mosquitoes but totally
cannot be heard by human.

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CHAPTER 6
REFERENCE
1.Electronic pests control, retrievedNovember 24, 2012 from
http://en.wikipedia.org/wiki/Electronic_pest_control
2. Strauss WG, MaibachHI and Khan AA. Drugs and disease as
mosquito repellents in man.
Am. J Trop Med Hyg. 1968;17(3):461–464.
3. Enayati AA, Hemingway J and Garner P. Electronic mosquito
repellents for preventing mosquito bites and malaria infection,Cochrane
Database Syst Rev. 2007;18: 34-42.
4. A. P. Meehan, 1976. Attempts to influence the feeding behavior of
brown rats using ultrasonic noise generators. International Pest Control.
July/August.
5. G. Elert 1998-2012,the nature of sound (the physics hypertextbook)
Retrieved October 12,
2012 from www.hypertbook/physics.info/sound
6. Suman Gupta and A. K. Dikshit, Biopesticides:An eco-friendly
approachfor pest control,
Journal of Biopesticides 3(1 SpecialIssue) 186 - 188 (2010) 186
7. Simple Electronic. (2011)“Electronic Mosquito RepellentCircuit
Using 555”. [Online].
Available: http://www.simple-electronics.com/2011/09/electronic-mosquito-
repellentcircuit.html
8. JustTechnika. (2011)“Electronic Mosquito Repellent[Circuit
Diagram]”. [Online].
Available: http://justtechnika.com/articles/electronic-mosquito-repellent-
circuit-diagram/
9. Project of a Kenya student Emmanuel Cheruiyot of Kabarak university.