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2. Normal rescue method and disadvantages

2.1 Normal rescue method
Small children without noticing the hole dug for the bore well slip in and get trapped.
Since the holes are dug too deep it is quite impossible to save life. The fire force and medical
team find it difficult to rescue children due to unknown levels of humidity, temperature and
oxygen in the depths of the bore well. Rescue work can be a long drawn affair lasting close to
thirty hours. The time taken is long enough to kill a precious life. Even if rescued the child
may die due to injuries sustained. This has created an open challenge to the field of medicine,
rescue and the whole human society.

Normal rescue operation involves digging a parallel pit deep up to the reach of the child and
then making adjacent holes to walls of bore well which is risky and time consuming. Then
rescue operation is carried out in horizontal path. The rescue operation is done manually and
there is more chance to the death of child. The major cause of death is the absence of oxygen.
Under deep depth presence of oxygen is less. Normal rescue method takes more time and the
child should suffer the absence of oxygen for a long time. More the time he/she spent, the
chance of survival is less. A small delay in the rescue can cost the child his or her life. To lift
the child out the narrow confines of the bore wells is also not very easy. The child who has
suffered the trauma of the fall and is confined to a small area where, with a passage of time the
supply of oxygen is also reduces.

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Figure1.1 Normal rescue method

2.2 Disadvantages of Normal rescue method

 The operation takes more time.

 The operation is more risky.
 There is no proper facility to monitor the child's situation.
 There is no method to detect the position of trapped baby.
 There is no device to supply oxygen.
 It requires a larger diameter parallel pit. The digging of parallel pit up to larger depth
takes more than one day.

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3 .Rescue Robots
A rescue robot is a robot that has been designed for the purpose of rescuing people.
Common situations that employ rescue robots are mining accidents, urban disasters, hostage
situations, and explosions. Rescue robots were used in the search for victims and survivors
after the September 11 attacks in New York. The benefits of rescue robots to these operations
include reduced personnel requirements, reduced fatigue, and access to otherwise unreachable
areas. During September 11 disasters rescue robots were first really tested. They were sent into
the rubble to look for survivors and bodies. The robots had trouble working in the rubble of
the World Trade Center and were constantly getting stuck or broken. Since then many new
ideas have been formed about rescue robots. Engineers and scientists are trying to change the
shapes of the robots and take them from wheels to no wheels. "Strong government funding and
support is needed if search and rescued robots are to see widespread use in fewer than 10
years." This means that without the help of government the technology for these devices are
not available or they cost too much. These robots are very important in disaster scenarios and
are hopefully taking a change for the better.

Rescue robots in development are being made with abilities such as searching,
reconnaissance and mapping, removing or shoring up rubble, delivery of supplies, medical
treatment, and evacuation of casualties. Even with all these ideas coming about there are still
some technical challenges that remain. Robin Murphy, a professor of computer science and
engineering, says that "Real disasters are infrequent, and everyone is different. The robots
never get used exactly the way you think they will, and they keep uncovering new bottlenecks
and problems. So it's an emerging technology."

People like Daniel Goldman, a biophysicist at Georgia Tech, has started building a
robot that Piore says "is less like an ATV and more like a sandfish lizard". Goldman has been
spending a lot of time researching and studying the movements of sandfish lizards and trying
to develop that into his own robotic idea. Piore states that his robot will be able to "burrow
deeper or snake its way back to the surface". Just like a sandfish lizard. This will be helpful in

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many disaster scenarios. Goldman is trying to develop this robot to be able to maneuver
though such terrain as rubble, like in the World Trade Center disaster.

In the present era, there has been a rapidly growing and wide spread interest in robots,
mechanical manipulators and hands, mobile platforms, walking machines, and many other so
called robotic devices and `intelligent' systems. these robotic technologies combined with
rapid advances in electronics, controls, vision and other forms of sensing, and computing have
been widely recognized for their potential applications in almost all areas where machines
enter our society. The objective of the project was to construct and design of bore well rescue
robot (i:e to rescue a trapped baby from bore well). This project is a human controlled robot
that gives an insight view of rescuing the baby safely and steps taken to achieve this. It is a
robot with 2 fingered gripper to grab and airbag to support from beneath the baby and
blocking from further falling down. The robot is driven by dc geared motors controlled by
microcontroller units and manual operations are also provided for precious operation. Webcam
is used to view and monitor the baby.

Figure 2.1 Demonstration of bore well rescue robots

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4. Construction of bore well rescue robots

1. Gripper
*Gripper is provided to clamp the whole system to the bore well wall.
*Also gripper helps to lift the baby.
*It acts as the hand of robot.

Figure 4.1 Gripper

Figure 4.2 Gripper

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2. Air bag
*Airbags are balloon like structure.
*Airbags are inflates by the action of air compressor and provide firm
base to the child during rescue operation.

3. Camera and Monitor

* These are used to check the condition of trapped child inside the bore well.
*Camera locates the gap through lifting rod passes.
*Monitor helps to see the position of child inside and help to take the
necessary action after rescue.

4. Motor
* The robot consists of four motors
* The first motor is used for operating the gripper. It push the gripper
during starting and pull it during the end of lifting of the child
*Second motor is used for turning the shaft by 360 degrees. It helps to
locate the gap through which the lifting rod passes.
*Third motor is for adjusting the radial distance of lifting rod
in accordance with the position of the trapped baby.
*Fourth motor is provided for the up and down motion of the lifting rod.

Figure 4.3 D.C Motor

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5. Air Compressor
*Air compressor is provided to pump the air to airbag which make proper
seating for the child during lifting.
*Also it is used for supplying oxygen to the bore well to eliminate the
major cause of death

Figure 4.4 Air compressor

6. LIFTING ROD
*Lifting rod is used to lift the trapped child with the help of motor.
*The air bag is placed inside the lifting rod and it camera.
*It carries the mechanism for the up and down movement during rescue operation.

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Figure 4.5 Lifting rod

7. LIGHTING SOURCE
* In bore well rescue robot, the main lighting source is strong LED.
*It is used for providing good image during taking photos by the camera.

Figure 4.6 Power LED

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5. Working Principle
The Robot consists of 4 separate mechanisms driven by motors. The motor placed at
the top turns a gear mechanism which, in turn, pushes 3 blocks arranged at 120 degrees from
each other towards the side of the bore well. This clamps the whole system firmly to the bore
well wall. The 2nd motor placed below the plate turns the bottom shaft by 360 degrees,
thereby helping to locate the gap through which the lifting rod passes. This is done with the
help of a wireless camera attached to the lifting rod. Once the gap has been located, the 3rd
motor adjusts the radial distance of the lifting rod. When the diameter is adjusted, he 4th motor
helps the lifting rod to screw its way through the gap towards the bottom of the child. Once the
lifting rod reaches a safe position under the child, an air compressor is operated to pump air to
the bladder attached to the end of the lifting rod through an air tube that runs downwards
inside the lifting rod. The bladder provides a safe seating to the child. When the child is
secure, the lifting rod is contracted to its maximum position. The 1st motor is then reversely
operated so as to unclamp the system. Simultaneously it is lifted out of the well using a chain
or rope.

Figure 5.1 working of bore well rescue robot

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Figure 2.2 Robots for bore well rescue

6. Advantages of bore well rescue robots

1. Its rescue operation is fast.
2. It is an economical and safe.
3. It has the facility to monitor
the trapped child.
4. It has the mechanism to supply oxygen.
5. It provides a supporting platform to
the child during lifting.
6. It does not ham the trapped child.
7. It helps to know the situation and position of the child.
8. It helps to take necessary arrangement in hospital according to
the child’s situation.
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7. Future developments
*The robot can be further be improved by including independent gripper.

* Use advanced plc

*The robot now is manually operated. it should be developed to work automatically.

*Advanced microcontrollers should be used for precision operation.

*Use advanced automated robot

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8. Conclusion
Bore well rescue robot is a very useful device in the present era because the numbers
of bore wells are increased and also the accidents are increased. Now days there are no proper
method for rescuing the trapped baby. Normal method has many disadvantages and has more
risk, more time etc. The robot for bore well rescue offers a solution for the problem.
Integrating features of all the hardware components used have been developed in it. Presence
of every module has been reasoned out and placed carefully, thus contributing to the best
working of the unit. Secondly y, using highly advanced with the help of growing technology,
the project has been successfully implemented. Thus the project has been successfully
designed and tested. The designed robot is a proto type. We can develop it into a goob one and
can be used in rescue operation

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9. Reference
[1] Adams, JA 2002‟Critical

Considerations for Human-Robot Interface

Development‟, Proceedings of 2002 AAAI

Fall Symposium, 2002 - aaai.org,

Rochester Institute of Technology

Rochester, NY

[2] Baker, M, Casey, R., Keyes, B &

Yanco, HA,

URL: http://ieeexplore.ieee.org/stamp/sta

mp.jsp?tp=&arnumber=1400783&isnumber=30423

[3]Dave Chaffey 2008, Define 'User

Centered design ', http://www.davechaffey.com/E-marketing-

Glossary/User-centred-design.htm

[4]Feil-Seifer,D & Matari´, JM 2009,

Human-Robot Interaction‟,

[5] Fong, T, Cabrol ,N, Thorpe , C & Baur,

C 2001, „A Personal User Interface for

Collaborative Human-Robot

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