AU2021105631A4 - A house infestation monitoring and controlling system along with identification of harmful pest. - Google Patents

Abstract

A house infestation monitoring and controlling system along with identification of harmful pest. This invention consists of a pest management system to eliminate the need for scheduled and routine spraying of pesticides and the application of chemical pesticides all together. The system is connected to various robotic system and sensors that provides inspection to identify signs of pest access onto the site and locations upon the site of infestation. The automation in applying the pesticide reduced the human contact to this harmful poison. The system is capable to capture the samples of these bugs in case required to ascertain the quantity or their reason of growth. It is capable to identify whether there is any new infestation with the climate change and if it needs to be controlled in any other way. In addition it identifies the type of pest before killing it to reduce the overuse of pesticide and to kill only the unwanted and harmful pest. APPLICANT Dr. Vikram Raghunath Kakulte Dr. Yashawant Daulat Aher Sheet 1 of 3 APPLICANT Dr. Vikram Raghunath Kakulte Dr. Yashawant Daulat Aher MOBILE PHONE ((( WORK (---------- BASE STATION DECISION SYSTEM PERSONAL COMPUTER Figure - 1: Diagrammatic view of the central base station communication with the robotic system and user's computing device Signatory Dr. Vikram Raghunath Kakulte Dr. Yashawant Daulat Aher

Description

Sheet 1 of 3

APPLICANT Dr. Vikram Raghunath Kakulte Dr. Yashawant Daulat Aher

MOBILE PHONE ((( WORK (---------- BASE STATION DECISION SYSTEM PERSONAL COMPUTER

Figure - 1: Diagrammatic view of the central base station communication with the robotic system and user's computing device

Signatory

Dr. Vikram Raghunath Kakulte

Dr. Yashawant Daulat Aher

TITLE

A house infestation monitoring and controlling system along with identification of harmful pest.

FIELD OF THE INVENTION AND USE OF INVENTION

[0001] The present invention is made in the field of electronic engineering and Entomology more particularly a pest management system with wireless sensor networks for the automatic monitoring of insect populations and controlling along with killing only the harmful pest by identifying the same.

[0002] Here in the system consists of a method and apparatus for providing reporting on a plurality of activity sensing pest devices; more particularly to a system for providing automatic reporting from a plurality of activity sensing pest devices together with robot based inspection data; and still more particularly to an automatic real-time reporting system for a plurality of traps with manual input means for providing additional data on trap parameters based on physical inspection and a report generation means on the result combined data.

PRIOR ART AND PROBLEM TO BE SOLVED

[0003] Rodents, flies, cockroaches, and other nuisance insects and animals (hereafter referred to collectively as "pests") create health concerns and introduce spoilage, among other concerns. Extermination of vermin or pests from environments, such as houses, garages and gardens, is important because of the harm they create. Pests are known carriers of infectious diseases such as salmonella, dysentery, Bubonic plague, leprosy, Lyme disease, and typhoid fever. Additionally, persons who suffer from allergies or asthma are often allergic to certain types of pests. Removal of vermin or pests from the interior of houses by periodic chemical pesticide spray treatments has also produced deleterious effects upon humans, plants and beneficials. Humans may become sick or suffer adverse side effects from routine, scheduled, or over spraying of the chemical pesticides. Beneficials, such as a honey bee, butterfly, praying mantis or spider, which are desirable, many times are exterminated along with the pests. One prior art device used in pest extermination which eliminates chemical pesticides is the disposable glue trap. Disposable glue traps, however, have not proven adequate in removing a pest population from houses and its surroundings.

[0004] To resolve the above-stated problem here a pest management system is designed to eliminate the need for scheduled and routine spraying of pesticides or eliminate the application of chemical pesticides all together. The system is connected to various robotic system and sensors that provides inspection to identify signs of pest access onto the site and locations upon the site of infestation. The automation in applying the pesticide reduced the human contact to this harmful poison. The system is capable to capture the samples of these bugs in case required to ascertain the quantity or their reason of growth. It is capable to identify whether there is any new infestation with the climate change and if it needs to be controlled in any other way.

THE OBJECTIVE OF THE INVENTION:

[0005] The detection and removal of pests from areas occupied by humans, livestock, crops, and other pest-attracting areas has long been a challenge. Pests of frequent concern include various types of insects and rodents. Subterranean termites are a particularly troublesome type of pest with the potential to cause severe damage to wooden structures. Likewise, other insects, such as bedbugs, are problematic. Additionally, rodent control is often challenging. Various schemes have been proposed to eliminate these and certain other harmful pests.

[0006] It has already been proposed, where, a number of stations are installed in the ground about a dwelling to be protected. for the targeted delivery of pesticide chemicals only after pests have been detected. A pest control service provider periodically checks the stations, which can be labor-intensive. Similarly, rodent traps in food processing/storage facilities, pharmaceutical production facilities, and the like need to be routinely checked-resulting in significant labor expenditures. Accordingly, there is a demand for alternative pest control device monitoring techniques. Alternatively, or additionally, the ability to gather more comprehensive data relating to pest behavior is sought. Thus, there is a continuing demand for further advancement in the area of pest control and related sensing technologies.

[0007] The principal objective of the invention is a central server based controlling multiple monitoring and pest controlling robotic devices for micro and large level controlling that provides continuous monitoring and identification of the types of pests in the surrounding area and in the home.

[0008] Another objective of the invention is that the system is connected with multiple movable robotic system that has the ability to move around inside the house and outside to dig micro holes and feed pesticides inside the house in a controlled and safe manner and to spread in a large quantity if required based on the analysis.

[00091 The further objective of the invention is that the system is reported by the pesticide applying robots regarding how deep the pesticide has been applied and the dept to which the pesticide application is required. The automation in applying the pesticide reduces the human contact to this harmful poison.

[0010] The further objective of the invention is that the system is capable to capture the samples of these bugs in case required to ascertain the quantity or their reason of growth. This will help to control the infestation and to kill only the bugs which are harmful and to not harm the insects which do not harm humans or animals nearby.

[0011] The further objective of the invention is that the system is capable to identify if there is any leakage of harmful pesticide into the home or any form of soil contamination due to the oozing of water into the soil in case of floods or rains and to notify the detected contamination to restrict movement without precaution

[0012] The further objective of the invention is that it is it capable to detect if all the pesticide has been washed off and if new layering of the pesticides needs to be applied. It also identifies whether there is any new infestation in the climate and if it needs to be controlled in any other way.

SUMMARY OF THE INVENTION

[0013] Most household pets are insects and are commonly called "bugs." Other organisms such as spiders, scorpions, centipedes, millipedes, ticks, sowbugs, pill bugs, mites, rats, mice, snakes, bats, squirrels, birds, melds and fungi may also enter homes. Even the most conscientious person cannot always avoid an occasional pest infestation. Under optimal conditions, large populations of an insect, rodent or other pest can occur in your yard, home, farm or neighborhood. Large numbers of a pest species can develop in trees, stumps, flower beds, mulch, leaf litter, garbage, wood piles, ditch banks, animal carcasses, stored products, spilled materials, sewer lines and other sites. Pests enter homes through openings in the walls, floors, around pipes or cracks, and under doors or windows. Pests seeking shelter build nests or hibernate within the walls, attic or in living quarters. Pests are attracted by light, warm air, moisture and food. Doors from a dead bird, rodent, dead insects or nest in a wall, soured mop or spilled materials can also be attractive. They seek protection and shelter in dark cavities in walls or crawl spaces. For each of these insects, artificial lures have been developed based on the specific sex pheromone that the female of each species uses to attract males for mating. During the last three to four decades, the capture of male moths in pheromone-baited traps has been the most principled measure utilized to control insect populations and to inform pest management decisions (example, when to initiate a pesticide treatment, where and how much pesticide to apply, etcetera). Such techniques have permitted a relatively large decrease in the number of pesticide applications, Despite the potential benefit, the labor-intensive activities associated with managing pheromone traps have been a key factor slowing down their widespread adoption. Currently, pheromone traps need to be inspected on a regular basis typically one to five times per week depending on the time of the season and the pest species. Trap inspection typically consists of locating individual traps, manually counting the number of target pests captured in each trap and writing the number down on a piece of paper, and replacing the sticky bottom in each trap, as insects and other debris cover the sticky bottom. As such, the labor costs associated with pheromone traps can easily become prohibitively expensive. So, there is a need for a discrete and safe automated insect monitoring system that can attract, capture, detect, and identify insects and communicate its findings quickly along with managing the pest in a controlled any safe manner. Here in this invention a safe automated system is designed which is connected to multiple robotic system capable of identifying pest and delivering targeted and controlled pesticide only to kill harmful pest inside the home and in the surrounding. It has a movable robotic system attached to it which has the ability to move around inside the house and outside. It has the ability to dig micro holes and feed pesticides inside the house in a controlled and safe manner. It has a mechanism to report how deep the pesticide has been applied and the dept to which the pesticide application is required. The automation in applying the pesticide reduced the human contact to this harmful poison. The system is capable to capture the samples of these bugs in case required to ascertain the quantity or their reason of growth. In case of scenarios like flood or rain the system has a been programmed with the mechanism to identify if there is any leakage of harmful pesticide into the home and the soil contamination due to the oozing of water into the soil. It can identify if all the pesticide has been washed off and if new layer needs to be applied. It is capable to identify whether there is any new infestation in the climate and if it needs to be controlled in any other way.

DETAILED DESCRIPTION OF THE INVENTION

[0014] While the present invention is described herein by way of example, using various embodiments and illustrative drawings, those skilled in the art will recognize that the invention is neither intended to be limited to the embodiment of drawing or drawings described nor designed to represent the scale of the various components. Further, some components that may form a part of the invention may not be illustrated with specific Figures, for ease of illustration, and such omissions do not limit the embodiment outlined in any way. The drawings and detailed description of it are not intended to restrict the invention to the form disclosed, but on the contrary, the invention covers all Modification/s, equivalents, and alternatives falling within the spirit and scope of the present invention as defined by the appended claims. The headings are used for organizational purposes only and are not meant to limit the scope of the description or the claims. As used throughout this specification, the word "may" be used in a permissive sense (i.e., meaning having the potential to), rather than the mandatory sense (i.e., meaning, must).

[00151 Further, the words "an" or "a" mean "at least one" and the word "plurality" means one or more unless otherwise mentioned. Furthermore, the terminology and phraseology used herein is solely used for descriptive purposes and should not be construed as limiting in scope. Language such as "including," "comprising," "having," "containing," or "involving," and variations thereof, is intended to be broad and encompass the subject matter listed thereafter, equivalents, and any additional subject matter not recited, and is not supposed to exclude any other additives, components, integers or steps. Likewise, the term "comprising" is considered synonymous with the terms "including" or "containing" for applicable legal purposes. Any discussion of documents acts, materials, devices, articles and the like are included in the specification solely to provide a context for the present invention.

[0016] In this disclosure, whenever an element or a group of elements is preceded with the transitional phrase "comprising", it is also understood that it contemplates the same element or group of elements with transitional phrases "consisting essentially of, "consisting", "selected from the group comprising", "including", or "is" preceding the recitation of the element or group of elements and vice versa.

[0017] The present invention is about a system for collecting, communicating and analyzing information from a plurality of pest monitoring locations consisting of sensors and robotic system to make the entire operation automated. The monitored locations include activity sensing pest devices. These devices can include traps and/or passive and active monitoring devices not having a trapping or killing functionality. While traps may constitute the majority of activity sensing pest devices in a given pest control program, devices which only monitor pest activity may be preferred in some locations and applications. The system includes automatic reporting from the plurality of activity sensing pest devices in real time. The system has programmed the monitoring devices with a comprise lure mechanism for attracting at least one target insect species using one or more sensors that generate one or more output signals in response to an insect approaching the lure, and an electronic controller configured to determine if the insect approaching the lure belongs to the at least one target insect species using the one or more output signals such that the non-harmful insects are not harmed. The monitoring device is used to determine the location, traffic patterns and density concentrations of pests in a building or other environment so as to more efficiently exterminate the pest population.

[0018] The robotic devices designed to monitor and lure the pest outside of their hiding consists of one or more sensors comprising of a bio-impedance sensor, optical sensors and others. The bio-impedance sensor may comprise a high-voltage electric discharge grid. The high-voltage electric discharge grid may comprise a plurality of metallic elements that define a cylinder with an open bottom surface. The high-voltage electric discharge grid may be configured to produce a voltage that only temporarily stuns an insect that approaches the lure. The device can also comprise an optical sensor or an ultrasonic sensor or at least two sensors selected from the group consisting ofultrasonic sensors, bio-impedance sensors, and optical sensors. The robotic device has the electronic controller that is configured to determine if the insect approaching the lure belongs to the at least one target insect species by analyzing at least one of a slope, an amplitude, a rise time, a fall time, a width, and a ringing frequency of an electrical pulse of the one or more output signals. It further comprises of a communication module for wirelessly communicating with other monitoring robotic devices. Each of the robotic devices comprise a global positioning system module for determining a deployment location and a battery that supplies power to the electronic controller and to the one or more sensors via a power controller. The power controller may be configured to implement an active duty-cycling scheme to conserve the power supplied by the battery. The robotic devices can also collect the detected insect for future analysis.

[0019] The central monitoring system consists of a decision module which is also an intrinsic module in each of the robotic system to provide artificial intelligence to each of the device in the field. It helps to take decision and make judgement to take action. Each of the robotic devices encloses a mixed circuit board that is an analog and digital circuit that, together with the one or more sensors, detects and identifies target insects and reports gathered data to the central monitoring system, The one or more sensors is embodied as any type of electronic sensors that generate one or more output signals in response to the presence of an insect. one or more lures may be attached to a support that allows the one or more lures to be suspended amongst the one or more sensors The insect collector of the robotic device that is generally positioned below the one or more sensors and collects targets insects that are attracted by the one or more lures. A mixed circuit board in the device automates the detection of target insects and the reporting of gathered data back to the central monitoring system.

[0020] The mixed circuit board includes one or more insect detection modules that interface with the one or more sensors. When the one or more sensors generate output signals in response to the presence of a target insect, these output signals are reported to an electronic controller by the one or more insect detection modules. The electronic controller of the mixed circuit board may be embodied as any type of processor capable of executing software/firmware, such as a microprocessor, digital signal processor, microcontroller, application specific integrated circuit (ASIC), field programmable gate array (FPGA), or the like. The electronic controller processes information received from the one or more insect detection modules (among other sources) and sends information to other robotic system or to the central monitoring system. One or more localization modules allow each robotic device to discover its own geographic location, so that its detections of target insects can be spatially localized. The sensors equipped on the device also measure relevant environmental variables, such as temperature and relative humidity to identify the reason of the infestation.

[0021] The decision module in each robotic device is designed to detect if the identified insect is a target or not. It is done by analyzing the characteristics of the voltage and current signals at the terminals of the bio-impedance sensor. The electronic controller may analyze one or more properties of each electrical pulse, including its slope, amplitude, rise time, fall time, width, ringing frequency, etcetera, to distinguish whether the event was caused by an insect belonging to a target insect species or a non-target insect species. the properties of electrical pulse can be used not only to distinguish target versus non-target insects but also to classify the detected insect as a particular target insect species.

[0022] To collect the lured insect each of the robotic devices has a mechanism to lure and electrocute by the bio-impedance sensor after which, the insect falls into the insect collector attached to the robotic device. The temporarily stunned insects easily fall through an inlet of the insect collector but have difficulty escaping from the collector due to the inwardly-sloped upper surfaces of the insect collector. it is also contemplated that liquid polytetrafluoroethylene (PTFE) (commonly referred to as "Insect-A-Slip" or "Fluon"), or similar substances, may be applied to one or more surfaces of the insect collector to increase the capture rate and decrease the escape rate. Application of liquid PTFE creates a slippery surface that causes target insects to fall into the insect collector more readily and to have more difficulty climbing out of the insect collector after being captured.

[0023] It also consists of the optical sensors that includes a number of visible-light or infrared (IR) light emitting diodes (LEDs) and corresponding detectors. To increase the accuracy of the device multiple concentric rings of IR LEDs/detectors is attached near to the collector section as target insects are attracted by one or more lures a kill strip impregnated with pesticide intoxicates the insects and eventually causes them to fall through the collector. The optical sensors mounted are used to count the falling insects. The information obtained from the plurality of multimodal sensors may be combined by the electronic controller of the mixed circuit board using sensor fusion algorithms in order to accurately identify the insect species captured.

[0024] Each of the robotic system is powered either by one or more rechargeable batteries, one or more solar panels, or both simultaneously. The power controller provides power from the rechargeable batteries and/or the solar panels to the rest of the mixed circuit board. As the power controller senses that energy stored in the one or more rechargeable batteries is steadily decreasing, the power controller it will notify the central monitoring system to notify the user informing the location of the robotic device in case it shuts down. The robotic device is also notified to return back to the base station (home) before it discharges completely.

[0025] the mixed circuit board also includes a number of extension modules, such as a real time clock to accurately track the current time and permit insect detections to be time stamped, one or more temperature and humidity sensors to monitor relevant environmental parameters, an SD card reader for local information storage, and an external flash memory for local information storage. It will be appreciated that the mixed circuit board may include additional or fewer extension modules in other embodiments. A GPS module is also included on the mixed circuit board to automatically find its own location. GPS device may be used that transmits the coordinates and global time reference of each robotic devices at the time of deployment.

[00261 The robotic devices are also equipped with the facility of controlled pesticide delivering to avoid overuse. It also is capable to exterminate pests. Once the base of the pesticide is identified or the area which has the maximum infestation it dispenses a pesticide directly to an area. The pesticide-delivery cycle occurs while the robot traverses the area to be treated. Each of the robotic device operates in a limited or an unlimited workspace and is capable of freely moving along a predetermined path, it's capable of recognizing information of external environment and reflecting the information on its own behavior. For example, the robot can determine its behavior by changing action model based on input information such as sound, image, and sense of touch.

[0027] the robotic means of the invention includes a safety means to ensure safe operation of the mobile robot. For instance, one example of a safety means is an automatic-shut-off mechanism of the robot, which is coupled to logic circuitry, to ensure that the operation of the robot is discontinued if one of a number of contemplated possibilities takes place. For example, where a mobile robot is designed to dispense pesticide, if the amount of pesticide released by a mobile robot exceeds a threshold value as determined by the user, this may indicate a malfunction in the pesticide dispenser and the robot will automatically shut off the dispensing system to prevent further release of toxic pesticides.

[0028] As the mobile robot traverses specified locations to which pests are attracted, the mobile robot dispenses pesticide at those locations to exterminate the pests. The robotic device consists of without limitation a hose, nozzle, pump, sprayer, tubing, a pesticide tank to perform the termination action, it includes number of valves for starting and stopping the flow of a resource, The pesticide-delivery cycle is accomplished by moving slowly along the path defined by the attractant. The minimum quantity of pesticide will vary depending upon the pesticide chosen for use in accordance with the subject invention, the choice of carrier material to be placed about the robot, and/or the species of pest to be exterminated.

[0029] Obstacles that impede robot motion are sensed by motor current. If an obstacle event occurs or the robot deviates far enough from the path to lose the navigation signal, the microcontroller attempts to take corrective action by causing the robot to start a spiraling trajectory path until the signal is once again detected or a predetermined timing period expires. If the navigation signal is recaptured, the robot continues on the pesticide-delivery cycle; otherwise, the microcontroller signals a distress state and shuts motion down to conserve power

[0030] The central monitoring and controlling system serve as a central processing unit. comprises at least one wireless radio for communicating with the robotic devices. It will be appreciated that the wireless radio may utilize other communications protocols in other embodiments. Using the wireless radio, the plug computer may communicate with any robotic device within the communication range of the antenna. As such, the central system may collect data from the robotic system and sensors for storage or transmission to the Decision module. In some embodiments, the base station may contain additional components, such as a memory device to store all the data received including the possible maximum infestation caused areas, the type of pest and the portion of pesticides fed.

[0031] In the database, the activity associated with each activity sensing pest devices may be tracked by the unique ID number. The facility of interest contains any desired number of activity sensing pest devices and the location of the activity sensing pest devices are maintained with the unique ID number to be used in the reporting process.

[0032] Once the event is transmitted to central monitoring system, the data is provided to local computer connected to the system. Computer may be a special purpose computing device or may be a personal computer (example, an IBM compatible computer having a Pentium style chip) or a mobile smart device, The data is in turn provided to remote personal computer over the internet or direct connection. Computer includes a processor, input devices (example, keyboard and mouse or another pointing device), video display unit, and a printer. CPU is provided to run a database program stored in memory. The program may also be running from a hard drive, floppy drive, CD-ROM, or from a server or other computer on a network machine. The database is stored in memory. It will be appreciated that the database may also be stored on a local area network server, hard drive, CD-ROMs drive or other storage device accessible by the CPU.

[0033] Although the form of the invention shown and described here constitutes the preferred embodiment of the invention, it is not intended to illustrate all possible forms of the invention. Words used here are words of description rather than of limitation. Various changes in the form of the invention may be made without departing from the spirit and scope of the invention as disclosed.

[0034] While the best modes for carrying out the invention have been described in detail, those familiar with the art to which this invention relates will recognize various alternative designs and embodiments for practicing the invention within the scope of the appended claims.

FIGURE DESCRIPTION

[0035] The accompanying drawings, which are incorporated in and constitute a part of this disclosure, illustrate an exemplary embodiment and, together with the description, explain the disclosed embodiment. In the Figures, the left and rightmost digit(s) of a reference number identify the Figure in which the reference number first appears. The same numbers are used throughout the figures to reference features and components. Some embodiments of the system and methods of an embodiment of the present subject matter are now described, by way of example only, and concerning the accompanying Figures, in which:

[0036] Figure. 1 Illustrates the Diagrammatic view of the central base station communication with the robotic system and user's computing device

[0037] Figure. 2 shows the Block diagram of the controller unit inside the robotic system

[0038] Figure. 3 shows the Flow chart showing the installation procedure of the robotic system nodes with the central base station

Claims (4)

CLAIMS: I/We Claim:

1. A pest management system to identify and eliminate the pest inside and outside the house hold in a controlled and monitored manner by eliminating the overuse of chemical pesticides all together where the system consists of; A central Server; Robotic devices; sensors including bio-impedance sensor, optical sensors, temperature sensors and others; Electronic controller; Communication module; Global position system module; Power controller module; Battery; Insect collector module; Insect identifying module; Microcontroller; Electrocuting component; Light emitting diodes; Solar panels; Memory card; Pesticide container; Pesticide spraying nozzle Pump;

2. The pest management system as claimed in claim - 1; is connected with multiple movable robotic system that has the ability to move around inside the house and outside to dig micro holes and feed pesticides inside the house in a controlled and safe manner and to spread in a large quantity if required based on the analysis.

3. The pest management system as claimed in claim - 1; is provided a report by the pesticide applying robots regarding how deep the pesticide has been applied and the dept to which the pesticide application is required.

4. The pest management system as claimed in claim - 1; is capable to capture the samples of these bugs in case required to ascertain the quantity or their reason of growth and to kill only the bugs that are harmful and to not harm the insects which do not harm humans or animals nearby.

APPLICANT Dr. Vikram Raghunath Kakulte

Dr. Yashawant Daulat Aher

EDITORIAL NOTE 2021105631

There are 2 pages of claims only.

CLAIMS: I/We Claim:

1. A pest management system to identify and eliminate the pest inside and outside the house hold in a controlled and monitored manner by eliminating the overuse of chemical pesticides all together where the system consists of; A central Server; Robotic devices; sensors including bio-impedance sensor, optical sensors, temperature sensors and others; Electronic controller; Communication module; Global position system module; Power controller module; Battery; Insect collector module; Insect identifying module; Microcontroller; Electrocuting component; Light emitting diodes; Solar panels; Memory card; Pesticide container; Pesticide spraying nozzle Pump; 2. The pest management system as claimed in claim - 1; is connected with multiple movable robotic system that has the ability to move around inside the house and outside to dig micro holes and feed pesticides inside the house in a controlled and safe manner and to spread in a large quantity if required based on the analysis. 3. The pest management system as claimed in claim - 1; is provided a report by the pesticide applying robots regarding how deep the pesticide has been applied and the dept to which the pesticide application is required.

4. The pest management system as claimed in claim - 1; is capable to capture the samples of these bugs in case required to ascertain the quantity or their reason of growth and to kill only the bugs that are harmful and to not harm the insects which do not harm humans or animals nearby.

APPLICANT Dr. Vikram Raghunath Kakulte

Dr. Yashawant Daulat Aher

Sheet 1 of 3

APPLICANT 17 Aug 2021

Dr. Vikram Raghunath Kakulte Dr. Yashawant Daulat Aher 2021105631

Figure – 1: Diagrammatic view of the central base station communication with the robotic system and user’s computing device

Signatory

Dr. Vikram Raghunath Kakulte

Dr. Yashawant Daulat Aher

Sheet 2 of 3

APPLICANT 17 Aug 2021

Dr. Vikram Raghunath Kakulte Dr. Yashawant Daulat Aher 2021105631

Figure – 2: Block diagram of the controller unit inside the robotic system

Signatory

Dr. Vikram Raghunath Kakulte

Dr. Yashawant Daulat Aher

Sheet 3 of 3

APPLICANT 17 Aug 2021

Dr. Vikram Raghunath Kakulte Dr. Yashawant Daulat Aher 2021105631

Figure – 3: Flow chart showing the installation procedure of the robotic system nodes with the central base station

Signatory

Dr. Vikram Raghunath Kakulte

Dr. Yashawant Daulat Aher