International Research Journal of Engineering and Technology (IRJET) e-ISSN: 2395-0056 Volume: 05 Issue: 04 | Apr-2018 www.irjet.net p-ISSN: 2395-0072 © 2018, IRJET | Impact Factor value: 6.171 | ISO 9001:2008 Certified Journal | Page 3098 HARMFUL MATERIAL DISPOSAL SYSTEM Rishab Lala 1 , Eshank Nazare 2 , Shrikant Nimhan 3 , Pooja P. Gundewar 4 1,2,3 B.E. Student, Dept. of E&TC, M.I.T. College of Engineering, Pune, Maharashtra, India 4 Assistant Professor, Dept. of E&TC, M.I.T. College of Engineering, Pune, Maharashtra, India ---------------------------------------------------------------------***-------------------------------------------------------------------- ABSTRACT: The paper intends to propose a system that will help the personnel in areas deemed dangerous and life- threatening to eliminate any harmful material that they encounter. The system proposed will be mounted on an unmanned vehicle that will be controlled through a Graphical User Interface (GUI). The system will have a water-jet cutting mechanism that will help to dispose off hazardous and life- threatening substances. A Global Positioning Sensor (GPS) will help in the localization of the entire system. The system can be further improved by interfacing additional sensors. KEYWORDS : GPS, GUI, Localization, Water-jet cutting mechanism. I. INTRODUCTION Personnel in areas deemed dangerous often encounter explosive devices that may be life threatening. An unattended suspicious object, for example, can be an explosive device. It is very risky for a human to manually check whether the object is non-threatening. Our system aims to eliminate this discrepancy and hence make way for safe disposal of explosive objects. II. LITERATURE SURVEY To develop a fully automated Abrasive Water Jet Machining System (AWJM), various sensors need to be integrated for a multi-sensory approach. AWJM system [1] consists of four types based on their performance parameters. Each of these parameters was tested for an in-process condition monitoring AWJM system. The Acoustic Emission (AE) sensor is highly efficient making it an alternative for measuring the depth cut. The variation of AE signals exhibits a linear relationship with water jet pressure. Peak values in the frequency spectrum are found to be shifting as the abrasive flow rate changes. At higher abrasive mass flow rate, higher peaks are also recorded in the high frequency spectrum. Also, the impact of abrasive particles does not play a significant role in the generation of vibration. The maximum material thickness that can be cut using an AWJM system is influenced by the velocity of the feed [2]. Wedge shaped aluminium bars were used as samples, and the cut thickness was measured using an electronic altimeter. At maximum water pressure and maximum feed rate of the cutting head, the quality of the abrasive material is not of much importance. There is no significant increase in efficiency of the water jet cutting process. For example, red garnet is highly efficient, cost effective and comparable to other abrasives like diamond and sapphire. The main challenges faced while considering accuracy of GPS localization are perceptual aliasing, camera occlusion and noisy GPS data [3]. The unreliability that is associated with GPS based localization can eliminated by making use of cameras that remove this ambiguity. Using standard techniques, the weights of the image obtained through cameras were calculated and the one with the highest score was chosen as suitable to the query image. A multi-sensory approach was used, which helped increase the accuracy by a significant margin up to a range of 7.5m.Thus, a multi-sensory approach that combines the advantages and removes the drawbacks present in the individual helps in achieving highly accurate and reliable localization. III. METHODOLOGY The block diagram of proposed system is as shown in fig. no. 1. Fig.No.1: Block Diagram of System Sensors used in our control system will communicate with our microcontroller through serial communication. LPC1769 has 4-UARTs numbering 0-3, similarly the pins are also named as RXD0-RXD3 and TXD0-TXD3.As the LPC1768 pins are