RASPBERRY PI IEEE PAPER 2022


The name Raspberry Pi is derived from the fruit pie, raspberry pie. This is because many companies in the computer neighborhood where Raspberry Pi was based used fruit names such as Apple and apricot as names for their companies and products Raspberry Pi to learn programming skills, build hardware projects, do home automation, implement Kubernetes clusters and Edge computing, and even use them in industrial applications.



Cloud Service for Protecting Computer Networks of Enterprises Using Intelligent Hardware and Software Devices, Based on Raspberry Pi Microcomputers
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The results of these studies are developed examples of the effective use of Raspberry Pi , the prototypes of which will be the Raspberry Pibased devices described above. These

Face Recognition Using Histogram of Oriented Gradients with TensorFlow in Surveillance Camera on Raspberry Pi .
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Raspberry Pi as a control center to handle input and output results of the face dataset to the Raspberry Pi as a reference for facial to the raspberry pi then the raspberry pi will recognize Raspberry Pi can is connected with Raspberry Pi 4 in the bus for detecting the object on the bus and sending the data to the server via 4G communication. This system uses open- We believe that single-board computers such as the Raspberry Pi can motivate and inspire retailers to faster digital transformation, because the Raspberry Pi lowers the barriers from

Raspberry Pi Design and Hardware Implementation of Fuzzy- PI Controller for Three-Phase Grid-Connected Inverter. Energies 202 1 843
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A communication protocol is used to connect a Raspberry Pi and an Arduino in order to Raspberry Pi controller; the C code for the fuzzy- PI controller downloaded on the Raspberry Pi

Compact, Accurate and Low-cost Hand Tracking System based on LEAP Motion Controllers and Raspberry Pi
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We propose a VG architecture based on three Raspberry Pi (RP), each consisting of a cheap single board computer with Linux OS. The proposed architecture assigns an RPi to each

Raspberry Pi (Python AI) for Plant Disease Detection
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This entails a range of processes ranging from taking a picture of the leaves to using Raspberry PI to diagnose the condition. The Raspberry PI is used to connect the camera to the

SMART SURVEILLANCE MONITORING SYSTEM USING MACHINE LEARNING AND RASPBERRY PI
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In this paper, the home security framework is named after the Raspberry pi (RPI) with openCV Raspberry Pi measuring pc with built-in camera board can be converted into a security

Image Processing Based Smart Home Automation using Raspberry Pi and Python
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This goal of this paper is to design a low-cost intrusion detection system using a Raspberry Pi 4 that is capable of the following: Executing detection/recognition algorithms upon motion

Smart Electronic Voting Machine with Face Recognition using Raspberry PI
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The voter must enroll his id and train the Raspberry Pi to recognize his face in this system. The server makes decisions based on this information. Officials can access the server to view

GPLDABot: Raspberry Pi based Gas Pipe Leakage Detection and Alerting using Internet of Things
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Figure where it consists of a microprocessor called raspberry pi for controlling the whole circuit, power supply to drive the raspberry pi processor, a prototype design of a robot, where

Lightweight Intrusion Detection System In IoT Networks Using Raspberry pi 3b
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To implement our model we used a Raspberry pi 3b+ running on Raspbian Operating System and used an open source performance evaluator called Weka [26] to evaluate the model

Implementation of first-year hardware theme project for ICT students
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between Raspberry Pi single-board computers and the Raspberry Pi Pico is that Raspberry Pi s are Raspberry Pi Pico boards run only one program at a time, and they do not have an

THREE-STEP PROCEDURE TO MEASURE SURFACE ACCURACY OF A PARABOLIC DISH ANTENNA
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the Raspberry Pi is achieved via ethernet connection from a computer in the telescope control room. The Raspberry Pi (VNC) connection into the Raspberry Pi computer from the control

PORTABLE CAMERA BASED LABEL READER
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This can be done by using Raspberry pi . The OCR can be done using several platforms. By using raspberry pi we will able to use web cam and also make it portable. The quality of the

Evaluation of ARM Assembly Generation for a Graduate Compiler Course Compiler
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Using a Raspberry Pi led to students comprehending the building an assembly generator for a Raspberry Pi using ARM to a Raspberry Pi model used in this project was a Raspberry Pi

Internet of Things as a Tool for Sustainable Analytical Chemistry: A Review
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In order to help beginners to easily get started on building a prototype based on Raspberry Pi and Arduino, from scratch, we here outline some guidance. Table 1 summarizes websites,

Face Recognition based Attendance System Integrated with Thermal Scanner Door Lock System
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The hardware that will be used are Raspberry Pi 3 model B+, Raspberry Pi camera module V thermal scanner and electric door.

Intelligent Security Gate
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The raspberry pi camera with exible cable for connection between the camera and raspberry pi 4 b is used. The camera is a high-de nition 5MP shoot photo and video. The cameraRaspberry Pi Model B+ and Raspberry Pi 2 Model B. Whilst maintaining the popular board format the Raspberry Pi 10x faster than the firstgeneration Raspberry Pi . Additionally, it adds (HC-SR04), Raspberry Pi camera (V2), servo raspberry pi it performed even better. Further details are enlisted about working of hardware part of our project. 1) We use a Raspberry pi

PALS Precision Agriculture using Local Server
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simple and easy to use local server which the user can run on their personal computers or a cheap computation device such as a raspberry pi to avoid the heavy costs of cloud services.

UG, UX and WordPress development for IoT and embedded systems
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Data is received using Raspberry Pi that uses the Python interface. In this thesis we used Raspberry Pi 3 model B+ that can be was used to obtain a remote connection to Raspberry Pi .

FPGA-accelerated Real-Time Audio in Pure Data
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( RaspberryPi ) can be found in . A third option would be to eliminate the Linux system entirely and use the processing power of the RaspberryPi bare metal as hinted to in .

teacher. js: A low-bandwidth digital Tool for Outdoor Online Teaching
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The whole software suite can run on a Raspberry Pi 4 microcomputer, allowing a teacher to be the full master of the on-line teaching platform they are using to give their courses. In

Smart Parking Management System Using AI
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At the entrance of a parking lot, a Raspberry Pi system with a When a vehicle approaches an entrance, a Raspberry system is implemented on Raspberry Pi system (Raspberrypib, nd).

A Precise Dispenser Design for Canine Cognition Research
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The Raspberry Pi image used in this study was exported and a download link was placed in the GitHub repository readme.md file. This image includes a tested PsychoPy (v3.2.4) build

Monitoring of MQTT-based Messaging Server
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It consists of 1 Master PC and 11 Raspberry Pi single board computers, which exchange on a Raspberry Pi . When the Master PC issues a command, 10 Raspberry Pis generate MQTT The Raspberry Pi is one small Linux computer board built and developed in the United Kingdom. The latest in a line of these computers is the Raspberry Pi of the Raspberry Pi camera

Transparent, Cross-ISA Enclave Offloading
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/edge computing environment (a Raspberry Pi and an SGX- edge computing scenario using a Raspberry Pi 4 Model B as Raspberry Pi and used PopSGX to prevent it. Heartbleed is a

An Intelligent Electronic Nose for the assistance of Anosmic-Patients
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It detects the released gases using a Raspberry Pi and an array of MQ sensors. These The output categorization will then be shown on the Raspberry Pi s linked display screen. The

Sunfa Ata Zuyan machine learning models for moon phase detection: algorithm, prototype and performance comparison
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In addition to all the pointed algorithms on Raspberry Pi the difference between Raspberry Pi and a regular PC (Intel (R)I 7- 6700HQ/ @2.60 GHz/ Windows 10/ Python IDE version 3 :

Design of Image Processing Techniques for Smart Real-Time Tracking System during Health Emergencies
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Raspberry pi main control unit Raspberry pi (4b) which is used as a main control unit is a As explained in the methodology (section III), the raspberry pi has got two main functions in the3) Unknown person s image capture 4) Vehicle location sharing 5) Face Recognition In this system we are use Raspberry pi microcontroller to design the system pi camera for capturing

A Solar Energy System with Vehicle-to-Home and Vehicle-to-Grid Option for Newfoundland/Canada Conditions through Mozilla IoT
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Mozilla IoT is the platform that hosts the Raspberry Pi Things Gateway and serves as a dashboard to remotely control and monitor the system. The data that is transmitted is logged, and

Deep Convolutional Neural Networks for Crack Detection Using a Cost-Efficient Single Board Computer-Based Unmanned Aerial Vehicle (UAV) Platform for
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The adoption of Unmanned Aerial Systems (UASs), more commonly referred to as Drones, has grown increased over the last few years in different industries. Common bridgea raspberry pi camera module, sound sensor, GPS, GSM, switch, and relay. The raspberry pi The video will be kept on a memory card that is incorporated into the raspberry pi . GPS will

NB-IoT based road accident alert system
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The Raspberry Pi 3 Model B is a single-board computer that acts as the heart and brain of connected to pi 3 for detecting accidents. GPS (2) is interfaced with raspberry pi for finding the

Application and Implementation of Traffic Violation Report Combined with Vision and Voice Kits
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clip microcomputer, Raspberry Pi mainly Raspberry Pi . If the driver detects a violation of vehicles, they can press the button. In addition, instructions can be given to the Raspberry Pi

Camera Handoff for Multicamera Multiobject Tracking
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In this study, Raspberry Pibased application modules were used to set up cameras at various angles. The background subtraction method was employed to locate moving objects in This venture intends to identify faces from pictures in Raspberry Pi face indicator is based on a Raspberry Pi Model B. After detection, The main blocks of this project are 1) Raspberry pi

Exoskeleton Arm for Rehabilitation and Activity Assistance
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by Raspberry pi 4 quad ARM Cortex A72 processor. The gesture control system is integrated with the exoskeleton by Raspberry pi The data gathered at the raspberry pi microprocessor

Investigating chemical settlement cues and their interactions for Pacific oysters (Magallana gigas) using video analysis
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Videos of larvae are taken using multiple Raspberry pi HQ cameras and computers, and particle tracking software is used to analyze settlement time and larvae behaviors prior to

Hydroponics Checking and Control Framework: An IoT based Methodology: A Review
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What s more, Putty and VNC servers are likewise utilized for getting to the Raspberry Pi terminal from a PC without associating Raspberry Pi to display screen and separate console and

REAL-TIME DYNAMIC OBSTACLE DETECTION FOR VISUALLY IMPAIRED PERSONS
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The purpose of this report is to explore the feasibility of developing obstacle detector can be implemented on a solitary device computer, on Raspberry Pi B+, that can keep up with real-

Integrated video-based bee counting and multi-sensors platform for remote bee yard monitoring
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on the RaspberryPi micro-computer equipped with a NoIR camera. Besides, the system possesses an LED lighting to create better lighting conditions in the hive. RaspberryPi and the

Modified salp swarm optimization algorithm (MSSOA) based implementation of intelligent fault detection and isolation system for smart wireless sensor network
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In our proposed system, we had used Raspberry Pi 3 as a micro-computer, or rather mini- In addition, this Raspberry has a hardware ports that can be connected to several kinds of

Review on Automobile Crime Prediction Model
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It uses fourth-generation longterm evolution, Raspberry pi a global positioning system, Accelerometer, and Ultrasonic sensor to get the necessary data needed to monitor automobile

Implementation of an intelligent motion detector
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Section 3 describes how to write code for the Raspberry PI to analyse signals from a 4x4 PIR array to detect motion direction (left, right, up, down) and display the results on an LCD

Bi-Modal Exam Hall Authentication System
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The proposed system consists of bi-modal scanner connected to Raspberry Pi and data stored in MATLAB database. The system is designed to allow the users by verifying their bi-

Design of an Online Quality Inspection and Sorting System for Fresh Button Mushrooms (Agaricus bisporus) Using Machine Vision.
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The PLC communicates with a raspberry pi . The raspberry pi processes the image information of the mushroom size, defects, and browning. After the comprehensive judgment of the

Topology-Level Reactivity in Distributed Reactive Programs
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evaluate the distributed capabilities of our prototype implementation, we implement a use-case that simulates the bike-sharing infrastructure of Brussels, and we run it on a Raspberry Pi

Smart Shower System as a Cloud Service: A Low-Cost Proposal for Managing Water Consumption as a Service
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It also has a GPIO (general-purpose input/output) interface that can be used to connect the Raspberry PI to any other hardware, which considerably expands its applicability. Our architecture includes a Webcam and a Raspberry Pi 4 model B to run an advanced image processing algorithm SSD MobileNet for human detection. SSD MobileNet is

Greenhouse monitoring using IoT-A Review
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The inputs from various sensors are connected to the raspberry pi RASPBERRY PI Raspberry pi is a small, cost efficient Raspberry pi has many versions consisting of the following

A Hybrid, Soft Robotic Exoskeleton Glove with Inflatable, Telescopic Structures and a Shared Control Operation Scheme
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( Raspberry Pi Raspberry Pi Foundation, UK), and a small circuit to control the air pumps. Six tendons are connected to the pulleys of the motors and run through polyurethane tubes

COMBINING DEEP RESIDUAL NEURAL NETWORK FEATURES WITH SUPERVISED MACHINE LEARNING ALGORITHMS FOR REAL-TIME FACE
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This study proposes a attendance marking system using face recognition and Deep Learning techniques on a Raspberry Pi board. The proposed system delivers an approach to make

Adopting MQTT for a multi protocols IoMT system.
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protocols; a global system for mobile communication (GSM) and Wi-Fi were used to simulate the heath data transfer from the two different geographical locations, using Raspberry Pi

A two-phase location measurement system for indoor static sensors
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an interface for raspberry pi to connect to the raspberry pi directly. The raspberry pi works as laser receiver sends the signal to a raspberry pi and the raspberry pi sends the signal to the

In the Zone! Controlling and Visualising Sound Zones
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Sound zones enable multiple simultaneous sound experiences in the same physical room without interference. In this paper, we present an interactive sound zone setup that can

raspberry pi IEEE PAPER 2021


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SMART MIRROR USING RASPBERRY PI
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There is never an end to devices that can be made smarter with the help of adequate technologies. A smart mirror is a system that functions as a mirror with some additional features including date, time, current temperature and weather details. This paper

Implementation of Smart Mirror using Raspberry PI
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Smart appliance design that includes multimedia intelligence to deliver comfortable, convenient, and secure personal services in the home is becoming increasingly crucial in the age of information and communication technology. This research looks at the design and Machine learning for object detection has been used since a long time. Object detection is an application of computer vision. In this method, a target object is to be detected by means of a computer algorithm, which is the first phase of object detection. The object is then

IoT Based Forest Fire Detection System Using Raspberry PI and GSM
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Internet of things (IoT) is the network of entities that consists of electronics, programmable software, sensors, and communication facility that enables these entities to gather and transfer data. Raspberry pi Microcontroller based IOT platform detects the forest fire as early

Designing and implementation of autonomous car and smart traffic system using Raspberry Pi
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The Project aims to build a monocular vision autonomous car prototype using Raspberry Pi as a processing chip. An HD camera and an ultrasonic sensor are used to provide necessary data from the real world to the car. The car can reach the given destination safely

Brownian motion of a raspberry PI controlled robot
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Punch-Beddell, Datta, and Hauger 2021. This open access article is distributed under a Creative Commons Attribution NonCommercial-NoDerivs 2.0 Generic License (https://creativecommons.org/licenses/by-nc-nd/2.0/) Seyon Punch-Beddell, Trinan

SMART MIRROR USING RASPBERRY PI
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T SINHA103.47.12.35 This project has been developed within the context of a time where every day we see more and more connected devices. The Internet transformed our lives by connecting us more easily to information and other people in the virtual world. Mobile phones then became

Digital and Low-Cost Development of a Polarimeter on a Raspberry Pi
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Digital data acquisition in science lessons is a particular challenge in terms of availability and operation of the devices. Classical laboratory measuring instruments often focus on data acquisition, which is why the handling in the classroom varies greatly depending on the

RASPBERRY PI BASED AUTOMATIC HEALTH CARE MODELLING: AN IoT APPROACH
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Latest technologies growth enhances the advancements in the Internet of Things (IoT). During the new health caring profession, the bulk use of IoT technological systems tenders an assistance to doctors as well as human due to these are appropriated in number of

Voice Automation and Security Using Raspberry Pi 3
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Internet of Things (IoT) globally is an emerging technology enabling the exchange of knowledge and services. But over the years, security in IoT has become an issue. This paper shows a way of including security to daily-based applications by the use of voice biometrics

Development of Remote Plant Monitoring System based on Raspberry Pi
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This study proposes a monitoring system that can remotely check and transmit environmental conditions of plants in real time by measuring temperature, humidity, carbon dioxide, etc. which are factors affected by plants using a Raspberry Pi . Introducing an

Participatory Scrutinized Monitoring System Using Raspberry Pi
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Automatic detection of the license plate and reading of license plate electronically becomes essential for providing security and other regulatory purposes. The detection of number plate is of two steps namely,(I) License plate edge detection and (ii) Character recognition

AN IOT INTEGRATED FIRE MONITORING AND DETECTION SYSTEM USING RASPBERRY PI
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Making certain minimum rights and safety of the garment staff has become a burning issue today. The staff of garment factories face some labyrinths and broken out of fireside is definitely one amongst them. The target of this work is to style a IOT based mostly system

ESPIONAGE ROBOT BASED ON RASPBERRY PI FOR DEFENCE
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This paper is dedicated to making a robot using Raspberry Pi which can be used for security at places where it is hard for humans to reach or which are dangerous to the humans. It can also be used for security and surveillance at any place or to spy the surroundings. It requires

Image Processing Based Leaf Disease Detection Using Raspberry Pi
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Green plants are very much important to the human environment; they form the basis for the sustainability and long term health of environmental systems. In this project, we have proposed a system using raspberry pi to detect healthy and unhealthy plants alerts the

Implementation of IoT Plant Growth Chamber based on Raspberry Pi
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As modern peoples interest in health has increased, the number of people who grow vegetables themselves has increased. However, there are a number of difficulties that arise when raising them directly. In this paper, we propose the plant growth chamber that anyone

IOT and Raspberry Pi Based Smart Irrigation System
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Agriculture is an important factor especially for developing countries like India. Issues related to agriculture have been always hindering the countys growth. The solution for this problem is using smart agriculture by modernizing the traditional methods of agriculture

A Review Paper on Raspberry Pi and its Applications
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Raspberry Pi an efficient and powerful minicomputer having the dimension approximately equal to the size of a credit/debit card. It was invented by the United Kingdom Raspberry Pi foundation with the hope of enlightening and empowering the generation of learners to be

Unmanned Vehicle for Gas Leakage Detection Using Raspberry PI
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In this day and age, security assumes a key part and it is critical to consolidate compelling wellbeing frameworks in areas for tutoring and work. The new security model sent in enterprises and this system are refreshed by this work. In homes and workplaces, it can

POWER MONITORING AND THEFT DETECTION SYSTEM USING RASPBERRY PI AND IOT APPLICATION
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Nowadays electricity thefts are increasing day by day in domestic as well as industrial levels which makes a huge economic loss for electricity department and our country also. There are several methods for power theft like meter tampering, stopping the meter reading ie

IOT BASED MONITORING SYSTEM AND SMART AGRICULTURE USING RASPBERRY PI
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In India, an important growing sector is an agriculture. The major challenges in agriculture are crop productivity, soil nutrient level, smart irrigation system, crop monitoring, etc. This paper review the internet of things (IoT) based smart agriculture system using ThingSpeak Implementation of automation controls using voice commands is intended to increase the level of technology comparable to developing countries. Voice activation systems using user voice recognition are electronic devices installed to control the direction of a moving car

Colour Detection Based Robotic Cart Using Raspberry Pi
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One of the most critical subjects of embedded vision is color tracking in real time. Many computer vision applications begin by detecting and tracking moving objects in video scenes. Customers arriving at hypermarkets benefit from this concept. A color detection

Self-Balancing Robot Using Raspberry Pi and PID Controller
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An In essence, a self-balancing robot is an inverted pendulum. If the center of mass is higher than the wheel axels, it can balance better. A higher center of mass translates to a higher moment of inertia, which translates to a lower angular acceleration. It functions like a self

Design of Internet of Things based Electricity Theft Detection using Raspberry PI
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The indicators of the size and development of an economy are dependent on its production and consumption of electricity, so electricity theft contributes to slow economic growth. Although few countries gain profit from electric power exportation, most production is for

FINGERPRINT BASED ATTENDANCE SYSTEM USING RASPBERRY PI
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Fingerprint authentication is one of the most popular and accurate technology. Our project is a fingerprint attendance system that records the attendance of students based on their fingerprint matches them against the database to mark their attendance. Fingerprint-based

Image Processing Based Fire Detection Using Raspberry PI
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Internet of things (IOT) is the network of entity that consists of Electronics, programmable software, sensors, and communication features to gather and transfer data. The objective of the proposed system is to alert the remote user when the fire accidents occur. This system

The Smart Assistant for Library Management and Book Reader for Blind People Using Raspberry Pi
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This system proposes a camera-based assistive text reading framework to help blind persons ad text labels and product packaging from hand-held objects in their daily lives. To isolate the object from cluttered backgrounds or other surrounding objects in the camera

IMPLEMENTATION OF SPY ROBOT FOR SURVEILLANCE SYSTEM USING INTERNET PROTOCOL OF RASPBERRY PI
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Surveillance literally means to watch from a distance. Surveillance cameras and facial recognition are used to monitor public and private spaces and to identify people. The effectiveness of this technology is up for debate, but it is nevertheless becoming both more

SECURING NETWORK BY IMPLEMENTING A VPN ON RASPBERRY PI
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Page 1. SECURING NETWORK BY IMPLEMENTING A VPN ON RASPBERRY PI NUR SHAHIRAH BINTI ABU HURERA BACHELOR OF COMPUTER SCIENCE (COMPUTER NETWORK SECURITY) WITH HONOURS UNIVERSITI SULTAN ZAINAL ABIDINPage A greenhouse provides an environment to grow plants all year round, even on cold and cloudy days. However, extreme environmental factors inside the greenhouse such as high temperatures and a high humidity can negatively impact the plants. Consequently

FACE RECOGNITION BASED INTELLIGENT CAR ANTI-THEFT SYSTEM USING RASPBERRY PI
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Today there is an critical problem for the car owners that they are in constant fear of thieves that their car will stolen from the off-street parking or parking area near their house. Image processing based real time vehicle theft detection and prevention system supplies an

Face Recognition Using Raspberry Pi Node-Red, IBM Watson and Twilio
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Face recognition is termed to be one of the major breakthroughs in the field of security. The main aim of the paper is to design an efficient, feasible, budget-friendly system which can take over the traditional fingerprint recognition, RFID and other technologies. The solution

AUTOMATIC NUMBER PLATE RECOGNITION SYSTEM USING RASPBERRY PI AND PYTHON
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The vehicle authentication is done using the ALPR system. The manual work of humans to watch the movement of vehicles in and out of the organization is reduced by using ALPR. In this system, first the image of the license plate is captured and then that image will be

REAL TIME VEHICLES AVERAGE SPEED CALCULATION ON HIGHWAYS USING RASPBERRY PI
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To avoid accidents on highways due to crashes of vehicles on roads, a robust real time system is needed. This paper offers a real-time low-cost system to reduce unwanted accidents on highways due to speeding. The system present here uses the application of In Chapter we used the GPIO pins on the Raspberry Pi to interact with an LED and an ultrasonic sensor. Many times, this is enough to do what you want to do. However, I also discussed some of the shortcomings of the Raspberry Pi GPIO and the likely need to expand

Leveraging Raspberry Pi as a server for the integration of the NETCONF protocol within IoT systems based on YANG
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Herein the idea of leveraging Raspberry Pi as a server for the integration of an incipient network management protocol, the Network Configuration Protocol (NETCONF), within IoT systems based on YANG is presented. The practical realization of this idea requires theThis study will be using different types of Raspberry Pi (RPi) computers combining old and new models to simulate the scenario of combining multi-core processors in creating supercomputers. Key words: combining multi-core processors, Raspberry pi cluster, supercomputerFor example, the ESP32 is a widely used IoT microcontroller with low cost, WiFi and Bluetooth as transmission capabilities, a coprocessor and advanced power modes. On the other hand, Raspberry Pi is considered a minicomputer that has a modu- lar structure

LABORATORIOS REMOTOS EN RASPBERRY
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Raspberry Pi 3 es un Small Board Computer (SBC) de bajo costo, conocido como un computador de tamaño pequeño, pero de gran potencia. Fue desarrollado en la Universidad de Cambridge, por la fundación Raspberry Pi