Arduino robot project. Making the circuit to connect all the choosen components.

Arduino robot project. Scaling of the robot balance. This project introduces you to basic robot construction and programming concepts. 3. Inside the 2D array grid, we input either a 0 or a 1. The meArm is an open-source kit with all the parts you need to build a Jun 3, 2015 · Connect the electronics, cont'd. In the following lines, I am explaining how the code works. We used a battery to power the motor drive module and ESP32-CAM. Release date: March 2023. servo 4: 120. Trig (Trigger) is connected to the 9th Hello guys, In this tutorial, we will learn how to make a multi-functional robot using the Arduino platform. Convert analog readings to angles (0 – 180) Write the angle values to the servo motors. Light Following Mobile Robot. Here's the list of components you'll require to assemble the robot: Protoboard; Power supply (I prefer a Protoboard power supply, but you can opt for a battery connected to the Arduino or power the Arduino through the USB cable) Arduino Nano; SG90 Servo; HC-SR04 ultrasonic distance sensor; Cables differentially-steered robot based on the popular Arduino Uno and compatible microcontrollers. In this project, a Robotis Bioloid kit, distance sensor, and gyroscope Feb 8, 2023 · Présentation du robot commandé par la carte Arduino qui détecte et évite les obstacles: Un robot qui utilise une carte Arduino pour détecter et éviter les obstacles peut être construit en utilisant des capteurs d’obstacles tels que des capteurs de distance infrarouges ou des capteurs ultrasons. Using Arduino build a Voice control robot, Black line follower, Light follower/repeller robot, Smartphone control robot. Using the Android app. Main Feature: An IoT breathalyzer and UV meter keychain. Wrap up. You can learn more about servo motors using the resources in the Bibliography. - L293D Motor driver shield. 1. Build your hardware, electronics, and programming skills, and use them to realize your advanced robotics projects with this powerful platform Purchase of the print or Kindle book includes a free …. Mecanum Wheels Robot Arduino Code. The procedure of this project will show you how to build a basic robotic arm using an Arduino and servo motors (Figure 5). Provides current to ensure all components work appropriately. I assume many people has already knew the working principle of this car. · In case of opponent attach robot must rotate 45 degrees while to survive itself if falling out of the ring. The basic program control logic is: Check to see if the kill switch was pressed (if enable in the configuration). Components Required. It is designed to be compact, simple, and inexpensive to build. be/9ItEPmwfBqgLinks to the pr Apr 16, 2024 · The 30 Most Useful Arduino Projects in 2024. – Arduino Board. Smart lighting. Because of their superb connectivity with various peripherals ranging from LEDs and through-holes to sensors and servos, Arduino boards work wonderfully for robotics projects. Once the circuit is ready we have to build our obstacle avoiding car by assembling the circuit on top Dec 10, 2022 · First, cut a 1” tall strip of cardboard and hot glue the base to the front of the robot. Upgrade your 3D printing projects by adding an Arduino! May 29, 2023 · Instructions, parts lists, circuit diagrams, and code for each robot are available on our website:1. /* 3_1_Full_Remote_Control_SAMD21. Here is the list in no particular order of the parts, tools and software needed for this project. A 0 represents free space. Making the circuit to connect all the choosen components. Mar 15, 2020 · Part 1 – Materials for this Lesson. This is a self balancing robot using Arduino and MPU6050 so we ave to interface the MPU6050 with Arduino and connect the motors though the Motor driver module. The brain of the robot is the Arduino Uno. Hands-On Robotics with Arduino, Build 13 robot projects. Google Classroom. DC gear motors with Weels. All you need to create this handy keychain is an Arduino Pro Mini 328 and an Arduino UNO (or FTDI). Final assembly. Read each pot individually. Magarotto. This is a really interesting Arduino project that uses a UV sensor to create your own alcohol breathalyzer in the form of a keychain. org/awesome-robots-jumping2. Servo motor. Secure the motors with the wheels and chassis using screws. How to make an obstacle-avoiding robot with Arduino. Publisher (s): Packt Publishing. My g Aug 27, 2018 · Circuit Diagram. I made an Arduino based robotic arm with a unique control system for under $60! This video will take you through the design, assembly, and code process. Ultrasonic sensor (hc-sr04) with mount for detecting an object. 1 file(s) 5. While you can build an Arduino robot from scratch, a starter kit is easier to use and May 1, 2021 · Working. Create a Robotic Tank. The arm will be programmed to record its positions. For that, we have to install the ESP32 add-on on Arduino IDE. This Arduino code is similar to the Arduino Based Ultrasonic Distance Sensor code, the only change is in the floor detection. by Aman Garg, Raphael Bertasius, Gloria E. 4 Volts Lithium-Ion Battery pack. A Arduino projects for beginners step by step Easy Arduino projects with sensors 2021 Top 10 Arduino Projects New - https://youtu. To do so, you will need to learn how to control the robot's motors using the Arduino and an H-bridge integrated circuit, as shown in this video: Google arduino 1 /* 2 Flex Glove 3 4 Created by Santin Gabriele, 2014 5 I. Part 1 introduced the ArdBot project, the Arduino, and basic programming fundamentals of this powerful controller. Updated Oct 24, 2023. Photo Credit: Circuit Digest Dec 13, 2021 · 1. Kennedy", cl. As demonstrated in the video, this arm has three degrees of freedom: one to rotate the arm horizontally, one to rotate the arm vertically, and Hello guys, In this tutorial I am going to show you how to make a very simple and easy Arduino Robot for your science project. Tele-op Control with a TV Remote. May 5, 2016 · Step 4: Circuit of the Robotic Hand. In this project you will build a programmable version of the Light Tracking Bluebot. This tutorial series is based on the Elegoo Arduino Smart Robot Car kit. Arduino Robotic Bartender – 3D Printable & Bluetooth. Note: Avoid overhanging the Arduino above the breadboard too much. Learn more about this project. Download the above files and Upload it. by Lucas Carolo, Lauren Fuentes, Gloria E. After that, place the robot on the line and watch the bot follow it. Arduino Uno; 1000uF Capacitor (4 pieces) 100nF Capacitor (4 pieces) Servo Motor (SG 90- four pieces) 10K pot- Variable Resistor (4 pieces) Power Supply (5v- preferably two) Servo Motor. The concept of DOF is interchangeable with the term "axes," a familiar term in this context. cc and install on your PC. sabas1080. Parts: 1. This project uses an Arduino Uno as the microcontroller. The whole set-up is powered by the 7. In this project, we have designed an Arduino based Line Follower Robot. The Arduino is controlled through a C++ program ("sketch"). Attach the breadboard to the top of the battery pack. Nov 30, 2017. In the setup section we need to initialize the servos and the Bluetooth module and move the robot arm to its initial position. Nov 26, 2016 · Also check our other Robotics Projects here. Make the robot back up first, then turn when it hits an obstacle. servo 2: 90. read more : Top 10 Arduino Projects to Get Started With. This project uses an Arduino Uno to build yourself a low-cost and easy-to-assemble Bluetooth-controlled robotic bartender. And let's take the knot to keep the wire stable. 50 KB. The International Space Station (ISS) with large solar arrays visible. The complete circuit diagram for this project is given below, as you can see it uses an Arduino nano. A 1 represents an object or an obstacle. Step 1: Project Overview. Assembly of Floor Cleaner Robot: Mount the Arduino on the chassis. We will program the ESP32-CAM using Arduino IDE. In this project, we will learn how to build a simple robot using Arduino that could move towards the fire and pump out water around it to put down the fire. This code reads the distances from three ultrasonic sensors (‘ frontDistance ’, ‘ leftDistance ’, and ‘ rightDistance ’). We do that using the write () function which simply moves the servo to any position from 0 to 180 degrees. Take the wheels and firmly press them onto the servos. attach ( 5 ); servo02. It is used to turn robot right, left, reverse and straight. Selecting the right components depending on your project functionalities. Programmable Arm as per user automation process. This Arduino powered arm provides the following advantages: 6 DOF arm for 360° Movements. Tutorial by. Jun 13, 2019 · For this project, we will only need a four-wheeled robot with appropriate motor drivers, an Arduino Uno board, a micro servo motor, and an HC-SR04 ultrasonic sensor. The sensors are detecting the color, the arduino processing the read of sensors, and then tell the motors to move as it is. Cut a piece of tape slightly less than the width of the Visualize and interact with your sensor data in real-time. The BlueBot projects highlighted below scale in difficulty from intermediate to advanced. Mar 12, 2019 · Open the Sketch. Humanoid robots are growing in popularity and may have features such as ultrasonic distance sensing, wireless control, and obstacle avoidance. Out of the 14 available digital I/O pins, 7 pins are used in this project design. · Robot stop rotating and then starts attack suddenly (move forward with full force). Servo control is achieved with the use of the servo library which removes the need for coding the PWM duty Sep 21, 2017 · IOT Based Dumpster Monitoring using Arduino . Lab tools. Making the connections for this Arduino based Self balancing Robot is pretty simple. The project uses components that are easily found on the market. Smartphone controlled system with no added programming hardware needed. servo 5: 0. Robotic arms have many uses, ranging from assembling things in factories to collecting soil samples on Mars to acting as prosthetics (artificial limbs) for humans. void setup() {. attach ( 6 ); Mar 12, 2020 · Project #1: Firefighting Mobile Robot using Arduino. Cut a piece of foam to mount the servo motors. Setting up the Hardware Since the difficult part of this project is the code, the hardware is relatively simple. Here are full Arduino and Processing codes for this Arduino SCARA robot project: SCARA Robot - Arduino and Processing Codes. Jan 17, 2018 · Play strategy (2): · At the start robot measure the distance in front. The default positions of the arm at power-on are: servo 0: 90. - 4pcs. Put both bump sensors on the front of the robot, one on the left and one on the right (Figure 9). The Arduino board is the brain of the robot, which controls its movements and interactions with the environment. Jumping robot: https://sbgo. 4. The 6 Dof arm makes use of 6 servo motors controlled by an Sep 19, 2023 · Arduino robot arms, much like other robot arms, are commonly evaluated based on their degrees of freedom (DOF). and at last i have combined this three functions together. Hello friends today we will make obstacle avoiding robot using arduino uno that can operated without any physical command. •. May 16, 2014 · You can find the code for the line follower here. Apr 28, 2015 · In this guide, we’re going to introduce you to Arduino using the meArm robot arm project as a guide to a variety of skills. Smartphone-Controlled Bluetooth Robot. For introductory projects and other robotics engineering explorations, see the 25 Aug 16, 2023 · Here is the simple Arduino and 3 Ultrasonic sensor based Human-following robot code that you can use for your project. 150k+ Jul 1, 2020 · Here are some robotics project ideas you can do for fun or as a student project. Arduino Robot Vacuum: The purpose of this project is to clean a room floor from small debris and dust/dirt autonomously. The main action happens in the Arduino sketch loop () function which runs repeatedly. This simple Arduino-based project can be 3D printed and is a cool Arduino project for beginners The robot also needs a way of deciding if it needs to turn left or right, stop, and how to interpret signals from its sensors. In this tutorial I will show you how I made my Mecanum Wheels Robot Platform from my previous video, to work together and operate automatically with my 3D printed Robotic Arm, also an Arduino project from one of my previous videos. The following scenarios are included in this project: SUMO mode: It is a sport in which two robots attempt to push each other out of a circle (in a similar fashion to the sport of sumo). Today we are going to build a Fire Fighting Robot using Arduino, which will automatically sense the fire and start the water pump. Jul 4, 2019 · Projects. As mentioned in the block diagram, we need sensors to detect the line. Arduino Uno is the brain of the robot. 2 sets of IR sensors for line tracking and object follow. Motors for rotation of wheels and allow the robot to move around. I have shown here some programs to work this robot as a obstacle avoiding robot, Wall follower, and Bluetooth controlled. You can purchase the kit on Amazon for about $70. The robot travels through the 0’s. Displays. Easy to control movements with sliders instead of complicated programming. Add an LCD to your Mobile Robot. Make sure that the limits of the motors reach their physical boarders. to connect through Bluetooth and start manipulating the system. Nov 20, 2021 · For example, they can reach hard-to-reach places or be found in industrial applications. Make sure that the bottoms of the LEDs are close to the ground, but not touching the ground. Figure 4. Apr 3, 2024 · The BlueBot chassis can be used for a wide range of other robotics engineering projects and is a good robotics base for developing and exploring programming with Arduino. This is how my surveillance robot looks like: Installing ESP32 Board on Arduino IDE. Our Idea is to make a simple robot right from the scratch which can automatically avoid the obstacles while cleaning the floor. Make sure the autopilot stands with its “Front” arrow pointing straight up. Flying things. · Robot move back the same measured distance. Copy Code. Top 10 DIY innovative arduino projects ,This video shares Cool Ideas of some of Advanced arduino Projects. Robotics. up of HC-SR04 sensors. Assemble all the project parts. We will also explore another tutorial where we will learn to transform it into a Bluetooth-controlled car. You can build your own RC robot using the Science Buddies Bluebot kit, Science Buddies Electronics Kit for Arduino, and an RC transmitter/receiver (sold separately), as shown in the video above. This term refers to the count of rotational joints integrated into the robot's design. In this tutorial, we will discover how to use Arduino to build a robot car and control it using an IR remote controller. However, in each project, the sensors Mar 25, 2014 · Cut a piece of tape slightly less than the width of the Arduino and place the tape on the servos. Make sure you don’t short circuit anything in case your chassis is made of metal. May 31, 2022 · Project description. You will use an integrated circuit called an H-bridge to control the motors. But we can also build an obstacle avoiding robot using Arduino UNO with the same circuit (follow the same pinout) and code. Actually, there are two separate Arduino codes. Step 3: Breadboard & Arduino. The project instructions will provide you with the basic design, parts list, circuit diagram, and code to build a simple ROV with two motors. We use an Arduino Uno as the open-source microcontroller board along with 3 IR sensors and a fan that works with a DC motor. The ultrasonic sensor has 4 pins: Vcc, Trig, Echo and Gnd. You can program a robot with 5 different scenarios with this control card. An obstacle-avoiding robot that uses bump sensors. Apr 10, 2024 - Learn how to make robots using the Arduino microcontroller. 4V li-ion battery. First download the ARDUINO IDE from arduino. Fire Fighting Robot: In this BE project, Fire Fighting Robots deals with a robot that detects nearby fires with the help of IR sensors and extinguish it. Otto Robot. Please take a look at the video that I've been uploaded. First we talk a bit about Servo Motors. The robot has four legs, each with two joints: one "hip" joint that rotates the whole leg forward and backward, and one "knee" joint that moves the lower part of the leg up and down. Mar 12, 2019 · Circuit Diagram. In this instructable you will find complet… Dec 20, 2017 · Robot chassis with motors (2) and wheels(2) (any type) A small can; Connecting wires; Buy all the above required components for Arduino fire fighting robot. After uploading the code, sweep/move the sensor array over the black line from left to right for roughly 3 seconds. The detailed working is explained here. Once the components assembled they will be coordinated by an Arduino program. It then compares these distances to determine the sensor with the smallest distance. Motor driver: The intermediate device between you Arduino, a battery, and motors. The Arduino will ride atop the servos in this robot design. I recommend this kit because it provides a lot of value for the money and the components can be utilized in a number of robotic projects. Intermediate Arduino Robotics Projects. In this engineering project, you will build your own (much smaller) quadruped robot using an Arduino and some craft supplies (Figure 1). 2. - and 7. Feb 2, 2022 · ROBOT KIT PRICE; ELEGOO UNO R3 Project Robot Car Kit V 3. S. 6. This program will be the focus of the project. Download. - HC-SR04 Ultrasonic sensor module. Advertisement. (2) Parallax servos 4. The robot in that project is hard-wired with two light sensors that make the robot steer left and right in response to a light source. That is, this includes obstacle avoiding, Bluet Sep 6, 2017 · Top 10 Cool arduino projects/arduino uno Projects. go home Jan 6, 2022 · In this article, we'll take a look at ten impressive robotics projects created using a Raspberry Pi. It can be programmed from any computer to walk, dance, and sing. Updated Apr 16, 2024. 0 Check Price: Makeblock mBot Robot Kit with DIY mechanical building blocks Check Price: KINCREA Smart Robot Car Kit with Arduino IDE Check Price: KOOKYE Robot Car Electronics Parts Kit with CD Tutorial: Check Price: UCTRONICS Smart Bluetooth Robot Car Kit: Check Price We built a robot by using a ready-made robot chassis, wheels, and DC motors. So let's get started :)Please Jul 21, 2021 · Arduino Based Floor Cleaning Robot - Code. It is a good idea to get a box for the Arduino and the motor controller shield. If you’d like to follow along, be sure to check out the previous three episodes, so you’re familiar with the plot and characters. Mar 10, 2024 · Design of Obstacle Avoiding Robot using Arduino. 2 sets of Bo motors with the wheel. Arduino Robot & Circuit Tutorials & Projects for Students, Makers, and Engineers. A pair of hobby gear motors and a swivel wheel at the front will allow the robot vacuum to move about, and an ultrasonic sensor will detect any object… Oh no! Nothing to discover here. Follow Me Mode: It can sense the presence of object to be followed using HC-SR04 sensor. Step 4: Programming. Combine all fingers by hand. servo01. Nov 16, 2020 · However, Arduino microcontroller units (MCUs) are ideal for building robots. Line Follower Robot. From these holes we pass the wire to the top of the finger. Copy and paste the following code into the Arduino IDE. It is a great option to drive several motors using Arduino and used in projects such as four-wheeled robots. Apr 24, 2023 · To start building an Arduino robotic arm project, you will need some basic materials including an Arduino board, servos, cables, 4 pieces of 1000uF capacitor, 4 pieces of 100nf capacitor and 4 pieces of 10k pot variable resistor. For instance, a 2DOF (2 Axis) robot arm is equipped Oct 24, 2023 · The 30 Best Arduino 3D Print Projects of 2023. ino. Otto is an opensource, Arduino-compatible, 3D-printable two-legged robot. Makers usually start with robotics, microcontrollers such as those found on an Arduino development board, or the ESP32. Interactive games. To build a robot with Arduino, you need some essential components that include an Arduino board, a motor driver, DC motors, wheels, an ultrasonic sensor, and a battery pack. Environment monitoring. You will Dec 26, 2019 · Here is the list of components you’ll typically need to build a basic Arduino Robot: Arduino board; Arduino Uno /Arduino 101. The complete code for this project is given at the end of the document. T. What’s left for this video is to take a look at the Arduino code. Connect all the finger wires to the servo motors. Created byDinesh Tavasalkar. Traffic Light using Arduino - A Beginner Project. Unfortunately, Arduino software does not currently work well with Chromebooks. You can watch the following video or read the written tutorial below. Difficulty: ★★★☆☆ This fire fighting mobile robot design uses an Arduino Uno and combines three flame sensors, a 5V water pump, and a servo to detect and extinguish a small flame. This one is for controlling the robot using the NRF24L01 modules and other is for controlling to robot using a smartphone. A Bluetooth receiver module is connected to the Arduino board as well. Create a Human-Machine Interface (HMI) with Arduino. servo 1: 120. "J. It is based off of Java. (2) Bread Boards 3. Let's cut a piece of foam as much as hand size. Make the robot turn left or right when it hits an obstacle. Remember to select the SAMD21 DEV Breakout for the controller, select the COM port that it enumerated on, flip the Wireless Joystick's switch to the ON position, and hit upload. Vcc and Gnd are connected to the +5v and GND pins of the Arduino. L298 is a dc motor driver which is used to rotate motors in a clock wise or anti clock wise direction. 5^A EA 7 Thanks to Elias De Lamper for suggestions to improve 8 this program! May 9, 2023 · Essential Components for Building a Robot. - 2 Infrared sensor boards. For the circuit, you can choose to use a servomotor shield for Arduino UNO (search on eBay or Amazon) with a XBee shield, or make a custom shield (I'll make one as soon as possible) with the XBee Module and the pins for the servomotors, and power the Arduino UNO by its jack port. Author (s): Lukas Kaul. There's plenty you can do with a microcontroller, including useful projects. A gas sensor (MQ2) for sensing hazardous smoke, a temperature Science Fair Project Idea. Arduino code for controlling the robot using the NRF24L01 modules: Feb 20, 2019 · The software behind the arm is very trivial and involves the following steps: Setup PWM outputs. Science Buddies Electronics Kit for Arduino; Windows or Mac computer. 5. Arduino is the main processing unit of the robot. Material Required: Arduino UNO; Arduino Uno Sensor Shield Jun 7, 2020 · So, this car/robot will follow the contrass-colored line on the floor wherever it goes. The kit includes a robot chassis, a breadboard, wheels, motors, batteries, and circuit parts to build four different robots. Arduino Mega; Hc-06 Bluetooth Module; L293b Motor Driver ; servo-motor; HC-SR04 Ultrasonic Sensor ; speaker; Wtv-020 MP3 module ; SD card ; battery; You can get our robot kits for part of the chassis or toy robot can use the chassis and engine of the car. The motors are connected to a powered Motor Drive Shield that is connected (piggyback style) to the Arduino UNO board. The Arduino UNO development board issued to con trol this firefighting robotic system, which is made. You can peal the backing off the adhesive foam-tape already on the breadboard, or you can use your own double-sided tape --I recommend the latter. Tele-op Control with a Bluetooth Keyboard. Make the robot change direction whenever it bumps into something. The working of the project is pretty simple: detect the black line on the surface and move along that line. This is done in order to calibrate and find the max and min values for reflectance. Why We Chose This Project. agarwalkrishna3009. A robot car chassis contains the bottom frame, upon which the motors that drive the tires/wheels are attached. Based on inputs from sensors, the Arduino acts on logic that is written by the programmer, and creates outputs. The Science Buddies Bluebot Kit contains parts to build four different robots: A motion-activated robot that uses a passive infrared (PIR) sensor. What sets the ESP32 apart from many Arduino boards is its built-in Bluetooth support, dual 240 MHz cores as well as wireless connectivity. The idea is inspired by the famous vacuum cleaner Robot Roomba which is shown in the image below. This video provides an overview of how to use an H-bridge with an Arduino: Google Classroom. Finally, connect the electronics to the motors and slip the electronics board into the base. To make it, we need only one rectangular plate, on which lower side should be glued the engines, and on Sep 13, 2016 · This robot is simple four wheeled Vacuum Cleaner which could smartly avoid obstacles and vacuum the floor at the same time. Apr 2, 2022 · The robot consists of several components: - Arduino Uno microcontroller. If you have ever wanted to build your own robotic arm, this project will guide you through the basics of designing and building a simple one. Next, affix the IR sensors in the vertical position on the front of the cardboard using a couple of dots of hot glue. Simplify your life with these great Arduino project ideas! Advertisement. Finally, don’t forget to get at least two 5v power supplies. Motor driver l298n for controlling the motor. Jan 16, 2020 · >>Explore the full project . It works according to data of ultrasonic sensor. 7(1,236 ratings) 22,864 students. Home robot bartender? Sounds great. Working Concept of Fire Fighting Robot: The main brain of this project is the Arduino, but in-order to sense fire we use the Fire sensor module (flame sensor) that is shown below. The Arduino is used only to get USB frames sent from the PC an navigate the motors of that drive the arm accordingly. Setup analog inputs. Research the Arduino Uno Rev 3 One of the most exciting projects for Arduino beginners is creating an Arduino robot car. thus we learned how to program a Arduino easily. 20. ISBN: 9781804613177. Here is our sample code for navigation using 2D arrays. Using the TWI connector on the UNO (and similar) will preclude the use of those analog inputs (A4 and A5). The robot is an articulated arm that moves on three axes (moved by 6 servos). Raspberry Pi Humanoid Robot. Step 3: Program Logic. . Arduino UNO REV3 2. servo 3: 120. The line follower robot is a popular project for beginners in robotics. We are using the Arduino Uno programming language. Mar 20, 2024 · Working of Arduino Line Follower Robot. Title: Practical Arduino Robotics. Upgrade your 3D printing projects by adding an Arduino! Check out these 3D printed Arduino projects suitable for all skill levels. It involves building a robot that can follow a line marked on the ground. Servo Motors are mainly used when there is a need for GoodBoy - 3D Printed Arduino Robot Dog: This instructable details how to make a small quadruped robot using 3D printed parts. Hot-glue the electronics to a foamcore board that easily slides into place inside the robot. See more ideas about arduino, arduino robot, learn robotics. Peel the backing off the double-sided tape and press the Arduino onto the tape. In short, the robot needs a brain. DISCOVER NOW. 6 F. Les données recueillies par les capteurs Supplies to build your robot: Bluebot 4-in-1 robotics kit. A line-following robot that uses infrared emitter-detectors. A light-tracking robot that uses photoresistors. NOTE: On the Arduino UNO, the I2C bus uses Analog Input 4 and 5 (A4 and A5), whereas on the Arduino Mega the I2C connection is on pins 20 and 21. jr fs qs jm fu ck ui sk ya lj