LIST OF FIGURES
S.NO. Name of Figures Page No.1.1.1 War field spy robot 51.1.2
Pin Diagram of PIC16F877 Microcontroller 72.3.1 Diagram of a
Bluetooth Module HC-05 142.4.1 Diagram of Wireless Camera &
Receiver 162.5.1 Diagram of Metal Detector 182.6.1 Diagram of Laser
Light 192.7.1 Diagram showing attachment of parts1 of gripper
222.7.2 Diagram showing attachment of parts2 of gripper 232.8.1
Diagram of Robot Chassis 242.9.1 Diagram of D.C Motor 252.10.1
L293D Integrated Circuit 262.10.2 Pin Diagram of L239d with I/O
Connections 272.10.3 Pin Diagram of L293D 282.11.1 Diagram of
Battery 29 2.12.1 Diagram of Wheel 302.13.1 Diagram Showing 7805 IC
31 2.13.2 Diagram Showing Pin of 7805 IC 312.14.1 Diagram of DPDT
Switch 322.15.1 Diagram of LM35 Sensor 332.16.1 Diagram of LM324 IC
342.16.2 Pin Description of LM324 IC 342.17.1 Diagram Showing Types
of Potentiometer 352.17.2 Symbol of potentiometer 352.18.1 Symbol
of Resistance 362.18.2 Actual View of Resistance 362.19.1 Schematic
of Diode 372.19.2 Diagram Showing Diode 372.20.1 Different types of
capacitor 382.20.2 Diagram of Ceramic Capacitor 382.21.1 Diagram
showing LEDs 392.22.1 Diagram of Crystal Oscillator 402.22.1 Quartz
crystal resonator and quartz crystal oscillator 40 3.1.1 Process of
Etching 413.2.1 Process of Drilling 423.3.1 Process of Soldering
433.4.1 PCB of War Field Spy Robot 444.2.1 Circuit Diagram of robot
47
CHAPTER-1INTRODUCTION1.1 Statement of Problem-This project is
introducing the robot which is used to minimize human casualties in
terrorist attack such as 26/11. The combat robot has been designed
to tackle such a cruel terror attacks. This robot is Bluetooth
operated; self- powered, and has all the controls like a normal
car. A wireless camera has been installed on it, so that it can
monitor enemy remotely when required. This robot can silently enter
into enemy area and send us all the information through its tiny
Camera eyes. A shooting gun mechanism has been mounted on the top
of the robot for shooting the enemies. Gripper is used to pick up
the bomb and placed it in safe place for the disposal through
shooting gun. A temperature module is used to detect the
temperature, whether it is increasing or not. A metal detector is
used to detect whether the bomb is implanted in the ground on
detecting metal it will glow up the LED which should be seen by the
camera in the control room. All this controlling of the robot is
done by android application. This spy robot can be used in star
hotels, shopping malls, jewelry show rooms, etc. where there can be
threat from intruders or terrorists. As we all know, these days
India is sick off massive terror attacks, bomb explosions at plush
resorts. Since human life is always precious, these robots are the
replacement of fighters against terrorist in war areas. To avoid
such disasters Technological power must exceed Human power. Human
life and time are priceless. We have taken an initiative to design
a model of an apt robot that meets combatant needs. So to avoid
terror attacks, to ensure more security at the border and high
density areas its wise to maintain a world class military
technology in accordance with combatant needs.
Fig 1.1.1 War field spy robot
1.2 ORGANIZATION OF REPORTWe have started our report with
certificate, acknowledgement and abstract thereby numbered as i, ii
and iii. The abstract represents a 1-page summary of our project
highlighting its salient features. We have made sure that every
item in the report has a page number to it. All the content of the
file should be in correct format and should be properly
arranged.Chapter 1 is introduction. It states the primary
requirement of our circuit and how we achieved it. The overview of
the project has been elaborated by giving an idea of the project
work. It comprises all the aspect of the project regarding why we
are making this project.Chapter 2 is literature survey. In this
section, we have seen the different aspects in which our project
could have been made, i.e., by using Bluetooth module, by using
android application, by using temperature module. All the
components that should be used in the project come in this
section.Chapter 3 is our work emphasizing our contribution. In this
chapter we have shown the problems we faced while designing and
making the circuit and how we have overcome them. For example, how
we have achieved the wireless communication, how we found out the
frequency of the working circuit, how we have established the
interfacing between the different components in the war field spy
robot. Chapter 4 is implementation and results. This chapter
constitutes the circuit diagram, its working description, the
various components and measuring instruments used in this project
and the result we finally obtained. All the software that was used
in designing the circuit and for programming the microcontroller
was discussed in this section.Chapter 5 is conclusion and future
work. In this section we discuss the future scope of our project.
Concluded all the aspects that should be used while making the
project & applications of the project.Chapter 6 is bibliography
in which we have given the references from where we acquired all
the suitable data for this report.
CHAPTER-2LITERATURE SURVEY2.1 MICROCONTROLLER
(PIC16F77A)PIC16F73/76 devices are available only in 28-pin
packages, while PIC16F74/77 devices are available in 40-pin and
44-pin packages. All devices in the PIC16F7X family share common
architecture, with the following differences: The PIC16F73 and
PIC16F76 have one-half of the total on- chip memory of the PIC16F74
and PIC16F77. The 28-pin devices have 3 I/O ports, while the
40/44-pin devices have 5. The 28-pin devices have 11 interrupts,
while the 40/44-pin devices have 12. The 28-pin devices have 5 A/D
input channels, while the 40/44-pin devices 8 The Parallel Slave
Port is implemented only on the 40/44-pin devices.
Fig 2.1.1 Pin Diagram of PIC16F877 MicrocontrollerPIN
DESCRIPTION:MCLR/VPP:Master Clear (Reset) input or programming
voltage input. This pin is an active low RESET to the device.RA0 -
RA5:These are the bi-directional Input / output PORTA pins. RA1,
RA2, are the analog inputs 1, analog input2.RA3 can also be analog
input3 or analog reference voltage.RA4 can also be the clock input
to the Timer0 module. Output is open drain
OSC1/CLK1:Oscillator crystal input / External clock source
input.OSC2/CLKO: Oscillator crystal output. Connects to crystal or
resonator in Crystal Oscillator mode. In RC mode, the OSC2 pin
outputs CLKO, which has 1/4 the frequency of OSC1, and denotes the
instruction cycle rate.RC0 RC7:These are the bidirectional Input /
Output PORTC pins. RC0/T1OSO/ T1CK. RC0 can also be the Timer1
oscillator output or Timer1 Clock input. RC1/T1OSI is the Timer1
oscillator input. RC2/CCP is the Capture1 input/Compare1 output/
PWM1 output. RC3/SCK/SCL. RC3 can also be the synchronous serial
clock input/output for Both SPI and I2C modes. RC4/SDI/SDA is the
SPI Data In (SPI mode) or Data I/O (I2C mode). RC5/SDO is e the SPI
Data Out (SPI mode). RC6. RC7.VDD:Positive supply for logic and I/O
pins.RB0 RB7: These are the bi-directional I/O PORTB pins. PORTB
can be software programmed for internal weak pull-up on all
inputs.RB0/IN is the external interrupt pin.RB1, RB2, RB3 are the
bi-directional pins. RB4 is the Interrupt-on-change pin. RB5 is the
Interrupt-on-change pin. RB6/PGC is the Interrupt-on-change pin.
Serial programming clock.RB7/PGD is the Interrupt-on-change pin.
Serial programming data.I / O PORTS:Some pins for these I/O ports
are multiplexed with an alternate function for the peripheral
features on the device. In general, when a peripheral is enabled,
that pin may not be used as a general purpose I/O pin. Additional
information on I/O ports may be found in the PIC micro Mid-Range
MCU Reference Manual, (DS33023).
PORTA and the TRISA Register:PORTA is a 6-bit wide,
bi-directional port. The corresponding data direction register is
TRISA. Setting a TRISA bit (= 1) will make the corresponding PORTA
pin an input (i.e., put the corresponding output driver in a
Hi-Impedance mode). Clearing a TRISA bit (= 0) will make the
corresponding PORTA pin an output (i.e., put the contents of the
output latch on the selected pin. Reading the PORTA register, reads
the status of the pins, whereas writing to it will write to the
port latch. All write operations are read-modify-write operations.
Therefore, a write to a port implies that the port pins are read,
this value is modified and then written to the port data latch Pin
RA4 is multiplexed with the Timer0 module clock input to become the
RA4/T0CKI pin. The RA4/T0CKI pin is an Schmitt Trigger input and an
open drain output. All other RA port pins have TTL input levels and
full CMOS output drivers. Other PORTA pins are multiplexed with
analog inputs and analog VREF input. The operation of each pin is
selected by clearing/setting the control bits in the ADCON1
register (A/D Control Register1). Other PORTA pins are multiplexed
with analog inputs and analog VREF input. The operation of each pin
is selected by clearing/setting the control bits in the ADCON1
register (A/D Control Register1). Other PORTA pins are multiplexed
with analog inputs and analog VREF input. The operation of each pin
is selected by clearing/setting the control bits in the ADCON1
register (A/D Control Register1). The TRISA register controls the
direction of the RA pins, even when they are being used as analog
inputs. The user must ensure the bits in the TRISA register are
maintained set when using them as analog inputs.PORTB and the TRISB
Register:PORTB is an 8-bit wide, bi-directional port. The
corresponding data direction register is TRISB. Setting a TRISB bit
(= 1) will make the corresponding PORTB pin an input (i.e., put the
corresponding output driver in a Hi-Impedance mode). A single
control bit can turn on all the pull-ups. This is performed by
clearing bit RBPU (OPTION). The weak pull-up is automatically
turned off when the port pin is configured as an output. The
pull-ups are disabled on a Power-on Reset.
Four of PORTBs pins, RB7:RB4, have an interrupt-on-change
feature. Only pins will be configured as inputs can cause this
interrupt to occur (i.e., any RB7:RB4 pin configured as an output
is excluded from the interrupt on change comparison). The input
pins (of RB7:RB4) are compared with the old value latched on the
last read of PORTB. The mismatch outputs of RB7:RB4 are ORd
together to generate the RB Port Change Interrupt with flag bit
RBIF (INTCON).PORTC and the TRISC Register:PORTC is an 8-bit wide,
bi-directional port. The corresponding data direction register is
TRISC. Setting a TRISC bit (= 1) will make the corresponding PORTC
pin an input (i.e., put the corresponding output driver in a
Hi-Impedance mode). Clearing a TRISC bit (= 0) will make the
corresponding PORTC pin an output (i.e., put the contents of the
output latch on the selected pin). PORTC is multiplexed with
several peripheral functions. PORTC pins have Schmitt Trigger input
buffers. When enabling peripheral functions, care should be taken
in defining TRIS bits for each PORTC pin. Some peripherals override
the TRIS bit to make a pin an out-put, while other peripherals
override the TRIS bit to make a pin an input. Since the TRIS bit
override is in effect while the peripheral is enabled,
read-modify-write instructions (BSF, BCF, XORWF) with TRISC as
destination should be avoided. The user should refer to the
corresponding peripheral section for the correct TRIS bit
settings.
Capture Mode:In Capture mode, CCPR1H: CCPR1L captures the 16-bit
value of the TMR1 register when an event occurs on pin RC2/CCP1. An
event is defined as a: Every falling edge Every rising edge Every
4th rising edge Every 16th rising edgeAn event is selected by
control bits CCP1M3:CCP1M0 (CCP1CON). When a capture is made, the
interrupt request flag bit CCP1IF (PIR1) is set. It must be cleared
in software. If another capture occurs before the value in register
CCPR1 is read, the old captured value is overwritten by the new
captured value.
Compare Mode:In Compare mode, the 16-bit CCPR1 register value is
constantly compared against the TMR1 register pair value. When a
match occurs, the RC2/CCP1 pin is: Driven High Driven Low Remains
UnchangedThe action on the pin is based on the value of control
bits CCP1M3: CCP1M0 (CCP1CON). At the same time, interrupt flag bit
CCP1IF is set. The output may become inverted when the mode of the
module is changed from Compare/Clear on Match (CCPxM = 1001) to
Compare/Set on Match (CCPxM = 1000). This may occur as a result of
any operation that selectively clears bit CCPxM0, such as a BCF
instruction. When this condition occurs, the output becomes
inverted when the instruction is executed. It will remain inverted
for all following Compare operations, until the module is
reset.
ANALOG-TO-DIGITAL CONVERTER (A/D) MODULE:The analog-to-digital
(A/D) converter module has five inputs for the PIC16F72. The A/D
allows conversion of an analog input signal to a corresponding
8-bit digital number. The output of the sample and hold is the
input into the converter, which generates the result via successive
approximation. The analog reference voltage is software selectable
to either the devices positive supply voltage (VDD) or the voltage
level on the RA3/AN3/VREF pin.The A/D converter has a unique
feature of being able to operate while the device is in SLEEP mode.
To operate in SLEEP, the A/D conversion clock must be derived from
the A/Ds internal RC oscillator.The A/D module has three registers:
A/D Result RegisterADRES A/D Control Register 0ADCON0 A/D Control
Register 1ADCON1A device RESET forces all registers to their RESET
state. This forces the A/D module to be turned off and any
conversion is aborted. The ADCON0 register, shown in Register 10-1,
controls the operation of the A/D module. The ADCON1 register,
shown in Register 10-2, configures the functions of the port pins.
The port pins can be configured as analog inputs (RA3 can also be a
voltage reference) or a digital I/O.
OSCILLATOR CONFIGURATIONS:The PIC16F72 can be operated in four
different Oscillator modes. The user can program two configuration
bits (FOSC1 and FOSC0) to select one of these four Modes: LPLow
Power Crystal XTCrystal/Resonator HSHigh Speed Crystal/Resonator
RCResistor/CapacitorRESET:The PIC16F72 differentiates between
various kinds of RESET: Power-on Reset (POR) MCLR Reset during
normal operation MCLR Reset during SLEEP WDT Reset (during normal
operation) WDT Wake-up (during SLEEP) Brown-out Reset (BOR)Some
registers are not affected in any RESET condition. Their status is
unknown on POR and unchanged in any other RESET. Most other
registers are reset to a RESET state on Power-on Reset (POR), on
the MCLR and WDT Reset, on MCLR Reset during SLEEP, and Brown-out
Reset (BOR). They are not affected by a WDT Wake-up, which is
viewed as the resumption of normal operation. The TO and PD bits
are set or cleared differently in different RESET situations, as
indicated in Table 11-4. These bits are used in software to
determine the nature of the RESET.
Power-on Reset (POR):A Power-on Reset pulse is generated on-chip
when VDD rise is detected (in the range of 1.2V - 1.7V). To take
advantage of the POR, tie the MCLR pin to VDD, A maximum rise time
for VDD is specified. When the device starts normal operation
(exits the RESET condition), device-operating parameters (volt-age,
frequency, temperature,) must be met to ensure operation. If these
conditions are not met, the device must be held in RESET until the
operating conditions met.
Power-up Timer (PWRT):The Power-up Timer provides a fixed 72 ms
nominal time-out on power-up only From the POR. The Power-up Timer
operates on an internal RC oscillator. The chip is kept in RESET as
long as the PWRT is active. The PWRTs time delay allows VDD to rise
to an acceptable level. A configuration bit is provided to enable/
disable the PWRT. The power-up time delay will vary from chip to
chip due to VDD, temperature and process variation.
Oscillator Start-up Timer (OST):The Oscillator Start-up Timer
(OST) provides 1024 oscillator cycles (from OSC1 input) delay after
the PWRT delay is over (if enabled). This helps to ensure that the
crystal oscillator or resonator has started and stabilized. The OST
time-out is invoked only for XT, LP and HS modes and only on
Power-on Reset or wake-up from SLEEP.
Brown-out Reset (BOR):The configuration bit, BOREN, can enable
or disable the Brown-out Reset circuit. If VDD falls below VBOR
(parameter D005, about 4V) for longer than TBOR (parameter #35,
about 100 s), the brown-out situation will reset the device. If VDD
falls below VBOR for less than TBOR, a RESET may not occur. Once
the brown-out occurs, the device will remain in Brown-out Reset
until VDD rises above VBOR. The Power-up Timer then keeps the
device in RESET for TPWRT (parameter #33, about 72 ms). If VDD
should fall below VBOR during TPWRT, the Brown-out Reset process
will restart when VDD rises above VBOR, with the Power-up Timer
Reset. The Power-up Timer is always enabled when the Brown-out
Reset circuit is enabled, regardless of the state of the PWRT
configuration bit.
Power Control/Status Register (PCON):The Power Control/Status
Register, PCON, has two bits to indicate the type of RESET that
last occurred. Bit0 is Brown-out Reset Status bit, BOR. Bit BOR is
unknown on a Power-on Reset. It must then be set by the user and
checked on subsequent RESETS to see if bit BOR cleared, indicating
a Brown-out Reset occurred. When the Brown-out Reset is disabled,
the state of the BOR bit is unpredictable.Bit1 is POR (Power-on
Reset Status bit). It is cleared on a Power-on Reset and unaffected
otherwise. The user must set this bit following a Power-on
Reset.
2.3. BLUETOOTH MODULEHC-05 module is an easy to use Bluetooth
SPP (Serial Port Protocol) module, designed for transparent
wireless serial connection setup. Serial port Bluetooth module is
fully qualified Bluetooth V2.0+EDR (Enhanced Data Rate) 3Mbps
Modulation with complete 2.4GHz radio transceiver and baseband. It
uses CSR Bluecore 04-External single chip Bluetooth system with
CMOS technology and with AFH (Adaptive Frequency Hopping Feature).
It has the footprint as small as 12.7mmx27mm. Hope it will simplify
your overall design/development cycle.Bluetooth Moduleis a Drop-in
replacement for wired serial connections, transparent usage. You
can use it simply for serial port replacement to establish
connection between MCU and GPS, PC to your embedded project /Robot
etc. The module can be configured for baud rates 1200 to 115200
bps. This is a Slave mode only Bluetooth Device. If you need a
Master/Slave switchable device refer to this product: Bluetooth
UART Module Hardware features Typical -80dBm sensitivity Up to
+4dBm RF transmit power Low Power 1.8V Operation ,1.8 to 3.6V I/O
PIO control UART interface with programmable baud rate With
integrated antenna With edge connector
Software features Given a rising pulse in PIO0, device will be
disconnected. Status instruction port PIO1: low-disconnected,
high-connected; Auto-connect to the last device on power as
default. Permit pairing device to connect as default. Auto-pairing
PINCODE:0000 as default Auto-reconnect in 30 min when disconnected
as a result of beyond the range of connection.
Fig.2.3.1 Diagram of a Bluetooth Module HC-05
2.4. WIRELESS CAMERAWireless A/V camera high receive sensitivity
+18dB,Receive signal picture sound 0.9G/1.2G.with high quality
output . RM0100 is a Wireless A/V camera high receives sensitivity
+18dB, Receive signal picture sound 0.9G/1.2G.with high quality
output. The RM0100 is a 2.4 GHz wireless camera works at ISM band.
It may cause interferences with other wireless equipment that
operates at the same band. The Camera Transmitter with Receiver Set
suitable for monitoring the robot, children and elders, and widely
used for theft prevention, after-hours surveillance, home security,
for household, companies, shops, factories, security CCTV system
kit. We can view the cameras on your TV or record directly to VCR.
The Wireless Camera and Receiver will provide a day and night
monitoring solution with the convenience of wireless technology.
RM0100 wireless camera meets wireless frequency security standards
and recommends indexes while working. These standards and indexes
are certificated by academic organization and represent the
cogitative research of the scientific workers who continuously
explore and annotate the involved fields.
Features- New and high quality 380TV lines picture display Low
radiation, safe and healthy Built-in microphone for audio
monitoring Including adaptive bracket, easy installation Suitable
for monitoring children, elders and widely used for theft
prevention, after hours surveillance, home security, etc.
Specifications-Camera: A Night vision enables no light or low
light usage. High-quality picture transmitting and receiving.
Transmit distant up to 200 Ft.Kit Includes:1 x Wireless 1/3" 380TVL
Pinhole Camera Transmitter with Receiver Set1 x Antenna1 x 110V
/220V AC Adapter for the camera (camera can either use battery or
the power adapter)1 x 8V Battery Adapter clip (for camera uses
battery)1 x 110v /220V AC Adapter for the receiver1 x Video Cable
(from Transmitter to your TV/VCR)
General Characteristics
TypeCamera and Accessories
Product IDRM0100
Dimension(120 x 75 x 30) mm
Weight400 g m
Frequency2.5 GHz
Output TypeWireless A / V Transmission
Image Acquisition Property
Acquisition Size628 x 582
Output FormatPAL / NTSC
Power Supply
TypeDC
Operating Voltage9 V
Operating Current500 mA
Fig 2.4.1 Diagram of Wireless Camera & Receiver
2.5. METAL DETECTORAmetal detectoris a portableelectronic
instrumentwhich detects the presence of metal nearby. Metal
detectors are useful for finding metal inclusions hidden within
objects, or metal objects buried underground. They often consist of
a handheld unit with a sensor probe which can be swept over the
ground or other objects. If the sensor comes near a piece of metal
this is indicated by a changing tone in earphones, or a needle
moving on an indicator. Usually the device gives some indication of
distance; the closer the metal is, the higher the tone in the
earphone or the higher the needle goes. Another common type are
stationary "walk through" metal detectors used forsecurity
screeningat access points in prisons, courthouses, and airports to
detect concealed metal weapons on a person's body. The simplest
form of a metal detector consists of anoscillatorproducing an
alternating current that passes through a coil producing an
alternating magnetic field. If a piece of electrically conductive
metal is close to the coil,eddy currentswill be induced in the
metal, and this produces a magnetic field of its own. If another
coil is used to measure the magnetic field, the change in the
magnetic field due to the metallic object can be detected.The first
industrial metal detectors were developed in the 1960s and were
used extensively for mineral prospecting and other industrial
applications. Uses includede-miningthe detection ofland mines, the
detection of weapons such as knives and guns especially in airport
security, geophysical prospecting, and treasure Hunting. Metal
detectors are also used to detect foreign bodies in food, and in
the construction industryto detectsteel reinforcing barsin concrete
and pipes and wires buried in walls and floors.METAL DETECTOR
SENSOR USED K1208065- Model: K1208065 Quantity: 1 Color: Silver +
Black Material: PVC + metal Working voltage: DC 5~36V Output type:
Three-wire PNP positive logic output Detection distance: 0~4ms
Switch type: Electric sensor Diameter: 12mm 12cm threaded
installation
Switch type is high-frequency oscillation, no contact, no
pressure, no sparking Quickly issued a detection signal to drive
the relay or logic gates High sensitivity and fast frequency
response, high repeatability accuracy, short change process, big
output power, high anti-interference performance, working stability
and reliable, long life, anti-shock and water resistant.
Fig 2.5.1 Diagram of Metal DetectorInductive Proximity
Sensor-Inductive proximity sensors operate under the electrical
principle of inductance. Inductance is the phenomenon where a
fluctuating current, which by definition has a magnetic component,
induces an electromotive force (emf) in a target object. To amplify
a devices inductance effect, a sensor manufacturer twists wire into
a tight coil and runs a current through it. An inductive proximity
sensor has four components; the coil, oscillator, detection circuit
and output circuit. The oscillator generates a fluctuating magnetic
field the shape of a doughnut around the winding of the coil that
locates in the devices sensing face. When a metal object moves into
the inductive proximity sensors field of detection, Eddy circuits
build up in the metallic object, magnetically push back, and
finally reduce the Inductive sensors own oscillation field. The
sensors detection circuit monitors the oscillators strength and
triggers an output from the output circuitry when the oscillator
becomes reduced to a sufficient level.
Fig 2.5.2 Internal Diagram of Metal Detector
2.6. LASER-(SHOOTING GUN)Alaseris a device that
emitslightthrough a process ofoptical amplificationbased on
thestimulated emissionof electromagnetic radiation. The term
"laser" originated as anacronymfor "light amplification by
stimulated emission of radiation". Lasers differ from other sources
of light because they emit lightcoherently.Spatial coherenceallows
a laser to be focused to a tight spot, enabling applications
likelaser cuttingandlithography. Spatial coherence also allows a
laser beam to stay narrow over long distances (collimation),
enabling applications such aslaser pointers. Lasers can also have
high temporal coherencewhich allows them to have a very
narrowspectrum, i.e., they only emit a single color of light.
Temporal coherence can be used to producepulsesof lightas short as
afemtosecond.Lasers have many important applications. They are used
in common consumer devices such asDVD players,laser printers,
andbarcode scanners. They are used in medicine forlaser surgeryand
various skin treatments, and in industry for cutting
andweldingmaterials. They are used in military andlaw
enforcementdevices for marking targets andmeasuring rangeand
speed.Laser lighting displaysuse laser light as an entertainment
medium. Lasers also have many important applications in scientific
research.Laser is used for shooting gun purpose. Laser will work
same like a gun whenever trigger is pressed it will shoot. Laser
triggering is interfaced with the microcontroller when the switched
is pressed at the controller unit laser will be triggered ON. In
this way the shooting gun mechanism will work in the robot. The
application of using the shooting gun mechanism is that we will
shoot the enemies in the war field or it is used in disposing the
bombs. Fig 2.6.1 Diagram of Laser Light
2.7. GRIPPEROne of the most important areas in the design of
robot systems is the design of end effectors. Most of the problems
that occur in production are caused by badly designed tooling and
not by faults in the robots. There are many different types of
gripper available along with the vast number of specialist tools
for nut running, arc welding, paint spraying etc. These grippers
are not used solely with robots however. They can be used for fix
Turing components anywhere in an automated or semi-automated
line.Gripper Types-The most commonly used grippers are finger
grippers. These will generally have two opposing fingers or three
fingers like a lathe chuck. The fingers are driven together such
that once gripped any part is centered in the gripper. This gives
some flexibility to the location of components at the pick-up
point. Two finger grippers can be further split into parallel
motion or angular motion fingers.For some tasks however where
flexible or fragile objects are being handled the use of either
vacuum or magnetic grippers is preferable. With these the surface
of the gripper is placed in contact with the object and either a
magnetic field or a vacuum is applied to hold them in contact. Any
errors in placement of the object at the pick-up point will be
reflected in a similar error at the destination so these grippers
are not usually used for high accuracy
applications.Accessories-Along with a wide range of standard
grippers being available there are also a number of standard
accessories for mounting them. If motion of the gripper is required
which cannot easily be provided by the robot then this can be
provided in the end effector. Linear and rotary units are available
in many different configurations. Gripper Drives-The same options
are available for grippers as for robots. The most popular one here
is pneumatic however because of the ease with which it can be
supplied to the end of a robot arm and controlled. The only
disadvantages of pneumatics are that it has a slightly lower power
to weight ratio than hydraulics and it is not as controllable or
easy to feed as electricity. In most situations however these are
not important.Environmental capabilities-End effectors are often
required to work in hostile environments. High temperatures, dust
or the presence of chemicals will require special materials or
designs to be used.
Sensor capabilities-For certain applications some degree of
sensory feedback from the gripper is necessary. This may be
measurement of insertion or gripping forces or may simply be a
proximity sensor to say if anything is between the jaws of the
gripper. Some standard grippers are provided with feedback to show
the separation of the jaws but most grippers have no
feedback.Others-Other factors to be considered include the speed of
the gripper jaws and the range of sizes of component they can grip.
The amount of maintenance required is also important though most
modern mechanisms require little or no maintenance. For some
situations the behavior of the gripper on power failure may be
critical. Some but not all use either springs to apply the gripping
force or non-return valves to ensure that pressure is maintained.
Gripper Design Considerations-When selecting a gripper there are a
number of factors that may need consideration.Gripping force-When
considering the gripping force required a number of factors must be
considered. Not only must the mass of the object to be gripped be
taken into account but also the accelerations imposed on it by the
robot. Where accelerations are not known a figure of 2.5g is
generally assumed. The coefficient of friction between the gripper
and the object may also be an important factor. This can often be
increased by using one of the special rubber based materials that
have been developed. The use of these materials can create
maintenance issues however as they have a finite life.One other way
of reducing the gripping force required is to use fingers designed
for the form of the component. This reduces the flexibility of the
gripper but dramatically increases the weight carrying
capacity.Weight-Industrial robots have fixed lifting capabilities
and the combined weight of the gripper and gripped component may be
important. Even where this weight is within the capability of the
robot it may cause an unacceptable increase in the cycle time of
the operation. The distance between the robot flange and the centre
of mass may also be important and this should be kept to a
minimum.Supply of services-With robot end effectors loose cable or
hoses are something to be avoided. They increase the size of the
tool (making it harder to reach into confined spaces) and cause
many failures due to rubbing or snagging on other parts of the
mechanism.
Gripper Fixing Steps-
Fig 2.7.1 Diagram showing stepwise attachment of parts of
gripper
Fig 2.7.2 Diagram showing stepwise attachment of parts of
gripper
2.8. CHASSISIn an electronic device the chassis consists of a
frame or other internal supporting structure on which thecircuit
boardsand other electronics are mounted. In the absence of a metal
frame the chassis refers to the circuit boards and components
themselves, not the physical structure. The combination of chassis
and outer covering is sometimes called an enclosure. On chassis all
the components are mounted. It is simply a platform on which all
the elements are fixed like D.C motor, Battery, Gripper, Metal
detector, Bluetooth module, Temperature module, Laser for Shooting
Gun Mechanism, Wireless camera.Chassis Board is the mechanical
frame structure of the mobile robots. It should is the backbone of
the robot. We arrange/connect everything like motors, sensors,
wheels, development board, studs, clamps, screws, etc. It give us
the base to build our robot and allow us place our components
according to our requirements.Material of the Chassis:The material
of chassis should be:-1. High durable2. High non- flexible3. More
strength4. Light weight5. Has potential safety hazards6. Can be re
shape easily7. Resistant to corrosion8. Compression and
depression9. Highly rigid
Fig 2.8.1 Diagram of Robot Chassis
2.9. D.C.MOTORA DC motor is a mechanically commutated electric
motor powered from direct current (DC). The stator is stationary in
space by definition and therefore so is its current. The current in
the rotor is switched by the commutator to also be stationary in
space. This is how the relative angle between the stator and rotor
magnetic flux is maintained near 90 degrees, which generates the
maximum torque. DC motors have a rotating armature winding but
non-rotating armature magnetic field and a static field winding or
permanent magnet. Different connections of the field and armature
winding provide different inherent speed/torque regulation
characteristics. The speed of a DC motor can be controlled by
changing the voltage applied to the armature or by changing the
field current. The introduction of variable resistance in the
armature circuit or field circuit allowed speed control. Modern DC
motors are often controlled by power electronics systems called DC
drives. The introduction of DC motors to run machinery eliminated
the need for local steam or internal combustion engines, and line
shaft drive systems. DC motors can operate directly from
rechargeable batteries, providing the motive power for the first
electric vehicles. Today DC motors are still found in applications
as small as toys and disk drives, or in large sizes to operate
steel rolling mills and paper machines. Working of centered shaft
gear box of DC motor-The working of the gears is very interesting
to know. It can be explained by the principle of conservation of
angular momentum. The gear having smaller radius will cover more
RPM than the one with larger radius. However, the larger gear will
give more torque to the smaller gear than vice versa. The
comparison of angular velocity between input gear (the one that
transfers energy) to output gear gives the gear ratio. When
multiple gears are connected together, conservation of energy is
also followed. The direction in which the other gear rotates is
always the opposite of the gear adjacent to it. In any DC motor,
RPM and torque are inversely proportional Hence the gear having
more torque will provide a lesser RPM and converse.
Fig 2.9.1 Diagram of D.C Motor
2.10 MOTOR DRIVERL293D is a dualH-bridgemotor driver integrated
circuit (IC). Motor drivers act as current amplifiers since they
take a low-current control signal and provide a higher-current
signal. This higher current signal is used to drive the motors.
L293D contains two inbuilt H-bridge driver circuits. In its
common mode of operation, two DC motors can be driven
simultaneously, both in forward and reverse direction. The motor
operations of two motors can be controlled by input logic at pins 2
& 7 and 10 & 15. Input logic 00 or 11 will stop the
corresponding motor. Logic 01 and 10 will rotate it in clockwise
and anticlockwise directions, respectively.
Enable pins 1 and 9 (corresponding to the two motors) must be
high for motors to start operating. When an enable input is high,
the associated driver gets enabled. As a result, the outputs become
active and work in phase with their inputs. Similarly, when the
enable input is low, that driver is disabled, and their outputs are
off and in the high-impedance state.
Fig 2.10.1 L293D Integrated CircuitL293D ConnectionsThe circuit
shown to the right is the most basic implementation of L293D IC.
There are 16 pins sticking out of this IC and we have to understand
the functionality of each pin before implementing this in a
circuit.1. Pin1 and Pin9 are "Enable" pins. They should be
connected to +5V for the drivers to function. If they pulled low
(GND), then the outputs will be turned off regardless of the input
states, stopping the motors. If you have two spare pins in your
microcontroller, connect these pins to the microcontroller, or just
connect them to regulated positive 5 Volts.
2. Pin4, Pin5, Pin12 and Pin13 are ground pins which should
ideally be connected to microcontroller's ground.3. Pin2, Pin7,
Pin10 and Pin15 are logic input pins. These are control pins which
should be connected to microcontroller pins. Pin2 and Pin7 control
the first motor (left); Pin10 and Pin15 control the second
motor(right).4. Pin3, Pin6, Pin11, and Pin14 are output pins. Tie
Pin3 and Pin6 to the first motor, Pin11 and Pin14 to second motor5.
Pin16 powers the IC and it should be connected toregulated+5Volts6.
Pin8 powers the two motors and should be connected to positive lead
of a secondary battery. As per the datasheet, supply voltage can be
as high as 36 Volts.
Fig 2.10.2 Pin Diagram of L239d with I/O ConnectionsTruth
table-Pin 1Pin 2Pin 7Function
HighHighLowTurn Anti-clockwise (Reverse)
HighLowHighTurn clockwise (Forward)
HighHighHighStop
HighLowLowStop
LowXXStop
In the above truth table you can observe that if Pin1 (E1) is
low then the motor stops, irrespective of the states on Pin2 and
Pin7. Hence it is essential to hold E1 high for the driver to
function, or simply connect enable pins to positive 5 volts. With
Pin1 high, if Pin2 is set high and Pin7 is a pulled low, then
current flow from Pin2 to Pin7 driving the motor in anti-clockwise
direction. If the states of Pin2 and Pin7 are flipped, then current
flows from Pin7 to Pin2 driving the motor in clockwise direction.
The above concept holds true for other side of the IC too. Fig
2.10.3 Pin Diagram of L293D Pin NoFunctionName
1Enable pin for Motor 1; active highEnable 1,2
2Input 1 for Motor 1Input 1
3Output 1 for Motor 1Output 1
4Ground (0V)Ground
5Ground (0V)Ground
6Output 2 for Motor 1Output 2
7Input 2 for Motor 1Input 2
8Supply voltage for Motors; 9-12V (up to 36V)Vcc
9Enable pin for Motor 2; active highEnable 3,4
10Input 1 for Motor 1Input 3
11Output 1 for Motor 1Output 3
12Ground (0V)Ground
13Ground (0V)Ground
14Output 2 for Motor 1Output 4
15Input2 for Motor 1Input 4
16Supply voltage; 5V (up to 36V)Vcc1
2.11 BATTERYSealed Lead Calcium Maintenance Free Battery is an
advanced and economic rechargeable battery. It has several
properties different from other types of batteries Maintenance Free
- As it is valve-regulated, sealed and glass-mat is utilized, acid
is trapped inside. So, refilling is not needed and is leak proof.
Discharge voltage remains stable even in conditions of high-rate
discharge current for equipment needing a high-rate discharge
current, it's far more stable than other battery types. No Memory
Effect -Some batteries, say nickel-cadmium batteries, will become
conditioned to provide small power after repetitious short
usage/discharge. Low Self Discharge - The self-discharge rate for
SMF battery is about 2-3% per month at room temperature compared
with 20-30% for other common battery systems Long Service Life -
Utilizing thick and massive calcium grids, SMF battery has a long
service life High. Discharge Rate - Since the internal resistance
is low, the battery can provide high rate of discharge. Wide
Operating Temperature Range - SMF battery is rated at 200C and will
operate from - 600C to +600C when it is fully charged.
Power Supply Type DC Cycle Use 14.4V-15.0V Output Power 12V 1.3A
Standby Use 13.5V-13.8V Initial Current Less than 0.39A
Powered by
Fig 2.11.1 Diagram of Battery
2.12 WHEELSA wheel is a circular component that is intended to
rotate on an axial bearing. The wheel is one of the main components
ofthe wheel and axle which is one of the six simple machines.
Wheels, in conjunction with axles, allow heavy objects to be moved
easily facilitating movement or transportation while supporting a
load, or performing labor in machines.A tire (or tyre) is a
ring-shaped covering that fits around a wheel's rim to protect it
and enable better vehicle performance The materials of modern
pneumatic tires are synthetic rubber, natural rubber, fabric and
wire, along with carbon black and other chemical compounds. They
consist of a tread and a body. The tread provides traction while
the body provides containment for a quantity of compressed
air.Performance Characteristics- Rolling Resistance Balance
Specifications- Width of the tire- 20mm Diameter of the tire-
100mm Diameter of the shaft hole- 6mm
Fig 2.12.1 Diagram of Wheel
2.13 VOLTAGE REGULATOR-7805Avoltage regulatoris designed to
automatically maintain aconstant voltagelevel. A voltage regulator
may be a simple "feed-forward" design or may includenegative
feedbackcontrol loops. It may use an electromechanicalmechanism, or
electronic components. Depending on the design, it may be used to
regulate one or moreACorDCvoltages. Electronic voltage regulators
are found in devices such as computerpower supplieswhere they
stabilize the DC voltages used by the processor and other elements.
In automobilealternatorsand centralpower stationgenerator plants,
voltage regulators control the output of the plant. In anelectric
power distributionsystem, voltage regulators may be installed at a
substation or along distribution lines so that all customers
receive steady voltage independent of how much power is drawn from
the line.It is a three pin IC used as a voltage regulator. It
converts unregulated DC current into regulated DC current.7805 is a
voltage regulator integrated circuit. It is a member of 78xx series
of fixed linear voltage regulator ICs. The voltage source in a
circuit may have fluctuations and would not give the fixed voltage
output. The voltage regulator IC maintains the output voltage at a
constant value. The xx in 78xx indicates the fixed output voltage
it is designed to provide.7805 provides +5V regulated power supply.
Capacitors of suitable values can be connected at input and output
pins depending upon the respective voltage levels.
Fig 2.13.1 Diagram Showing 7805 IC
Fig 2.13.2 Diagram Showing Pin of 7805 IC 2.14 SWITCHIn
electrical engineering, a switch is an electrical component that
can break an electrical circuit, interrupting the current or
diverting it from one conductor to another. The most familiar form
of switch is a manually operated electromechanical device with one
or more sets of electrical contacts, which are connected to
external circuits. Each set of contacts can be in one of two
states: either "closed" meaning the contacts are touching and
electricity can flow between them, or "open", meaning the contacts
are separated and the switch is non-conducting. The mechanism
actuating the transition between these two states (open or closed)
can be either a "toggle" (flip switch for continuous "on" or "off")
or "momentary" (push-for "on" or push-for "off") type.A switch may
be directly manipulated by a human as a control signal to a system,
such as a computer keyboard button, or to control power flow in a
circuit, such as alight switch. Automatically operated switches can
be used to control the motions of machines, for example, to
indicate that a garage door has reached its full open position or
that a machine tool is in a position to accept another workpiece.
Switches may be operated by process variables such as pressure,
temperature, flow, current, voltage, and force, acting assensorsin
a process and used to automatically control a system.An ideal
switch would have no voltage drop when closed, and would have no
limits on voltage or current rating. It would have zerorise
timeandfall timeduring state changes, and would change state
without "bouncing" between on and off positions. Practical switches
fall short of this ideal; they have resistance, limits on the
current and voltage they can handle, finite switching time,
etc.
Fig 2.14.1 Diagram of DPDT Switch
2.15 LM35 SENSORGeneral Description-The LM35 series are
precision integrated-circuit temperature sensors, whose output
voltage is linearly proportional to the Celsius (Centigrade)
temperature. The LM35 thus has an advantage over linear temperature
sensors calibrated in Kelvin, as the user is not required to
subtract a large constant voltage from its output to obtain
convenient Centigrade scaling. The LM35 does not require any
external calibration or trimming to provide typical accuracies of
14C at room temperature and 34C over a full 55 to +150C temperature
range. Low cost is assured by trimming and calibration at the wafer
level. The LM35s low output impedance, linear output, and precise
inherent calibration make interfacing to readout or control
circuitry especially easy. It can be used with single power
supplies, or with plus and minus supplies. As it draws only 60 A
from its supply, it has very low self-heating, less than 0.1C in
still air. The LM35 is rated to operate over a 55 to +150C
temperature range, while the LM35C is rated for a 40 to +110C range
(10 with improved accuracy). The LM35 series is available packaged
in hermetic TO-46 transistor packages, while the LM35C, LM35CA, and
LM35D are also available in the plastic TO-92 transistor package.
The LM35D is also available in an 8-lead surface mount small
outline package and a plastic TO-220 package.
Features n Calibrated directly in Celsius (Centigrade) n Linear
+ 10.0 mV/C scale factor n 0.5C accuracy guarantee able (at +25C) n
Rated for full 55 to +150C range n Suitable for remote applications
n Low cost due to wafer-level trimming n Operates from 4 to 30
volts n Less than 60 A current drain n Low self-heating, 0.08C in
still air n Nonlinearity only 14C typical
Fig 2.15.1 Diagram of LM35 Sensor
2.16 LM324 These circuits consist of four independent, high
gains, internally frequency compensated operational amplifiers.
They operate from a single power supply over a wide range of
voltages. Operation from split power supplies is also possible and
the low power supply current drain is independent of the magnitude
of the power supply voltage. Operation from split power supplies is
also possible so long as the difference between the two supplies is
3 volts to 32 volts. Application areas include transducer
amplifier, DC gain blocks and all the conventional OP Amp circuits
which now can be easily implemented in single power supply systems.
Internally Frequency Compensated for Unity Gain Large DC Voltage
Gain: 100dB Wide Power Supply Range: LM324: 3V~32V (or 1.5 ~16V)
Input Common Mode Voltage Range Includes Ground Large Output
Voltage Swing: 0V to VCC -1.5V
Fig 2.16.1 Diagram of LM324 IC
Fig 2.16.2 Pin Description of LM324 IC
2.17 POTENTIOMETERApotentiometer is a three terminalresistorwith
a sliding contact that forms an adjustablevoltage divider. If only
two terminals are used, one end and the wiper, it acts as avariable
resistororrheostat.Apotentiometer measuring instrumentis
essentially a voltage divider used for measuringelectric
potential(voltage); the component is an implementation of the same
principle, hence its name.Potentiometers are commonly used to
control electrical devices such as volume controls on audio
equipment. Potentiometers operated by a mechanism can be used as
positiontransducers, for example, in ajoystick. Potentiometers are
rarely used to directly control significant power (more than
awatt), since the power dissipated in the potentiometer would be
comparable to the power in the controlled load. Potentiometer acts
as a variable resistor. According to the need the value of
resistance should be changed.
Fig 2.17.1 Diagram Showing Various Types of Potentiometer
Electronic symbol
(International)(US)
Fig 2.17.2 Symbol of potentiometer 2.18 RESISTORResistor is an
electrical component that limits or regulates the flow of
electrical current in an electronic circuit. Resistors can also be
used to provide a specific voltage for an active device such as a
transistor. All other factors being equal, in a direct-current (DC)
circuit, the current through a resistor is inversely proportional
to its resistance and directly proportional to the voltage across
it. This is the well-known Ohm's Law. In alternating-current (AC)
circuits, this rule also applies as long as the resistor does not
contain inductance or capacitance. Resistors can be fabricated in a
variety of ways. The most common type in electronic devices and
systems is the carbon-composition resistor. Fine granulated carbon
(graphite) is mixed with clay and hardened. The resistance depends
on the proportion of carbon to clay; the higher this ratio, the
lower the resistance. Resistors are common elements ofelectrical
networksandelectronic circuitsand are ubiquitous inelectronic
equipment. Practical resistors can be composed of various compounds
and films, as well asresistance wires(wire made of a
high-resistivity alloy, such as nickel-chrome). Resistors are also
implemented withinintegrated circuits, particularly analog devices,
and can also be integrated into hybridandprinted circuits.
Practical resistors have a seriesinductanceand a small
parallelcapacitance; these specifications can be important in
high-frequency applications. In alow-noise amplifierorpre-amp,
thenoisecharacteristics of a resistor may be an issue. The unwanted
inductance, excess noise, and temperature coefficient are mainly
dependent on the technology used in manufacturing the resistor.
Fig 2.18.1 Symbol of Resistance
Fig 2.18.2 Actual View of Resistance
2.19 DIODEInelectronics, adiodeis a two-terminalelectronic
device componentwith a asymmetricconductance; it has low (ideally
zero)resistancetocurrent in one direction, and high
(ideallyinfinite) resistance in the other. Asemiconductor diode,
the most common type of today in recent days, is acrystalline piece
ofsemiconductormaterial with apn junctionconnected to two
electrical terminals.Avacuum tubediode has twoelectrodes, a
plate(anode) and aheated cathode. Semiconductor diodes were the
firstsemiconductor electronic devices. The discovery of the
crystals rectifyingabilities was made by the German
physicistFerdinand Braunin 1874. The first semiconductor diodes,
calledcat's whisker diodes, developed around 1906, were made of
mineral crystals such asgalena. Today, most diodes are made
ofsilicon, but other semiconductors such asseleniumorgermaniumare
sometimes used. The most common function of a diode is to allow an
electric current to pass in one direction (called the
diode'sforwarddirection), while blocking current in the opposite
direction (thereverse direction). Thus, the diode can be viewed as
an electronic version of acheck valve. This unidirectional behavior
is calledrectification, and is used to convertalternating
currenttodirect current, including extraction ofmodulationfrom
radio signals in radio receivers these diodes are forms
ofrectifiers.
Fig 2.19.1 Schematic of Diode
Fig 2.19.2 Diagram Showing Diode
2.20 CAPACITORAcapacitor(originally known as acondenser) is
apassivetwo-terminalelectrical componentused to storeenergy
electrostaticallyin anelectric field. The forms of practical
capacitors vary widely, but all contain at least twoelectrical
conductors(plates) separated by adielectric(i.e.,insulator). The
conductors can be thin films of metal, aluminum foil or disks, etc.
The 'non conducting' dielectric acts to increase the capacitor's
charge capacity. A dielectric can be glass, ceramic, plastic film,
air, paper, mica, etc. Capacitors are widely used as parts
ofelectrical circuitsin many common electrical devices. Unlike a
resistor, a capacitor does not dissipate energy. Instead, a
capacitor storesenergyin the form of anelectrostatic fieldbetween
its plates. A capacitor is a tool consisting of two conductive
plates, each of which hosts an opposite charge. These plates are
separated by a dielectric or other form of insulator, which helps
them maintain an electric charge. There are several types of
insulators used in capacitors. Examples include ceramic, polyester,
tantalum air, and polystyrene. Other common capacitor insulators
include air, paper, and plastic. Each effectively prevents the
plates from touching each other. A capacitor is often used to store
analogue signals and digital data. Another type of capacitor is
used in the telecommunications equipment industry. This type of
capacitor is able to adjust the frequency and tuning of
telecommunications equipment and is often referred to a variable
capacitor. A capacitor is also ideal for storing an electron.
Fig 2.20.1 Different types of capacitor
Fig 2.20.2 Diagram of Ceramic Capacitor
2.21 LIGHT EMITING DIODE (LED)Alight-emitting diode(LED) is a
two-leadsemiconductorlight source that resembles a basicp
n-junctiondiode, except that an LED also emits light.When an LED's
anode lead has a voltage that is more positive than its cathode
lead by at least the LED's forward voltage drop, current
flows.Electronsare able to recombine withholeswithin the device,
releasing energy in the form ofphotons. This effect is
calledelectroluminescence, and the color of the light
(corresponding to the energy of the photon) is determined by the
energyband gapof the semiconductor. An LED is often small in area
(less than 1mm2), and integrated optical components may be used to
shape itsradiation pattern. Appearing as practical electronic
components in 1962the earliest LEDs emitted low-intensity infrared
light. Infrared LEDs are still frequently used as transmitting
elements in remote-control circuits, such as those in remote
controls for a wide variety of consumer electronics. The first
visible-light LEDs were also of low intensity, and limited to red.
Modern LEDs are available across thevisible, ultraviolet,
andinfraredwavelengths, with very high brightness.LEDs were often
used as indicator lamps for electronic devices, replacing small
incandescent bulbs. They were soon packaged into numeric readouts
in the form ofseven-segment displays, and were commonly seen in
digital clocks. Recent developments in LEDs permit them to be used
in environmental and task lighting. LEDs have many advantages over
incandescent light sources including lower energy consumption,
longer lifetime, improved physical robustness, smaller size, and
faster switching. Light-emitting diodes are now used in
applications as diverse asaviation lighting,automotive headlamps,
advertising, general lighting,traffic signals, and camera flashes.
However, LEDs powerful enough for room lighting are still
relatively expensive, and require more precise current and heat
management than compactfluorescent lampsources of comparable
output. LEDs have allowed new text, video displays, and sensors to
be developed, while their high switching rates are also useful in
advanced communications technology.
Fig 2.21.1 Diagram showing LEDs
2.22 CRYSTAL OSCILLATORA crystal oscillator is an electronic
oscillator circuit that uses the mechanical resonance of a
vibrating crystal of piezoelectric material to create an electrical
signal with a very precise frequency. This frequency is commonly
used to keep track of time (as in quartz wristwatches), to provide
a stable clock signal for digital integrated circuits, and to
stabilize frequencies for radio transmitters and receivers. The
most common type of piezoelectric resonator used is the quartz
crystal, so oscillator circuits incorporating them became known as
crystal oscillators, but other piezoelectric materials including
polycrystalline ceramics are used in similar circuits.Quartz
crystals are manufactured for frequencies from a few tens of
kilohertz to tens of megahertz. More than two billion crystals are
manufactured annually. Most are used for consumer devices such as
wristwatches, clocks, radios, computers, and cell phones. Quartz
crystals are also found inside test and measurement equipment, such
as counters, signal generators, and oscilloscopes.
Fig 2.22.1 Diagram of Crystal Oscillator
Fig.2.22.2 Quartz crystal resonator (left) and quartz crystal
oscillator (right)
CHAPTER-3STEPS IN CIRCUIT DESIGNING3.1 ETCHINGEtching is the
process of using strong acid or mordant to cut into the unprotected
parts of a metal surface to create a design in intaglio in the
metal (the original processin modern manufacturing other chemicals
may be used on other types of material). As an intaglio method of
printmaking, it is, along with engraving, the most important
technique for old master prints, and remains in wide use today.The
majority of printed circuit boards today are made from purchased
laminate material with copper already applied to both sides. The
unwanted copper is removed by various methods leaving only the
desired copper traces, this is called subtractive. In an additive
method, traces are electroplated onto a bare substrate using a
complex process with many steps. The advantage of the additive
method is less pollution of the environment. The method chosen for
PCB manufacture depends on the desired number of boards to be
produced. Double-sided boards or multi-layer boards use
plated-through holes, called vias, to connect traces on different
layers of the PWB.
Fig 3.1.1 Process of Etching
3.2 DRILLINGHoles through a PCB are typically drilled with
small-diameter drill bits made of solid coated tungsten carbide.
Coated tungsten carbide is recommended since many board materials
are very abrasive and drilling must be high RPM and high feed to be
cost effective. Drill bits must also remain sharp so as not to mar
or tear the traces. Drilling with high-speed-steel is simply not
feasible since the drill bits will dull quickly and thus tear the
copper and ruin the boards. The drilling is performed by automated
drilling machines with placement controlled by a drill tape or
drill file. These computer-generated files are also called
numerically controlled drill (NCD) files or "Excellon files". The
drill file describes the location and size of each drilled hole.
These holes are often filled with annular rings (hollow rivets) to
create vias. Vias allow the electrical and thermal connection of
conductors on opposite sides of the PCB.When very small vias are
required, drilling with mechanical bits is costly because of high
rates of wear and breakage. In this case, the vias may be
evaporated by lasers. Laser-drilled vias typically have an inferior
surface finish inside the hole. These holes are called micro
vias.
Fig 3.2.1 Process of Drilling
3.3 SOLDERINGSoldering is a process in which two or more metal
items are joined together by melting and flowing a filler metal
(solder) into the joint, the filler metal having a lower melting
point than the work piece. Soldering differs from welding in that
soldering does not involve melting the work pieces. In brazing, the
filler metal melts at a higher temperature, but the work piece
metal does not melt. Formerly nearly all solders contained lead,
but environmental concerns have increasingly dictated use of
lead-free alloys for electronics and plumbing purposes.
Fig 3.3.1 Process of Soldering3.4 PRINTED CIRCUIT BOARD
(PCB)Aprinted circuit board mechanically supports and electrically
connects electronic componentsusingconductivetrack, pads and other
featuresetchedfrom copper sheetslaminatedonto a
non-conductivesubstrate. PCBs can besingle sided(one copper
layer),double sided(two copper layers) ormulti-layer. Conductors on
different layers are connected with plated-through holes called
vias. Advanced PCBs may contain components - capacitors, resistors
or active devices - embedded in the substrate.
Printed circuit boards are used in all but the simplest
electronic products. Alternatives to PCBs includewire
wrapandpoint-to-point construction. PCBs require the additional
design effort to lay out the circuit but manufacturing and assembly
can be automated. Manufacturing circuits with PCBs is cheaper and
faster than with other wiring methods as component are mounted and
wired with one single part. Furthermore, operator wiring errors are
eliminated.When the board has only copper connections and no
embedded components it is more correctly called aprinted wiring
board(PWB) oretched wiring board. Although more accurate, the term
printed wiring board has fallen into disuse. A PCB populated with
electronic components is called aprinted circuit
assembly(PCA),printed circuit board assemblyorPCB assembly(PCBA).
TheIPCpreferred term for assembled boards iscircuit card
assembly(CCA), for assembledbackplanesit isbackplane assemblies.
The term PCB is used informally both for bare and assembled boards.
Today printed wiring (circuit) boards are used in virtually all but
the simplest commercially produced electronic devices, and allow
fully automated assembly processes that were not possible or
practical in earlier era tag type circuit assembly processes.
Fig 3.4.1 PCB of War Field Spy Robot
CHAPTER-4IMPLEMENTATIONS AND RESULTS4.1 SOFTWARE USED-Micro
C/OS-II(commonly termed asC/OS-IIoruC/OS-II), is the acronym for
Micro-Controller Operating Systems Version 2. It is a
priority-basedpre-emptivereal-timemultitaskingoperating system
kernelformicroprocessors, written mainly in the Cprogramming
language. It is intended for use inembedded systems. Its features
are: It is a very small real-time kernel. Memory footprint is about
20KB for a fully functional kernel. Source code is written mostly
in ANSI C. Highly portable, ROM able, very scalable, preemptive
real-time, deterministic, multitasking kernel. It can manage up to
64 tasks (56 user tasks available). It has connectivity with C/GUI
and C/FS (GUI and File Systems for C/OS II). It is ported to more
than 100 microprocessors and microcontrollers. It is simple to use
and simple to implement but very effective compared to the
price/performance ratio. It supports all type of processors from
8-bit to 64-bit.Micro C/OS-II is the second generation of a kernel
originally published (withsource code) in a two-part 1992 article
in Embedded Systems Programmingmagazine and the bookC/OS The
Real-Time Kernelby Jean J. Labrosse (ISBN 0-87930-444-8). The
author intended at first to simply describe the internals of a
portable operating system he had developed for his own use, but
later developed the OS as a commercial product.C/OS-II is currently
maintained byMicrium Inc.and can be licensed per product or per
product line. Use of the operating system is free for educational
non-commercial use. Additionally, Micrium provides other middleware
software products such as C/CAN, C/FL, C/FS, C/GUI, C/Modbus,
C/TCP-IP, C/USB and a large assortment of C/TCP-IP applications
such as client software for DHCP, POP3, SNTP, FTP, TFTP, DNS, SMTP,
and TTCP. Server software includes HTTP, FTP, and TFTP. PPP is also
available.Ports-C/OS-II has ports for most popular processors and
boards in the market and is suitable for use insafety
criticalembedded systems such as aviation, medical systems and
nuclear installations.
4.2. BLOCK DIAGRAM-
Fig 4.2.1 Block Diagram of setup of wireless robotBlock diagram
shows the whole setup of the project. This robot is Bluetooth
operated; self- powered, and has all the controls like a normal
car. A wireless camera has been installed on it, so that it can
monitor enemy remotely when required. This robot can silently enter
into enemy area and send us all the information through its tiny
Camera eyes. A shooting gun mechanism has been mounted on the top
of the robot for shooting the enemies. Gripper is used to pick up
the bomb and placed it in safe place for the disposal through
shooting gun. A temperature module is used to detect the
temperature, whether it is increasing or not. A metal detector is
used to detect whether the bomb is implanted in the ground on
detecting metal it will glow up the LED which should be seen by the
camera in the control room. All this controlling of the robot is
done by android application.
4.2 CIRCUIT DIAGRAM
Fig 4.2.1 Circuit Diagram of robot
4.3 PROGRAMMINGThe programing of the microcontroller is done on
the software mikroC. mikroCPRO for PIC is a full-featured ANSI C
compiler for PIC devices from Microchip. It is the best solution
for developing code for PIC devices. It features intuitive IDE,
powerful compiler withadvanced optimizations, lots of hardware and
software libraries, and additional tools that will help you in your
work. Compiler comes with comprehensive help file and lots of
ready-to-use examples designed to get you started in no time.mikroC
is the software that has been designed to program for the PIC
family of microcontroller. The programing file has been saved as a
hex file. The microcontroller has been burned by the universal
programmer in which hex file has been taken as an input file. The
hardware implementation should be done according to the programming
done in the microcontroller. All the interfacing of all the
components has been done on the proteus software. It will help in
designing the whole interfacing in the running condition. The
circuit schematic has been designed in Xpress PCB. PCB will be
fabricated by following the procedural steps of fabrication.
PROGRAM-char uart_rd;void main() {TRISB=0;PORTB=0;
USART_init(9600); delay_ms(100) ; while (1) { if
(USART_Data_Ready()) { uart_rd=USART_Read(); if (uart_rd=='W'){
portb.f0=1; } if (uart_rd=='w'){ portb.f0=0; } if (uart_rd=='U'){
portb.f6=1; portb.f7=0; } if (uart_rd=='u'){ portb.f6=0;
portb.f7=1; } if (uart_rd=='F') { portb.f2=1; portb.f3=0;
portb.f4=0; portb.f5=1; } if (uart_rd=='B') { portb.f2=0;
portb.f3=1; portb.f4=1;
portb.f5=0; } if (uart_rd=='R') { portb.f2=1; portb.f3=0;
portb.f4=1; portb.f5=0; } if (uart_rd=='L') { portb.f2=0;
portb.f3=1; portb.f4=0; portb.f5=1; } if (uart_rd=='S') {
portb.f2=1; portb.f3=1; portb.f4=1; portb.f5=1; portb.f6=1;
portb.f7=1; } } } 4.4 WORKINGIn War Field Spy Robot first we will
provide the power supply of 5V to the microcontroller unit. Voltage
regulator is used for increasing, decreasing the voltage to the
microcontroller. Android mobile is used as a transmitter/receiver
for control unit. Controlling of the war field is done by the
android mobile. Android mobile is interfaced with the
microcontroller by a Bluetooth module. All the signals from the
transmitter part of mobile will be transmitted to the receiver
module that has been mounted on the robot, and will be accessed
with a four digit password. Without intervention of the password no
one will access the robot. All the audio video information from the
wireless camera has been transmitted to the control unit securely
and can be seen on the screen in the control room. With the help of
controlling device i.e. Android app we can control the movements of
robot respectively in forward & backward direction. The
shooting gun mechanism is done by the controlling device i.e.
android mobile. Whenever any metal has been disposed underground,
the metal detector will detect the presence of metal & will
glow up the light emitting diode. Gripper is used to pick up the
bomb for disposing in the safe place and with the help of laser we
will dispose it.4.5 RESULT-At last we designed a robot that is
capable of fight in terror attacks to reduce human causalities. It
should meet our combatant needs. As we know that human life and
time is priceless. So we have taken an initiative to design a robot
that should be in position to provide stability to the
military.
CHAPTER-5CONCLUSIONS & FUTURE SCOPE5.1 CONCLUSIONAs we all
know, these days India is sick off massive terror attacks, bomb
explosions at plush resorts. To avoid such disasters Technological
power must exceed Human power. Human life and time are priceless.
Its our onus to take an initiative to design a model of an apt
robot that meets combatant needs. So to avoid terror attacks, to
ensure more security at the border and high density areas its wise
to maintain a world class military technology in accordance with
combatant needs. Even every nation needs its own defense system for
their integrity and security. In such a way construction of these
robots will carry nations name, fame globally5.2 APPLICATIONS
Wireless security and surveillance in hot spots. Search and rescue
operation. Maneuvering in hazardous environment. Can be adequately
implemented in national defense through military-industrial
partnership. Installation of combat robots in the stadiums, sacred
places, and government and non-government organizations assures top
security. Used in bomb disposal by water bullet, surface depth
& edge detection, having night vision lights, metal detection,
gas leakage detection, temperature detection.
5.2 FUTURE SCOPEThe use ofrobotsinwarfare, although
traditionally a topic forscience fiction, is being researched as a
possible future means of fighting wars. Already several military
robots have been developed by various armies.Some believe the
future of modern warfare will be fought by automated weapons
systems.TheU.S. Militaryis investing heavily in research and
development
towards testing and deploying increasingly automated systems.
The most prominent system currently in use is the unmanned aerial
vehicle (IAI Pioneer&RQ-1 Predator) which can be armed
withAir-to-ground missilesand remotely operated from a command
center in reconnaissance roles.The field of artillery has also seen
some promising research with an experimental weapons system named
"Dragon Fire II" which automates the loading and ballistics
calculations required for accurate predicted fire, providing a 12
second response time tofire supportrequests. However, weapons of
warfare have one limitation in becoming fully autonomous: they
require human input at certain intervention points to ensure that
targets are not within restricted fire areas as defined by Geneva
Conventions for thelaws of war.There have been some developments
towards developing autonomous fighter jets and bombers. The use of
autonomous fighters and bombers to destroy enemy targets is
especially promising because of the lack of training required for
robotic pilots, autonomous planes are capable of performing
maneuvers which could not otherwise be done with human pilots (due
to high amount ofG-Force), plane designs do not require a life
support system, and a loss of a plane does not mean a loss of a
pilot. However, the largest draw back to robotics is their
inability to accommodate for non-standard conditions. Advances
inartificial intelligencein the near future may help to rectify
this. To avoid such disasters Technological power must exceed Human
power. Human life and time are priceless. Its our onus to take an
initiative to design a model of an apt robot that meets combatant
needs. So to avoid terror attacks, to ensure more security at the
border and high density areas its wise to maintain a world class
military technology in accordance with combatant needs.
CHAPTER-6BIBLIOGRAPHY6.1 REFERENCES[1].
http://en.wikipedia.org/wiki/PIC_microcontroller.[2].
www.microchip.com/downloads/en/devicedoc/35007b.pdf[3].
users.ece.utexas.edu/~valvano/Datasheets/L293d.pdf[4].
www.ti.com/lit/ds/symlink/lm35.pdf[5]. www.ti.com/lit/gpn/lm345[6].
www.electronicaestudio.com/docs/istd016A.pdf[7]. T. S. Rappaport,
Wireless Communications: Principles and Practice, Upper Saddle
River, NJ: Prentice Hall, 1996 [8]. Sanjeev Gupta, Electronic
Devices and Circuits S. Chand Publication, Second Edition[9]. A. P.
Malvino Electronic Principals Tata McGraw Hill Publication, Second
Edition.[10] .www.electronicaestudio.com/docs/istd016A.pdf
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