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PROJECT REPORT ON
ENVIRONMENT MONITORING ROBOT
DIPLOMA IN
SUBMITTED BY
UNDER THE GUIDANCE OF
PROF. J. ABC
SHREERAM POLYTECHNIC
CIDCO, SEC-3, AIROLI, NAVI MUMBAI-400708
FEBRUARY 2010
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CERTIFICATE
This is to certify that Mr./Ms._________________________________________(PRN:
________________) has successfully completed a project entitled Industry
Manpower and A Resource Organisation in partial fulfillment for the requirement of
B.TECH IN MECHANICAL ENGINEERING (MLEP) 9TH SEM.
Signature with Date
Project Guide SC Coordinator
Internal Examiner External Examiner
ACKNOWLEDGEMENT
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I would like to take this opportunity to express my gratitude towards all the people
who have in various ways, helped in the successful completion of my project.
I must convey my gratitude to Prof. Mathews for giving me the constant
source of inspiration and help in preparing the project, personally correcting
my work and providing encouragement throughout the project.
I also thank all my faculty members for steering me through the tough as well as
easy phases of the project in a result oriented manner with concern attention.
Thanking You,
________________
Abstract
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Embedded systems have grown tremendously in recent years, not only in their
popularity but also in their complexity. Gadgets are increasingly becoming
intelligent and autonomous. Refrigerators, air-conditioners, automobiles, mobilephones etc are some of the common examples of devices with built in intelligence.
These devices function based on operating and environmental parameters.
A robot is a virtual ormechanicalartificial agent. In practice, it is usually an
electro-mechanical machine which is guided by computer or electronic
programming, and is thus able to do tasks on its own. Another common
characteristic is that by its appearance or movements, a robot often conveys a sense
that it has intent oragency of its own.
The main principle behind this project is to develop a robot which will be
able to monitor the environmental conditions like temperature and humidity with a
wireless control.
http://en.wikipedia.org/wiki/Virtualhttp://en.wikipedia.org/wiki/Mechanicalhttp://en.wikipedia.org/wiki/Artificial_agenthttp://en.wikipedia.org/wiki/Electromechanicshttp://en.wikipedia.org/wiki/Intentionhttp://en.wikipedia.org/wiki/Agency_(philosophy)http://en.wikipedia.org/wiki/Virtualhttp://en.wikipedia.org/wiki/Mechanicalhttp://en.wikipedia.org/wiki/Artificial_agenthttp://en.wikipedia.org/wiki/Electromechanicshttp://en.wikipedia.org/wiki/Intentionhttp://en.wikipedia.org/wiki/Agency_(philosophy)8/6/2019 Project Report on Environment Monitoring Robot
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INDEX
SR.NOSR.NO TITLE PG.NO
1)1) INTRODUCTION1
2)2) BLOCK DIAGRAM5
3)3) CIRCUIT DIAGRAM8
4)4) COMPONENT LIST11
5)5) WORKING OF CIRCUIT
13
6)6) SOFTWARE DEVELOPMENT15
7)7) FARICATION OF PCB22
8)8) ADVANTAGES & DISADVANTAGES27
9)9) APPLICATION29
10)10) FUTURE MODIFICATION31
11)11) DATA SHEET33
12)12) BIBLOGRAPHY48
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Chapter 1
INTRODUCTIONINTRODUCTION
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INTRODUCTION
This project mainly deals with acquisition of temperature, Humidity, light byusing temperature and Humidity sensor (SHT11) interfaced with Micro controller.
The peripherals equipped here are micro controller, Temperature and humidity
sensor, power supply unit, A/D converter.
India is an agriculture dependent country where 70% of the people are
dependent on agriculture and allied activities. There are huge variations in
topography and climatic zones resulting in different rainfall, timing of the rainfall
and others.
Agriculture planning, monitoring and support need accurate weather data.
Central agencies use data from different sources to collect weather data and
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develop weather forecasts and lend advice to various agencies involved in support
operations for agriculture and allied fields. At present weather monitoring, forecast
in India is very inadequate in terms of coverage, quality and its application for day-
to-day use by the ultimate beneficiary. The weather forecast too general and cover
many times Lakhs of squire kilometers and looses any sense of practical
application to the farmers and others on when they want to decide to seed, spray
pesticide or apply water or when to harvest etc.
The main reasons for this lacuna are the centralized weather monitoring
systems (Hyderabad or Bombay), lack of weather conscious field staff, low quality
crude manual equipment and others and lack of research discipline. Very few
institutions like ICRISAT and others are using digital weather stations
Introduction to Robotics
Structure
The structure of a robot is usually mostly mechanical and can be called a kinematic
chain (its functionality being similar to the skeleton of the human body). The chain
is formed of links (its bones), actuators (its muscles), and joints which can allow
one or more degrees of freedom. Most contemporary robots use open serial chains
in which each link connects the one before to the one after it. These robots are
called serial robots and often resemble the human arm. Some robots, such as theStewart platform, use a closed parallel kinematical chain. Other structures, such as
those that mimic the mechanical structure of humans, various animals, and insects,
are comparatively rare. However, the development and use of such structures in
robots is an active area of research (e.g. biomechanics). Robots used as
3
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manipulators have an end effector mounted on the last link. This end effector can
be anything from a welding device to a mechanical hand used to manipulate the
environment. The world's biggest robot, 700-ton robotic dump truck capable of
hauling 240 tons of earth at a time, served as the model for the character Long
Haul in the Transformers series
Power source
At present; mostly (lead-acid)batteries are used, but potential power sources could
be:
pneumatic (compressed gases)
hydraulics (compressed liquids)
flywheel energy storage
organic garbages (through anaerobic digestion)
feces (human, animal); may be interesting in a military context as feces of
small combat groups may be reused for the energy requirements of the robot
assistant (see DEKA's project Slingshot stirling engine on how the system
would operate)
still untested energy sources (eg Joe Cell, ...)
radioactive source (such as with the proposed Ford car of the '50); to those
proposed in movies such as Red Planet
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Actuation
A robot leg powered by Air Muscles
Actuators are the "muscles" of a robot, the parts which convert stored energy into
movement. By far the most popular actuators are electric motors, but there are
many others, powered by electricity, chemicals, and compressed air.
Motors: The vast majority of robots use electric motors, including brushed
and brushless DC on many robots and CNC machines, as their main can
specify how much to turn, for more precise control, rather than a "spin and
see where it went" approach.
Piezo motors: A recent alternative to DC motors arepiezo motors or
ultrasonic motors. These work on a fundamentally different principle,
whereby tinypiezoceramic elements, vibrating many thousands of times per
second, cause linear or rotary motion. There are different mechanisms of
operation; one type uses the vibration of the piezo elements to walk the
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http://en.wikipedia.org/wiki/Musclehttp://en.wikipedia.org/wiki/Potential_energyhttp://en.wikipedia.org/wiki/Electric_motorhttp://en.wikipedia.org/wiki/Numerical_controlhttp://en.wikipedia.org/wiki/Piezoelectric_motorhttp://en.wikipedia.org/wiki/Ultrasonic_motorhttp://en.wikipedia.org/wiki/Piezoelectricityhttp://en.wikipedia.org/wiki/File:2005-11-14_ShadowLeg_Finished_medium.jpghttp://en.wikipedia.org/wiki/File:2005-11-14_ShadowLeg_Finished_medium.jpghttp://en.wikipedia.org/wiki/Musclehttp://en.wikipedia.org/wiki/Potential_energyhttp://en.wikipedia.org/wiki/Electric_motorhttp://en.wikipedia.org/wiki/Numerical_controlhttp://en.wikipedia.org/wiki/Piezoelectric_motorhttp://en.wikipedia.org/wiki/Ultrasonic_motorhttp://en.wikipedia.org/wiki/Piezoelectricity8/6/2019 Project Report on Environment Monitoring Robot
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motor in a circle or a straight line.[12] Another type uses the piezo elements to
cause a nut to vibrate and drive a screw. The advantages of these motors are
nanometerresolution, speed, and available force for their size.[13] These
motors are already available commercially, and being used on some robots.[14][15]
Elastic nanotubes: These are a promising, early-stage experimental
technology. The absence of defects in nanotubes[disambiguation needed] enables these
filaments to deform elastically by several percent, with energy storage levels
of perhaps 10 J/cm3 for metal nanotubes. Human biceps could be replaced
with an 8 mm diameter wire of this material. Such compact "muscle" might
allow future robots to outrun and outjump humans.[16]
Sensing
Touch
Current robotic and prosthetic hands receive far less tactile information than the
human hand. Recent research has developed a tactile sensor array that mimics the
mechanical properties and touch receptors of human fingertips.[17],[18] The sensor
array is constructed as a rigid core surrounded by conductive fluid contained by an
elastomeric skin. Electrodes are mounted on the surface of the rigid core and are
connected to an impedance-measuring device within the core. When the artificial
skin touches an object the fluid path around the electrodes is deformed, producing
impedance changes that map the forces received from the object. The researchersexpect that an important function of such artificial fingertips will be adjusting
robotic grip on held objects.
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http://en.wikipedia.org/wiki/Robotics#cite_note-11http://en.wikipedia.org/wiki/Nanometrehttp://en.wikipedia.org/wiki/Robotics#cite_note-12http://en.wikipedia.org/wiki/Robotics#cite_note-13http://en.wikipedia.org/wiki/Robotics#cite_note-14http://en.wikipedia.org/wiki/Nanotubehttp://en.wikipedia.org/wiki/Wikipedia:WikiProject_Disambiguation/Fixing_linkshttp://en.wikipedia.org/wiki/Wikipedia:WikiProject_Disambiguation/Fixing_linkshttp://en.wikipedia.org/wiki/Joulehttp://en.wikipedia.org/wiki/Robotics#cite_note-15http://en.wikipedia.org/wiki/Robotics#cite_note-16http://en.wikipedia.org/wiki/Robotics#cite_note-17http://en.wikipedia.org/wiki/Robotics#cite_note-11http://en.wikipedia.org/wiki/Nanometrehttp://en.wikipedia.org/wiki/Robotics#cite_note-12http://en.wikipedia.org/wiki/Robotics#cite_note-13http://en.wikipedia.org/wiki/Robotics#cite_note-14http://en.wikipedia.org/wiki/Nanotubehttp://en.wikipedia.org/wiki/Wikipedia:WikiProject_Disambiguation/Fixing_linkshttp://en.wikipedia.org/wiki/Joulehttp://en.wikipedia.org/wiki/Robotics#cite_note-15http://en.wikipedia.org/wiki/Robotics#cite_note-16http://en.wikipedia.org/wiki/Robotics#cite_note-178/6/2019 Project Report on Environment Monitoring Robot
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Manipulation
Robots which must work in the real world require some way to manipulate objects;
pick up, modify, destroy, or otherwise have an effect. Thus the 'hands' of a robot
are often referred to as end effectors,[19] while the arm is referred to as a
manipulator.[20] Most robot arms have replaceable effectors, each allowing them to
perform some small range of tasks. Some have a fixed manipulator which cannot
be replaced, while a few have one very general purpose manipulator, for example a
humanoid hand.
Mechanical Grippers: One of the most common effectors is the gripper. Inits simplest manifestation it consists of just two fingers which can open and
close to pick up and let go of a range of small objects. See industrial robot
end effectors.
Vacuum Grippers: Pick and place robots for electronic components and for
large objects like car windscreens, will often use very simple vacuum
grippers. These are very simple astrictive[21] devices, but can hold very large
loads provided theprehension surface is smooth enough to ensure suction.
General purpose effectors: Some advanced robots are beginning to use
fully humanoid hands, like the Shadow Hand, MANUS,[22] and the Schunk
hand.[23] These highly dexterous manipulators, with as many as 20 degrees of
freedom and hundreds of tactile sensors.[24]
For the definitive guide to all forms of robot endeffectors, their design, and usageconsult the book "Robot Grippers".
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http://en.wikipedia.org/wiki/Robotics#cite_note-18http://en.wikipedia.org/wiki/Robotics#cite_note-19http://en.wikipedia.org/wiki/Industrial_robot_end_effectorhttp://en.wikipedia.org/wiki/Industrial_robot_end_effectorhttp://en.wikipedia.org/wiki/Robotics#cite_note-20http://en.wikipedia.org/wiki/Prehensilityhttp://en.wikipedia.org/wiki/Robotics#cite_note-21http://en.wikipedia.org/wiki/Robotics#cite_note-22http://en.wikipedia.org/wiki/Degrees_of_freedom_(mechanics)http://en.wikipedia.org/wiki/Degrees_of_freedom_(mechanics)http://en.wikipedia.org/wiki/Robotics#cite_note-23http://en.wikipedia.org/wiki/Robotics#cite_note-18http://en.wikipedia.org/wiki/Robotics#cite_note-19http://en.wikipedia.org/wiki/Industrial_robot_end_effectorhttp://en.wikipedia.org/wiki/Industrial_robot_end_effectorhttp://en.wikipedia.org/wiki/Robotics#cite_note-20http://en.wikipedia.org/wiki/Prehensilityhttp://en.wikipedia.org/wiki/Robotics#cite_note-21http://en.wikipedia.org/wiki/Robotics#cite_note-22http://en.wikipedia.org/wiki/Degrees_of_freedom_(mechanics)http://en.wikipedia.org/wiki/Degrees_of_freedom_(mechanics)http://en.wikipedia.org/wiki/Robotics#cite_note-238/6/2019 Project Report on Environment Monitoring Robot
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Locomotion
Rolling robots
For simplicity, most mobile robots have fourwheels. However, some researchers
have tried to create more complex wheeled robots, with only one or two wheels.
Two-wheeled balancing: While the Segway is not commonly thought of as
a robot, it can be thought of as a component of a robot. Several real robots
do use a similar dynamic balancing algorithm, andNASA's Robonaut has
been mounted on a Segway.[26]
Ballbot:Carnegie Mellon University researchers have developed a new type
of mobile robot that balances on a ball instead of legs or wheels. "Ballbot" is
a self-contained, battery-operated, omnidirectional robot that balances
dynamically on a single urethane-coated metal sphere. It weighs 95 pounds
and is the approximate height and width of a person. Because of its long,
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http://en.wikipedia.org/wiki/Wheelhttp://en.wikipedia.org/wiki/Segway_PThttp://en.wikipedia.org/wiki/NASAhttp://en.wikipedia.org/wiki/NASAhttp://en.wikipedia.org/wiki/Robonauthttp://en.wikipedia.org/wiki/Robotics#cite_note-25http://en.wikipedia.org/wiki/Ballbothttp://en.wikipedia.org/wiki/Carnegie_Mellon_Universityhttp://en.wikipedia.org/wiki/Ballbothttp://en.wikipedia.org/wiki/File:Segway_01.JPGhttp://en.wikipedia.org/wiki/Wheelhttp://en.wikipedia.org/wiki/Segway_PThttp://en.wikipedia.org/wiki/NASAhttp://en.wikipedia.org/wiki/Robonauthttp://en.wikipedia.org/wiki/Robotics#cite_note-25http://en.wikipedia.org/wiki/Ballbothttp://en.wikipedia.org/wiki/Carnegie_Mellon_Universityhttp://en.wikipedia.org/wiki/Ballbot8/6/2019 Project Report on Environment Monitoring Robot
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thin shape and ability to maneuver in tight spaces, it has the potential to
function better than current robots can in environments with people.[27]
Track Robot: Another type of rolling robot is one that has tracks, like
NASA's Urban Robot, Urbie.
Walking robots
Walking is a difficult and dynamic problem to solve. Several robots have been
made which can walk reliably on two legs, however none have yet been made
which are as robust as a human. Many other robots have been built that walk on
more than two legs, due to these robots being significantly easier to construct.[29][30]
Hybrids too have been proposed in movies such as I, Robot, where they walk on 2
legs and switch to 4 (arms+legs) when going to a sprint. Typically, robots on 2 legs
can walk well on flat floors, and can occasionally walk up stairs. None can walk
over rocky, uneven terrain. Some of the methods which have been tried are:
ZMP Technique: The Zero Moment Point (ZMP) is the algorithm used by
robots such as Honda's ASIMO. The robot's onboard computer tries to keep
the total inertial forces (the combination of earth's gravity and the
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acceleration and deceleration of walking), exactly opposed by the floor
reaction force (the force of the floor pushing back on the robot's foot). In this
way, the two forces cancel out, leaving no moment (force causing the robot
to rotate and fall over).[31] However, this is not exactly how a human walks,
and the difference is quite apparent to human observers, some of whom have
pointed out that ASIMO walks as if it needs the lavatory.[32][33][34] ASIMO's
walking algorithm is not static, and some dynamic balancing is used (See
below). However, it still requires a smooth surface to walk on.
Hopping: Several robots, built in the 1980s by Marc Raibert at the MIT Leg
Laboratory, successfully demonstrated very dynamic walking. Initially, a
robot with only one leg, and a very small foot, could stay upright simply by
hopping. The movement is the same as that of a person on apogo stick. As
the robot falls to one side, it would jump slightly in that direction, in order to
catch itself.[35] Soon, the algorithm was generalised to two and four legs. A
bipedal robot was demonstrated running and even performing somersaults.
[36] A quadruped was also demonstrated which could trot, run,pace, and
bound.[37] For a full list of these robots, see the MIT Leg Lab Robots page.
Dynamic Balancing or controlled falling: A more advanced way for a robot
to walk is by using a dynamic balancing algorithm, which is potentially
more robust than the Zero Moment Point technique, as it constantly monitors
the robot's motion, and places the feet in order to maintain stability.[38] This
technique was recently demonstrated by Anybots' Dexter Robot,[39] which is
so stable, it can even jump.[40] Another example is the TU Delft Flame.
Passive Dynamics: Perhaps the most promising approach utilizespassive
dynamics where the momentum of swinging limbs is used for greater
efficiency. It has been shown that totally unpowered humanoid mechanisms
can walk down a gentle slope, using only gravity to propel themselves.
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http://en.wikipedia.org/wiki/Accelerationhttp://en.wikipedia.org/wiki/Reaction_(physics)http://en.wikipedia.org/wiki/Moment_(physics)http://en.wikipedia.org/wiki/Robotics#cite_note-30http://en.wikipedia.org/wiki/Toilethttp://en.wikipedia.org/wiki/Robotics#cite_note-31http://en.wikipedia.org/wiki/Robotics#cite_note-32http://en.wikipedia.org/wiki/Robotics#cite_note-33http://en.wikipedia.org/wiki/Marc_Raiberthttp://en.wikipedia.org/wiki/Massachusetts_Institute_of_Technologyhttp://en.wiktionary.org/wiki/hophttp://en.wikipedia.org/wiki/Pogo_stickhttp://en.wikipedia.org/wiki/Robotics#cite_note-34http://en.wikipedia.org/wiki/Somersaulthttp://en.wikipedia.org/wiki/Robotics#cite_note-35http://en.wikipedia.org/wiki/Quadrupedalismhttp://en.wikipedia.org/wiki/Trot_(horse_gait)http://en.wikipedia.org/wiki/Horse_gait#Pacehttp://en.wikipedia.org/wiki/Robotics#cite_note-36http://www.ai.mit.edu/projects/leglab/robots/robots-main-bottom.htmlhttp://en.wikipedia.org/wiki/Robotics#cite_note-37http://en.wikipedia.org/wiki/Robotics#cite_note-37http://en.wikipedia.org/wiki/Trevor_Blackwellhttp://en.wikipedia.org/wiki/Robotics#cite_note-38http://en.wikipedia.org/wiki/Robotics#cite_note-39http://en.wikipedia.org/wiki/Flame_(robot)http://en.wikipedia.org/wiki/Passive_dynamicshttp://en.wikipedia.org/wiki/Passive_dynamicshttp://en.wikipedia.org/wiki/Passive_dynamicshttp://en.wikipedia.org/wiki/Momentumhttp://en.wikipedia.org/wiki/Efficient_energy_usehttp://en.wikipedia.org/wiki/Gravitationhttp://en.wikipedia.org/wiki/Accelerationhttp://en.wikipedia.org/wiki/Reaction_(physics)http://en.wikipedia.org/wiki/Moment_(physics)http://en.wikipedia.org/wiki/Robotics#cite_note-30http://en.wikipedia.org/wiki/Toilethttp://en.wikipedia.org/wiki/Robotics#cite_note-31http://en.wikipedia.org/wiki/Robotics#cite_note-32http://en.wikipedia.org/wiki/Robotics#cite_note-33http://en.wikipedia.org/wiki/Marc_Raiberthttp://en.wikipedia.org/wiki/Massachusetts_Institute_of_Technologyhttp://en.wiktionary.org/wiki/hophttp://en.wikipedia.org/wiki/Pogo_stickhttp://en.wikipedia.org/wiki/Robotics#cite_note-34http://en.wikipedia.org/wiki/Somersaulthttp://en.wikipedia.org/wiki/Robotics#cite_note-35http://en.wikipedia.org/wiki/Quadrupedalismhttp://en.wikipedia.org/wiki/Trot_(horse_gait)http://en.wikipedia.org/wiki/Horse_gait#Pacehttp://en.wikipedia.org/wiki/Robotics#cite_note-36http://www.ai.mit.edu/projects/leglab/robots/robots-main-bottom.htmlhttp://en.wikipedia.org/wiki/Robotics#cite_note-37http://en.wikipedia.org/wiki/Trevor_Blackwellhttp://en.wikipedia.org/wiki/Robotics#cite_note-38http://en.wikipedia.org/wiki/Robotics#cite_note-39http://en.wikipedia.org/wiki/Flame_(robot)http://en.wikipedia.org/wiki/Passive_dynamicshttp://en.wikipedia.org/wiki/Passive_dynamicshttp://en.wikipedia.org/wiki/Momentumhttp://en.wikipedia.org/wiki/Efficient_energy_usehttp://en.wikipedia.org/wiki/Gravitation8/6/2019 Project Report on Environment Monitoring Robot
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Using this technique, a robot need only supply a small amount of motor
power to walk along a flat surface or a little more to walk up a hill. This
technique promises to make walking robots at least ten times more efficient
than ZMP walkers, like ASIMO.
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Chapter 2
BLOCK DIAGRAMBLOCK DIAGRAM
Block Diagram
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PC
13
Micro Controller
89C51
LDR
+
LM35
ADC
0809
MAX232
SYHS-
220
Rf RX
+RELAY
MOTOR
Rf
TRANSM
ITTER
Rf
RECEIVE
R
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Chapter 3
CIRCUITCIRCUITDIAGRAMDIAGRAM
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CIRCUIT DIAGRAM
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ARTWORKARTWORK
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Chapter 4
COMPONENTCOMPONENTLISTLIST
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COMPONENT LIST
SR.No Description Qty. Price
1 Transmitter / receiver pair 1 2000
2 RELAY 4 1000
3 MCU-89c2051 1 70
4 Voltage regulator IC 7805 1 10
5 Capacitor 1uF 1 1
6 LED 4 4
7 Resistors 3 38 10uf capacitors 1 5
9 IC Base 3 15
10 PCB 1 250
11 Wires 2 25
12 Solder wire 1 25
13 HT12E/D 1 280
14 Battery 9v 2 50
17 Connector strip 1 2518 DC MOTOR 2 300
19 WHEELS 2 50
20 CHASSIS 1 100
21 ACRYLIC SHEET 1 60`
22 LM35 TEMP SENSOR 1 50
23 SYHSS HUMIDITY SENSOR 1 500
24 LDR 1 25
25 MAX232 1 15MISC 1 1000
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Chapter 5
WORKING OFWORKING OF
CIRCUITCIRCUIT
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PowerRating
How high of a voltage can you over apply to a motor? Well, all motors are (or at least should be)
rated at a certain wattage. Wattage is energy. Innefficieny of energy conversion directly relates to
heat output. Too much heat, the motor coils melt. So the manufacturers of [higher quality]
motors know how much wattage will cause motor failure, and post this on the motor spec sheets.
Do experimental tests to see how much current your motor will draw at a desired voltage.
The equation is:
Power (watts) = Voltage * Current
Stepper Motor
Stepper Motors work under a very similar principle to DC motors, except they have many coils
instead of just one. So to operate a stepper motor, one must activitate these different coils in
particular patterns to generate motor rotation. So stepper motors need to be sent patterned
commands to rotate. These commands are sent as high and low logic over several lines, and
must be pulsed in a particular order and combination. Steppers are often used because each
'step,' separated by a set step angle, can be counted and used for feedback control. For example,
a 10 degree step angle stepper motor would require 36 commands to rotate 360 degrees.
However external torque can force movement to a different step, invalidating feedback.
Therefore external torque must never exceed the holding torque of a stepper.
Notes on Stepper Motors
Stepper motors can be easily found in any 3.5" disk drive
Require special stepper motor controllers
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Have a set resolution, higher resolutions mean higher accuracy but lower holding
torque
If torque applied to stepper is greater than holding torque, stepper will lose accurate
position measurements
Voltage
Polarized (current cannot be reversed)
Typically from 5-12V, but can range to extremes in special application motors
Higher voltages generally mean more torque, but also require more power
Steppers can run above or below rated voltage (to meet other design requirements)
Most efficient at rated voltage
Current
When buying a motor, consider stall, holding, and operating current (max and
minimum)
Stall Current - The current a stepper motor requires when powered but held so that it
does not rotate
Holding Current - The current a stepper motor requires when powered but not
signaled to rotate
Operating Current - The current draw when a stepper motor experiences zero
resistance torque
It is best to determine current curves relating voltage, current, and required torque for
optimization
When a stepper motor experiences a change in torque (such as motor reversal) expect
short lived current spikes
Current spikes can be up to 2x the stall current, and can fry control circuitry if
unprotected
Use diodes to prevent reverse current to your circuitry
Check power ratings of your circuitry and use heat sinks if needed
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Power (Voltage x Current)
Running motors close to stall current often, or reversing current often under high
torque, can cause motors to melt
Heat sink motors if not avoidable
Torque
When buying a stepper motor, consider stall and operating torque (max and
minimum)
Stall Torque - The torque a stepper motor requires when powered but held so that it
does not rotate
Holding Torque - The torque a stepper motor requires when powered but not
signaled to rotate
Operating Torque - The torque a stepper motor can apply when experiencing zero
resistance torque
Changing voltage will change torque
Servo Motor
Servos are DC motors with built in gearing and feedback control loop circuitry. And no motor
drivers required!
Servos are extremely popular with robot, RC plane, and RC boat builders. Most servo motors can
rotate about 90 to 180 degrees. Some rotate through a full 360 degrees or more. However, servos
are unable to continually rotate, meaning they can't be used for driving wheels (unless modified),
but their precision positioning makes them ideal for robot arms and legs, rack and pinion
steering, and sensor scanners to name a few. Since servos are fully self contained, the velocity
and angle control loops are very easy to impliment, while prices remain very affordable. To use a
servo, simply connect the black wire to ground, the red to a 4.8-6V source, and the yellow/white
wire to a signal generator (such as from yourmicrocontroller). Vary the square wave pulse width
from 1-2ms and your servo is now position/velocity controlled.
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The SYHS-220 is a single chip relative humidity and temperature multi sensor
module comprising a calibrated digital output. The device includes a capacitive polymer
sensing element for relative humidity and a band gap temperature sensor. Both are
seamlessly coupled to a 14bit analog to digital converter and a serial interface circuit on the
same chip. This results in superior signal quality, a fast response time and insensitivity to
external disturbances (EMC) at a very competitive price.
Each SYHS-220 is individually calibrated in a precision humidity chamber with a
chilled mirror hygrometer as reference. The calibration coefficients are programmed into the
OTP memory. These coefficients are used internally during measurements to calibrate the
signals from the sensors. The 2-wire serial interface and internal voltage regulation allows
easy and fast system integration. Its tiny size and low power consumption makes it the
ultimate choice for even the most demanding applications.
The device is supplied in either a surface-mountable LCC (Leadless Chip Carrier) or
as a pluggable 4-pin single-in-line type package. Customer specific packaging options may be
available on request.
Each LM35 is individually calibrated in a precision humidity chamber with a chilled
mirror hygrometer as reference. The calibration coefficients are programmed into the OTP
memory. These coefficients are used internally during measurements to calibrate the signals
from the sensors. The 2-wire serial interface and internal voltage regulation allows easy and
fast system integration. Its tiny size and low power consumption makes it the ultimate choice
for even the most demanding applications.
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Chapter 6
SOFTWARESOFTWAREDEVELOPMENTDEVELOPMENT
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PROJECT ORGANIZATION
Software Process Model
The Project team is meeting once a week to discuss the progress made by
each member and to share the relevant information and be documents that
have been prepared. The number of meetings may increase during the final
semester as the team members will have more time.
There are reviews being conducted once a week during the team meetings.
A complete technical review will be conducted at the end of the Design
Phase. There will be reviews conducted at the completion of every testing
phase.
The major milestones to be achieved are as follows:
1. Results of research of existing system and discussions with the Project
leader.
2. Results of interview with experts and team meetings to finalize the
requirements of the software.
3. Results of the Design Phase, which include a number of modeling
diagrams, like the use cases, class diagrams, etc.
4. Results of the first coding phase will be an initial code that will be
then tested.
5. Based on the results of the testing, they code will be reviewed in the
second coding phase.
Tools and Techniques
We will require the following tools:
1. Mikrobasic C compiler
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project will be written. Also, the database will be created during this
phase. Finally, we shall conduct unit tests.
Coding Phase 2: This phase will include a review of the code created
in Phase 1. After the review, the necessary code and database will be
modified to include the results of review.
Testing Phase: We shall be following a testing program that will
involve unit testing, integration testing, and validation testing. More
information will be known after further discussion.
FLOWCHART
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29
START
Initialize All SystemVariables
OFF all Devices
Initialize RF
SEND DATA
T,H,L VALUES
If Received No
Yes
Decode It
DISPLAY
VB
PROGRAM
M
Wait for signal
SWITCH=1 If SW=2
forward back
If SW=3
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C- COMPILER
Project Manager is IDE feature which allows users to manage multiple projects.
Several projects which together make project group may be open at the same time.
Only one of them may be active at the moment. Setting project in active mode is
performed by double click on the desired project in the Project Manager.
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Code Explorer allows you to easily monitor variables, functions, procedures and
other program items. Clicking on the element positions the main window to its
definition line - very useful for finding procedures and other elements in long
units.
Library Manager enables simple handling libraries being used in a project.
Library Manager window lists all libraries (extencion .mcl) which are instantly
stored in the compiler Uses folder. The desirable library is added to the project by
selecting check box next to the library name.
Auto Correct
Auto Correct feature automatically corrects your common typing mistakes. You
can add your own preferences to the list of recognized typos.
Code Templates
You can insert code template by typing the name of the template (for instance,
whileb), followed by CTRL+J; Code Editor automatically generates the desired
code snippet. Or, you can click the button from Code Toolbar and select a template
from the list. You can add your own templates to the list, with no limitations
regarding the contents or size of the code.
Syntax Highlighting
You can configure Editor colors and syntax highlighting to best suit your needs -
from background color to specific keywords.
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PCP.C.B. MAKING
P.C.B. is printed circuit board which is of insulating base with layer of thin
copper-foil.
The circuit diagram is then drawn on the P. C. B. with permanent marker and
then it is dipped in the solution of ferric chloride so that unwanted copper is
removed from the P.C.B., thus leaving components interconnection on the board.
The specification of the base material is not important to know in most of the
application, but it is important to know something about copper foil which is
drawn through a thin slip.
The resistance of copper foil will have an affect on the circuit operation.
Base material is made of lamination layer of suitable insulating material such as
treated paper, fabric; or glass fibers and binding them with resin. Most commonly
used base materials are formed paper bonded with epoxy resin.
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It is possible to obtain a range of thickness between 0.5 mm to 3 mm.
Thickness is the important factor in determining mechanical strength
particularly when the commonly used base material is Formea from
paper assembly.
Physical properties should be self supporting these are surface
resistivity, heat dissipation, dielectric, constant, dielectric strength.
Another important factor is the ability to wishstand high temperature.
DESIGNING THE LAYOUT :
While designing a layout, it must be noted that size of the board should be as
small as possible.
Before starting, all components should be placed properly so that an
accurate measurement of space can be made.
The component should not be mounted very close to each other or far
away from one another and neither one should ignore the fact that some
component reed ventilation, which considerely the dimension of the relay
and transformer in view of arrangement, the bolting arrangement is also
considered.
The layout is first drawn on paper then traced on copper plate which is finalized
with the pen or permanent marker which is efficient and clean with etching.
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The resistivity also depends on the purity of copper, which is highest for low
purity of copper. The high resistance path are always undesired for soldered
connections.
The most difficult part of making an original printed circuit is the conversion from,
theretical circuit diagram into wiring layout. without introducing cross over and
undesirable effect.
Although it is difficult operation, it provides greatent amount of satisfaction
because it is carried out with more care and skill.
The board used for project has copper foil thickness in the range of 25 40 75
microns.
The soldering quality requires 99.99% efficiency.
It is necessary to design copper path extra large. There are two main reasons for
this,
The copper may be required to carry an extra large overall current:-
It acts like a kind of screen or ground plane to minimize the effect of interaction.
The first function is to connect the components together in their right sequence
with minimum need for interlinking i.e. the jumpers with wire connections.
It must be noted, that when layout is done, on the next day it should be dipped in
the solution and board is move continuously right and left after etching perfectly
the board is cleaned with water and is drilled.
After that holes are drilled with 1 mm or 0.8 mm drill. Now the marker on the P.
C. B. is removed.
The Printed Circuit Board is now ready for mounting the components on it.35
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SOLDERING :
For soldering of any joints first the terminal to be soldered are cleaned to remove
oxide film or dirt on it. If required flux is applied on the points to be soldered.
Now the joint to be soldered is heated with the help of soldering iron. Heat
applied should be such that when solder wire is touched to joint, it must melt
quickly.
The joint and the soldering iron is held such that molten solder should flow
smoothly over the joint.
When joint is completely covered with molten solder, the soldering iron is re-
moved.
The joint is allowed to cool, without any movement.
The bright shining solder indicates good soldering.
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In case of dry solder joint, a air gap remains in between the solder matenal and
the joint. It means that soldering is improper. This is removed and again solder-
ing is done.
Thus is this way all the components are soldered on P. C. B.
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Chapter 8
ADVANTAGESADVANTAGES
&&
DISADVANTAGESDISADVANTAGES
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ADVANTAGES:-
1) As all operation is controlled through MICROCONTROLLER
human interfacing is minimized.
2) As human interfacing is minimized maintenance is lowered.
3) Give more accuracy, works continuously & gives consistency.
4) Rugged to withstand heat and additional pressure
DISADVANTAGES:-
1) It only works on programming.
2) It needs to be plugged into the Computer
3) It has a battery life.
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Chapter 9
APPLICATIONAPPLICATION
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APPLICATION:-
1) Weather data acquisition
2) Installation in Railways
3) Commercial buildings for data gathering
4) Scientific data
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Chapter 10
FUTUREFUTURE
MODIFICATIONSMODIFICATIONS
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FUTURE MODIFICATION
1) Integrating GPS for accurate location management.
2) Integrating additional sensors
3) Making it wireless
4) Wind module
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Chapter 11
DATA SHEETDATA SHEET
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The 89C51 microcontroller
The AT89C51 is a low-power, high-performance CMOS 8-bit microcomputer with
4K bytes of Flash programmable and erasable read only memory (PEROM). The device is
manufactured using Phillipss high-density nonvolatile memory technology and is compatible
with the industry-standard MCS-51 instruction set and pin out. The on-chip Flash allows the
program memory to be reprogrammed in-system or by a conventional nonvolatile memory
programmer. By combining a versatile 8-bit CPU with Flash on a monolithic chip, the Phillips
AT89C51 is a powerful microcomputer which provides a highly-flexible and cost-effective
solution to many embedded control applications.
The AT89C51 is designed with static logic for operation down to zero frequency and
supports two Software selectable power saving modes. The Idle Mode stops the CPU while
allowing the RAM, timer/counters, serial port and interrupt system to continue functioning. The
Power-down Mode saves the RAM contents but freezes the oscillator disabling all other chip
functions until the next Hardware reset.
Features of 89C51
Compatible with MCS-51 Products
4K Bytes of In-System Reprogrammable Flash Memory Endurance: 1,000
Write/Erase Cycles
Fully Static Operation: 0 Hz to 24 MHz
Three-level Program Memory Lock
128 x 8-bit Internal RAM
32 Programmable I/O Lines
Two 16-bit Timer/Counters
Six Interrupt Sources
Programmable Serial Channel
Low-power Idle and Power-down Modes
Pin Diagram of 89C51:
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Block Diagram
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Brief Description
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The AT89C51 is a low-power, high-performance CMOS 8-bit microcomputer with
4K bytes of Flash programmable and erasable read only memory (PEROM). The device is
manufactured using Phillipss high-density nonvolatile memory technology and is compatible
with the industry-standard MCS-51 instruction set and pinout. The on-chip Flash allows the
program memory to be reprogrammed in-system or by a conventional nonvolatile memory
programmer. By combining a versatile 8-bit CPU with Flash on a monolithic chip, the Phillips
AT89C51 is a powerful microcomputer which provides a highly-flexible and cost-effective
solution to many embedded control applications.
Pin Description
VCC
Supply voltage.
GND
Ground.
Port 0
Port 0 is an 8-bit open-drain bi-directional I/O port. As an output port, each pin can
sink eight TTL inputs. When 1s are written to port 0 pins, the pins can be used as high
impedance inputs. Port 0 may also be configured to be the multiplexed low order address/data
bus during accesses to external program and data memory. In this mode P0 has internal pull-ups.
Port 0 also receives the code bytes during Flash programming, and outputs the code bytes during
program verification. External pull-ups are required during program verification.
Port 1
Port 1 is an 8-bit bi-directional I/O port with internal pull-ups. The Port 1 output
buffers can sink/source four TTL inputs. When 1s are written to Port 1 pins they are pulled high
by the internal pull-ups and can be used as inputs. As inputs, Port 1 pins that are externally beingpulled low will source current (IIL) because of the internal pull-ups. Port 1 also receives the low-
order address bytes during Flash programming and verification.
Port 2
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Port 2 is an 8-bit bi-directional I/O port with internal pull-ups. The Port 2 output
buffers can sink/source four TTL inputs. When 1s are written to Port 2 pins they are pulled
high by the internal pull-ups and can be used as inputs. As inputs, Port 2 pins that are
externally being pulled low will source current (IIL) because of the internal pull-ups. Port 2
emits the high-order address byte during fetches from external program memory and during
accesses to external data memory that uses 16-bit addresses (MOVX @ DPTR). In this
application, it uses strong internal pull-ups when emitting 1s. During accesses to external
data memory that uses 8-bit addresses (MOVX @ RI), Port 2 emits the contents of the P2
Special Function Register.
Port 2 also receives the high-order address bits and some control signals during Flash
programming and verification.
Port 3
Port 3 is an 8-bit bi-directional I/O port with internal pull-ups. The Port 3 output
buffers can sink/source four TTL inputs. When 1s are written to Port 3 pins they are pulled
high by the internal pull-ups and can be used as inputs. As inputs, Port 3 pins that are
externally being pulled low will source Current (IIL) because of the pull-ups. Port 3 also
serves the functions of various special features of the AT89C51 as listed below:
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Port Pin Alternate Functions
P3.0 RXD (serial input port)
P3.1 TXD (serial output port)
P3.2 INT0 (external interrupt 0)
P3.3 INT1 (external interrupt 1)
P3.4 T0 (timer 0 external input)
P3.5 T1 (timer 1 external input)
P3.6 WR (external data memory write strobe)
P3.7 RD (external data memory read strobe)
Port 3 also receives some control signals for Flash programming and verification.
RST
Reset input. A high on this pin for two machine cycles while the oscillator is running
resets the device.
ALE/PROG
Address Latch Enable output pulse for latching the low byte of the address during
accesses to external memory. This pin is also the program pulse input (PROG) during Flash
programming. In normal operation ALE is emitted at a constant rate of 1/6 the oscillator
frequency, and may be used for external timing or clocking purposes. Note, however, that
one ALE pulse is skipped during each access to external Data Memory. If desired, ALE
operation can be disabled by setting bit 0 of SFR location 8EH. With the bit set, ALE is
active only during a MOVX or MOVC instruction. Otherwise, the pin is weakly pulled high.
Setting the ALE-disable bit has no effect if the microcontroller is in external execution mode.
PSEN
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Chapter 12
BIBILIOGRAPHYBIBILIOGRAPHY
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BIBLOGRAPHY
1) Operational amplifiers : Op-Amps & Linear Integrated Circuits,
By: Ramakant.A.Gayakwad, 3rd edition
Prints Hall International Publication (1996)
2) Electronics for You.
3) www.google.com, www.EFY.com
4) Frank Wahid, Embedded System
5) Muhammad Ali Mazidi, The 8051 Microcontroller and Embedded System
6) V.K. Mehta, Principles of Electronics
7) www.atmel.com
8) www.electronicsforyou.com
9) "Industry Spotlight: Robotics from Monster Career Advice".
http://content.monster.com/articles/3472/18567/1/industry/12/home.aspx. Retrieved
2007-08-26.10) According to the Oxford English Dictionary, the term "robotics" was first used in the
short story "Liar!" published in the May, 1941 issue ofAstounding Science Fiction.
11) "Robotics: About the Exhibition". The Tech Museum of Innovation.
http://www.thetech.org/exhibits/online/robotics/universal/index.html. Retrieved 2008-09-.
12) Imitation of Life: A History of the First Robots
13) Waurzyniak, Patrick (2006-07). "Masters of Manufacturing: Joseph F. Engelberger".Society of Manufacturing Engineers137 (1).http://www.sme.org/cgi-bin/find-articles.pl?
&ME06ART39&ME&20060709#article.
14) "Company History". Fuji Yusoki Kogyo Co..http://www.fujiyusoki.com/English/rekishi.htm. Retrieved 2008-09-12.
54
http://www.google.com/http://www.efy.com/http://www.atmel.com/http://www.electronicsforyou.com/http://content.monster.com/articles/3472/18567/1/industry/12/home.aspxhttp://content.monster.com/articles/3472/18567/1/industry/12/home.aspxhttp://content.monster.com/articles/3472/18567/1/industry/12/home.aspxhttp://en.wikipedia.org/wiki/Oxford_English_Dictionaryhttp://en.wikipedia.org/wiki/Oxford_English_Dictionaryhttp://www.thetech.org/exhibits/online/robotics/universal/index.htmlhttp://www.thetech.org/exhibits/online/robotics/universal/index.htmlhttp://www.thetech.org/exhibits/online/robotics/universal/index.htmlhttp://www.cerebromente.org.br/n09/historia/turtles_i.htmhttp://www.sme.org/cgi-bin/find-articles.pl?&ME06ART39&ME&20060709#articlehttp://www.sme.org/cgi-bin/find-articles.pl?&ME06ART39&ME&20060709#articlehttp://www.sme.org/cgi-bin/find-articles.pl?&ME06ART39&ME&20060709#articlehttp://www.sme.org/cgi-bin/find-articles.pl?&ME06ART39&ME&20060709#articlehttp://opt/scribd/conversion/tmp/scratch7434/Company%20Historyhttp://www.fujiyusoki.com/English/rekishi.htmhttp://www.google.com/http://www.efy.com/http://www.atmel.com/http://www.electronicsforyou.com/http://content.monster.com/articles/3472/18567/1/industry/12/home.aspxhttp://content.monster.com/articles/3472/18567/1/industry/12/home.aspxhttp://en.wikipedia.org/wiki/Oxford_English_Dictionaryhttp://www.thetech.org/exhibits/online/robotics/universal/index.htmlhttp://www.thetech.org/exhibits/online/robotics/universal/index.htmlhttp://www.cerebromente.org.br/n09/historia/turtles_i.htmhttp://www.sme.org/cgi-bin/find-articles.pl?&ME06ART39&ME&20060709#articlehttp://www.sme.org/cgi-bin/find-articles.pl?&ME06ART39&ME&20060709#articlehttp://www.sme.org/cgi-bin/find-articles.pl?&ME06ART39&ME&20060709#articlehttp://opt/scribd/conversion/tmp/scratch7434/Company%20Historyhttp://www.fujiyusoki.com/English/rekishi.htm8/6/2019 Project Report on Environment Monitoring Robot
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15) "KUKA Industrial Robot FAMULUS". http://www.kuka-
robotics.com/en/company/group/milestones/1973.htm. Retrieved 2008-01-10.
16) Asimov, Isaac (1996) [1995]. "The Robot Chronicles". Gold. London: Voyager.
pp. 224-225. ISBN 0-00-648202-
Source code
$regfile = "reg51.dat"
$crystal = 11059200
$baud = 9600
Dim A As Byte
Dim B1 As Byte
Dim A1 As Bit
Dim C As Bit
Dim D As Word
Dim E As Byte
Dim Count As Byte
Declare Sub Test(b1.0 As Bit , B1.1 As Bit , B1.2 As Bit , A)
Declare Sub Ir(count As Byte , C As Bit )
Main:
Count = 0
'Print "READY"
Set P0
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Set P3.2
'A Alias P0
Alt Alias P2.2
St Alias P2.0
Eoc Alias P2.1
B1.0 Alias P2.5
B1.1 Alias P2.4
B1.2 Alias P2.3
B1.0 = 0
B1.1 = 0
B1.2 = 0
Set Eoc
'P2 = B1
Do
'For B1 = 0 To 7
'Print "ready"
E = Inkey()
If E = "1" Then
Call Test(0 , 0 , 0)
'Print A
End If
'''''''''''''''''''''
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If E = "2" Then
Call Test(1 , 0 , 0)
'Print A
End If
'''''''''''''''''''''''''''''''
If E = "3" Then
Call Test(0 , 1 , 0)
'Print A
End If
''''''''''''''''''''''''''''''
If E = "4" Then
Call Test(1 , 1 , 0)
'Print A
End If
'''''''''''''''''''''''''''''''
If E = "5" Then
Call Test(0 , 0 , 1)
'Print A
End If
''''''''''''''''''''''''''''''''
'If E = "6" Then
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'Call Ir()
'Print A
'End If
'Call Test(1 , 0 , 1)
'Print "SAMPLE2" ; A
'Call Test(0 , 1 , 1)
'Print "SAMPLE3" ; A
'Call Test(1 , 1 , 1)
'Print "SAMPLE4" ; A
'Next
'Print "end"
Loop
End
Sub Test(b1.0 As Bit , B1.1 As Bit , B1.2 As Bit , A)
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Alt = 0
St = 0
Eoc = 1
P2.5 = B1.0
P2.4 = B1.1
P2.3 = B1.2 '= A3
Alt = 1
St = 1
Alt = 0
St = 0
Eoc = 0
Waitms 10
Eoc = 1
'If Eoc = 1 Then
A = P0
Print A
'Print Eoc
'Wait 2
End Sub
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