Unmanned Wireless Vehice

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PC based Wireless Army tank

CCONTENTONTENT

SSRR. N. NOO.. TTOPICSOPICS PPAGEAGE NNOO..

1.1. AACKNOWLEDGEMENTCKNOWLEDGEMENT 33

2.2. WWIRELESSIRELESS TTECHNOLOGYECHNOLOGY 66

3.3. IINTRODUCTIONNTRODUCTION 1010

4.4. AABOUTBOUT VB.NETVB.NET 1212

5.5. PPROJECTROJECT OOVERVIEWVERVIEW 3434

6.6. TTRANSMITTERRANSMITTER 3838

7.7. RRECEIVERECEIVER 4444

8.8. DDRIVERRIVERCCIRCUITIRCUITOFOFMOTORMOTOR 4949

9.9. IINFRANFRA RREDED RRECEIVERECEIVER 5656

10.10. MMECHANICALLYECHANICALLY AASSEMBLYSSEMBLY 5959

11.11. CCOMPONENTOMPONENT LLISTIST 6464

12.12. PCBPCB LAYOUTLAYOUT 6666

13.13. RF MRF MODULEODULE 6868

14.14. 4 D4 DIRECTIONIRECTION TTILTILT SSENSORENSOR 7171

15.15. SSOURCEOURCE CCODEODE 7474

16.16. AADVANTAGESDVANTAGESANDAND AAPPLICATIONSPPLICATIONS8686

17.17. BBIBLIOGRAPHYIBLIOGRAPHY 8989

Department of Computer Technology-SHMIT 1


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AACKNOWLEDGEMENTCKNOWLEDGEMENT



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AACKNOWLEDGEMENTCKNOWLEDGEMENT

Ideas, they say often remain ideas. Very few of them,

if find support are turned into actual working models. And

the rest of them are just forgotten and remain what they

started off as ideas.

This idea as well would have remained an idea but for

one person Prof. Manoj S. Kavedia, the real debt of

gratitude that we owe to him without whom this project

would not have seen light of day. Selflessly, he looked after

all our hardware, software and system requirements and if

that was not enough, he is also responsible for rendering

most of the illustrations of this project

A project of this type requires lots of input from

people and we have been fortunate enough to have all the

support we needed.

Inspite of being the principle of the institute Mr.

A.B.Patiland having an immensely busy work schedule in

the college, we never found any of our requests of help and

guidance to him being turned down. Nor did he show even

the slightest bit of impatience about us pestering him so

much and so often. We shall indeed remain ever grateful to

this great personal.



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Thanks to ubiquitous but eminent Prof.Manoj S.

Kavedia for seeing to it that we stayed on course by

constantly providing us with feedback and his own advice

that helped us to this project more efficiently. His razor

sharp analysis of what this project should contain and how

the material needed to be organized remains a classic

piece of work by itself.

We convey out sincere thanks to Vice principle

Prof.D.V.Chawakwho has been a real help to us through

his activities as liaison and the special interest he has

taken in this project, his sophisticated teaching and making

sure that the project has been completed before deadlines

were met.

We express out gratitude to the LAB assistants of the

Information Technology Department for staying back late

and keeping the labs operational for us while we kept

pounding the keyboards. We thank all those people who

helped us in any way what so ever at some point of time.

Last but definitely not the least we express thanks to

our parents for their harmonious support for ensuring the

smooth passage of this ambitious project.



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WWIRELESSIRELESS

TTECHNOLOGYECHNOLOGY



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Wireless communication may be via:

Radio frequency communication,

Microwave communication, for example long-range

line-of-sight via highly directional antennas, or short-

range communication, or

Infrared (IR) short-range communication, forexample from remote controls or via IRDA,

Applications may involve point-to-point communication,

point-to-multipoint communication, broadcasting , cellular

networks and other wireless networks.

The term "wireless" should not be confused with theterm "cordless", which is generally used to refer to

powered electrical or electronic devices that are able to

operate from a portable power source (e.g., a battery pack)

without any cable or cord to limit the mobility of the

cordless device through a connection to the mains power

supply. Some cordless devices, such as cordlesstelephones, are also wireless in the sense that information

is transferred from the cordless telephone to the

telephone's base unit via some type of wireless

communications link. This has caused some disparity in the

usage of the term "cordless", for example in Digital

Enhanced Cordless Telecommunications.

http://en.wikipedia.org/wiki/Radiohttp://en.wikipedia.org/wiki/Microwavehttp://en.wikipedia.org/wiki/Infraredhttp://en.wikipedia.org/wiki/Remote_controlhttp://en.wikipedia.org/wiki/IRDAhttp://en.wikipedia.org/wiki/Point-to-point_communication_(telecommunications)http://en.wikipedia.org/wiki/Point-to-multipoint_communication_(telecommunications)http://en.wikipedia.org/wiki/Broadcastinghttp://en.wikipedia.org/wiki/Cellular_networkhttp://en.wikipedia.org/wiki/Cellular_networkhttp://en.wikipedia.org/wiki/Wireless_networkhttp://en.wikipedia.org/wiki/Cordlesshttp://en.wikipedia.org/wiki/Link_(telecommunications)http://en.wikipedia.org/wiki/Digital_Enhanced_Cordless_Telecommunicationshttp://en.wikipedia.org/wiki/Digital_Enhanced_Cordless_Telecommunicationshttp://en.wikipedia.org/wiki/Microwavehttp://en.wikipedia.org/wiki/Infraredhttp://en.wikipedia.org/wiki/Remote_controlhttp://en.wikipedia.org/wiki/IRDAhttp://en.wikipedia.org/wiki/Point-to-point_communication_(telecommunications)http://en.wikipedia.org/wiki/Point-to-multipoint_communication_(telecommunications)http://en.wikipedia.org/wiki/Broadcastinghttp://en.wikipedia.org/wiki/Cellular_networkhttp://en.wikipedia.org/wiki/Cellular_networkhttp://en.wikipedia.org/wiki/Wireless_networkhttp://en.wikipedia.org/wiki/Cordlesshttp://en.wikipedia.org/wiki/Link_(telecommunications)http://en.wikipedia.org/wiki/Digital_Enhanced_Cordless_Telecommunicationshttp://en.wikipedia.org/wiki/Digital_Enhanced_Cordless_Telecommunicationshttp://en.wikipedia.org/wiki/Radio


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In the last 50 years, wireless communications industry

experienced drastic changes driven by many technology

innovations.

The term "wireless" came into public use to refer to a

radio receiver or transceiver (a dual purpose receiver and

transmitter device), establishing its usage in the field of

wireless telegraphy early on; now the term is used to

describe modern wireless connections such as in cellular

networks and wireless broadband Internet. It is also used in

a general sense to refer to any type of operation that is

implemented without the use of wires, such as "wireless

remote control", "wireless energy transfer", etc. regardless

of the specific technology (e.g., radio, infrared, ultrasonic,

etc.) that is used to accomplish the operation

http://en.wikipedia.org/wiki/Transceiverhttp://en.wikipedia.org/wiki/Radiohttp://en.wikipedia.org/wiki/Infraredhttp://en.wikipedia.org/wiki/Ultrasonichttp://en.wikipedia.org/wiki/Transceiverhttp://en.wikipedia.org/wiki/Radiohttp://en.wikipedia.org/wiki/Infraredhttp://en.wikipedia.org/wiki/Ultrasonic


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IINTRODUCTIONNTRODUCTION



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IINTRODUCTIONNTRODUCTION

Robotics is a fascinating subject more so, if you have

to fabricate a robot yourself. The field of robotics

encompasses a mini her of engineering disciplines such as

electronics (including electrical), structural, pneumatics

and mechanical.

The structural part involves use of frames, beams,

linkages, axles, etc. The mechanical parts/accessories

comprise various types of gears (spurs, crowns, bevels,

worms and differential gear systems), pulleys and belts,

drive systems (differentials, castors, wheels and steering),

etc. Pneumatics plays a vital role in generating specific

pushing and pulling movements such as those simulating

arms or leg movements. Pneumatic grippers are also used

with advantage in robotics because of their simplicity and

cost-effectiveness. The electrical items include DC and step

per motors, actuators, electrical grips, clutches and their

control. The electronics part involves remote control,

sensors (touch sensor, light sensor, collision sensor, etc),

their interface circuitry and a microcontroller for over all

control function.



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AABOUTBOUT

.NET.NET



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AABOUTBOUT DOTNETDOTNET

.NET DefinedBefore getting deeply into the subject we will first

know how Businesses are related to Internet, what .NET

means to them and what exactly .NET is built upon. As per

the product documentation from a Business perspective,

there are three phases of the Internet. The First phase gets

back to the early 1990's when Internet first came into

general use and which brought a big revolution for

Businesses. In the First phase of the Internet Businesses

designed and launched their Website's and focused on the

number of hits to know how many customers were visiting

their site and interested in their products, etc. The Second

phase is what we are in right now and in this phase

Businesses are generating revenue through Online

Transactions. We are now moving into the Third phase of

the Internet where profit is the main priority. The focus

here is to Businesses effectively communicate with their

customers and partners who are geographically isolated,

participate in Digital Economy and deliver a wide range of

services. How can that be possible? The answer, with .NET.

What is .NET ?

Many people reckon that it's Microsoft's way of

controlling the Internet, which is false. .NET is Microsoft's



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strategy of software that provides services to people any

time, any place, on any device. An accurate definition of

.NET is, it's an XML Web Services platform which allows us

to build rich .NET applications, which allows users to

interact with the Internet using wide range of smart

devices (tablet devices, pocket PC's, web phones etc),

which allows to build and integrate Web Services and

which comes with many rich set of tools like Visual Studio

to fully develop and build those applications.

What is .NET Built On?

.NET is built on the Windows Server System to take

major advantage of the OS and which comes with a host of

different servers which allows for building, deploying,

managing and maintaining Web-based solutions. The

Windows Server System is designed with performance aspriority and it provides scalability, reliability, and

manageability for the global, Web-enabled enterprise. The

Windows Server System integrated software products are

built for interoperability using open Web standards such as

XML and SOAP.

Core Windows Server System Products include

SQL Server2000

This Database Server is Web enabled and is designed

with priority for .NET based applications. It is scalable, easy

to manage and has a native XML store.

Application Center 2000

This product is designed to manage Web Applications.

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Commerce Server 2000

This powerful Server is designed for creating E-

Commerce based applications.

Mobile Information Server

This Server provides real-time access for the mobile

community. Now Outlook users can use their Pocket PC's to

access all their Outlook data while they are moving.

Exchange Server 2000This is a messaging system Server and allows

applications on any device to access information and

collaborate using XML.

BizTalk Server 2000

This is the first product created for .NET which is XML

based and allows to build business process that integrate

with other services in the organization or with other

Businesses.

Internet Security and Acceleration Server 2000

This Server provides Security and Protection for

machines. It is an integrated firewall and Web cache server

built to make the Web-enabled enterprise safer, faster, and

more manageable.

Host Integration Server 2000: This Server allows for the

Integration of mainframe systems with .NET.

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When developing real world projects if you

don't know how to use the above mentioned

Server's which are built for .NET based applications

do not worry. Your System Administrator is always

there to help you.

.NET vs Java

Many of us wonder what .NET has to do with Java. Is

there any relation between them? Are they similar? and so

on. I even hear some people say .NET is Microsoft's answer

to Java. I think every language has its own pros and cons.

Java is one of the greatest programming languages created

by humans. Java doesn't have a visual interface

and requires us to write heaps of code to develop

applications. On the other hand, with .NET, the Framework

supports around 20 different programming languageswhich are better and focus only on business logic leaving

all other aspects to the Framework. Visual Studio

.NET comes with a rich visual interface and supports drag

and drop. Many applications were developed, tested and

maintained to compare the differences between .NET and

Java and the end result was a particular applicationdeveloped using .NET requires less lines of code, less time

to develop and lower deployment costs along with other

important issues. Personally, I don't mean to say that Java

is gone or .NET based applications are going to dominate

the Internet but I think .NET definitely has an extra edge as

it is packed with features that simplify applicationdevelopment.



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.NET Framework

.NET is a "Software Platform". It is a language-neutral

environment for developing rich .NET experiences and

building applications that can easily and securely operate

within it. When developed applications are deployed, those

applications will target .NET and will execute wherever

.NET is implemented instead of targeting a particular

Hardware/OS combination. The components that make up

the .NET platform are collectively called the .NET

Framework.

The .NET Framework is a managed, type-safe

environment for developing and executing applications.

The .NET Framework manages all aspects of program

execution, like, allocation of memory for the storage of

data and instructions, granting and denying permissions to

the application, managing execution of the application and

reallocation of memory for resources that are not needed.

The .NET Framework is designed for cross-language

compatibility. Cross-language compatibility means, an

application written in Visual Basic .NET may reference a

DLL file written in C# (C-Sharp). A Visual Basic .NET classmight be derived from a C# class or vice versa.

The .NET Framework consists of two main

components:

Common Language Runtime (CLR)

Class Libraries

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Common Language Runtime (CLR)

The CLR is described as the "execution engine" of

.NET. It provides the environment within which the

programs run. It's this CLR that manages the execution of

programs and provides core services, such as code

compilation, memory allocation, thread management, and

garbage collection. Through the Common Type System

(CTS), it enforces strict type safety, and it ensures that the

code is executed in a safe environment by enforcing code

access security. The software version of .NET is actually

the CLR version.

Working of the CLR

When the .NET program is compiled, the output of the

compiler is not an executable file but a file that contains a

special type of code called the Microsoft Intermediate

Language (MSIL), which is a low-level set of instructions

understood by the common language run time. This MSIL

defines a set of portable instructions that are independent

of any specific CPU. It's the job of the CLR to translate this

Intermediate code into a executable code when the

program is executed making the program to run in anyenvironment for which the CLR is implemented. And that's

how the .NET Framework achieves Portability. This MSIL is

turned into executable code using a JIT (Just In Time)

complier. The process goes like this, when .NET programs

are executed, the CLR activates the JIT complier. The JIT

complier converts MSIL into native code on a demand basisas each part of the program is needed. Thus the program

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executes as a native code even though it is compiled into

MSIL making the program to run as fast as it would if it is

compiled to native code but achieves the portability

benefits of MSIL.

Class Libraries

Class library is the second major entity of the .NET

Framework which is designed to integrate with the

common language runtime. This library gives the program

access to runtime environment. The class library consistsof lots of prewritten code that all the applications created

in VB

.NET and Visual Studio .NET will use. The code for all the

elements like forms, controls and the rest in



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VB .NET applications actually comes from the class library.

Common Language Specification (CLS)

If we want the code which we write in a language to be

used by programs in other languages then it should adhere

to the Common Language Specification (CLS). The CLS

describes a set of features that different languages have in

common. The CLS defines the minimum standards that

.NET language compilers must conform to, and ensures

that any source code compiled by a .NET compiler can

interoperate with the .NET Framework.

Some reasons why developers are building applications

using the .NET Framework:

o Improved Reliability

o Increased Performance

o Developer Productivity

o Powerful Security

o Integration with existing Systems

o Ease of Deployment

o Mobility Support

o XML Web service Support

o Support for over 20 Programming Languageso Flexible Data Access

Minimum System Requirements to Install and Use

Visual Studio .NET

The minimum requirements are:

RAM: 256 MB (Recommended)

Processor: Pentium II 450 MHzOperating System: Windows 2000 or Windows XP

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Hard Disk Space: 3.5 GB (Includes 500 MB free space on

disk)

.NET Framework Advantages

The .NET Framework offers a number of advantages

to developers. The following paragraphs describe them in

detail.

1. Consistent Programming Model

2. Direct Support for Security

3. Simplified Development Efforts

4. Easy Application Deployment and Maintenance

Visual Basic .NET

Visual Basic .NET provides the easiest, most

productive language and tool for rapidly building Windows

and Web applications

Visual Basic .NET comes with enhanced visual

designers, increased application performance, and a

powerful integrated development environment (IDE). It also

supports creation of applications for wireless, Internet-

enabled hand-held devices. The following are the features

of Visual Basic .NET with .NET Framework 1.0 and VisualBasic .NET 2003 with .NET Framework 1.1. This also

answers why should I use Visual Basic .NET, what can I do

with it?

Powerful Windows-based Applications

Visual Basic .NET comes with features such as a

powerful new forms designer, an in-place menu editor, and

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automatic control anchoring and docking. Visual Basic .NET

delivers new productivity features for building more robust

applications easily and quickly. With an improved

integrated development environment (IDE) and a

significantly reduced startup time, Visual Basic .NET offers

fast, automatic formatting of code as you type, improved

IntelliSense, an enhanced object browser and XML

designer, and much more.

Building Web-based ApplicationsWith Visual Basic .NET we can create Web

applications using the shared Web Forms Designer and the

familiar "drag and drop" feature. You can double-click and

write code to respond to events. Visual Basic .NET 2003

comes with an enhanced HTML Editor for working with

complex Web pages. We can also use IntelliSensetechnology and tag completion, or choose the WYSIWYG

editor for visual authoring of interactive Web applications.

Simplified Deployment

With Visual Basic .NET we can build applications more

rapidly and deploy and maintain them with efficiency.

Visual Basic .NET 2003 and .NET Framework 1.1 makes

"DLL Hell" a thing of the past. Side-by-side versioning

enables multiple versions of the same component to live

safely on the same machine so that applications can use a

specific version of a component. XCOPY-deployment and

Web auto-download of Windows-based applications

combine the simplicity of Web page deployment and

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maintenance with the power of rich, responsive Windows-

based applications.

Powerful, Flexible, Simplified Data Access

You can tackle any data access scenario easily with

ADO.NET and ADO data access. The flexibility of ADO.NET

enables data binding to any database, as well as classes,

collections, and arrays, and provides true XML

representation of data. Seamless access to ADO enables

simple data access for connected data binding scenarios.Using ADO.NET, Visual Basic .NET can gain high-speed

access to MS SQL Server, Oracle, DB2, Microsoft Access,

and more.

Improved Coding

You can code faster and more effectively. A multitude

of enhancements to the code editor, including enhanced

IntelliSense, smart listing of code for greater readability

and a background compiler for real-time notification of

syntax errors transforms into a rapid application

development (RAD) coding machine.

Direct Access to the Platform

Visual Basic developers can have full access to the

capabilities available in .NET Framework 1.1. Developers

can easily program system services including the event

log, performance counters and file system. The new

Windows Service project template enables to build real

Microsoft Windows NT Services. Programming against

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Windows Services and creating new Windows Services is

not available in Visual Basic .NET Standard, it requires

Visual Studio 2003 Professional, or higher.

Full Object-Oriented Constructs

You can create reusable, enterprise-class code using

full object-oriented constructs. Language features include

full implementation inheritance, encapsulation, and

polymorphism. Structured exception handling provides a

global error handler and eliminates spaghetti code.

XML Web Services

XML Web services enable you to call components

running on any platform using open Internet protocols.

Working with XML Web services is easier where

enhancements simplify the discovery and consumption of

XML Web services that are located within any firewall. XML

Web services can be built as easily as you would build any

class in Visual Basic 6.0. The XML Web service project

template builds all underlying Web service infrastructure.

Mobile Applications

Visual Basic .NET 2003 and the .NET Framework 1.1

offer integrated support for developing mobile Web

applications for more than 200 Internet-enabled mobile

devices. These new features give developers a single,

mobile Web interface and programming model to support a

broad range of Web devices, including WML 1.1 for WAP

enabled cellular phones, compact HTML (cHTML) for i-Mode

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phones, and HTML for Pocket PC, handheld devices, and

pagers. Please note, Pocket PC programming is not

available in Visual Basic .NET Standard, it requires Visual

Studio 2003 Professional, or higher.

COM Interoperability

You can maintain your existing code without the need

to recode. COM interoperability enables you to leverage

your existing code assets and offers seamless bi-directional

communication between Visual Basic 6.0 and VisualBasic .NET applications.

Reuse Existing Investments

You can reuse all your existing ActiveX Controls.

Windows Forms in Visual Basic .NET 2003 provide a robust

container for existing ActiveX controls. In addition, full

support for existing ADO code and data binding enable a

smooth transition to Visual Basic .NET 2003.

Upgrade Wizard

You upgrade your code to receive all of the benefits of

Visual Basic .NET 2003. The Visual Basic .NET Upgrade

Wizard, available in Visual Basic .NET 2003 Standard

Edition, and higher, upgrades up to 95 percent of existing

Visual Basic code and forms to Visual Basic .NET with new

support for Web classes and UserControls.

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PPROJECTROJECT

OOVERVIEWVERVIEWDepartment of Computer Technology-SHMIT 25


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PPROJECTROJECTOVERVIEWOVERVIEW

What we present here is an elementary robotic land

rover that can be controlled remotely using primarily the

RF mode. The RE remote control has the advantage of

adequate range (up to 200 meters with proper antenna)

besides being omni directional. On the other hand, an ER

remote would function over a limited range of about

5metres and the remote transmitter has to be oriented

towards the receiver module quite precisely. However, the

cost involved in using RE modules is much higher than of

IR components and as such, we have included the re

placement alternative of RF modules with their IR

counterparts for using the IR remote control.

The proposed land rover can move in forward, and

reverse directions. You would also be able to steer it

towards left and right directions. While being turned to left

or right, the corresponding blinking LEDs would blink to

indicate the direction of its turning. Similarly, during

reverse movement, reversing LEDs would be lit. Front and

rear bumpers are provided using long operating lever of

micro switches to switch off the drive motors during any

collision.

The decoder being used for the project has latched

outputs and as such you do not have to keep the buttons

on remote control pressed for more than a few

milliseconds. This helps prolong the battery life for remote.



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Forward and reverse movement

To keep our design as simple as possible, we have

coupled a 30-rpm geared 6V DC motor to the left front

wheel and another identical motor to the right front wheel.

Both these front motors are mounted side-by-side facing in

opposite directions. Wheel rims (5cm diameter) along with

rubber wheels are directly coupled to each of the motor

shafts, This arrangement does not require separate axles.

During forward (or reverse) movement of the vehicle, the

two wheel shafts, as viewed from the motor ends, would

move in opposite directions (one clockwise and the other

anticlockwise). For reversing the direction (forward and

backward), you simply have to reverse the DC supply

polarity of the two motors driving the respective wheels.

Steering control

There are different methods available for steering a

robotic vehicle. The commonly used ones are:

1. Front wheels are used for steering, while rear wheels are

used for driving; e.g. in tractors.

2. Front wheels are used for steering as well as driving;

e.g., in most light vehicles. In these vehicles (such as cars),

the front wheels are coupled using a differential gear

arrangement. It comes into play only when one wheel

needs to rotate differentially with respect to its counter

part. When the car is moving in a straight line, the



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differential gears do not rotate with respect to their axes.

However, when the car negotiates a turn, the differential

allows the two wheels to rotate differentially with respect

to each other.

3. All the four wheels are used for driving as well as

steering. Examples are Kyosho (USA) 4-wheel drive/4-

wheel steering elect powered monster truck chassis.

4. Single front wheel is used for driving as well as steering;

e.g., in a tricycle.

5. Two driving wheels that are in dependently controlled to

turn; e.g., in a tank.

In our project, to keep the things simple, we have

used Method-5 with some modification. For the rear

wheels, we have made use of a single. plastic castor wheel,

identical to the ones used in revolving chairs. Such a wheel

turns by 1800 when you try to reverse the direction of the

vehicles motion. This way the movement of the rover

become stable in both the for ward and reverse directions.

The steering (clockwise or anticlockwise) motion is

achieved by driving only one wheel at a time. To turn the

vehicle towards left (as perceived by the driver) we

energies only the right- hand-side motor, and to turn it

towards right we energies only the left- hand-side motor

during turning.



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The movement is controlled with the help if the tilt

sensor which generates the different bit patterns as

discussed in Tilt Sensor Topic.

TTRANSMITTERRANSMITTER



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TTRANSMITTERRANSMITTER


4 Direction Tilt Sensor and

Decoder IC


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RF transmitter and RF receiver

The RF transmitter arid receiver modules marketed by

Aplus India, Mumbai have been employed for RF remote

control. The RF transmitter TX-433 is an AM/ASIC

transmitter. Its features include:

1. 5V-12V single supply operation

2. On-off-keying (OOK)/amplitude shift keying (ASK) data

format

3. Up to 9.6kbps data rate

4. +9dBm output power (about 200m range)

5. SAW-based architecture

6. For antenna, a 45cm wire is adequate.

The output power and current drain of the HF

transmitter for Vcc of 5V and 12V are tabulated in Table IV.



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The pin configuration of the transmitter module is

shown in Fig. 4. The RF receiver RX-433 is a 433MHz

module. Its pin configuration is shown in Fig. 5 and

technical specifications are given in Table V.

Remote transmitter.

A complete schematic of the remote control

transmitter-encoder circuit is shown in Fig.

The receiver address to be transmitted can be set with thehelp of 8 way DIP switch DIP-SW2.

When any switch is open the pin connected to that switch

is at logic 1, and when it is closed the respective pin is at

logic 0. The data pins are pulled high via resistors R2

through R5. In this condition if TE pin is taken low (by

depressing STOP switch) the binary data transmitted via

pins AD8 through AD11 will be 1111 (decimal 15). When

any other data pin marked FWD, REV, LEFT or RIGHT alone

is pressed, a 0 will be sent at that data position, while

other data pins will represent logic 1 state. The logic

circuitry at the receiver- decoder end will decode the data

appropriately for controlling the two motors of the land

rover.



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IR based alternative.

The RF modulator used in the remote can be easily

replaced with the IR modulator circuit built around IC2 and

transistor T1. The RF/IR selection can be affected by

moving the shorting link of Con-1 connector. Similarly, the

RF receiver module in the RF receiver-decoder can be

replaced with them receiver module shown in Fig. .

For using the IR-based encoder, the DOUT signal pin (pin

17) of HT12E is to be connected to DIN pin 5 of astable

oscillator IC CD4047 for modulating its output. The

frequency of the astable at output pin 10 is determined by

the timing components as follows:



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1

Frequency 4.71x(R6+VR1)xC3 Hz

This frequency is adjusted for 38 kHz with pin 5 held

at logic 1. The modulated 38 kHz, after amplification by

Darlington pair of transistors T1 and T2, drives IRLED

LD271 (or equivalent).



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RRECEIVERECEIVER



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RRECEIVERECEIVER



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RF receiver-decoder.

The complete RF receiver-decoder circuit employing

HT12D is shown in Fig. 7. Assuming that identical address

is selected on the encoder and the decoder, when any of

the switches on the transmitter (marked as FWD, REV,

RIGHT, LEFT) is depressed, the corresponding datapin of

the demodulator will go low. The data outputs of HT12I)

are fed to 8-bit priority encoder CD4532 via inverters to

generate appropriate logic outputs in conformity with

Table III to control the left-/right motors for required

motion of the land rover as explained earlier. However,

when STOP button is pressed on the remote transmitter,

all data pins (D8 through D11 on the decoder will latch to

the high output state. After inversion by NAND gates N1

through N4, all the outputs will be low and hence EI (pin

5) of CD4532 will go low to force all its outputs to go low.

As a result, both the motors will stop running.

You may like to verify the code generated at the outputs

of CD4532 with the help of truth table (refer Table VI).

The following is the exact sequence of operation at the

receiver (Fig.) and the motor driver (Fig.) when a specific

push switch is momentarily pressed on the transmitter:

Forward

The D8 output (pin 10) of IC3 goes low which after in

version by inverter N1 goes high to switch on the front

LEDs (LED2 and LED3) via driver transistor T6 and take



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D3 input (pin 13) of IC5 high. This causes Q2, Q1 and Q0

going to logic states 0,l and 1, respectively (as per

Table VI), and as a result, both the motors will run in such

directions as to move the rover in forward direction.

Reverse.

The D9 output (pin 11) of IC3 goes low, which after

inversion by inverter N2 goes high to switch on the rear

LEDs (LED4 and LED5) via driver transistor T7 and take

D4 input (pin 1) of IC5 high. This results in Q2, Q1 and Q0

going to logic states 1, 0 and 0, respectively (as per

Table VI), and as a result, both the motors will run in such

directions as to move the rover in reverse (backward)

direction.

Left.

The D1 output (pin 12) of 1C3 goes low, which after

inversion by inverter N3 goes high to switch on the left

blinking LED7 after a second inversion by inverter/driver

gate N6 and makes D2 input (pin 12) of IC5 high. This

results in Q2, Q1 and Q0 going to logic states 0, 1 and

0, respectively (as per Table V and as a result, only the

right-hand-side motor will run and the left-hand-side

motor will be static, This causes the rover to perform a

left turn.



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Right.

The D11 output (pin 13) of IC3 goes low, which after

inversion by inverter N3 goes high to switch on the right

blinking LED6 after a second inversion by inverter/driver

gate N5 and makes Dl input (pin 11) of IC5high. This

results in Q2, Q1 and Q0 going to logic states 0,0 and

1/ respectively (as per Table VI) and as a result, only the

left-hand-side motor will run and the right-hand-side

motor will be static. This causes the rover to perform a

right turn.

5. Stop. The D8 through D11 out puts of IC3 go high and,

after inversion by inverters N1 through N4, cause blocking

of diodes D5 through D8. As a result, ground is extended

to EI pin 5 through resistor R17 and all the out puts (Q2,

Q1 and Q0) of CD4532 go low to stop both the motors. All

the LEDs also stop glowing.



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DDRIVERRIVER

CCIRCUITIRCUIT



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DDRIVERIVECIRCUITCIRCUITFORFORTHETHEMOTORSMOTORS

Here is a typical circuit for driving one of the motors,

in forward or reverse direction, coupled to, say, the left-

hand front wheel. Simultaneously, the tight- hand motor

has to rotate in the reverse direction (w.r.t the left-hand

motor) for moving the vehicle in the same direction. it

means that input terminals of the motor drive circuit for

the right- hand motor have to be fed with reverse-polarity

control signals com pared to those of the left-hand motor

drive circuit.

In the H-bridge motor drive circuit (see Fig. 2)

when Al input is made high and A2 is made low, transistor

T1 (npn) is forward biased and driven into saturation, while

transistor T2 (pnp), being reverse- biased, is cut-off. This

extends the batterys positive rail to terminal-1 of the

motor. Simultaneously, with input A2 at ground potential,transistor T3 (npn) is cut-off, while T4 (pnp) is forward



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biased and driven into saturation. This results in ground

being extended to terminal-2 of the motor. Thus the motor

rotates in one direction.

Now, if the two inputs are logically complemented,

the motor will run in the opposite direction. When both the

inputs are at the same logic level (Gnd or Vcc), the motor

is at rest. Thus we can control the movement (forward,

reverse and stop) as well as the direction of rotation of the

motor with the help of logic level of the two control input

signals to the motor.

Motor control logic

As per the preceding explanation, the input logic

levels required at terminals Al and A2 of the left-hand

motor drive circuit and at input terminals Bi of B2 of the

right hand motor drive circuit are shown in Table I.



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Table I can be re-arranged as Table II, which can be further

simplified as Table III. The equivalent hex values of the

binary control signals are indicated in Table III. It transpires

that if we connect (short) input terminals A2 and B1 of the

two motor control circuits together, we can control both

the motors

for forward,

reverse, left

and right

movement of

the vehicle

using the 3-

bit binary

number

shown in

Table III This

fact will be

used while

arriving at

the

integrated

circuit forcontrolling the motors for appropriate movement of the

land rover.



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Remote control

For remote control, we have used Holtek encoder- Decoder

pair of HT12E and HT12D employing RF as well as IR

principles. Both of these are 18-pin DII ICs. Their pin con

figurations are shown in the test circuit of Fig. 3.

Operation of Holtek

HTl2E and HTI2D. HT12E and HT12D are CMOS ICs

with working voltage ranging from 2.4V to 12V. EncoderHT12E has eight address and another four address/data

lines. The data set on these twelve lines (address and

address/data lines) is Serially transmitted when the

transmit enable pin TE is taken low. The data output

appears serially on the Dout pin. The data is transmitted

four times in succession. It consists of differing- length of

positive-going pulses for 1 and 0, the pulse-width for 0

being twice the pulse-width for 1. The frequency of these

pulses may lie between 1.5 and 7kHz depending on the

resistor value between OSC1 and OSC2 pins.

The internal oscillator frequency of decoder HT12D is

50 times the oscillator frequency of encoder HT12E. The

values of timing resistors connected between OSC1 and

OSC2 pins of HT12B and HT12D, for given supply voltages,

can be found out from the graphs given in the datasheet of

the respective chips. The resistor values used in the

circuits here are chosen for approximately 3kHz frequency



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for the encoder (HT12E) and 150 kHz for de coder HT12D

at Vdd of 5V.

The HT12D receives the data from the HT12E on its

Din pin serially. If the address part of the data received

matches the levels on A0 through A7 pins four times in

succession, the valid transmission (VT) pin is taken high.

The data on pins AD8 through AD11 of the HT12E appears

on pins D8 through D11 of the HT12D. Thus the device acts

a receiver of 4-bit data (16 possible codes) with 8-bit

addressing (256 possible channels).

The test circuit given in Fig. 3 will help you in

checking the functional serviceability and synchronization

of the frequency of operation. Once the frequency of the

pair is aligned, on pressing of push switch S1 on the en

coder, LED on the decoder should glow. You can also check

the transfer of data on pins AD8 through AD11(the data



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pins of the encoder can be set as high or low using

switches S2 through S5), which is latched on pins D8

through D11 of the decoder once TE pin is taken low

momentarily using push switch S1. This completes the

testing of encoder decoder pair of HT12E and HT12D.



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IINFRANFRA

RREDED

RRECEIVERECEIVER



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IINFRANFRA RREDED RRECEIVERECEIVER

The RF receiver module can be easily replaced with the IR

circuitry by moving the shorting link of Con-2 connector

appropriately. For the receiver to work in IR mode, it is

to be ensured that the transmitter is also working in IR

mode. The output of the IR circuit is to be connected to

Din pin 14 of decoder HT12D. The IR detector comprises

IR receiver module TSOP1738, whose output is amplified

by Darlington pair of pnp transistors T4 and T5 before

connection to HT12D The rest of the circuit remains

unchanged for IR operation.

Drive circuit . For controlling the two drive motors, we

have used the quad half-H driver circuits contained

inside IC L293D to configure them as two H-Bridge driver

circuits (as explained with reference to Fig. 2). L293does

not require external free-wheeling diodes as the same

are built into the IC. The control output from CD4532 of

the receiver/decoder circuit is connected to the inputs

of L293D in accordance with the logic explained earlier

in Table III. The battery supply for the motor drive circuit

is routed via the normally made contacts of micro

switches S8 and S9, whose operating levers serve as

part of the front and back bumpers of the land rover. In

case these micro switches are not used short the switch

terminal points using jumpers.



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Construction

Combined actual-size, single-side PCB for the remote

transmitter and the receiver-decoder-driver and its

component- side layout. The remote transmitter part can

be easily cutout from the integrated PCB, A suitable FRC

connector arrangement has been made on the receiver-

decoder-driver PCB for extending connections to the drive

motors, LEDs and battery mounted on the chassis of the

land rover.



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MMECHANICALECHANICAL

AASSEMBLYSSEMBLY



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MMECHANICALECHANICALASSEMBLYASSEMBLY

The working prototype, as shown in Fig., has been

fabricated using readymade sheet metal parts, wheels,

geared motors, axles, brass collars (with grub screws),

brackets, etc. The overall dimensions (length x width x

height) of the rover, before mounting the battery and the

PCe, are approximately 14 x 9 x 7.5 cm. The mechanical

parts used are shown under the Mechanical Parts List.

There is much scope for improving the aesthetics of this

prototype. Hopefully, the enthusiasts/hobbyists would

devote extra time and energy to give it a more professional

appearance.

The mechanical assembly of the rover is followed by

proper placement of the battery (6V, 4Ah), mounting of the

PCB (over the battery) and finally plugging the connectors

from the battery, motors and various LEDs (mounted on

the rover) into the corresponding connectors on the PCB be

fore being able to control various motions of the land rover

remotely using either RF or IR principlesby simply

shifting the jumpers in the remote transmitter and receiver

PCBs towards appropriate positions.

Here are some useful hints and sequence for successful

assembly of the land rover.

1. The geared motors that we have used in the

prototype have a 125mm plastic flange with threads



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and a metal nut for securing it in position. The shaft

(4mm dia.) protrudes from the centre of the flange.

The two flat plates (part No. 926) used by us had only

4mm holes (perforations). Thus for securing the

motors onto these plates, the 4mm holes at 2.5cm

position (from the front and bottom edges) were

increased to 13mm and motors (with shafts facing in

opposite directions) were secured to the two plates.

With 2cm dia. wheels pushed onto the motor shafts,

we had adequate clearance from ground. Giving slight

clearance from the plate, the wheel pulleys were

secured on the motor shafts by tightening the grub

screws on boss of the pulleys.

2. After securing the motors and wheels, we attached

two angled brackets part No. 102 (at front and rear-

middle positions) of the two flat plates (part No. 926)

for mounting LEDs (using Feviquick) for front and rear

directions. Also using reverse-angle brackets (part No.

105), we suitably mounted the direction-indicating

LEDs on the two flat plates.

3. The next step is to mount 5cm dia. Castor wheel

(plastic) at the rear of the flanged plate in middleposition, roughly 2 cm from the edge. (The flange is to

face up.) Again we had to enlarge a 4mm hole in the

required position to 10mm dia. as the diameter of the

threaded bolt of the castor wheel is around 9 mm. Use

two nuts (one before passing the bolt through the

hole on the flanged plate and the other after theflanged plate). This provides for adjusting the height



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of castor wheel, so that all the three wheels on the

rover are at the same level when fully assembled. The

castor wheel should have clearance for 360 move

ment, when assembled.

4. Join the flanged plate (refer step 3) to the two flat

plates (refer steps 1 and 2) so as to form two sides of

the rover. The width of the flanged plate needs to be

increased by 2.54 mm so that the motor ends do not

fowl against each other and the castor wheel has 360

free movement. This is achieved by securing four bent

strips (part 108)two on each side of the flange plate

using 12mm bolts and nuts. Also use two axles (part

No.610) along with collars (part No. 760) to maintain

parallelism of the two side plates.

5. Fix directional LEDs on the ships using Feviquick and

wire/terminate them on the connectors as per the

circuit diagram of the receiver. Similarly, terminate

connections from the battery and motors (A and B)

onto the connectors, which would mate with their

respective connectors on the receiver PCB. Make a

provision for reversing the polarity to one of the two

motors, in case you find one of them rotating in wrongdirection due to the wiring error.

6. Use some thermocole sheet on the flanged sheet to

ensure that the battery sits over it, maintaining

proper balance. Use four 10cm long screws and nuts

through the flanged plate for mounting the receiver

PCB through its four corner holes. The screws shouldsecure the battery and the PCB in position.



54/70


7. Now insert the connectors from the battery, LEDs and

motors into their corresponding connectors on the

receiver PCB. This completes the mechanical

assembly of your rover.

00K is the modulation method of choice for remote

control applications where power consumption and cost are

the primary factors. Because 00K transmitters draw no

power when they transmit a 0, .These exhibit significantly

lower power consumption than FSK transmitters.

00K modulation is a binary term of amplitude modulation.

When logic 0 (low data line) is being sent, the transmitter

is off, fully suppressing the earner. In this state, the

transmitter current is very low (less than 1 mA) When logic

l is being sent, the carrier is fully on. In this state, the

current consumption of the module is at its highestabout

4.5 mA with a 3V power supply.



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CCOMPONENTOMPONENT

LLISTIST



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CCOMPONENTOMPONENT LLISTIST

Sr.No Component Quantity RateIC1 Ht12E 1 50

IC2 Cd4047 1 40

IC3 HT12D 1 50

IC4 CD 4049 1 50

IC5 Cd4532 1 50

IC6 L293D 1 250

TX1 Tx-433RF(ASK) 1 550

TX2 LD271 1 250

Rx1 Rx-433 RF(Ask) 1 550

Rx2 Tsop1738 1 40

T2 2N2222 1 10

T4 BC 557 1 5T5 2N2907 1 25

T1,T3 BC 548 2 10

T6,T7 BC 548 2 10

Led1-5 5m LED 5 20

LED6,7 Blinking RED 2 40

R1 1Mohm 1 5

R2-5,R9,R22 10Kohm 5 5

R6,R16,R17 4.7Kohm 3 5

R7 2.2Kohm 1 1

R8 22ohm 1 1R10,R25-27 1Kohm 3 5

R11-R15,R21 470ohm 3 5

R18 47Kohm 1 1

R19 3.9kohm 1 1

R20 22kohm 1 1

R23 330ohm 1 1

R24 100ohm 1 1

Vr1 10kpreset 1 10

C1,5,6 10uF/16v 3 30C2 0.1uf disc 1 5

C3 390pf 1 2

C4 100uf/16v 1 10

S1-5 Push Button Switch 5 25

S6,S7 On/off Switch 2 20

Sw1-SW2 DIP switch 2 50

S8,S9 Micro Switch 2 40

Bat1-Bat2 6v 4,5Ah battery 2 400



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PPCBCB

LLAYOUTAYOUT



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PCB LPCB LAYOUTAYOUT

Solder Side

Component Side



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RFRF

MMODULEODULE



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RF MRF MODULEODULE

Radio Transmitter - TLP434A

Our new Ultra Small Wireless

Transmitter is ideal for remote control

projects or data transfers to a remote

object. Applications include mobile

robots, burglar alarms, remote control

and wireless data transfers. This

compact unit operates from only 2V up

to 12V. A range of up to 200m is possible with an antenna

fitted. The unit can connect directly to a HT12E IC or

similar encoder.

Features

Frequency - 433.92MHz

Operating Voltage - 3 - 12 Vdc

Data Rate - Up to 8K bps

Works with HT12E or other Encoder

Low current consumption.

Easy for application development

Efficient SPI interface

Operating voltage 4.75-26 Volts

Operating temperature range 4085

Frequency Range 433.92 MHz

Programmable output power and Hign sensitivity

Programmable data rate up to 500kbps

Suitable for frequency hopping protocols



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Radio Receiver - RLP434

Just released our new

Compact Radio Receiver,

works directly with the

transmitter above on an

operating frequency of

433.92MHz. Ideal for many applications, including robots,

where commands can be sent directly to the robot, without

the need for a hard-wired connection. Suitable for data

rates of up to 4.8KHz, and the typical operating current is

only 4.5mA.

Features

Frequency - 433.92MHz

Operating Voltage - 3.3 - 6 Vdc

Data Rate - 4800 bps

Works with HT12D or other Decoder

Dimensions: Width - 43.4mm , Height - 11.5mm

(Excluding Pins)

Applications

433 ISM/SRD band systems

Consumer Electronics Industrial monitoring and control

Wireless alarm and security systems

Home and building automation

AMR Automatic Meter Reading

RKE Two-way Remote Keyless Entry



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AABOUTBOUT

IIMAGEMAGE

PPROCESSINGROCESSING



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SSOURCEOURCE

CCODEODE



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AADVANTAGESDVANTAGES

ANDAND

AAPPLICATIONSPPLICATIONS



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AADVANTAGESDVANTAGESANDAND AAPPLICATIONSPPLICATIONS

Advantages

1.Two Type of interface

a. RF interface

b. Infra red Interface

2. No interference of the surrounding RFI or EFI

3. Can work upto longer diastance if tranmitter power is increased

4. Cheaper as compared to other technology

5. Modifcations can be easily

6. Low Power system

7. Mechanical assembly can lift load upto 2Kg.

Applications

1.by using Spy Camera photographs can be taken were normal man

cannot go.

2.Can be used as remote controlled vehicale

3. Used to performed chemical reaction which dangerous for

Human being

4. Can be used for Bioler control



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5. Used as Robotic arm by making some modifications.

BBIBLIOGRAPHYIBLIOGRAPHY



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BBIBLIOGRAPHYIBLIOGRAPHY

Websites

1. www.wikipedia.com

2. www.reynoldelectronics.com

3. www.Howstuffworks.com

4. www.sunromtechnoloiges.com

5. www.Futurlec.com

6. www.maxim.com

Reference books

1. Applied Electronics R. S. Seddha

2. Electronics Communication Kennedy

3. Basic Electronics Bhargava Gupta

4. Modern Digital Electronics R. P. jain

5. Digital Electronics Malvino Leech

6. Up Data Hand Book

7. TTL handbook

Unmanned Wireless Vehice

Documents