By Ankush M.Tayade Department Of Electronics & Telecommunication Dhamangaon Education SocietysCollage Of Engineering And Technology, Dhamangaon Rly .
System Design/ MethodologyThe PIC16F873A and PIC16F874A have one-half of the total on-chipmemory of the PIC16F876A and PIC16F877AThe 28-pin devices have three I/O ports, while the 40/44-pin deviceshave fiveThe 28-pin devices have fourteen interrupts, while the 40/44-pindevices have fifteenThe 28-pin devices have five A/D input channels, while the 40/44-pindevices have eightThe Parallel Slave Port is implemented only on the 40/44-pin devices.
PIC16F877A Pin Dig. Timer0: 8-bit timer/counter with 8-bit prescaler Timer1: 16-bit timer/counter with prescaler, can be incremented during Sleep via external crystal/clock Universal Synchronous Asynchronous Receiver Transmitter (USART/SCI) with 9-bit address detection Two Capture, Compare, PWM modules - Capture is 16-bit, max. Resolution is 12.5 ns - Compare is 16-bit, max. Resolution is 200 ns - PWM max. resolution is 10-bit Brown-out detection circuitry for Brown-out Reset (BOR)
Block Diagram Motor Motor Motor Motor Driver RF RF Module LM35 Module Tx Temp. Rx Rx Rx PC PIC PIC Voltage Com Controller Controller Shifter Port Tx Tx RF RF Signal MIC/ Monostable Module Module conditioning AmplifireTransducer Malty-Vibrator Tx Rx Circuit CRYSTAL CRYSTAL OSC. OSC.
LM35 IC Calibrated directly in Celsius Linear +10.0mV/c scale factor. 0.5Cel accuracy guarantee able (at +25 c). Suitable for remote application. Low cost due to water level trimming. Operated from 4 to 30 volt. Less than 60 micro A current drain.
LA3161On-chip 2 preamplifiers.Good ripple rejection owing to on-chip voltage regulator.Minimum number of external partsrequired.Low noise.8-pin SIP package facilitating easymounting.Pin-compatible with LA3160.
CD40012BC Low power TTL: Fan out of 2 driving 74L compatibility: or 1 driving 74LS 5V–10V–15V parametric ratings Symmetrical output characteristics Maximum input leakage 1 µA at 15V over full temperature range
MCT 2EUL recognized (File # E90700)VDE recognized (File # 94766) Add option V for white package (e.g., MCT2V-M) Add option 300 for black package (e.g., MCT2.300) –MCT2 and MCT2E are also available in white package by specifying -M suffix, e.g. MCT2-M
Software Description S AR T T Initialize Ports A check The receiving P L E U S IF ONmoto 1st r I I t S "0001" A IF O FM T F O OR 1st I I t S "0010" A IF ONmoto 2nd r I I t S "0011" A IF O Fm F otor 2nd I I t S "0100" A IF ONmoto 3rd r I I t S "0101" A IF O Fm F otor 3rd I I t S "0111" A A
Application Earthquake Military Services Chemical Factories
Advantages It is a small unmanned fully autonomous and a light weight vehicleand therefore it can be fielded in narrow passage very easily. As it is fullyautonomous no controlling is required. Due to its light weight power requirements are less and easy to carry. Its microcontroller based circuitry makes it simple and compact andprovides more flexibility as in future if any change is required then onlyby changing the program its functionalities can be changed. Although low cost standard processing hardware was chosen, itperforms well and is capable of doing its work efficiently. It has caterpillar type wheel arrangement. It helps in the movement ofthe vehicle in rough terrain. Also its turning radius is very small.
Future ScopeFirst, it would be useful to add a function insound detection to detect regular banging.Indeed, in disaster area, sometimes victims arebanging on wall or on ground because they can’tshout. Moreover sound propagates itself better instructure than in the air. So if the robot could beable to detect regular banging it will have onemore useful function for human detection
References•A. Rogalski, K. Chrzanowski, “Infrared devices and techniques”,Warsaw, 2002.•J. Casper “Human-Robot Interactions during the Robot-Assisted UrbanSearch And Rescue Response at The World Trade Center”, MS Thesis,Computer Science and Engineering, USF, South Florida, 2002.•J. Casper and R. Murphy, "Workflow Study on Human-RobotInteraction in USAR", ICRA 2002, pp 1997-2003.•Murphy R, Casper J, Hyams J, Micire M, and Minten B "Mobility andSensing Demands in USAR", (invited), IECON 2000, Nagoya, Japan,2000.•L. Matthies, Y. Xiong, R. Hogg, “A Portable, Autonomous, UrbanReconnaissance Robot", The 6th International Conference on IntelligentAutonomous Systems, Venice, Italy, 2000.