This presentation showcases my B.Tech project which was on basic robotics, an embedded systems application.

1. SUBMITTED BY:
DEBASISH MUKHERJEE
BISWAJIT TRIPATHY
NAKUL KISHOR
DEPARTMENT OF
ELECTRICAL AND ELECTRONICS ENGINEERING

2. o The project Spybot cum Surveillance Robo aims to develop a semi
standalone robotic vehicle that would be self sufficient to collect and transmit
intelligence as when deployed for specific goal oriented purposes.
o It is laced with various gadgets and sensors that continuously provide
details of the ground zero(the action scene) .
o It will find tremendous use in cases where spying of certain criminal
activities is required as well as for surveillance purposes where human
intervention is not preferred e.g. gas leakage , radioactive leakage,
radioactive catastrophes etc.

3.  Control Block
 Sensor Block
 Transmitter and Reciever
 Mobility Block
 Brain or CPU Block
 Power Supply Block
 Chassis

4. The components used in various functional blocks are as follows:
1. CONTROL BLOCK:
 DTMF ENCODER/DECODER
2. SENSOR BLOCK:
 HEAT SENSOR
 GAS SENSOR
 VISUAL SENSOR:WIRELESS CAMERA
 GPS
3. TRANSMITTER AND RECIEVER BLOCK:
 TX AND RX TRANSMITTER

5. 4. MOBILIZING BLOCK:
 RUBBER TREADED WHEELS
 HIGH TORQUE MOTORS
 RELAYS
5. BRAIN OR CPU BLOCK:
 ATMEGA 16 MICRO-CONTROLLER
6. POWER SUPPLY BLOCK:
 LITHIUM POLYMER BATTERIES

7. Dual Tone Multiple Frequency (DTMF) codec is used to encode and decode the
key strokes in a telephone. It can also be used to perform a basic data transfer
operation.
 When a key is pressed, the
encoding circuitry mixes
together these two frequencies,
and transmits the result.
 The receiver then decodes the
tone back into its two
respective frequencies, and
then the processing circuit will
act accordingly.

8. Applications:
• Receiver system for British Telecom (BT) or CEPT Spec (MT8870D-1)
• Paging systems
• Repeater systems/mobile radio
• Credit card systems
• Remote control
• Personal computers
• Telephone answering machine

9. DECIMAL VALUE BINARY VALUE KEYBOARD
SYMBOL
0 0000 D
Features 1 0001 1
2 0010 2
• Complete DTMF Receiver
3 0011 3
4 0100 4
• Low power consumption
5 0101 5
• Internal gain setting amplifier 6 0110 6
7 0111 7
• Adjustable guard time 8 1000 8
9 1001 9
10 1010 0
11 1011 *
12 1100 #
13 1101 A
14 1110 B
15 1111 C

11. ATMEGA 16 MICROCONTROLLER
Features:
• High-performance, Low-power Atmel® AVR® 8-bit Microcontroller
• Advanced RISC Architecture
– 131 Powerful Instructions
– 32 x 8 General Purpose Working Registers
• High Endurance Non-volatile Memory segments
– 16 Kbytes of In-System Self-programmable Flash program memory
– 512 Bytes EEPROM
– 1 Kbyte Internal SRAM

12. • Peripheral Features
– Two 8-bit Timer/Counters
– One 16-bit Timer/Counter
– 8-channel, 10-bit ADC
8 Single-ended Channels
– Programmable Serial USART
• Power Consumption @ 1 MHz, 3V, and 25°C for ATmega16L
– Active: 1.1 mA
– Idle Mode: 0.35 mA
– Power-down Mode: < 1 Μa
•I/O and Packages
– 32 Programmable I/O Lines
• Operating Voltages
– 2.7V - 5.5V for ATmega16L
– 4.5V - 5.5V for ATmega1

13. BLOCK DIAGRAM

14. Pin Descriptions:
VCC: Digital supply voltage.
GND: Ground.
Port A (PA7..PA0) :
Port A serves as the analog inputs to the A/D Converter.
Port A also serves as an 8-bit bi-directional I/O port, if the A/D Converter is not used.
Port B (PB7..PB0):
Port B is an 8-bit bi-directional I/O port with internal pull-up resistors
(selected for each bit).
Port C (PC7..PC0):
Port C is an 8-bit bi-directional I/O port with internal pull-up resistors
(selected for each bit).

15. Port D (PD7..PD0):
Port D is an 8-bit bi-directional I/O port with internal pull-up resistors
(selected for each bit).
RESET Reset Input:
A low level on this pin for longer than the minimum pulse length will
generate a reset, even if the clock is not running.
XTAL 1 :
Input to the inverting Oscillator amplifier and input to the internal
clock operating circuit.
XTAL2:
Output from the inverting Oscillator amplifier.

16. PIN CONFIGURATION

18.  Lithium-ion polymer batteries, polymer lithium ion, or more
commonly lithium polymer batteries (abbreviated Li-poly, Li-Pol, LiPo, LIP, PLI
or LiP) are rechargeable (secondary cell) batteries. LiPo batteries are usually
composed of several identical secondary cells in parallel to increase the discharge
current capability.
 This type has technologically evolved from lithium-ion batteries. The primary
difference is that the lithium-salt electrolyte is not held in an organic solvent but in
a solid polymer composite such as polyethylene oxide or polyacrylonitrile.
There are currently two commercialized technologies, both lithium-ion-polymer
(where "polymer" stands for "polymer electrolyte/separator") cells. These are
collectively referred to as "polymer electrolyte batteries".
The battery is constructed as:
positive electrode: LiCoO2 or LiMn2O4
Separator: Conducting polymer electrolyte (e.g., polyethyleneoxide, PEO)
negative electrode: Li or carbon-Li intercalation compound

19.  A compelling advantage of Li-poly cells is that manufacturers can shape the
battery almost however they please, which can be important to mobile phone
manufacturers constantly working on smaller, thinner, and lighter phones.

20. SENSOR BLOCK

21.  Sensitive material of MQ-2 gas sensor is SnO2, which with lower conductivity in
clean air.
 When the target combustible gas exist, The sensor’s conductivity is more
higher along with the gas concentration rising.

22.  The LM35 series are precision integrated circuit temperature sensors,whose output
voltage is linearly proportional to the celcius (centigrade) temperature.
 It has an advantage over linear temperature sensors calibrated in degree kelvin, as the
user is not required to subtract a large constant voltage from its output to obtain
convinient centigrade scaling.

23. The camera used is a wireless (RF) camera.
The ratings are as follows:
 1 amp
9 V
Range: 100m

24. A GPS receiver calculates its position by precisely timing the signals sent by
GPS satellites high above the Earth. Each satellite continually transmits messages
that include
* the time the message was transmitted
* satellite position at time of message transmission
The receiver uses the messages it receives to determine the transit time of each
message and computes the distance to each satellite.
These distances along with the satellites' locations are used with the possible aid of
trilateration, depending on which algorithm is used, to compute the position of
the receiver.

25.  Three satellites might seem enough to solve for position since space has
three dimensions and a position near the Earth's surface can be assumed.
However, even a very small clock error multiplied by the very large speed
of light — the speed at which satellite signals propagate — results in
a large positional error. Therefore receivers use four or more satellites to
solve for both the receiver's location and time.

28.  A DC motor is an electric motor that runs on direct current (DC)
electricity. In any electric motor, operation is based on simple
electromagnetism.

29. Every DC motor has six basic parts -- axle, rotor (a.k.a., armature), stator,
commutator, field magnet(s), and brushes.
The motor used here has a rating of 12V, 150 rpm ,DC gear motor.
The geometry of the brushes , commutator contacts, and rotor windings are such that
when power is applied, the polarities of the energized winding and the stator
magnet(s) are misaligned, and the rotor will rotate until it is almost aligned with the
stator's field magnets

30. These are trades made of rubber.
They are used as they provide better traction on all
surfaces.
Special tracks that incorporate rubber pads can be
installed for use on paved surfaces to prevent the
damage that can be caused by all metal tracks.

32.  The chassis used for the robot is made of steel cabinet of
dimension of 18x13 sq cm.
 The used wheels are of 8 cm diameter and an effective
diameter of 8.8 cm.
 The roof of the chassis houses the two cams one of
which has a vertical movement via a 45 rpm motor.
 The roof also houses the LCD displaying the coordinates
via a GPS reciever.

34. WIDELY USED IN SPYING MISSIONS.
CAN BE USED FOR SURVEILLANCE PURPOSES IN WHICH HUMAN
INTERVENTION IS NOT PREFFERED.
CAN BE EASILY INTERFACED WITH ADD ON GADGETS FOR SPECIFIC
MISSIONS.
CAN BE USED AS GUIDE ROBOTS FOR FIELD TROOPS IN CASE OF POOR
VISIBILITY

35.  MECHANICAL STRUCTURE MODIFICATION FOR INCLUSION OF
STAIR CLIMBING ABILITY.
 INTERFACING ON DEMAND GADGETS AND PROVIDING PORTS FOR THE
SAME.
USE OF NIGT VISION CAMS AND THERMAL IMAGING CAMS FOR BETTER
VISUAL DATA.
 GOING ONE STEP AHEAD BY INCLUDING GEIGER COUNTERS.

36. Thus efforts were made to construct a semi standalone system that only needs
to be controlled for movement and transmits relevant data from ground zero
thereby minimizing human intervention and related risks.
With the proposed improvements the robot can be further enhanced in its
capabilities thereby widening its application horizon.

37.  NASA TUTORIALS
WIKIPEDIA
ATMEGA 16 DATASHEET
RESPECTIVE MANUFACTURER DATA SHEETS
ATT BELL LABS(DTMF DATA)