This document describes a project on an accelerometer controlled robot created by five students at the University of Petroleum and Energy Studies. It includes a certificate signed by their supervisor, Dr. Atul Sidola, acknowledging their work on the project. The introduction describes the goal of designing a low-cost robot that can be controlled by hand gestures detected by an accelerometer without the need for complex and expensive remote controls. It then provides details about the three main components of the robot: the accelerometer sensor, microcontroller for processing sensor output and controlling motors, and DC motors. The literature review provides background information on accelerometers, including how they work and common types such as capacitive and piezoelectric models.
Technology, is today, imbibed for accomplishment of several tasks of varied complexity, in almost all walks of life. The society as a whole is exquisitely dependent on science and technology. Technology has played a very significant role in improving the quality of life. One way through which this is done is by automating several tasks using complex logic to simplify the work.Gesture recognition has been a research area which received much attention from many research communities such as human computer interaction and image processing The keyboard and mouse are currently the main interfaces between man and computer. In other areas where 3D information is required, such as computer games, robotics and design, other mechanical devices such as roller-balls, joysticks and data-gloves are used. The main motto of this project is to make robot realize the human gesture, thereby it bridge the gap between robot and human. Human gesture enhances human-robot interaction by making it independent from input devices. Robotic system can be controlled manually, or it may be autonomous. Robotic hand can be controlled remotely by hand gesture. Research in this field has taken place, sensing hand movements and controlling robotic arm has been developed.
Hand movement controlled robotic vehicle which can be controlled by simple gestures. The user just needs to wear a gesture device which includes a sensor. The sensor will record the movement of hand in a specific direction which will result in the movement of the robot in the respective direction. The robot and the Gesture device are connected wirelessly via radio waves. The wireless communication enables the user to interact with the robot in a more friendly way.
Technology, is today, imbibed for accomplishment of several tasks of varied complexity, in almost all walks of life. The society as a whole is exquisitely dependent on science and technology. Technology has played a very significant role in improving the quality of life. One way through which this is done is by automating several tasks using complex logic to simplify the work.Gesture recognition has been a research area which received much attention from many research communities such as human computer interaction and image processing The keyboard and mouse are currently the main interfaces between man and computer. In other areas where 3D information is required, such as computer games, robotics and design, other mechanical devices such as roller-balls, joysticks and data-gloves are used. The main motto of this project is to make robot realize the human gesture, thereby it bridge the gap between robot and human. Human gesture enhances human-robot interaction by making it independent from input devices. Robotic system can be controlled manually, or it may be autonomous. Robotic hand can be controlled remotely by hand gesture. Research in this field has taken place, sensing hand movements and controlling robotic arm has been developed.
Hand movement controlled robotic vehicle which can be controlled by simple gestures. The user just needs to wear a gesture device which includes a sensor. The sensor will record the movement of hand in a specific direction which will result in the movement of the robot in the respective direction. The robot and the Gesture device are connected wirelessly via radio waves. The wireless communication enables the user to interact with the robot in a more friendly way.
1.Gesture recognition enables humans to communicate with the machine and interact naturally without any mechanical devices
2.Gestures can originate from any bodily motion or state but commonly originate from the face or hand
3.This project we have tried to control a robot by hand gestures using an accelerometer sensor in conjunction with a MCU and RF link.
it is basically a model for wheelchair.for physically handicapped persons it will be very useful.the robot uses a accelerometer sensor for the movement of the robot, so that sensor is installed on the transmitter section and the thing you should wear on your arm.on the receiver side microcontroller is present which will decode the data.
This was my final year project based on embedded system
this is the code
http://downloads..com/download/24001476/code.rar.html
and the pcb are
http://downloads..com/download/24001498/pcb.rar.html
ACCELEROMETER BASED HAND GESTURE CONTROLLED ROBOT USING ARDUINOSnehasis Mondal
WORKING ARDUINO CODE:
/* * Gesture Recognition Robot * Coder – Raj,Rajib,Saity,Snehasis * This program lets you to control your robot with gesture made by your hand */ int GNDPin=A4; //Set Analog pin 4 as GND int VccPin=A5; //Set Analog pin 5 as VCC int xPin=A3; //X axis input int yPin=A2; //Y axis input int zPin=A1; //Z axis input(not used) int Q1=10,Q2=11,Q3=12,Q4=13; //Output pins to be connected to 10, 11, 12, 13 of Decoder IC long x; //Variabe for storing X coordinates long y; //Variabe for storing Y coordinates long z; //Variabe for storing Z coordinates void setup() { Serial.begin(9600); pinMode(Q1,OUTPUT); pinMode(Q2,OUTPUT); pinMode(Q3,OUTPUT); pinMode(Q4,OUTPUT); pinMode(GNDPin, OUTPUT); pinMode(VccPin, OUTPUT); digitalWrite(GNDPin, LOW); //Set A4 pin LOW digitalWrite(VccPin, HIGH); //Set A5 pin HIGH } void loop() { x = analogRead(xPin); //Reads X coordinates y = analogRead(yPin); //Reads Y coordinates z = analogRead(zPin); //Reads Z coordinates (Not Used) if(x<340) // Change the value for adjusting sensitivity forward(); else if(x>400) // Change the value for adjusting sensitivity backward(); else if(y>400) // Change the value for adjusting sensitivity right(); else if(y<340) // Change the value for adjusting sensitivity left(); else stop_(); } void stop_() { Serial.println(""); Serial.println("STOP"); digitalWrite(Q1,LOW); digitalWrite(Q2,LOW); digitalWrite(Q3,LOW); digitalWrite(Q4,LOW); } void forward() { Serial.println(""); Serial.println("Forward");
digitalWrite(Q1,HIGH); digitalWrite(Q2,LOW); digitalWrite(Q3,HIGH); digitalWrite(Q4,LOW); } void backward() { Serial.println(""); Serial.println("Backward"); digitalWrite(Q1,LOW); digitalWrite(Q2,HIGH); digitalWrite(Q3,LOW); digitalWrite(Q4,HIGH); } void left() { Serial.println(""); Serial.println("Left"); digitalWrite(Q1,LOW); digitalWrite(Q2,HIGH); digitalWrite(Q3,HIGH); digitalWrite(Q4,LOW); } void right() { Serial.println(""); Serial.println("Right"); digitalWrite(Q1,HIGH); digitalWrite(Q2,LOW); digitalWrite(Q3,LOW); digitalWrite(Q4,HIGH); }
1.Gesture recognition enables humans to communicate with the machine and interact naturally without any mechanical devices
2.Gestures can originate from any bodily motion or state but commonly originate from the face or hand
3.This project we have tried to control a robot by hand gestures using an accelerometer sensor in conjunction with a MCU and RF link.
it is basically a model for wheelchair.for physically handicapped persons it will be very useful.the robot uses a accelerometer sensor for the movement of the robot, so that sensor is installed on the transmitter section and the thing you should wear on your arm.on the receiver side microcontroller is present which will decode the data.
This was my final year project based on embedded system
this is the code
http://downloads..com/download/24001476/code.rar.html
and the pcb are
http://downloads..com/download/24001498/pcb.rar.html
ACCELEROMETER BASED HAND GESTURE CONTROLLED ROBOT USING ARDUINOSnehasis Mondal
WORKING ARDUINO CODE:
/* * Gesture Recognition Robot * Coder – Raj,Rajib,Saity,Snehasis * This program lets you to control your robot with gesture made by your hand */ int GNDPin=A4; //Set Analog pin 4 as GND int VccPin=A5; //Set Analog pin 5 as VCC int xPin=A3; //X axis input int yPin=A2; //Y axis input int zPin=A1; //Z axis input(not used) int Q1=10,Q2=11,Q3=12,Q4=13; //Output pins to be connected to 10, 11, 12, 13 of Decoder IC long x; //Variabe for storing X coordinates long y; //Variabe for storing Y coordinates long z; //Variabe for storing Z coordinates void setup() { Serial.begin(9600); pinMode(Q1,OUTPUT); pinMode(Q2,OUTPUT); pinMode(Q3,OUTPUT); pinMode(Q4,OUTPUT); pinMode(GNDPin, OUTPUT); pinMode(VccPin, OUTPUT); digitalWrite(GNDPin, LOW); //Set A4 pin LOW digitalWrite(VccPin, HIGH); //Set A5 pin HIGH } void loop() { x = analogRead(xPin); //Reads X coordinates y = analogRead(yPin); //Reads Y coordinates z = analogRead(zPin); //Reads Z coordinates (Not Used) if(x<340) // Change the value for adjusting sensitivity forward(); else if(x>400) // Change the value for adjusting sensitivity backward(); else if(y>400) // Change the value for adjusting sensitivity right(); else if(y<340) // Change the value for adjusting sensitivity left(); else stop_(); } void stop_() { Serial.println(""); Serial.println("STOP"); digitalWrite(Q1,LOW); digitalWrite(Q2,LOW); digitalWrite(Q3,LOW); digitalWrite(Q4,LOW); } void forward() { Serial.println(""); Serial.println("Forward");
digitalWrite(Q1,HIGH); digitalWrite(Q2,LOW); digitalWrite(Q3,HIGH); digitalWrite(Q4,LOW); } void backward() { Serial.println(""); Serial.println("Backward"); digitalWrite(Q1,LOW); digitalWrite(Q2,HIGH); digitalWrite(Q3,LOW); digitalWrite(Q4,HIGH); } void left() { Serial.println(""); Serial.println("Left"); digitalWrite(Q1,LOW); digitalWrite(Q2,HIGH); digitalWrite(Q3,HIGH); digitalWrite(Q4,LOW); } void right() { Serial.println(""); Serial.println("Right"); digitalWrite(Q1,HIGH); digitalWrite(Q2,LOW); digitalWrite(Q3,LOW); digitalWrite(Q4,HIGH); }
AUTOMATIC VEHICLE ACCIDENT INFORMATION BY SMS SYSTEM (AVAIS SYSTEM) Gps gsm a...kailashgavare
This is the GPS based vehicle accident detection and security system. A GPS receiver must be receive
the signal of satellites to calculate a position (latitude and longitude) and send the data to Micro controller.
All function is done by Micro controller. MCU read the information of GPS Modem and display on LCD. In
the vehicle, has different sensor’s like, Fire Detection, CNG gas Leakage, Smoke detector or vibration
sensor etc. When any sensor detected in vehicle, MCU send location and sensor status VIA SMS to user.
In this project PIC microcontroller is used for interfacing to various hardware peripherals. The current
design is an embedded application, which will continuously monitor a moving Vehicle and report the status
of the Vehicle on demand. For doing so an PIC16Fxxx microcontroller is interfaced serially to a GSM
Modem and GPS Receiver. A GSM modem is used to send the position (Latitude and Longitude) of the
vehicle from a remote place. The GPS modem will continuously give the data i.e. the latitude and
longitude indicating the position of the vehicle. The GPS modem gives many parameters as the output,
but only the NMEA data coming out is read and displayed on to the LCD. The same data is sent to the
mobile at the other end from where the position of the vehicle is demanded. An MCU Internal EEPROM is
used to store the mobile number
PIC-MICROCONTROLLER TUTORIALS FOR BEGINNERSVISHNU KP
PIC microcontroller programming based on micro c IDE.Those who really want to build a base in microcontroller programming,just keep going through this. ;) :)
This slide contains information about two type of accelerometer :- 1. Seismic Accelerometer 2 :- Displacement type accelerometer.
it contains working and construction.
Its work like a cell phone recharge phone if recharge is over electricity gone after that we need to recharge acount main benift is that we can oprate it from any where to the world
Obstacle Avoiding Robot
Robotics is a branch of science that deals with Mechanical, Electrical and Software fields. Robots are the machines that are used in our day-to-day to life to reduce men power and work accurately without any distortions. Robots can be classified into two different sections basing upon their skills as Automated and Manual. Obstacle detector is a Automated robot which itself recognizes the obstacle in its path and moves in free direction. Robot detects the obstacle by using two IR Sensors placed in front.
The IR sensors are placed on left and right side of the robot through which continuous Infrared radiation is emitted for detection of obstacles in the path. These IR Sensors are connected to a controlling element AT89c51 µc. When a obstacle is placed in the path of robot IR beam is reflected to the sensor from the obstacle. On detecting obstacle in the path sensor sends 0 volts to µc. This 0 voltage is detected by Microcontroller which avoids the obstacle by taking left or right turn. Similarly if the sensor sends +5v to Microcontroller, the Microcontroller assumes it as clear path and makes the robot to move in straight.
Two motors namely right motor and left motor are connected to Motor driver IC (L293D). L293D is interface with Microcontroller. Microcontroller sends logic 0 & logic 1 as per the programming to driver IC which makes motors to rotate in clockwise and anticlockwise direction. Wheels attached to the motors rotate accordingly with the motor shaft causing in the moment of the robot by wheels. In front portion of the robot a free wheel is attached to move the robot easily in any direction as per the requirement.
A 12Volts DC battery is attached to the circuit. As the microcontroller and sensors requires only 5v, set of resistors and capacitors are used to supply 5v DC to them. Power Management System is not maintained in the circuit as the battery can be removed after the usage of robot. So it does not cause any loss in the power of battery.
This type of robots has multiple applications in various fields. They can be used to know the strength of the opposite army in defense system. They can be used as floor and wall cleaners. They are used in automated GPS vehicles to calculate the moment of the vehicle overhead. These robots are easy to construct and cheaper in cost with long durability.
Developing Infrared Controlled Automated Door SystemIJMER
International Journal of Modern Engineering Research (IJMER) is Peer reviewed, online Journal. It serves as an international archival forum of scholarly research related to engineering and science education.
International Journal of Engineering and Science Invention (IJESI)inventionjournals
International Journal of Engineering and Science Invention (IJESI) is an international journal intended for professionals and researchers in all fields of computer science and electronics. IJESI publishes research articles and reviews within the whole field Engineering Science and Technology, new teaching methods, assessment, validation and the impact of new technologies and it will continue to provide information on the latest trends and developments in this ever-expanding subject. The publications of papers are selected through double peer reviewed to ensure originality, relevance, and readability. The articles published in our journal can be accessed online
The work is aimed at measurement of heartbeat and displays the information on an alphanumeric (or Graphical) LCD display. The heartbeat monitor uses LED and an LDR based sensor to determine the heartbeat.
Design and development of a telemanipulated welding robot with visual and hap...eSAT Journals
Abstract
In today’s world a large proportion of human effort is replaced by robots most of this change is visible in the field of manufacturing industries where in many works previously done by human beings are performed by machines or robots with minimal human interface. The problem with these human operated robots is that the operator and the workplace are at completely different places and the operator has no idea of the workplace and has to operate the machine using devices such as joysticks without knowing how the machine is operating, so in our paper we wish to develop a tele manipulating welding robot which mimics the action of the operator and also is complemented by visual and haptic feedback where in the entire setup would be placed on a mobile base.
Water scarcity is the lack of fresh water resources to meet the standard water demand. There are two type of water scarcity. One is physical. The other is economic water scarcity.
Sachpazis:Terzaghi Bearing Capacity Estimation in simple terms with Calculati...Dr.Costas Sachpazis
Terzaghi's soil bearing capacity theory, developed by Karl Terzaghi, is a fundamental principle in geotechnical engineering used to determine the bearing capacity of shallow foundations. This theory provides a method to calculate the ultimate bearing capacity of soil, which is the maximum load per unit area that the soil can support without undergoing shear failure. The Calculation HTML Code included.
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Indigenized remote control interface card suitable for MAFI system CCR equipment. Compatible for IDM8000 CCR. Backplane mounted serial and TCP/Ethernet communication module for CCR remote access. IDM 8000 CCR remote control on serial and TCP protocol.
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Technical Specifications
Indigenized remote control interface card suitable for MAFI system CCR equipment. Compatible for IDM8000 CCR. Backplane mounted serial and TCP/Ethernet communication module for CCR remote access. IDM 8000 CCR remote control on serial and TCP protocol.
Key Features
Indigenized remote control interface card suitable for MAFI system CCR equipment. Compatible for IDM8000 CCR. Backplane mounted serial and TCP/Ethernet communication module for CCR remote access. IDM 8000 CCR remote control on serial and TCP protocol.
• Remote control: Parallel or serial interface
• Compatible with MAFI CCR system
• Copatiable with IDM8000 CCR
• Compatible with Backplane mount serial communication.
• Compatible with commercial and Defence aviation CCR system.
• Remote control system for accessing CCR and allied system over serial or TCP.
• Indigenized local Support/presence in India.
Application
• Remote control: Parallel or serial interface.
• Compatible with MAFI CCR system.
• Compatible with IDM8000 CCR.
• Compatible with Backplane mount serial communication.
• Compatible with commercial and Defence aviation CCR system.
• Remote control system for accessing CCR and allied system over serial or TCP.
• Indigenized local Support/presence in India.
• Easy in configuration using DIP switches.
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CFD Simulation of By-pass Flow in a HRSG module by R&R Consult.pptxR&R Consult
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More examples of our work https://www.r-r-consult.dk/en/cases-en/
Governing Equations for Fundamental Aerodynamics_Anderson2010.pdf
Accelerometer controlled robot
1. Department of Mechanical Engineering, University Of Petroleum & Energy Studies, Dehradun
1
“ACCELEROMETER CONTROLLED ROBOT”
SUBMITTED BY: Mr.Abhishek kuumar choudhary
Mr. Mohit keshav
Mr. Nitesh singh bisht
Mr. Rohit khanna
Mr. Siddique akbar
SUPERVISOR: Dr. ATUL SIDOLA
Via Prem Nagar P.O Bodholi
Dehradun -248007 Uttrakhand
2. Department of Mechanical Engineering, University Of Petroleum & Energy Studies, Dehradun
2
CERTIFICATE
This is to certify that,
Mr. Abhishek kumar choudhary
Mr. Mohit keshav
Mr. Nitesh singh bisht
Mr. siddique akbar
Mr. Rohit khanna
Students of UNIVERSITY OF PETROLEUM AND ENERGY STUDIES have done a
Project “ACCELEROMETER CONTROLLED ROBOT” under my guidance. This
work is done to my satisfy action under requirement of PRE FINAL YEAR PROJECT
for academic year 2012 -2013.
3. Department of Mechanical Engineering, University Of Petroleum & Energy Studies, Dehradun
3
ACKNOWLEDGEMENT
We have a great pleasure in presenting this project report on “ACCELEROMETER
CONTROLLED ROBOT” and to express our deep regard to towards those who have offered their valuable
time & guidance in my hour of need.
Firstly we express our sincere gratitude to Mentor, the guide of the project who carefully and
patiently leant his valuable time and effort to give directions as well as to correct various documents with
attention and care. It is a great honor to do this project in this esteemed institution, and we would extend
our thanks to Dr. ATUL SIDOLA, member of Mechanical Dept., who have shared their vast knowledge
and experience during our stay.
We do also like to appreciate the consideration of the Project Coordinator, our Faculties and
colleagues, which enabled us to balance our work along with this project. It was their attitude that inspired
us to do such an efficient and apposite work.
We wish to avail this opportunity to express a sense of gratitude and love to all our friends and our family
for their unwavering support, strength, help and in short for everything they have done during the crucial
times of the progress of our project.
4. Department of Mechanical Engineering, University Of Petroleum & Energy Studies, Dehradun
4
ABSTRACT
Now a day, Robots are controlled by remote or cell phone or keyboard etc. If we think about
cost and required hardware’s all this things increases the complexity, especially for low level application.
Now the robot that we have designed is different from above one. It doesn’t require any type of type
of complex keys or joysticks. It is a robot which is controlled by accelerometer, which drives itself according
to position of accelerometer. Hardware required is very small, and hence low cost and small in size.
5. Department of Mechanical Engineering, University Of Petroleum & Energy Studies, Dehradun
5
TABLE OF CONTENTS
Certificate………………………………………………………………………………………………………………………………………..……………………2
Acknowledgement……………………………………………………………………………………………………………………………….………………..3
Abstract ……………………………………………………………………………………………………………………………………………………..…………4
Table of Contents……………………………………………………………………………………………………………………………………….………….6
Chapter-1: Introduction………………………………………………………………………………………………………………………………………...8
Chapter-2: Literature Review………………………………………………………………………………………………………………………………..11
Chapter-3: Problem Definition………………………………………………………………………………………………………………………………28
Chapter-4: Model Construction and Solution………………………………………………………………………………………………………..29
Chapter-5: Program used……………………………………………………………………………………………………………………………………...30
Chapter-6: Applications………………………………………………………………………………………………………………………………………….37
Chapter-6: Conclusions and Recommendations for future work……………………………………………………………………………39
References
Appendices
Appendix-A…………………………………………………………………………………………………………………………………………………………….41
6. Department of Mechanical Engineering, University Of Petroleum & Energy Studies, Dehradun
6
INTRODUCTION
We generally find people working in chemical industries under different hazardous condition. These
people suffer with many dangerous diseases like skin cancer, lungs problem and many more. So we finally
thought of designing a robot that can copy that instant action of human being under various conditions and
situations.
In market many types of robots are available that are controlled by remote or cell phone or keyboard
connection. But limitations of these robots are that they are much more complex and difficult for a new comer
to learn. More over their cost are high even for low application activities. So we decided to design a robot
that doesn’t require any type of remote or joystick. It should be controlled by the accelerometer which will be
driving itself according to position of it. Hardware required is very small, and hence low cost and small in
size
This robot consists of mainly three parts. First is sensor, which works as vision of robot. We
have used accelerometer that act as sensor for our robot.
A Gesture Controlled robot is a kind of robot which can be controlled by your hand gestures not by old
buttons. You just need to wear a small transmitting device in your hand which included an acceleration meter.
This will transmit an appropriate command to the robot so that it can do whatever we want. The transmitting
device included a comparator IC for analog to digital conversion and an encoder IC(HT12E) which is use to
encode the four bit data and then it will transmit by an RF Transmitter module.
At the receiving end RF Receiver modules receives the encoded data and decode it by a decoder IC (HT12D).
This data is then processed by a microcontroller (P89V51RD2) and finally our motor driver to control the
motors.
As user makes movements of his hand in front of it, it senses and according to that it sends the
signal for decision. Output from accelerometer is gathered for process by microcontroller.
7. Department of Mechanical Engineering, University Of Petroleum & Energy Studies, Dehradun
7
As per sensor output, the controller is made to work according to the program written inside it and it
sends the respective signal to third part which is motors. This is the last part which drives the wheel of our
Robot. It uses two dc motors to make movement. To drive them one motor driver is IC used which
provides sufficient current to motors. All this material is mounted on metal chassis. As we move our hand
to right robot will move to right side. Similar to this it will copy all our movements.
8. Department of Mechanical Engineering, University Of Petroleum & Energy Studies, Dehradun
8
LITERARURE REVIEW
1) Accelerometer ADXL335
Small,
Low Power,
3-Axis ±3 g Accelerometer
What is an accelerometer?
An accelerometer is an electromechanical device that will measure acceleration forces. These forces
may be static, like the constant force of gravity pulling at your feet, or they could be dynamic - caused by
moving or vibrating the accelerometer.
What are accelerometers useful for?
By measuring the amount of static acceleration due to gravity, you can find out the angle the
device is tilted at with respect to the earth. By sensing the amount of dynamic acceleration, you can
analyze the way the device is moving. At first, measuring tilt and acceleration doesn't seem all that
exciting. However, engineers have come up with many ways to make really useful products with them.
An accelerometer can help your project understand its surroundings better. Is it driving uphill? Is it going
to fall over when it takes another step? Is it flying horizontally or is it dive bombing your professor? A
good programmer can write code to answer all of these questions using the data provided by an
accelerometer.
9. Department of Mechanical Engineering, University Of Petroleum & Energy Studies, Dehradun
9
How do accelerometers work?
There are many different ways to make an accelerometer! Some accelerometers use the piezoelectric
effect - they contain microscopic crystal structures that get stressed by accelerative forces, which cause a
voltage to be generated. Another way to do it is by sensing changes in capacitance. If you have two
microstructures next to each other, they have a certain capacitance between them. If an accelerative force
moves one of the structures, then the capacitance will change. Add some circuitry to convert from
capacitance to voltage, and you will get an accelerometer. There are even more methods, including use of
the piezoresistive effect, hot air bubbles, and light
Types of Accelerometer
There are several different principles upon which an analog accelerometer can be built. Two very
common types utilize capacitive sensing and the piezoelectric effect to sense the displacement of the proof
mass proportional to the applied acceleration.
Capacitive
Accelerometers that implement capacitive sensing output a voltage dependent on the distance between
two planar surfaces. One or both of these “plates” are charged with an electrical current. Changing the gap
between the plates changes the electrical capacity of the system, which can be measured as a voltage output.
This method of sensing is known for its high accuracy and stability. Capacitive accelerometers are also less
prone to noise and variation with temperature, typically dissipates less power, and can have larger bandwidths
due to internal feedback circuitry. (Elwenspoek 1993)
Piezoelectric
Piezoelectric sensing of acceleration is natural, as acceleration is directly proportional to force. When
certain types of crystal are compressed, charges of opposite polarity accumulate on opposite sides of the
crystal. This is known as the piezoelectric effect. In a piezoelectric accelerometer, charge accumulates on the
crystal and is translated and amplified into either an output current or voltage.
10. Department of Mechanical Engineering, University Of Petroleum & Energy Studies, Dehradun
10
Piezoelectric accelerometers only respond to AC phenomenon such as vibration or shock. They have a
wide dynamic range, but can be expensive depending on their quality (Doscher 2005)
Piezo-film based accelerometers are best used to measure AC phenomenon such as vibration or shock,
rather than DC phenomenon such as the acceleration of gravity. They are inexpensive, and respond to other
phenomenon such as temperature, sound, and pressure (Doscher 2005)
Other
There are many other types of accelerometer that are less important to musical applications,
including:
Piezoresistive
Thermal
Null-balance
Servo force balance
Strain gauge
Resonance
Magnetic induction
Optical
Surface acoustic wave (SAW)
11. Department of Mechanical Engineering, University Of Petroleum & Energy Studies, Dehradun
11
Specifications
A typical accelerometer has the following basic specifications:
Analog/digital
Number of axes
Output range (maximum swing)
Sensitivity (voltage output per g)
Bandwidth
Amplitude stability
The user selects the bandwidth of the accelerometer using the C X, CY, and CZ capacitors at the
XOUT, YOUT, and ZOUT pins. Bandwidths can be selected to suit the application, with a range of 0.5 Hz to
1600 Hz for the X and Y axes, and a range of 0.5 Hz to 550 Hz for the Z axis.
12. Department of Mechanical Engineering, University Of Petroleum & Energy Studies, Dehradun
12
ADXL335
Figure -1 Accelerometer ADXL335
An Accelerometer is a kind of sensor which gives an analog data while moving in X,Y,Z direction or
may be X,Y direction only depends on the type of the sensor. Here is a small image of an Accelerometer shown.
We can see in the image that there are some arrows showing if we tilt these sensors in that direction then the
data at that corresponding pin will change in the analog form
13. Department of Mechanical Engineering, University Of Petroleum & Energy Studies, Dehradun
13
The Accelerometer having 6 pins-
1- VDD- We will give the +5volt to this pin
2- GND- We simply connects this pin to the ground for biasing.
3- X- On this pin we will receive the analog data for x direction movement. 4-
Y- On this pin we will receive the analog data for y direction movement. 5- Z-
On this pin we will receive the analog data for z direction movement.
6- ST- this pin is use to set the sensitivity of the accelerometer 1.5g/2g/3g/4g.
14. Department of Mechanical Engineering, University Of Petroleum & Energy Studies, Dehradun
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THEORY OF OPERATION
The ADXL335 is a complete 3-axis acceleration measurement system. The ADXL335 has a
measurement range of ±3 g minimum. It contains poly-silicon surface micro machined sensor and signal
conditioning circuitry to implement open-loop acceleration measurement architecture. The output signals
are analog Voltages that are proportional to acceleration.
The accelerometer can measure the static acceleration of gravity in tilt-sensing applications as
well as dynamic acceleration resulting from motion, shock, or vibration. The sensor is a poly-silicon
surface-micro machined structure built on top of a silicon wafer. Poly-silicon springs suspend the structure
over the surface of the wafer and provide a resistance against acceleration forces. Deflection of the structure
is measured using a differential capacitor that consists of independent fixed plates and plates attached to the
moving mass.
If you have two microstructures next to each other, they have a certain capacitance between them. If
an accelerative force moves one of the structures, then the capacitance will change. Add some circuitry to
convert from capacitance to voltage, and you will get an accelerometer. There are even more methods,
including use of the piezoresistive effect, hot air bubbles, and light.
The fixed plates are driven By 180° out-of-phase square waves. Acceleration deflects the moving mass
and unbalances the differential capacitor resulting in a sensor output whose amplitude is proportional to
acceleration. Phase-sensitive demodulation techniques are then used to determine the magnitude and direction
of the acceleration.
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FEATURES:
3 axis sensing small, low profile package
4mm x 4mm x 1.45mm LFCSP low power: 350uA (typical)
Single operation: 1.8v to 3.6v 10,000g shock survival
Excellent temperature stability BW adjustment with a single capacitor per axis
RoHS/WEEE lead-free complement
ACCELEROMETER ADXL 335
Figure -2 Pin dia. Of ADXL 335
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Pin Function Descriptions
Pin No. Mnemonic Description
1 NC No Connect.1
2 ST Self-Test.
3 COM Common.
4 NC No Connect.1
5 COM Common.
6 COM Common.
7 COM Common.
8 ZOUT Z Channel Output.
9 NC No Connect.1
10 YOUT Y Channel Output.
11 NC No Connect. 1
12 XOUT X Channel Output.
13 NC No Connect. 1
14 VS Supply Voltage (1.8 V to 3.6 V).
15 VS Supply Voltage (1.8 V to 3.6 V).
16 NC No Connect. 1
EP Exposed Pad Not internally connected. Solder for
Mechanical integrity.
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MICROCONTROLLER (ATMEGA 16)
Pin Diagram:
FIGURE -3 AVR AT mega16
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FEATURES
• High-performance, Low-power Atmel AVR 8-bit Microcontroller
• Advanced RISC Architecture
– 131 Powerful Instructions – Most Single-clock Cycle Execution
– 32 x 8 General Purpose Working Registers
– Fully Static Operation
– Up to 16 MIPS Throughput at 16 MHz
– On-chip 2-cycle Multiplier
• High Endurance Non-volatile Memory segments
– 16 Kbytes of In-System Self-programmable Flash program memory
– 512 Bytes EEPROM
– 1 Kbyte Internal SRAM
– Write/Erase Cycles: 10,000 Flash/100,000 EEPROM
– Data retention: 20 years at 85°C/100 years at 25°C (1)
– Optional Boot Code Section with Independent Lock Bits In-
System Programming by On-chip Boot Program
True Read-While-Write Operation
– Programming Lock for Software Security
• JTAG (IEEE std. 1149.1 Compliant) Interface
– Boundary-scan Capabilities According to the JTAG Standard
– Extensive On-chip Debug Support
– Programming of Flash, EEPROM, Fuses, and Lock Bits through the JTAG Interface
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• Peripheral Features
– Two 8-bit Timer/Counters with Separate Prescalers and Compare Modes
– One 16-bit Timer/Counter with Separate Prescaler, Compare Mode, and Capture Mode
– Real Time Counter with Separate Oscillator
– Four PWM Channels
– 8-channel, 10-bit ADC
8 Single-ended Channels
7 Differential Channels in TQFP Package Only
2 Differential Channels with Programmable Gain at 1x, 10 xs, or 200 xs
– Byte-oriented Two-wire Serial Interface
– Programmable Serial USART
– Master/Slave SPI Serial Interface
– Programmable Watchdog Timer with Separate On-chip Oscillator
– On-chip Analog Comparator
• Special Microcontroller Features
– Power-on Reset and Programmable Brown-out Detection
– Internal Calibrated RC Oscillator
– External and Internal Interrupt Sources
– Six Sleep Modes: Idle, ADC Noise Reduction, Power-save, Power-down, Standby and
Extended Standby
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• I/O and Packages
– 32 Programmable I/O Lines
– 40-pin PDIP, 44-lead TQFP, and 44-pad QFN/MLF
• Operating Voltages
•
– 2.7V - 5.5V for ATmega16L
– 4.5V - 5.5V for ATmega16
• Speed Grades
– 0 - 8 MHz for ATmega16L
– 0 - 16 MHz for ATmega16
• Power Consumption @ 1 MHz, 3V, and 25°C for ATmega16L
– Active: 1.1 mA
– Idle Mode: 0.35 mA
– Power-down Mode: < 1 µA
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2x16 LCD DISPLAY
Figure – 4 A typical LCD
FEATURES:
61 x 15.8 mm viewing area
5 x 7 dot matrix format for 2.96 x 5.56 mm character, plus cursor line
can display 224 different symbols
Low power consumption (1 mA typical)
Powerful command set and user produced characters
TTL and CMOS compiler
Connector for standard 0.1-pitch pin headers 5 x
8 dots with cursor
Built-in controller (KS 0066 or Equivalent)
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Description
This is an LCD Display designed for E-blocks. It is a 16 character, 2-line alphanumeric LCD
Display Connected to a single 9-way D-type connector. This allows the device to be connected to most E-Block
I/O ports. The LCD display requires data in a serial format, which is detailed in the user guide below. The
display also requires a 5V power supply. Please take care not to exceed 5V, as this will cause damage to the
device. The 5V is best generated from the E-blocks Multiprogrammer or a 5V fixed regulated power supply.
The potentiometer RV1 is a contrast control that should be used to adjust the contrast of the display for the
environment it is being used in.
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MOTOR DRIVER IC L293D
L293D
MOTOR
DRIVER IC
FIGURE – 5 Motor Driver L293D
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FEATURES
-Output current 1A per channel (600 mA for L293D).
-Peak output current 2A per channel ( 1.2A for L293D).
-Inhibit facility.
-High noise immunity.
-Separate logic supply.
-Over temperature protection
DESCRIPTION:
L293D is a dual H‐Bridge motor driver, so with one IC we can interface two DC motors which can be
controlled in both clockwise and counter clockwise direction and if you have motor with fix direction of
motion. You can make use of all the four I/Os to connect up to four DC motors. L293D has output current of
600mA and peak output current of 1.2A per channel. Moreover for protection of circuit from back EMF output
diodes are included within the IC. The output supply (VCC2) has a wide range from 4.5V to 36V, which has
made L293D a best choice for DC motor driver.
Each channel is controlled by a TTL compatible logic input and each pair of driver is equipped with an
inhibit input which turns off all four transistor. A separate supply voltage is provided for logic so that it
may be run off a lower voltage to reduce dissipation. Additionally the L293D includes the output
clamping diodes within the IC for complete interfacing with inductive loads.
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Battery
We use 9 volt 3 amp battery
A battery is a device that converts stored chemical energy to electrical energy. Batteries are
commonly used as energy sources in many household and industrial applications.
There are two types of batteries: primary batteries (disposable batteries), which are designed to be used
once and discarded, and secondary batteries (rechargeable batteries), which are designed to be recharged and
used multiple times. Batteries come in many sizes, from miniature cells used in hearing aids and wristwatches
to room-size battery banks that serve as backup power supplies in telephone exchanges and computer data
centers.
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SOFTWARE
SOFTWARE USED:
1) AVR STUDIO
It is most commonly used compiler software. It allows to do programming in c and compiling as well. It
supports the all AVR families
Figure – 6 AVR studio 4
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2) PROTEUS
Proteus is simulation software used for various electronic circuit. It contain large library of
electronic component. We have designed of circuit using this library. We have simulated our circuit in
proteus. We use hex file created by AVR studio for simulation. And finally we got our result .
Figure – 6 Proteus
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PROBLEM DEFINITIONS
Problem – 1)
SUPPLY VOLTAGE
We did the direct connection with IC 7805.
Problem – 2)
CALIBRATION OF ACCELEROMETER
Problem – 3)
DISPLAY WITH LCD
By changing the pins, we solve the problem.
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WORKING MODEL
Figure -7 working model (complete)
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PROGRAM
#define F_CPU 1000000UL
#include<avr/io.h>
#include<util/delay.h>
#define RS PD2
#define RW PD3
#define EN PD5
#define DATA PORTB
void lcd_init();
void lcd_cmd(char);
void lcd_data(char);
void digicount(unsigned int);
void adc_init();
int adc_read(unsigned char);
void lcd_string(char *str);
int main()
{
DDRA=0x00;
DDRB=0xF0;
DDRD=0xFF;
DDRC=0xFF;
int x,y,z;
lcd_init();
adc_init();
lcd_cmd(0x01);
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lcd_string("MINOR PROJECT");
_delay_ms(500);
lcd_cmd(0x01);
lcd_string("MECHATRONICS");
_delay_ms(500);
while(1)
{
//// value of x
PORTA=0b00000010; //A06
x =adc_read(1);
_delay_ms(100);
PORTA=0b00000100; //A05
y =adc_read(2);
_delay_ms(100);
PORTA=0b00001000; //A05
z =adc_read(3);
_delay_ms(100);
if ((x>380)&&(x<420)&&(y>380)&&(y<425)&&(z>430)&&(z<480))
//stand
{
PORTC=0b00000000;
lcd_cmd(0x01);
lcd_string("STOP");
_delay_ms(200);
}
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if ((x>430)&&(x<490)&&(y>375)&&(y<430)&&(z>390)&&(z<435)) //right
{
PORTC=0b00001001;
lcd_cmd(0x01);
lcd_string("RIGHT");
_delay_ms(200);
}
if ((x>310)&&(x<350)&&(y>370)&&(y<425)&&(z>375)&&(z<420)) //left
{
PORTC=0b00000110;
lcd_cmd(0x01);
lcd_string("LEFT");
_delay_ms(200);
}
if ((x>380)&&(x<440)&&(y>445)&&(y<4490)&&(z>385)&&(z<440)) //forward
{
PORTC=0b00001010;
lcd_cmd(0x01);
lcd_string("FORWARD");
_delay_ms(200);
}
if ((x>360)&&(x<420)&&(y>310)&&(y<370)&&(z>350)&&(z<410)) //reverse
{
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PORTC=0b00000101;
lcd_cmd(0x01);
lcd_string("REVERSE");
_delay_ms(200);
}
}
return 0;
}
void lcd_init()
{
lcd_cmd(0x02); // Home Postition
lcd_cmd(0x28); // Scroll display 1 char right
lcd_cmd(0x06); // Direction towards right. 0x04 is used for left
lcd_cmd(0x0C);
}
void lcd_string(char*str) // definig string to be displayed
{
int i=0;
while (str[i]!='0')
{
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lcd_data(str[i]); //for 8 bit mode
i++ ;
}
}
void digicount(unsigned int x)
{
lcd_cmd(0x04);
unsigned int i;
while(x!=0)
{
i=x%10;
lcd_data(i+48);
x=x/10;
}
lcd_cmd(0x06);
}
void adc_init()
{
ADMUX=(1<<REFS0)|(1<<REFS1);
ADCSRA=(1<<ADEN)|(1<<ADPS2)|(1<<ADPS1)|(1<<ADPS0);
}
int adc_read(unsigned char ch)
{
ch=ch&0b00000111;
ADMUX=0x40|ch;
ADCSRA|=(1<<ADSC);
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while(!(ADCSRA&(1<<ADIF)));
ADCSRA|=(1<<ADIF);
return(ADC);
}
void lcd_cmd(char A)
{
PORTB=A&0xF0;
PORTD&=~(1<<RS); // Instruction register selected
PORTD&=~(1<<RW); // Write mode when RS=0
PORTD|=(1<<EN); // Enable LCD
_delay_ms(1);
PORTD&=~(1<<EN); // Disable LCD
_delay_ms(1);
PORTB=(A<<4)&0xF0;
PORTD&=~(1<<RS);
PORTD&=~(1<<RW);
PORTD|=(1<<EN);
_delay_ms(1);
PORTD&=~(1<<EN);
_delay_ms(1);
}
void lcd_data(char A)
{
PORTB=A&0xF0;
PORTD|=(1<<RS);
PORTD&=~(1<<RW);
PORTD|=(1<<EN);
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_delay_ms(1);
PORTD&=~(1<<EN);
_delay_ms(1);
PORTB=(A<<4)&0xF0;
PORTD|=(1<<RS);
PORTD&=~(1<<RW);
PORTD|=(1<<EN);
_delay_ms(1);
PORTD&=~(1<<EN);
_delay_ms(1);
}
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APPLICATIONS
1. We generally find people working in chemical industries under different hazardous
condition. These people suffer with many dangerous diseases like skin cancer, lungs
problem and many more. So we finally thought of designing a robot that can copy that
instant action of human being under various conditions and situations. So in that place of
industry it can be used.
2. Most of the computer games are now using motion detecting remote technology.
3. It is also used in mine
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FUTURE SCOPE
In future we can design a wireless robot which can sense hand gesture by using wireless
technologies.
It can be used in military applications as a robotic vehicle which can be handled by a soldier to avoid
casualties.
Our system has shown the possibility that interaction with machines through gestures is a feasible task and the
set of detected gestures could be enhanced to more commands by implementing a more complex model of a
advanced vehicle for not only in limited space while also in broader area as in the roads too .
In the future, service robot executing many different tasks from private movement to a fully-fledged
advanced automotive that can make disabled to able in all sense.
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Conclusion
In our project we have added special features by which our robot can overcome so many problems in
industry. If it is further developed then it can be used for military application.
An Accelerometer is a kind of sensor which gives an analog data while moving in X,Y,Z direction
or may be X,Y direction only depends on the type of the sensor. Here is a small image of an Accelerometer
shown. We can see in the image that there are some arrow showing if we tilt these sensor's in that direction then
the data at that corresponding pin will change in the analog form.
An Accelerometer Controlled robot is a kind of robot which can be controlled by your hand
gestures not by old buttons. You just need to wear a small transmitting device in your hand which included
an acceleration meter. This will transmit an appropriate command to the robot so that it can do whatever we
want. The transmitting device included a comparator IC for analog to digital conversion and an encoder
which is use to encode the four bit data and then it will transmit by an RF Transmitter module. At the
receiving end an RF Receiver module receives the encoded data and decode it by an decoder.
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REFERENCES
‘www.atmel.com’
‘www.alldatasheet.com’
‘www.wikipedia.com’
‘www.google.com’
‘ieeexplore.ieee.org’
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APPENDIX - A
Component list:
Sr. no. Name of component Prize(Rs)
1 Microcontroller (ATMEGA16) 220
8- bit
2 Motor driver (L293D) 75
3 Accelerometer (ADXL335) 1800
4 Dc motor (9V, 150rpm) 500
5 2x16 ALPHANUMERIC LCD 115
DISPLAY
6 Crystal 15
7 Resistor (10k, 1k) 1
8 Capacitor (0.1uf, 10uf) 1
Total 2727.00