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ABSTRACT
This project is functioning of “SURVEILLANCE ROBOT” an ordinary mobile or
computer control system which consists of a transmitter and a receiver .The robot is
controlled by the mobile phone or computer held by the user, which communicates with
the mobile phone attached to the robot. In the course of a phone call, if any button is
pressed, a tone corresponding to the button pressed is heard at the receiver end, which is
called ‘Dual Tone Multiple frequency’ (DTMF) tone. The robot receives these tones via
the receiver mobile phone which is on board. The received tone is processed by the
microcontroller with the help of DTMF decoder IC MT8870DE . This IC communicates
with the motor driver IC L293d through the microcontroller interface which drives the
motor in forward, reverse, right and left directions according to the user’s key press. The
microcontroller featuring this project will be the AVR microcontroller, ATmega8
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CHAPTER 1
INTRODUCTION
In this project the robot, is controlled by a mobile phone or computer that makes call to
the mobile phone attached to the robot in the course of the call, if any button is pressed
control corresponding to the button pressed is heard at the other end of the call. This tone
is called dual tone multi frequency tome (DTMF) robot receives this DTMF tone with the
help of phone stacked in the robot. The received tone is processed by the atmega8
microcontroller with the help of DTMF decoder MT8870DE. The decoder decodes the
DTMF tone in to its equivalent binary digit and this binary number is send to the
microcontroller, the microcontroller is preprogrammed to take a decision for any give
input and outputs its decision to motor drivers in order to drive the motors for forward or
backward motion or a turn .
The mobile or computer that makes a call to the mobile phone stacked in
the robot acts as a remote. So this simple robotic project does not require the construction
of receiver and transmitter units. DTMF signaling is used for telephone signaling over the
line in the voice frequency band to the call switching center. The version of DTMF used
for telephone dialing is known as touch tone. The received tone is processed by the
microcontroller with the help of DTMF decoder. The microcontroller then transmits the
signal to the motor driver ICs to operate the motors & our robot starts moving
Conventionally. The Control of robot involves three distinct phases: perception,
processing and action. Generally the preceptors are sensors mounted on the robot,
processing is done by the on-board microcontroller or process and the task is performed
using motors or with some other actuators
DTMF decoder, Microcontroller and motor driver .An MT8870DE series
DTMF decoder is used here. All types of the MT8870 series use digital counting
techniques to detect and decode all the sixteen DTMF signals. DTMF assigns a specific
frequency (consisting of two separate tones) to each keys that it can easily be identified
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by the electronic circuit. The signal generated by the DTMF encoder is the direct
algebraic submission, in real time of the amplitudes of two sine (cosine) waves of
different frequencies. i.e., pressing 5 will send a tone made by adding 1336 Hz and 770
Hz to the other end of the mobile. The important components of this robot are tone pairs
into a four bit code output. The built -in dial tone rejection circuit eliminated the need for
pre- filtering.
Figure 1.1: Overview Block Diagram of the mobile control System
Figure 1.2: Overview Block Diagram of the computer control System
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CHAPTER 2
SYSTEM COMPONENTS
AVR Development Board 118010:-
Figure2.1:AVR development board
• Includes Atmel’s ATmega8 Microcontroller with 8kb flash memory working at
16MIPS.
• On-board LCD interface (it can also be used for any other general purpose
application).
• On-board Motor Driver for connecting 4 DC motors or 2 Stepper motors
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• Onboard servo interface.
• On-board regulated power supply.
• PC interface through UART.
• On-board Buzzer.
• 12 MHz external crystal.
• Exposed all 21 I/O pins.
• Exposed 7 channel I/O pins for ADC.
• Exposed 12 I/O channels for sensors and other peripherals with 5V/1A power
supply.
• Exposed 8 channel I/O pins for servo, sensors and other peripherals with dual
power supply.
• Four tact switches for external input and reset.
• Four test surface mounted LEDs for status and debugging purpose.
• Two supply indicator LEDs.
• Dual power supply through DC source (6V to 16V) or USB powered.
• On board USB programmer.
• Dual or single power supply option.
• Exposed ISP pins for programming.
• Option for connect or disconnect LEDs.
• Option for separate AREF (Analog Reference) for ADC.
• Option for separate AVCC (Analog VCC) for ADC.
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2.1.1 PARTS IDENTIFICATION:-
Microcontroller
It is a micro computer chip which stores our programs executes them and takes necessary
action. The chip used here is Atmel popular AVR micro controller.
1117 VOLTAGE REGULATOR
It is a three terminal 5V voltage regulator IC used to provide a constant voltage supply of
5V to the micro controller and other peripherals (i.e. sensors etc.) attached in the main
board.
MAX232
This IC takes care of voltage conversion needed for the communication between the PC's
RS-232 (Serial/COM) port and AVR Development board.
L293DNE MOTOR DRIVER
This is basically a motor driver IC which takes input from microcontroller and is able to
drive the DC and stepper motors by using separate power supply.
RST (Reset switch)
The Reset switch is basically used to reset a running program right to the beginning it is
same as the reset switch of a PC.
POWER (Power On Switch):
It is basically a toggle switch used to provide power supply to the main board. The power
can be supplied either by a battery power supply (through LS) or can be USB powered.
Thus, the POWER switch can be made to toggle between MP (Main Power) or UP (USB
Power).
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PTOG (Power Toggle Switch):
It is basically a toggle switch which toggles the power for the devices connected to
PORTB either to use the internal power supply (5V) of the main board (by setting the
switch in 5V mode) or to use any other external power source connected in DS for the
high power applications like servo motors (by setting the switch in EXT mode).
PROG (Programming Switch):
It is also a toggle switch for programming the microcontroller using on board USB
programmer. For programming mode it should be ON then RESET button should be
pressed. For normal operation it should be off.
POWER SUPPLY
LS (Logic Supply)
It consist of two pins one is +ve and another is –ve. A battery or a AC adaptor can be
connected here to provide power supply to the mother board it provides regulated power
supply to all the peripherals present in the mother board and also to the external
peripherals connected to the motherboard through a voltage regulator. The DC voltage
provided to this terminal should be lies in between 6 to 16 volt. To use the supply
connected in LS pin the power switch should be toggled towards “MP” (Main power).
DS (Driving Supply)
It consist of two pins one is +ve and another is –ve.It is basically use to provide a
separate high current power supply to the Motors. For operating DC motors you may
provide here a Power supply of 5 to 40 volt. For operating a servo motor you may
suppose to provise any suitable power supply as per the requirement of your motors
(mostly servos works at 4.5 to 6 volt). Power from this pins are directly goes to the
driving supply of the motor driver and to the supply pins of PortB if PTOG switch is
toggled towards EXT.
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USB socket:
It is basically used for USB communication with the PC. It also provides necessary logic
supply to the motherboard. In order to use the USB supply the POWER switch should be
toggled towards UP (USB power). When using the USB power some prequtions should
be taken such as any heavy load should not be connected to the board directly and
Don’t use the J1.
LED’s
Active high:
LED1 – RED PORTB0
RED LED2 – PORTB1
RED LED3 – PORTB2
RED LED4 – PORTB3
ORANGE LS I- Logic Power ON indicator
GREEN DS I- Driver Power ON indicator
ISP (IN-SYSTEM PROGRAMMING) INTERFACE
It is the In-System Programming interface of the main board which can be used to
connect any ISP programmer to download the programs in the microcontroller. It can also
be used in SPI (Serial Peripheral Interface) communication. The pins provided for ISP are
given below:
MOSI- Master Out Slave in PortB3
MISO- Master in Slave out PortB4
SCK- Serial clock PortB5
RST- Reset
GND- Ground
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RS – 232 INTERFACE
These is a 3-pin interface that can be used for PC controlled applications, debugging
purpose, data communication with PC and for inter board data communication. The port
consists of three pins, namely, R - Receiver T - Transmitter G - Ground.
PB (PORTB)
It is a general purpose I/O port. This port contains six pins that can be used as digital
input and digital output. These pins are in the form, DATA-VCC-GROUND (denoted as
D + - respectively on the board). The Data pins are towards the microcontroller. The
VCC and Ground pins are provided with a 5V/1A power supply and or the supply to
these pins can also be switched to external supply connected in DS pin through PTOG
switch.
MOTOR DRIVER CONNECTIONS
The motor drivers are used to run the DC motors or stepper motors that may be connected
to the board according to the data from the microcontroller. The motor driver’s link with
micro controller is shown bellow.
M0 - PortB0
M1 - PortB1
M2 - PortB2
M3 - PortB3
M4 - PortD4
M5 - PortD5
M6 - PortD6
M7 - PortD7
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2.2. MICROCONTROLLER
2.2.1. ATMEGA8
Figure2.2.1: ATMEGA8 Microcontroller
The AVR is a Modified Harvard architecture 8-bit RISC single chip
microcontroller which was developed by Atmel in 1996. The AVR was one of the first
microcontroller families to use on-chip flash memory for program storage, as opposed to
One-Time Programmable ROM, EPROM, or EEPROM used by other microcontrollers at
the time. Atmel's low power, high performance AVR microcontrollers handle demanding
8 and 16-bit applications. With a single cycle instruction RISC CPU, innovative Pico
Power® technology, and a rich feature set, the AVR architecture ensures fast code
execution combined with the lowest possible power consumption. Whether you program
in C or assembly, the tuned AVR instructions decrease program size and development
time. The well-defined I/O structure limits the need for external components and reduces
development cost.
The AVR microcontrollers are divided into 4 families tiny AVR, mega AVR,
XMEGA and Application specific AVR. Among these 4 families of AVR here we are
going to use a microcontroller of mega AVR family “ATmega8”.
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2.2.2 ATMEGA8 pin Layout
Features
• High-performance, Low-power AVR® 8-bit Microcontroller
• Advanced RISC Architecture
– 130 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
– 8K Bytes of In-System Self-programmable Flash program memory
– 512 Bytes EEPROM
– 1K Byte Internal SRAM
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– Write/Erase Cycles: 10,000 Flash/100,000 EEPROM (1)(3)
– Data retention: 20 years at 85°C/100 years at 25°C (2)(3)
– 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
• Peripheral Features
– Two 8-bit Timer/Counters with Separate Prescaler, one Compare Mode
– One 16-bit Timer/Counter with Separate Prescaler, Compare Mode, and Capture
Mode
– Real Time Counter with Separate Oscillator
– Three PWM Channels
– 8-channel ADC in TQFP and QFN/MLF packageEight Channels 10-bit Accuracy
– 6-channel ADC in PDIP package
Six Channels 10-bit Accuracy
– 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
– Five Sleep Modes: Idle, ADC Noise Reduction, Power-save, Power-down, and
Standby
• I/O and Packages
– 23 Programmable I/O Lines
– 28-lead PDIP, 32-lead TQFP, and 32-pad QFN/MLF
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2.3 L293D MOTOR DRIVER
L293D is a dual H-bridge motor driver integrated circuit (IC). The current
from the microcontroller is only of the order of 1µA which is not sufficient to drive the
motors. Therefore motor drivers are used which act as current amplifiers since they take a
low-current control signal and provide a higher-current signal which is used to drive the
motors.
Figure 2.3. Pin Layout of L293D MOTOR DRIVER
L293D contains two inbuilt H-bridge driver circuits. In its common mode of operation,
two DC motors can be driven simultaneously, both in forward and reverse direction. The
motor operations of two motors can be controlled by input logic at pins 2 & 7 and 10 &
15. Input logic 00 or 11 will stop the corresponding motor. Logic 01 and 10 will rotate it.
In clockwise and anti clockwise directions respectively. Enable pins 1 and 9
(corresponding to the two motors) must be high for motors to start operating. When an
enable input is high, the associated driver gets enabled. As a result, the outputs become
active and work in phase with their inputs. Similarly, when the enable input is low, that
driver is disabled, and their outputs are off and in the high-impedance state
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2.3.1 L293D Pin Layout
Fig2.3.1 L293D Pin Layout
The motor being used is a Dual H-Bridge Motor Driver that can provide
bidirectional currents.The motors are controlled by a 5V “logical” supply voltage
and run on a separate 9V supply.
It consists of Input pins 1-4 (pins 2, 7, 10, 15) and output pins 1-4 (Pins 3, 6, 11,
14). Pin 1 (Enable 1) starts the left Bridge while Pin 9 (Enable 2) starts the right
bridge.
Inputs 1 and 2 correspond to one motor where if Input 1 has a high voltage (5V)
and Input 2 has a low voltage (0V).The motor moves forward, whereas if the
opposite occurs the motor moves in reverse.
.
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2.4 DTMF decoder
Dual Tone Multi Frequency is a technology that can be used to send information
through phone lines. It is very common in Australia, where many companies use it as a
way to decode and call typed numbers. The idea of using DTMF in applications is not
new, but the purpose of this paper is to address a new approach to this. Most mobiles
have this technology and by using the right techniques, decoded DTMF signals can be
used in robotic microcontrollers to make the robot perform certain actions. One could use
DTMF to create a robot that would navigate its way through a set “arena” or space to a
specific location by press of a button on a cell phone. The investigation will be based on
the situation where one or several trips have to be made between two points following a
path and will try taking into account the changing nature of this environment. The
algorithm will mainly focus on starting the robot using a mobile and controlling the robot
to navigate past the obstacles in its path to a specific point. The DTMF system uses eight
frequency signals transmitted in pairs to represent sixteen numbers, symbols and
letters(Table1). Pressing a key will cause a high and low tone for each of the two
frequencies. The MT8870DE IC, using digital counting techniques, decodes these two
tones to determine the being pressed. The tone from the phone is filtered through the
operational filter.
A high voltage on the Output enable pin (pin10) enables outputs D0, D1, D2 and D3,
which are the decoded outputs of the IC. DV (pin 15) is an output pin that is set high by
the IC just after the output pins D0-3 have been filled; this action shows the data is valid
and usable. RT/GT and EST monitor the time taken for the authenticity check of the tone.
If the tone is too long the steering control mechanism of these pins will automatic fill the
latches of the D0, D1, D2 and D3 pins after which it will set the DV pin high to indicate
the output is ready for use by the microcontroller. By this process the DTMF decoder can
decode 16 different key tone sin 4 bit binary code output.
DTMF (Dual Tone Multi Frequency) better known as touch-tone is a system of
signal tones used in telecommunication. Applications include voice mail, help desks,
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telephone banking, etc.There are twelve DTMF signals, each of which aremade up of two
tones from the following selection: 697Hz, 770 Hz, 852 Hz, 941 Hz, 1209 Hz, 1336 Hz,
and 1477 Hz. The tones are divide into two groups (low and high), and each DTMF
signal uses one from each group. This prevents many harmonics from being
misinterpreted as a part of signal.
Figure 2.4: DTMF Generator
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Table 2.4- Four Bit binary code for each key tone number
Digit OE D0 D1 D2 D3
1 H 1 0 0 0
2 H 0 1 0 0
3 H 1 1 0 0
4 H 0 0 1 0
5 H 1 0 1 0
6 H 0 1 1 0
7 H 1 1 1 0
8 H 1 0 0 0
9 H 1 0 0 1
0 H 0 1 0 1
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2.5 BATTERY:-
9-volt batteries power our motors. They can be found in most homes. But these batteries
can be a fire hazard if not stored safely or disposed of with care. 9-volt batteries can be
dangerous. The positive and negative posts are close together. If a metal object touches
the two posts of a 9-volt battery, it can cause a short circuit. This can make enough heat
to start a fire
Figure2.5:Batteries
It is unsafe to store 9-volt batteries in a drawer near paper clips, coins, pens, or other
batteries. Do not store common household items such as steel wool, aluminum foil, and
keys near 9-volt batteries. If these items touch the two posts, there is a greater risk of a
fire starting. HV Weak batteries may have enough charge to cause a fire. Some fires have
started in trash when 9-volt batteries were thrown away with other metal items. Keep
batteries in original packaging until you are ready to use them. If loose, keep the posts
covered with masking, duct, or electrical tape. Prevent the posts from coming in
contact with metal objects. Do not store them in containers with other batteries. 9-volt
batteries should not be thrown away with trash. They can come in contact with other
batteries or pieces of metal.HV 9-volt batteries can be taken to a collection site for house
hold hazardous waste. To be safe, cover the positive and negative posts with masking,
duct, or electrical tape before getting rid of batteries.HV Some states do not allow any
type of battery to be disposed of with trash. Check with your city or town for the best
way to get rid of batteries.
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2.6 MOTORS
In any electric motor, operation is based on simple electromagnetism. A current-carrying
conductor generates a magnetic field; when this is then placed in an external magnetic
field, it will experience a force proportional to the current in the conductor, and to the
strength of the external magnetic field. As you are well aware of from playing with
magnets as a kid, opposite (North and South) polarities attract, while like polarities
(North and North, South and South) repel. The internal configuration of a DC motor is
designed to harness the magnetic interaction between a current-carrying conductor and an
external magnetic field to generate rotational motion.
Figure2.6.1.Dc motor internal architecture
Let's start by looking at a simple 2-pole DC electric motor (here red represents a magnet
or winding with a "North" polarization, while green represents a magnet or winding with
a "South" polarization). Every DC motor has six basic parts — axle, rotor (a.k.a.,
armature), stator, commutator, field magnet(s), and brushes. In most common DC motors
(and all that Beamers will see), the external magnetic field is produced by high-strength
permanent magnets. The stator is the stationary part of the motor i.e., this includes the
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motor casing, as well as two or more permanent magnet pole pieces. The rotor (together
with the axle and attached commutator) rotates with respect to the stator. The rotor
consists of windings (generally on a core), the windings being electrically connected to
the commutator. The above diagram shows a common motor layout with the rotor inside
the stator (field) magnets.This is a 60 RPM low cost single shaft L-SHAPED DC geared
motor. It is most suitable for light weight robot requiring small power. This motor can be
used with 69mm Diameter Wheel for Plastic Gear Motors and 87mm Diameter
Multipurpose Wheel for Plastic Gear Motors.
Specifications:
• Voltage: 12V Dc
• Torque: 3.096 kg-cm
• Current: 57.6mA
• RPM: 60
• Shaft length: 7mm double-flat
• Size: 55x48x23 mm
• Weight: 32grams
Figure2.6.2:Dc motor with cable
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2.7 LDR
A Light Dependent Resistor (aka LDR, photoconductor, photocell, or photo
resistor.) is a device which has a resistance which varies according to the amount of light
falling on its surface, when light falls upon it then the resistance changes. Light
dependent resistors or LDRs are often used in circuits where it is necessary to detect the
presence of light, or the ambient level of light, often to create a light triggered switch.
Different LDR’s have different specifications, a typical LRD has a resistance in total
darkness of 1 MOhm, and a resistance of a couple of kOhm in bright light (10-20kOhm
@ 10 lux, 2-4kOhm @ 100 lux). It is not uncommon for the values of resistance of an
LDR to be several megohms in darkness and then to fall to a few hundred ohms in bright
light. With such a wide variation in resistance, LDRs are easy to use and there are many
LDR circuits available. LDRs are made from semiconductor materials to enable them to
have their light sensitive properties. Many materials can be used, but one popular
material for these LDR’s is cadmium sulphide (CdS).
Figure2.7.1:Plastic Photocell
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Uses for Light Dependent Resistors. Light dependent resistors are a vital component in
any electric circuit which is to be turned on and off automatically according to the level
of ambient light - for example, solar powered garden lights, and night security lighting.
An LDR is made of semiconductor material with a high resistance. It has a high light
resistance because there are very few electrons that are free and able to move - the vast
majority of the electrons are locked into the crystal lattice and unable to move. Therefore
in this state there is a high LDR resistance. As light falls on the semiconductor, the
photons are absorbed by the semiconductor lattice and some of their energy is transferred
to the electrons. This gives some of them sufficient energy to break free from the crystal
lattice so that they can then conduct electricity. This results in a lowering of the resistance
of the semiconductor and hence the overall LDR resistance.The process is progressive,
and as more light shines on the LDR semiconductor, so more electrons are released to
conduct electricity and the resistance falls further. Light Dependent Resistor Circuits.
The 10K variable resistor is used to fine tune the level of darkness required before the
LED lights up. The 10K standard resistor can be changed as required to achieve the
desired effect, although any replacement must be aleast 1K to protect the transistor from
being damaged by excessive current.
NIGHT VISION CIRCUIT:
The robot equipped with a wireless camera, which is not very useful in situations where
the visibility or light level is very low. For night or dark area, Spy robot will be almost
impossible for identifying objects because the lights, which are provided on the robot, are
fixed therefore it may not be possible to view those objects which are in the dark. At
night or dark area where light is low a lighting circuit can be mounted on the robot
instead of a night vision camera, which will increase the visibility in case of no light at
all. Lighting circuit is shown in figure 4.5 used in this project to use the Spy robot in the
dark area as night. For night vision in figure 4.6, three LED is set up on the top of the
CCD camera that connected by lighting circuit. Lighting circuit need +12V power supply.
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Figure2.7.2:Night vision circuit
Photo resistor specifications
Color: Blue
- Material: PCB
- Input voltage: 3~6V
- Sense brightness and light intensity surroundings
- When detect the light dark, LED light on and the output terminal is low
- With installation holes, easy to use
- Great for Arduino DIY projectDimensions: 1.22 in x 0.59 in x 0.47 in
(3.1cm x 1.5 cm x 1.2 cm)Weight: 0.18 oz (5 g)
Figure2.7.3 night vision board(LDR
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Here it is simulation purpose we are using proteous software.we are taking in crystal
oscillator and also mother board consists of 4 LED’S for comparing output generated in
the microcontroller[motor drivers].Here two oscillator like OSC-1,OSC-2 connected to
the port-B[port-6&port-7].In this microcontroller Port-B[PB0-PB7] acts as input for the
motor drivers and port-D[PD4-PD7] are acts as the motor drivers.We are not using port-
E.motor driver using L293D.in this driver for inputs are[2,7,10,15] and outputs
are[3,6,11,14].
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The main parts of this robot are Smart phone,Microcontroller,Motor drivers and
motors.operation of this robot can be done in two different modes depending on the
ranges and area where the robot is going to be used.
1.Remote area
2.Nearest area
Remote area:-
For operating the robot in far away distances along with video transmission we have
two ways to operate .One of the method is by using skype software or by using
Gmail/Yahoo call and directly making mobile phone call.Direct mobile call can also be
used in two different ways by calling via internet through an app or by directly calling
using mobile network.in case of in accesbility of internet this direct calling using mobile
network can be used .
Nearestarea:-
In case of nereasest range operations we have two methods by having Serial direct
connection (wired connection).
And another one by using wireless connection in wireless mode we genarate an virtual
server by using connectifysoftware and an mobile app called Ip web cam which is used to
generate IP address to connect with the virtual server for video transmission we can
observe all the video data capturing by robot on the browser .If required we can also save
images and recording of video is also available.
We can also control robot by using another Android app DTMF tranceiver which is
installed in both the operater mobile phone and also on the android phone available on
the robot .This is done by transmittting longitudional sound waves through operator
mobile phone where for every specific operation different sounds are generated which is
detected by another mobile phone available at the robot which sends the information to
the decoder which is then transmitted to the micro controller where the specific given
operation is carried out.
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CHAPTER 4
SOFTWARE REQUIREMENTS
4.1Atmel Studio 6.2
Welcome to AVR Studio from Atmel Corporation. AVR Studio is a Development Tool
for the Series of AVR microcontrollers. This manual describes the how to install and use
AVR Studio .AVR Studio enables the user to fully control execution of programs on the
In-Circuit Emulator or on the built-in AVR Instruction Set Simulator. AVR Studio
supports source level execution of Assembly programs assembled with the Atmel
Corporation's AVR Assembler and C programs compiled with IAR Systems’ C Compiler
for the AVR microcontrollers. AVR Studio runs under Microsoft Windows95 and
Microsoft Windows NT.
This section gives a brief description of the main features of AVR Studio. AVR Studio
enables execution of AVR programs on an AVR In-Circuit Emulator or the built-in AVR
Instruction Set Simulator. In order to execute a program using AVR Studio, it must first
be compiled with IAR Systems' C Compiler or assembled with Atmel's AVR Assembler
to generate an object file which can be read by AVR Studio.
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An example of what AVR Studio may look like during execution of a program is shown
below.In addition to the Source window, AVR Studio defines a number of other windows
which can be used for inspecting the different resources on the microcontroller.The key
window in AVR Studio is the Source window. When an object file is opened, the
Source window is automatically created. The Source window displays the code currently
being executed on the execution target (i.e. the Emulator or the Simulator), and the text
marker is always placed on the next statement to be executed. The Status bar indicates
whether the execution target is the AVR In-Circuit Emulator or the built-in Instruction
Set Simulator By default, it is assumed that execution is done on source level, so if source
information exists, the program will start up in source level mode. In addition to source
level execution of both C and Assembly programs, AVR Studio can also view and
execute programs on a disassembly level. The user can toggle between source and
disassembly mode when execution of the program is stopped. All necessary execution
commands are available in AVR Studio, both on source level and on disassembly level.
The user can execute the program, single step through the code either by tracing into or
stepping over functions, step out of functions, place the cursor on a statement and execute
until that statement is reached, stop the execution, and reset the execution target. In
addition, the user can have an unlimited number of code breakpoints, and every
breakpoint can be defined as enabled or disabled. The breakpoints are remembered
between sessions. The Source window gives information about the control flow of the
program. In addition, AVR Studio offers a number of other windows which enables the
user to have full control of the status of every element in the execution target. The
available windows are:
1. Watch window: Displays the values of defined symbols. In the Watch window,
the user can watch the values of for instance variables in a C program.
2. Register window: Displays the contents of the register file. The registers can
be modified when the execution is stopped.
3. Memory windows: Displays the contents of the Program Memory, Data Memory,I/O
Memory or EEPROM Memory. The memories can be viewed as hexadecimal values or
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as ASCII characters. The memory contents can be modified when the execution is
stopped.
.4. Peripheral windows: Displays the contents of the status registers associated
with the different peripheral devices:
• EEPROM Registers
• I/O Ports
• Timers
• etc.
5. Message window: Displays messages from AVR Studio to the user
6. Processor window: Displays vital information about the execution target, including
Program Counter, Stack Pointer, Status Register and Cycle Counter. These parameters
can be modified when the execution is stopped.
The first time an object file is being executed, the user needs to set up the windows which
are convenient for observing the execution of the program, thereby tailoring the
information on the screen to the specific project. The next time that object file is loaded,
the setup is automatically reconstructed.
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Proteus 8.0 represents over three years continuous development and includes
improvements to every area of the software suite. Major work on the application
framework together with the introduction of a common database provides a much
smoother workflow for users while the rich new feature set saves time and effort in the
design lifecycle. A demonstration version can be downloaded directly from the Lab
center website and you can then either watch getting started movies from the application
home page or access the tutorial documentation for evaluation.
The main theme of the Proteus 8 release is integration .Development has therefore been
focused on taking the various discrete parts of an electronic design and coupling them
together to achieve a better workflow. In order to achieve this, three major architectural
changes were necessary; a unified application framework, a common database and a live
net list.
4.2.1 CommonDatabase & Live Netlisting
The common database and live netlisting features provide system wide access to the
properties of the parts and the connectivity between them. Features like pinswap,
gateswap and annotation are both automatic and bi-directional between schematic and
PCB and connectivity changes on the schematic can be automatically reflected in any
other module (BOM,Design Explorer, ARES). These features also lay the foundation for
a number of development projects such as design snippets which we plan to bring forth
during the lifetime of Proteus 8.0.Proteus 8.0stores the design (DSN), layout (LYT) and
common database in a single project file (PDSPRJ).
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4.3 HID BOOT FLASH
Boot loader is a small program put into a device that allows user application codes to be
programmed to the device. USB boot loaders using the human interface device (HID)
class were built for Freescale 32-bit ColdFire Plus and the Kinetis K and L series MCU
families. Using the USB HID class provides the advantages of small boot loader code
size and the use of standard USB HID drivers provided by all common operating
systems.
Figure4.3:HIDBootFlash V.1.0
The USB HID boot loader provides an easy and reliable way to load user application
codes to devices. Boot loader firmware, user application demo firmware and PC software
were built to demonstrate how USB HID boot loader systems can be implemented using
ColdFire Plus and Kinetis MCUs. The 4 KB boot loader, complying with the USB HID
class, receives commands and data from the PC to program and erase the flash memory
of the MCUs. The application demos show how user programs can be programmed and
re-programmed into the MCUs by the boot loader through the PC software running
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on Windows XP or Windows 7 operating system. The boot loader code and application
demos were tested.
under the Development Kits of the following platforms:
• TWR-MCF51JF ColdFire Plus Tower CPU board
• TWR-K40X256-KIT Kinetis K Tower Kit
• TWR-K60N512-KIT Kinetis K Tower Kit
• TWR-KL25Z48M Kinetis L Tower CPU board
• FRDM-KL25Z Freedom development platform
The memory maps of the boot loader system are shown in the following table.
Table 2. Boot loader memory map
The default interrupt and exception vector table is put into the starting address of the
flash area and is used by the boot loader, which should remain unaltered. The application
interrupt and exception vector table is stored in the flash areas beginning at 0x1000 or at
the first unprotected flash area. The interrupt and exception vector table can be redirected
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to the RAM area by storing the user application interrupt and exception vector table into
the application flash area and copying it to the RAM memory in the application Start up
routines. The boot loader erases the application flash, parses the user application data,
and programs it to the flash memory of the user application area, which is the free flash
memory after the boot loader is loaded into the flash. The boot loader flash area has to be
protected and may occupy more memory than its actual size. The code size of the boot
loader is 4 KB. If the flash protection block size of a device is larger than 4 KB, the boot
loader flash area occupies the same size of the flash protecting block. For MCF51JF128,
PKL25Z128/MKL25Z128, MK40X256 and MK60N512, the boot loader area occupies 4
KB, 8 KB and 16 KB of flash when it is protected. The user application can use the
whole RAM memory regardless the size of RAM the boot loader uses.
4.4 Connectifier hot spot generator
It can enable a Windows PC to serve as a router over Ethernet or Wi-Fi. Along with a
Windows 7 or 8 certified Wi-Fi device it can act as a wireless access point. This
enables users to share files, printers, and Internet connections between multiple
computing devices without the need for a separate physical access point or router. Well-
regarded by the press, Connectify spent the next two years improving the product, first
making it free and ad-supported. In 2011, Connectify decided to offer a PRO version of
the software which included premium features for paying customers. These features
included extended support of 3G/4G mobile devices, fully customizable SSIDs and
premium customer support.
Also in 2011, Connectify received founding from In-Q-Tel to begin developing a more
powerful and secure remote networking platform and a connection-aggregation
application. Connectify used this funding to develop the foundation of the application,
and then in 2012 turned to the crowd founding site Kickstarter to raise additional funding
to develop Connectify Dispatch. Dispatch is a Load Balancer which can combine any
number of Ethernet, Wi-Fi or mobile Internet connections. Latest Version : 7.3.4.3052.
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CHAPTER 5
Mobile Apps
5.1MOBILE
BODY Dimensions 137 x 69 x 9.9 mm (5.39 x 2.72 x 0.39 in)
Weight 158 g (5.57 oz)
SIM Dual SIM (Mini-SIM, dual stand-by)
DISPLAY Type IPS LCD capacitive touchscreen, 16M colors
Size 4.7 inches (~64.4% screen-to-body ratio)
Resolution 720 x 1280 pixels (~312 ppipixel density)
Multitouch Yes
Protection AGC Dragontrail glass
- MIUI 5.0
PLATFORM OS Android OS, v4.3 (Jelly Bean)
Chipset Qualcomm MSM8228 Snapdragon 400
CPU Quad-core 1.6 GHz Cortex-A7
GPU Adreno 305
MEMORY Card slot microSD, up to 32 GB
Internal 8 GB, 1 GB RAM
CAMERA Primary 8 MP, 3264 x 2448 pixels, autofocus, LED flash, check quality
Features 1.4 µm pixel size, geo-tagging, touch focus, face/smile detection,
HDR
Video 1080p@30fps, check quality
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Secondary 1.6 MP, 720p@30fps
SOUND Alert types Vibration; MP3, WAV ringtones
Loudspeaker Yes
3.5mm jack Yes
COMMS WLAN Wi-Fi 802.11 b/g/n, Wi-Fi Direct, hotspot
Bluetooth v4.0, A2DP, LE
GPS Yes, with A-GPS, GLONASS
Radio FM radio
USB microUSB v2.0, USB Host
FEATURES Sensors Accelerometer, gyro, proximity, compass
Messaging SMS(threaded view), MMS, Email, Push Mail, IM
Browser HTML5
Java Yes, via Java MIDP emulator
- Active noise cancellation with dedicated mic
- MP4/H.264 player
- MP3/WAV/eAAC+/FLAC player
- Photo/video editor
- Document viewer
- Voice memo/dial/commands
BATTERY Li-Ion 2000 mAh battery
Stand-by
Talk time
MISC Colors Black, Chinese Red, Metallic Gray/blue, green, yellow panels
Price group
TESTS Performance Basemark OS II: 394 / Basemark OS II 2.0: 454
Display Contrast ratio: 1370 (nominal), 1.350 (sunlight)
Camera Photo / Video
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Loudspeaker Voice 66dB / Noise 65dB / Ring 71dB
Audio
quality
Noise -95.4dB / Crosstalk -82.3dB
Battery life Endurance rating 51h
Figure5.1.MOBILE
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5.2 Ip web cam
IP Webcam turns your phone into a network camera with multiple viewing options. View
your camera on any platform with VLC player or web browser. Stream video inside WiFi
network without internet access.
Optional Ivideon cloud streaming is supported for instant global access.
Two-way audio supported in tinyCam Monitor on another android device.
Use IP Webcam with third-party MJPG software, including video surveillance software,
security monitors and most audio players.
Features include:
• Several web renderers to choose from: Flash, Javascript or built-in
• Video recording in WebM, MOV or MPEG4 (on Android 4.1+)
• Audio streaming in wav, opus and AAC (AAC requires Android 4.1+)
• Motion detection with sound trigger, Tasker integration.
• Date, time and battery level video overlay.
• Sensor data acquisition with online web graphing.
• Videochat support (video stream only for Windows and Linux via an universal MJPEG
video streaming driver)
• Cloud push notifications on motion and sound, cloud recording for motion-triggered
records, powered by Ivideon.
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6.3 Skype
Skype is a computer program that allows you to make free video and voice calls to
anyone in the world using the Skype network. Some features of Skype include free
Skype-to-Skype calls, free video calls, conference calls, instant messaging, SMS
messaging and the ability to forward all calls to your mobile phone when you're offline.
Skype uses VOIP - voice over internet protocol - to to convert voice signals into data
streams. VOIP also allows for video conferencing. Using Skype is easy - all you have to
do is download the software, create an account and screen name, and start Skyping other
users. You can use either the audio portion of Skype, or you can use the video feature
with an installed web cam. Please note that the video communication feature operates
better with a cable modem than with a dial-up or wireless connection. If you use Outlook,
Skype can integrate your Outlook contacts and be integrated within your browser. It has
an IM client and you can even use third party software like “Call Recorder”
or“Pamela,” to record your conversation in mp3 format. Skype also allows you to send
files. Through videoconferencing, students participate more in their own learning, hence
they are more invested. You can use Skype in your classroom to conduct interviews or
tutoring, to connect with students in different countries or peer faculty, to collaborate on
group projects, and to attend remote lectures.
1. Go to the Skype website http://www.skype.com and download the Skype application.
Note: You will have to download the software onto your computer and will only be able
to use a computer with Skype installed.
2. Once you have downloaded Skype, double-click on the executable file to install Skype
onto your PC.
3. You'll be asked whether you want to save or run the file. Choose to run it.
4. Create a username and password. This will allow you to login to the Skype network.
5. Search for your friends and family on Skype by clicking on the "Add" button.
Note: You can search via their Skype name, full name, email address or by MySpaceIM
name. Friends that are online appear at the top of the list with a green icon.
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6.3.1 How To CallSomeone On Video
1. Make sure you've got a webcam and check:
a. it's plugged into your computer
b. you've installed the software that came with it
c. it's switched on
2. In your Contact list, find the person you want to talk to. Click on them.
3. In the main window, click the green Video call button.
Figure6.3.1:video call
Allow enough set-up time.
Ensure that Skype is using the correct microphone / webcam - be it internal or external.
Test the connection ahead of time.
Be aware of potential distractions: cell phones, walk-bys, picture-in-picture display.
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--- C:Userslenovo pcDocumentsAtmel
Studio6.2project1project1Debug/.././project1.c
0000001E OUT 0x11,R24 Out to I/O location
PORTD=0b10010000;
0000001F LDI R20,0x90 Load immediate
PORTD=0b01100000;
00000020 LDI R19,0x60 Load immediate
PORTD=0b01010000;
00000021 LDI R18,0x50 Load immediate
PORTD = 0b10100000;//turn straight
00000022 LDI R25,0xA0 Load immediate
if (PINB == 0b00000010 )
00000023 IN R24,0x16 In from I/O location
00000024 CPI R24,0x02 Compare with immediate
00000025 BRNE PC+0x03 Branch if not equal
PORTD = 0b10100000;//turn straight
00000026 OUT 0x12,R25 Out to I/O location
00000027 RJMP PC-0x0004 Relative jump
else if(PINB == 0b00001000)
00000028 IN R24,0x16 In from I/O location
00000029 CPI R24,0x08 Compare with immediate
0000002A BRNE PC+0x03 Branch if not equal
PORTD=0b01010000;
0000002B OUT 0x12,R18 Out to I/O location
0000002C RJMP PC-0x0009 Relative jump
else if (PINB == 0b00000100)
0000002D IN R24,0x16 In from I/O location
0000002E CPI R24,0x04 Compare with immediate
0000002F BRNE PC+0x03 Branch if not equal
PORTD=0b01100000;
00000030 OUT 0x12,R19 Out to I/O location
00000031 RJMP PC-0x000E Relative jump
else if (PINB == 0b00000110)
00000032 IN R24,0x16 In from I/O location
00000033 CPI R24,0x06 Compare with immediate
00000034 BRNE PC+0x03 Branch if not equal
PORTD=0b10010000;
00000035 OUT 0x12,R20 Out to I/O location
00000036 RJMP PC-0x0013 Relative jump
else if (PINB == 0b00000101)
00000037 IN R24,0x16 In from I/O location
00000038 CPI R24,0x05 Compare with immediate
00000039 BRNE PC+0x03 Branch if not equal
PORTD=0b00000000;
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CHAPTER 8
CONCLUSION
This type of robot can perform difficult and repetitive works for humans. It can have a
very risky job and such dangerous job could be done by using small spy robot. But it is
useful to check and look out the places where dangerous poison gases have. Spy robot
can also be used in searching people who are in building destroyed by the earthquake.
Because of the wireless camera is installed in spy robots, it can be used remotely to enter
and exit dangerous place that human cannot. When the user controls by remote controller,
the robot will move to desired destination and spy images around the robot. The user can
check and recommend from computer with the wireless remote controller. Lightening
LED is mounted on robot and has a stand which is a place for rescuing device. The robot
is not quite huge one and designed to be easy in transportation. For the whole system, the
required power is supplied by Lead acid batteries which connected the voltage regulator.
