CONTENTS

CERTIFICATE ACKNOWLEDGEMENT

CHAPTER
1. 2. 3. 4. 5. 6. 7. 8. 9. 10. 11.

TITLE
INTRODUCTION CONCEPT BLOCK DIAGRAM CIRCUIT DIAGRAM CIRCUIT WORKING COMPONENT USED COMPONENT DESCRIPTION P.C.B. CONSTRUCTION DATA SHEETS APPLICATIONS REFERENCES

CHAPTER-1 INTRODUCTION

Introduct on SPY ROBO (DTMF CONTROLLED)

Robots at this point of time are used to assist the soldiers in reconnaissance, stri es , lo!istics, bomb disposal , anti"terrorist operations, commando operations in public places and in battlefields. Robots help in all the spheres in air, land and #ater in the form of unmanned under#ater $ehicles %&&'s( , unmanned aerial $ehicles %&)'s(, and unmanned !round $ehicles %&*'s( it pla+s an important role in reconnaissance % !ettin! militar+ intelli!ence about the position of the enem+(, stri es %#eaponries robots used for attac s(.

,ur$eillance robots help to reduce the force depletion and the a$ailable manned resources could be released from reconnaissance mission to acti$e combat missions. ,p+ robo is $ersatile in rescue operations such as earth-ua e, buildin! collapse and other natural and manmade disasters and also assist in anti" terrorist acti$ities such as terrorist search in closed areas such as ./012, and 3&4256 R1,571861, it pro$ides real time information to the operation controllin! station #hich is further transfer to the appropriate persons to ta e necessar+ actions. ,p+ robo pro$ides li$e $ideo as #ell as audio information up to 100 meters to the monitor #hich help us to planned ri!ht action #ithin fe# minutes. ,p+ robo is small in si9e to enter in an+ narro# precise area comfortabl+ and ha$e precise steerin! control o$er lon! distances to mo$e in each and e$er+ corner of the buildin! to !et real time li$e information remotel+. ,p+ robo also e-uipped #ith the #eapons, h+pnotic !ases, smo e bombs, laser flash li!hts, fir e:tin!uisher, thermal and infrared camera, human motion detector, collision a$oidin! s+stem e.t.c. accordin! to need durin! operation.

,p+ robo is remotel+ controlled b+ radio %4 channel R;( control or b+ 70<;

%mobile phone(. 5t is eas+ to control and handle. 5t is po#ered b+ rechar!eable batteries for lon! duration %up to 8 .ours( #or in!. 6on$entionall+, #ireless controlled robots use R; circuits #hich ha$e the dra#bac s of limited #or in! ran!e and limited control. &se of 70<; s+stem for robotic control can o$ercome these limitations. 5t pro$ides the ad$anta!es of robust control, #or in! ran!e as lar!e as the co$era!e area of mobile phone ser$ice pro$ider, no interference #ith other controllers and up to 10 controls. )lthou!h the appearance and the capabilities of robots $er+ $astl+, all robots share the features of a mechanical, mo$able structure under some of control.

PRO!ECT O"ER"IEW

5n this pro=ect the sp+ robo is controlled b+ a mobile phone that ma es a call to the mobile phone attached to the robot. 5n the course of a call, if an+ button is pressed, a tone correspondin! to the button pressed is heard at the other end of the call. 0his tone is called >7&)2" 0/81"<&205321";R1?&186@A %70<;(. 0he robot percei$es this 70<; tone #ith the help of the phone stac ed in the robot. 0he recei$ed tone is processed b+ 70<; decoder 56. 0he decoder decodes the 70<; tone in to its e-ui$alent binar+ di!it and this binar+ number is sent to the micro"controller or 4 to 16 line multipli:er 56 % if micro"controller is used it is pro!rammed to ta e decision for an+ !i$en input and outputs its decision to motor for for#ard or bac #ard motion or left" ri!ht turn(.

0he mobile that ma es a call to the mobile phone stac ed in the robot acts as a remote. ,o this simple robotic pro=ect does not re-uire the construction of recei$er and the transmitter units. 70<; si!nalin! is used for telephone si!nalin! o$er the line in the $oice fre-uenc+ band to the call s#itchin! center. 70<; assi!ns a specific fre-uenc+ %consistin! of 2 separate tones( to each e+ so that it can easil+ be identified b+ the electronic circuit. 0he si!nal !enerated b+ the 70<; encoder is a direct al!ebraic summation, in real time, of the amplitudes of t#o sine #a$es of different fre-uencies.

/ur pro=ect is to be di$ided into fe# parts. 70<; decoder <icro controller 5nterfacin! section 76 motor

CHAPTER-# CONCEPT

CONCEPT
<icro controllers are bein! e:tensi$el+ used in man+ industrial and household applications. .ere, #e used an )089c51 micro controller from )tmel 6orp.
5n this pro=ect #e use smart lo!ic and control s+stem of embedded s+stem b+ usin! micro controller. 5n this pro=ect #e use ic 89c2051 as a main processor. <icro controller senses the si!nal and dri$e the motor of the robotic $ehicle. /utput of microcontroller is connected to the dc motor throu!h optocoupler and h"brid!e. .ere in our pro=ect #e ha$e used t#o dc motors to control the direction of our robot. <icrocontroller is main processor, #hich decides the mo$ement of the robot #heel. <icrocontroller recei$es the 70<; si!nal from dtmf decoder and 4 line to 16 line decoder 56, process these si!nals and pro$ide the output to dc motors. 1st part of circuit is ic 8870 #hich recei$e si!nals from remote mobile or other *,< phone. 56 8870 is a 467 to 70<; decoder. ,o our first part of the circuit is r 70<; decoder i.e 8870. 0his part is $er+ much necessar+, #ithout usin! this part is not possible to interact #ith the mobile phone or 70<; based an+ phone. Bhene$er #e press an+ s#itch from the transmitter phone then transmitter transmit some si!nal as per the s#itch press. ,o on e$er+ press s#itch there is a different si!nal

;re-uenc+ '%) ))$ +*# %(1

1#$% 1 ( ) ,

1&&' # * + $

1()) & ' % -

1'&& A B C D

/utput of the 70<; decoder is 467. /ur ne:t circuit is ho# to con$ert 467 si!nal into decimal si!nal. 5n this pro=ect #e use 56 74154 as a 467 to decimal decoder circuit. IC 74154 con$erts the 467 si!nal into decimal si!nal. /utput of the 74154 is acti$e lo#. /utput of the 74154 is connected to the 89c2051 micro controller. 56 89c2051 micro controller basicall+ dri$e the motor for for#ard and re$erse mo$ement. /utput of the micro controller is connected to the optocoupler circuit. .ere in this pro=ect #e use 56 pc 817 as an optocoupler to interface the micro controller to small slo# speed dc !ear motor. /ne !ear motor dri$e the $ehicle and second !ear motor chan!e the front #heel of $ehicle.

"EHICLE CONTROL 5n this pro=ect #e use t#o small !ear dc motor for dri$e the small robot. /ne motor for the bac #heel and one motor for the front #heel. 4ac motor dri$e the both t+re at a time and front motor control the direction of the $ehicle. .ere #e

use po#erful !ear dc motor instead of stepper motor. ,tepper is not suitable for the dri$e the $ehicle. ,tepper motor is suitable for positionin! sensor but !ear motor is suitable for the $ehicle dri$e.

Motor. 0o ma e the robots mobile #e need to ha$e motors and the control circuitr+ that could control the motors. 0here are different a$ailable for different application. 1. 76 motor 2. ,tepper motor 3. ,er$o motor inds of motors

CHAPTER-& BLOCK DIAGRAM

BLOCK DIAGRAM

CHAPTER-( CIRCUIT DIAGRAM

CIRCUIT DIAGRAM

CHAPTER-* CIRCUIT WORKING

CIRCUIT WORKING
0o understand the #or in! of our pro=ect #e can di$ide it into fe# parts as mentioned earlier. ,o that after understandin! the #or in! of each section #e can ha$e clear understandin! about the #or in! idea of our pro=ect. DTMF d/cod/r0 5n this pro=ect our first part is 70<; decoder. 70<; 56 8870 recei$es the 70<; pulse and then con$erted into binar+ coded decimal. 3in no 18 of the 56 is connected to positi$e suppl+. 70<; si!nal is applied to the pin no 2 and 3 of the 56 throu!h resistor and capacitor net#or . 6apacitor .1"microfarad #or as a 76 bloc in! capacitor. 3in no 5, 6, 9 is connected to the !round pin. 3in no 7 and 8 is connected to the 3.57945 <h9 cr+stal. 3in no 16 and 17 is connected to R6 net#or #or as an auto reset, #hen #e s#itch on the po#er suppl+.

467 output is a$ailable on the pin no 11,12,13,14 and this output is connected to the micro controller throu!h 74154 i.e 4 line to 16 line to decoder 89c21051

M cro contro11/r0 5n this pro=ect #e use 56 89c2051 as a main 56 to control all acti$ities. Be #rote the pro!ram code in the assembl+ lan!ua!e, assemble this soft#are in the 8051ide soft#are. )fter assemble the soft#are #e transfer this file into blan 56 #ith the help of pro!rammer instrument. 0his pro!rammer instrument is directl+ connected #ith the pc %serial port(. )fter transfer the he: code into 56 our 56 is read+ for the robot.

56 89c2051 microcontroller. 5s a famil+ member of the 8051 famill+ ic 2051 is a 20 pin $ersion of atmel famil+. 0his micro controller has a total of t#o input output ports each 8 bit #ide. Be ha$e used 3 lines of port 3 port 3 i.e p3.0, p3.1,p3.2 and p3.4 out of 8 lines. /utput from 74154 #hich comes from pin no 2,3,4 and 5 is connected to p3.0, p3.1,p3.2 and p3.4 of 8051 micro controller respecti$el+. line out of 8 line of 89c2051 i.e p1.0,p1.1,p1.2 and p1.3. /ne cr+stal oscillator of 3.5795 <h9 fre-uenc+ is connected to microcontrollerCs pin no 4 and 5 to pro$ide cloc pulses. 3in no 10 is connected to !round and pin no 20 is connected to 'cc. Be ha$e used port 1 pins p1.0, p1.1 p1.2 and p1.3 as an output pins. /ne optocoupler is connected at each output pin of micorocontroller. <icro controllerCs output is dri$in! the dc motors. 0his output is comes from port 1. Be ha$e used 4

Int/r23c n4 ./ct on0 /utput of the micro controller is further connected to the opto" coupler ic pc 817. /utput from the micro controller is firstl+ connected to the opt coupler pin no 1. 0his optocoupler is a special optocoupler. 0hese de$ices contain an infrared emittin! diode and a li!ht acti$ated silicon bilateral s#itch. 0he+ are speciall+ desi!ned for opticall+ insulted t#o different sections on an electronic circuit. /utput of opt coupler is further connected to the ." 4rid!e. <icrocontroller is not directl+ connected to dri$e the 76 motor because due to !eneration of bac 1<; micro controller can burn. ,o to pre$ent it #e ha$e used optocoupler ic 817. /ptocouplerCs output is further connected to the ."brid!e.

DC MOTOR0 0hese are the motors that are commonl+ found in the to+s and the tape recorders. 0hese motors chan!e the direction of rotation b+ chan!in! the polarit+. <ost chips canDt pass enou!h current or $olta!e to spin a motor.

) $er+ popular circuit for dri$in! 76 motors %ordinar+ or !earhead( is called an ." brid!e. 5tDs called that because it loo s li e the capital letter D.D on classic schematics. 0he !reat abilit+ of an ."brid!e circuit is that the motor can be dri$en for#ard or bac #ard at an+ speed, optionall+ usin! a completel+ independent po#er source.

The H-Bridge Circuit

0his circuit no#n as the H-bridge %named for its topolo!ical similarit+ to the letter E.E( is commonl+ used to dri$e motors. 5n this circuit t#o of four transistors are selecti$el+ enabled to control current flo# throu!h a motor.

opposite pair of transistors %0ransistor /ne and 0ransistor 0hree( is enabled, allo#in! current to flo# throu!h the motor. 0he other pair is disabled, and can be thou!ht of as out of the circuit. 4+ determinin! #hich pair of transistors is enabled, current can be made to flo# in either of the t#o directions throu!h the motor. 4ecause permanent"ma!net

motors re$erse their direction of turn #hen the current flo# is re$ersed, this circuit allo#s bidirectional control of the motor.

Po5/r .u6617 c rcu t 5n this pro=ect #e use 9"$olt batter+ to dri$e the $ehicle. /ne 5"$olt batter+ for the micro controller circuit. ,econd 9"$olt batter+ dri$e the motor dri$er circuit. .ere in the pro=ect #e one 5 $olt re!ulator circuit. /utput of the 9"$olt dc is con$erted into 5 $olt dc b+ usin! 7805 re!ulator circuit. 5c 7805 re!ulator con$erts the 9 $olt dc into 5 $olt dc #ith the help of the 5 $olt re!ulator 7805.

CHAPTER-* COMPONENTS USED

COMPONENTS USED
Int/4r3t/d C rcu t. 56 8870 56 74154 8962051 36 817 %1( %1( %1( %4(

6R@,0)2 %3.58 <h9(, %12 <hF( each %1( 7805 R1*&2)0/R. 838 0R)8,5,0/R 46 548 383 0R)8,5,0/R 46 558 RESISTOR 470 /.< 4.7 G /.< 1 G /.< 22G /.< 100 G 10 G 2.1.7 CAPACITOR 1000mfd 10 mfd 1mfd%104( 22pf %1( %1( %2(, %2( %4( %4( %4( %2( %1( %4( %2( %1( %4( %4(

76 </0/R %*1)R </0/R( 2 </0/RC,

CHAPTER-' COMPONENTS DESCRIPTION

COMPONENT DESCRIPTION
MT88 ! 0he <08870 is a sin!le"chop 70<; recei$er incorporatin! s#itched capacitor filter capacitor filter technolo!+ and an ad$anced di!ital countin!Ha$era!in! al!orithm for period measurement. 0he functional bloc dia!ram of fi! depicts the internal #or in! of this de$ice. 0he 70<; si!nal is first buffered b+ an input op"amp that allo#s ad=ustment of !ain and choice of input confi!uration. 0he input sta!e is follo#ed b+ a lo#"pass R6 acti$e filter, #hich performs anti aliasin! function. 7ial tone at 350 and 440 .9 is then re=ected b+ a third order s#itched capacitor notch filter. 0he si!nal is still in its composite form and is split into its indi$idual components b+ t#o 6 th order s#itched capacitor band"pas filters. 1ach component is smoothed b+ an output filter and s-uared b+ a hard limitin! comparator. 0he to# resultin! rectan!ular #a$eforms art then applied to a di!ital circuit, #here a countin! al!orithm measures and a$era!e their periods. )n accurate reference cloc deri$ed form an ine:pensi$e e:ternal 3.58 <.9 cr+stal. 0he time re-uired to detect a $alid tone pair, t 73, is a function of decode al!orithm, tone fre-uenc+, and the pre$ious state of the decode lo!ic. 1,t %earl+ steerin! output( indicates that t#o tones of $alid fre-uenc+ ha$e been detected and initiate an R6 timin! circuit. 5f both tones are present for a minimum !uard time, determined b+ an e:ternal R6 net#or , the 70<; si!nal is decoded and the resultin! data is latched on the output re!ister. is

F/3tur/. 8 6omplete 70<; Recei$er I 2o# po#er consumption I 5nternal !ain settin! amplifier I )d=ustable !uard time I 6entral office -ualit+ I 3o#er"do#n mode I 5nhibit mode I 4ac #ard compatible #ith MT++)$C9MT++)$C-1

MT 88 ! "ut #ut Truth T$%&e FLOW 697 697 697 770 770 770 852 852 852 941 941 941 697 770 852 941 FHIGH 1209 1336 1477 1209 1336 1477 1209 1336 1477 1336 1209 1477 1633 1633 1633 1633 KEY TOW Q4 Q3 Q2 0 1 H 0 0 0 2 H 0 1 0 3 H 0 1 0 4 H 1 0 0 5 H 1 0 0 6 H 1 1 0 7 H 1 1 8 H 1 0 0 9 H 1 0 0 0 H 1 0 1 * H 1 0 1 # H 1 1 0 A H 1 1 0 B H 1 1 1 C H 1 1 1 D H 0 0 0 ANY L L L!"#$ L!%& H 'L!"#$& 'H#"( I)*+,-.$+ Q1 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0

'()' 4-Line to 16-Line Decoders/Demultiplexers

G/n/r31 D/.cr 6t on
1ach or these 4"line"to"16"line decoders utili9e 002 circuitr+ to decode four binar+"coded inputs into one of si:teen mutuall+ e:clusi$e outputs #hen both the strobe inputs, *1 and *2, are lo#. 0he demultiple:in! function is performed b+ usin! the 4 input lines to address the output line, passin! data from one of the strobe inputs #ith the other strobe input lo#. Bhen either strobe input is hi!h, all outputs are hi!h. 0hese demultiple:ers are ideall+ suited for implementin! hi!h" performance memor+ decoders. )ll inputs are buffered and input clampin! diodes are pro$ided to minimi9e transmission"line effects and thereb+ simplif+ s+stem desi!n.

F/3tur/.
7ecodes 4 binar+"coded inputs into one of 16 mutuall+ e:clusi$e outputs performs the demultiple:in! function b+ distributin! data from one input line to an+ one of 16 outputs 5nput clampin! diodes simplif+ s+stem desi!n .i!h fan"out, lo#"impedance, totem"pole outputs 0+pical propa!ation dela+ 3 le$els of lo!ic 19 ns ,trobe 18 ns 0+pical po#er dissipation 170 mB )lternate <ilitar+H)erospace de$ice %54154( is a$ailable.

D/.cr 6t on IC +%C*1
F/3tur/.
I 6ompatible #ith <6,"51J 3roducts I 2G 4+tes of Repro!rammable ;lash <emor+ K 1nduranceL 1,000 BriteH1rase 6+cles I 2.7' to 6' /peratin! Ran!e I ;ull+ ,tatic /perationL 0 .9 to 24 <.9 I 0#o"le$el 3ro!ram <emor+ 2oc I 128 : 8"bit 5nternal R)< I 15 3ro!rammable 5H/ 2ines I 0#o 16"bit 0imerH6ounters I ,i: 5nterrupt ,ources I 3ro!rammable ,erial &)R0 6hannel I 7irect 217 7ri$e /utputs I /n"chip )nalo! 6omparator I 2o#"po#er 5dle and 3o#er"do#n <odes

D/.cr 6t on IC +%C*1
0he )0 8962051 is a lo#"$olta!e, hi!h"performance 6</, 8"bit microcomputer #ith 2G b+tes of ;lash pro!rammable and erasable read onl+ memor+ %31R/<(. 0he de$ice is manufactured usin! )tmelCs hi!h"densit+ non$olatile memor+ technolo!+ and is compatible #ith the industr+"standard <6,"51 instruction set. 4+ combinin! a $ersatile 8"bit 63& #ith ;lash on a monolithic chip, the )tmel )08962051 is a po#erful microcomputer, #hich pro$ides a hi!hl+"fle:ible and cost"effecti$e solution to man+ embedded control applications. 0he )08962051 pro$ides the follo#in! standard featuresL 2G b+tes of ;lash, 128 b+tes of R)<, 15 5H/ lines, t#o 16"bit timerHcounters, a fi$e $ector t#o"le$el interrupt architecture, a full duple: serial port, a precision analo! comparator, on" chip oscillator

and cloc circuitr+. 5n addition, the )08962051 is desi!ned #ith static lo!ic for operation do#n to 9ero fre-uenc+ and supports t#o soft#are selectable po#er sa$in! modes. 0he 5dle <ode stops the 63& #hile allo#in! the R)<, timerHcounters, serial port and interrupt s+stem to continue functionin!. 0he po#er"do#n mode sa$es the R)< contents but free9es the oscillator disablin! all other chip functions until the ne:t hard#are reset.

P n Con2 4ur3t on

P n D/.cr 6t on "CC
,uppl+ $olta!e.

GND
*round.

Port 1
3ort 1 is an 8"bit bi"irectional 5H/ port. 3ort pins 31.2 to 31.7 pro$ide internal pullups. 31.0 and 31.1 re-uire e:ternal pullups. 31.0 and 31.1 also ser$e as the

positi$e input %)580( and the ne!ati$e input %)581(, respecti$el+, of the on"chip precision analo! comparator. 0he 3ort 1 output buffers can sin 20 m) and can dri$e 217 displa+s directl+. Bhen 1s are #ritten to 3ort 1 pins, the+ can be used as inputs. Bhen pins 31.2 to 31.7 are used as inputs and are e:ternall+ pulled lo#, the+ #ill source current %552( because of the internal pullups.

Port 1
also recei$es code data durin! ;lash pro!rammin! and $erification.

Port &
3ort 3 pins 33.0 to 33.5, 33.7 are se$en bi"directional 5H/ pins #ith internal pullups. 33.6 is hard"#ired as an input to the output of the on"chip comparator and is not accessible as a !eneral purpose 5H/ pin. 0he 3ort 3 output buffers can sin 20 m). Bhen 1s are #ritten to 3ort 3 pins the+ are pulled hi!h b+ the internal pullups and can be used as inputs. )s inputs, 3ort 3 pins that are e:ternall+ bein! pulled lo# #ill source current %552( because of the pullups. 3ort 3 also ser$es the functions of $arious special features of the )08962051 as listed belo#L 3ort 3 also recei$es some control si!nals for ;lash pro!rammin! and $erification.

RST
Reset input. )ll 5H/ pins are reset to 1s as soon as R,0 !oes hi!h. .oldin! the R,0 pin hi!h for t#o machine c+cles #hile the oscillator is runnin! resets the de$ice. 1ach machine c+cle ta es 12 oscillator or cloc c+cles.

:TAL1
5nput to the in$ertin! oscillator amplifier and input to the internal cloc operatin! circuit.

:TAL#
/utput from the in$ertin! oscillator amplifier.

O.c 113tor C;3r3ct/r .t c.

M0)21 and M0)22 are the input and output, respecti$el+, of an in$ertin! amplifier #hich can be confi!ured for use as an on"chip oscillator, as sho#n in ;i!ure 1.

1ither a -uart9 cr+stal or ceramic resonator ma+ be used. 0o dri$e the de$ice from an e:ternal cloc source, M0)22 should be left unconnected #hile M0)21 is dri$en as sho#n in ;i!ure 2. 0here are no re-uirements on the dut+ c+cle of the e:ternal cloc si!nal, since the input to the internal cloc in! circuitr+ is throu!h a di$ide"b+"t#o flip"flop, but minimum and ma:imum $olta!e hi!h and lo# time specifications must be

obser$ed. F 4ur/ 1. /scillator 6onnections 8oteL 61, 62 N 30 p; O10 p; for 6r+stals N 40 p; O10 p; for 6eramic Resonators F 4ur/ #. 1:ternal 6loc 7ri$e 6onfi!uration Port P n A1t/rn3t/ Funct on. 33.0 RM7 %serial input port( 33.1 0M7 %serial output port( 33.2 5800 %e:ternal interrupt 0( 33.3 5801 %e:ternal interrupt 1( 33.4 00 %timer 0 e:ternal input( 33.5 01 %timer 1 e:ternal input( S6/c 31 Funct on R/4 .t/r.
) map of the on"chip memor+ area called the ,pecial ;unction Re!ister %,;R( space is sho#n in the table belo#. 8ote that not all of the addresses are occupied, and unoccupied addresses ma+ not be implemented on the chip. Read accesses to these addresses #ill in !eneral return random data, and #rite accesses #ill ha$e an indeterminate effect. &ser soft#are should not #rite 1s to these unlisted locations, since the+ ma+ be used in future products to in$o e ne# features. 5n that case, the reset or inacti$e $alues of the ne# bits #ill al#a+s be 0.

MT88 !
0he <08870 is a sin!le"chop 70<; recei$er incorporatin! s#itched capacitor filter capacitor filter technolo!+ and an ad$anced di!ital countin!Ha$era!in! al!orithm for period measurement. 0he functional bloc dia!ram of fi! depicts the internal #or in! of this de$ice. 0he 70<; si!nal is first buffered b+ an input op"amp that allo#s ad=ustment of !ain and choice of input confi!uration. 0he input sta!e is follo#ed b+ a lo#"pass R6 acti$e filter, #hich performs anti aliasin! function. 7ial tone at 350 and 440 .9 is then re=ected b+ a third order s#itched capacitor notch filter. 0he si!nal is still in its composite form and is split into its indi$idual components b+ t#o 6th order s#itched capacitor band"pas filters. 1ach component is smoothed b+ an output filter and s-uared b+ a hard limitin! comparator. 0he to# resultin! rectan!ular #a$eforms art then applied to a di!ital circuit, #here a countin! al!orithm measures and a$era!e their periods. )n accurate reference cloc is deri$ed form an ine:pensi$e e:ternal 3.58 <.9 cr+stal. 0he time re-uired to detect a $alid tone pair, t 73, is a function of decode al!orithm, tone fre-uenc+, and the pre$ious state of the decode lo!ic. 1 ,t %earl+ steerin! output( indicates that t#o tones of $alid fre-uenc+ ha$e been detected and initiate an R6 timin! circuit. 5f both tones are present for a minimum !uard time, determined b+ an e:ternal R6 net#or , the 70<; si!nal is decoded and the resultin! data is latched on the output re!ister. 0he output correspondin! to each e+ pressed is sho#n in the truth table. F/3tur/. 8 6omplete 70<; Recei$er I 2o# po#er consumption I 5nternal !ain settin! amplifier I )d=ustable !uard time I 6entral office -ualit+ I 3o#er"do#n mode I 5nhibit mode I 4ac #ard compatible #ith MT++)$C9MT++)$C-1

CHAPTER-+ P.C.B. CONSTRUCTION

Guid$*ce +"r P,C,B,C"*-tructi"*

PCB L$."ut N! ,+/#$+ $-. %!01 #2 #34 $!..+$3#!.4 -0+ .!3 -$$!0,#." 3! 4*+$#2#$-3#!.& -., #2 3(+ *0!*+0 0+4#43-.$+& $-*-$#3-.$+& #.,5$3-.$+ +3$6 -0+ .!3 $!..+$3+, 3! 3(+ *7-$+ %(+0+ 0+85#0+,6 T(54 - 9CB ,+4#".+0 (-4 3! 2#043 3(#.1 !2 3(+ /+0: *!44#;7+ $!);#.-3#!. !2 /!73-"+4 3(-3 -0+ 0+85#0+, ;: 3(+ $#0$5#3 -., )-1+ 3(+) -/-#7-;7+ -3 *!#.34 %(+0+ 3(+: -0+ .++,+, %#3( 3(+ )#.#)5) 54+ !2 <5)*+04 -., 1++*#." 3(+ $#0$5#3 4#=+ $!)*-$3 -., :+3 +22+$3#/+6 T(+ 7-:!53 !2 9CB (-4 3! #.$!0*!0-3+ -77 3(+ #.2!0)-3#!. !. 3(+ ;!-0, ;+2!0+ !.+ $-. "! !. 3(+ -03%!01 *0+*-0-3#!.6 T(#4 )+-.4 3(-3 - $!.$+*3& %(#$( $7+-07: ,+2#.+4 -77 3(+ ,+3-#74 !2 3(+ $#0$5#30: -., *-037: !2 2#.-7 +85#*)+.3& #4 *0+0+85#4#3+ ;+2!0+ 3(+ -$35-7 7-:!53 $-. 43-036 F!0 9CB 7-:!53& 3(+ 2!77!%#." *!#.34 !5"(3 3! ;+ $!.4#,+0+, $-0+2577: 16 26 36 46 56 66 76 86 >+$!0, 4#=+ !2 $!)*!.+.34 54+,6 O/+0-77 -0+- $!/+0+, #4 .!0)-77: 1+*3 0+$3-."57-0 !0 485-0+6 ?$$ -., "0!5., 7#.+4 4(!57, ;+ *0!/#,+, -3 3(+ 4#,+4 3! 2-$#7#3-3+ +@3+0.-7 $!..+$3#!.6 I.*53 -., !53*53 3+0)#.-74 )-: ;+ *7-$+, "#/#." 3(0!5"( 3! +@3+0.-7 $!..+$3#!.6 A-1+ - 0!5"( 41+3$( *7-$#." $!)*!.+.34 -., #.3+0$!..+$3 $!)*!.+.34 %#3( <5)*+046 D! .!3 *7-$+ $!)*!.+.34 *!#.3#." #. ,#22+0+, ,#0+$3#!. 5.7+44 .++,+,6 A-1+ 3(+) *-0-77+7 3! 3(+ +#3(+0 4#,+ !2 3(+ ;!-0,6 A-1+ 3(+ .+-3 2#.-7 4$-7+, 41+3$( !. 3(+ #.$( "0-*( 4(++36 L#.+4 )!5.3+, -0+ !2 5.#2!0) %#,3(6

96

I./+43 3(+ 7-:!53 3! $!.2#0) 3(-3 -77 3(+ $!)*!.+.34 -0+ $!..+$3+, *0!*+07: -., "#/+. 4522#$#+.3 *7-$+ #. 3(+ 7-:!536

N"te/ W(#7+ 2!77!%#." 3(+ -;!/+ 057+& - ,+4#". )543 ;+ $(!4+. 3! )#.#)#=+ 3(+ 3!3-7 $#0$5#3 -0+- 54+,6 Tr$ci*g A23+0 3(+ $#0$5#3 7-:!53 (-4 ;++. *0+*-0+, !. 3(+ 30-$#." *-*+0& #./+03#." 3(+ 30-$#." *-*+0 !.3! 3(+ 9CB 4! 3(-3 3(+ 4#,+ 3(-3 (-, ;++. 30-$+, 2-$+4 3(+ 9CB $!**+0 $!-3#."6 T(+. 30-$+ 3(+ 7-:!53 !.3! 3(+ 9CB *7-$#." - $-0;!. *-*+0 #. ;+3%++. 3(+ 3%!6 P$i*ti*g 9-#.3 )543 ;+ 5.#2!0)7: -**7#+,6 B4+ 0 .5);+0 *-#.3#." ;054(+4 2!0 *-#.3#." 9CB 7-:!536 Etchi*g I. -77 9CB4& +3$(#." #4 3(+ )!43 #)*!03-.3 43+*6 T(+ 2#.-7 $!**+0 *-33+0. #4 2!0)+, ;: 4+7+$3#/+ 0+)!/-7 !2 -77 5.%-.3+, $!**+0 %(#$( #4 .!3 *0!3+$3+, ;: -. +3$( 0+4#436 A)!."43 3(+ E.$(-.34& F+C73 CF+00#$ C(7!0#,+D #4 $!))!.7: 54+, 2!0 4)-77 9CB4 %(+0+ +3$(#." #4 !.7: !53 $-00#+, !53 !$$-4#!.-77: 2!0 4)-77 .5);+0 !2 ;!-0,46 F!0 +3$(#."& 3(+ 4!753#!. #4 )-,+& %(+0+#. 4-)*7+ -., 43-.,-0, 4!753#!. -0+ #. 2*1 ,#753#!.46 I. !0,+0 3! #.$0+-4+4 3(+ $!**+0 ,#44!753#!. $-*-$#3: -., 3! ;0#." 3(+ +3$(#." 3#)+ 47#"(37: ,!%.& HCL #4 -,,+,6 E3$(#." 3+)*+0-350+ 4(!57, ;+ #. 3(+ 0-."+4 !2 20EC 3! 45EC6 F+C73 #4 -. +.$(-.3 54+, #. 4)-774$-7+ 9CB *0!,5$3#!.6 I. (#"( /!75)+ *0!,5$3#!. F+C73 #4 !2 .!3 )5$( #)*!03-.$+ ;+$-54+ #3 $-..!3 ;+ 0+"+.+0-3+, -., #3 -33-$14 3(+ $!))!. )+3-7 +3$( 0+4#436

Pr"cedure T! +3$( 1 1" !2 $!**+0& 561 1" !2 F+00#$ C(7!0#,+ #4 $!.45)+,6 I. !0,+0 3! #.$0+-4+ 3(+ $!**+0 ,#44!7/#." $-*-$#3: -., 3! ;0#." 3(+ +3$(#." 3#)+ 47#"(37: ,!%.& !23+. HCL #4 -,,+,6 HCL -$34 4#)573-.+!547: -"-#.43 +@$+44#/+ 475,"+ 2!0)-3#!.6 A23+0 +3$(#." #4 !/+0 3(+ F+00#$ C(7!0#,+ $!.3-#.+, 4502-$+ 4(!57, ;+ 2#043 $7+-.+, ;: 4*0-:#." %-3+0& %(#$( #4 .!3 +.!5"(6 T(+. %+ ,#* #3 #. - 5F C;: /!75)+D #. 3(+ 4!753#!. !2 !@-7#$ -$#, 3! 0+)!/+ #0!. -., $!**+0 4-734 -., 2#.-7 %-3+0 0#.4+, /#"!0!547:6 T(+. %+ 0#.4+ #3 ;: 54#." *+30!7 4! 3(-3 3(+ *-#.3 $!)+4 !53 -., $!**+0 0+)-#.4 #.3-$3 %(+0+ 3(+ *-#.3 %-4 -**7#+,6 T(+ $!**+0 -$34 -4 $!.,5$3#!. *-3( 2!0 27!% !2 4#".-746 T(+ (#"( $!00!4#/+ .-350+ !2 F+00#$ $(7!0#,+ 7+-,4 3! 4(!03 +3$(#." 3#)+ -., -/!#, 5.,+0 +3$(#."6 Che0i-tr. D5+ 3! (:,0!7:4#4 0+-$3#!.& 20++ -$#, #4 2!0)+, %(#$( 0+-$34 %#3( $!**+06 F+C73G3H2!'F+COHD3G3HCL T(+ $!**+0 #4 !@#,#=+, ;: F+00#$ #!. 2!0)#." C5*0!54 $(7!0#,+6 Dri&&i*g D0#77#." !2 (!7+4 20! )!5.3#." $!)*!.+.34 #4 #)*!03-.3 )+$(-.#$-7 !*+0-3#!. #. 9CB *0!,5$3#!. *0!$+446 T(+ #)*!03-.$+ !2 (!7+ ,0#77#." #.3! 9CBH4 (-4 2503(+0 "!.+ 5* %#3( +7+$30!.#$ $!)*!.+.34 )#.#-350#=-3#!.6 A23+0 0#.4#." ,0#77#." #4 ,!.+ 54#." ;#3 -4 *+0 3(+ $#0$5#3 *0!/#,+,6 T(+ ,#-)+3+04 !2 (!7+4 "+.+0-77: -$$+*3+, -0+ -4 2!77!%46 16 D ' 068 )) 26 D '161 )) 36 D ' 165 )) 46 D ' 362 ))

W(+0+& D' H!7+ ,#-)+3+06 C"0#"*e*t M"u*ti*g 16 B+2!0+ )!5.3#." -.: $!)*!.+.34& +@-)#.+ 3(+ 9CB $-0+2577: 2!0 -.: $0-$14& ;+-14 !0 !3(+0 ,+2+$34 #. $!.,5$3#!. *-3(46 26 T(+ 7+-,4 !2 $!)*!.+.34 7#1+ 0+4#43!04 -., $-*-$#3!04 4(!57, ;+ 2577: #.4+03+, #.3! 3(+ )!5.3#." (!7+4 3-1#." $-0+ 3! )!5.3 3(+ $!)*!.+.34 4! 3(-3 -.: #.2!0)-3#!. %0#33+. !. 3(+ $!)*!.+.34 #4 $7+-07: /#4#;7+6 36 C-0+2577: $53 3(+ 7+-,4 !2 $!)*!.+.34 4! 3(-3 -;!53 3 )) !2 3(+ +., +@3+.,+, ;+:!., 3(+ %#0#." 4#,+ !2 3(+ 9CB6 T(+ +.,4 !2 3(+ 7+-4 -0+ ;+.3 -3 0#"(3 -."7+4 3! )-1+ - 2#0) $!.3-$3 %#3( 3(+ 4502-$+ %(+0+ #3 #4 3! ;+ 4!7,+0+,6 46 I. $-4+ !2 4+)#$!.,5$3!0 ,+/#$+4 7#1+ 30-.4#43!04 -., ,#!,+4& 3(+ 7+."3( !2 3(+ 7+-,4 +@3+.,#." -;!/+ 3(+ $!)*!.+.3 4#,+ !2 3(+ 9CB 4(!57, ;+ -;!53 1 $)6 #2 30-.4#43!0 7+-,4 -0+ 3!! 4(!03 %+ 54+ - ;-4+6 A+3-7 $-* 4(!57, 3!5$( #2 3(+: -0+ .!3 -3 "0!5., *!3+.3#-76 T(+ 0#"(3 3+0)#.-74 4(!57, ;+ -3 0#"(3 *7-$+46 56 C+03-#. $!)*!.+.34 7#1+ 30-.42!0)+04& *!3+.3#!)+3+04 -., /-0#-;7+ $-*-$#3!04& %(#$( -0+ )+-.3 2!0 54+ %#3( 9CB& -0+ *0!/#,+, %#3( *#. 3:*+ 3+0)#.-74 3(-3 $-. ;+ 4#)*7: #.4+03+, #.3! 3(+ (!7+ #. 3(+ 9CB -., 4!7,+0+,6 66 B4+ IC ;-4+ 2!0 IC6 1"&deri*g 9CB 4!7,+0#." 0+85#0+, *0!*+0 4!7,+0#." 3+$(.#85+& -4 +@*7-#.+, ;+7!%I 16 A 7#"(3 ,53: 4!7,+0#." #0!. !2 25W !0 30 W 0-3#." 4(!57, ;+ 54+, 3! *0+/+.3 ,-)-"+ 3! 3(+ *0#.3+, $#0$5#3 %#0#." ,5+ 3! +@$+44#/+ (+-3#."6 T(+ 3#* !2 4!7,+0#." #0!. 4(!57, .!3 (-/+ -. !@#,+ $!-3#."6 C7+-. #3 54#." 4-., *-*+06

26 D! .!3 54+ +@$+44 4!7,+0 3! -/!#, 4!7,+0 27!50#." 3! -,<-$+.3 $!.,5$#." *-3(4 2!0)#." ;0#,"+4& %(#$( $-54+ 4(!03 $#0$5#346 36 C7+-. 3(+ 4502-$+ !2 30-$+4 ;+2!0+ :!5 43-03 4!7,+0#."6 I3 #4 -,/#4-;7+ 3! 54+ 275@6 A77 4!7,+0#." 4(!57, ;+ !. $!**+0 4#,+ !.7:6

CHAPTER- ) DATA SHEETS

DATASHEET
5.6.74154 56 8870 8962051 56 817

CHAPTER- + APPLICATIONS

APPLICATIONS
0hese inds of robots are $er+ useful in militar+ as #ell as for other

purposes for searchin! an+ suspected place. 0he future ad$ancement of this robot is that this can be capable of diffusin! bombs also and this can be more ad$ance b+ addin! some more arran!ements #e can ma e it missile detector also. #e can ma e it a complete robot that can use for attac also intelli!entl+ in future. 3resentl+ in countr+ li e )merica these inds of robots are #idel+ used for all these purpose and the more researches are bein! done for more and more ad$ancements.