ON

EMBEDDED SYSTEM AND ROBOTICS (PLC Institute of Electronics ,Rohini ,Delhi)

SUBMITTED TO: Mr. Tajender Malik (H.O.D.: ECE Deptt.)

SUBMITTED BY: Neeraj Khatri (926/ECE/10)

(ECE Department)

Neeraj Khatri (926/ECE/10)

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ACKNOWLEDGEMENT
I would like to add a few heartfelt words for the people who were part of this training report in numerous ways. People who gave unending support right from the stage of training report idea were conceived. In particular, I am extremely grateful to PLC INSTITUTE OF ELECTRONICS , Rohini ,Delhi for providing me with an excellent opportunity of undergoing summer training for the duration of six weeks. I express my effusive thanks to Mr. B.P. ARUN (Teacher & Mentor) and other staff members. With their expert guidance and kind help this training would have been a distant dream. Finally a special thanks to all the Members of PLCIE, Rohini, Delhi Who help me lot to carried out the project report and to compete my training successfully. Last but not the least; I thank my teacher, friends and my family members for their constant encouragement.

NEERAJ KHATRI (926/ECE/10)

Neeraj Khatri (926/ECE/10)

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PREFACE
Industrial training is must for every student pursuing professional degree because the ultimate goal of every student is to get the information the industrial training helps us to get an idea of things. We should known in order to get a good job i.e. have a good professional carrier. Industrial training teaches us a lot of things. It helps us to know the kind of environment we would be getting in an industry and help us to get with the kind of environment. Industrial training helps us to know what kind of grade an engineer of specific branch plays in an industry. It help us to get used to working in groups of known people in it teach us team work because my work in industrial is accomplished by a group and not an individual. In totality the industrial teaches us industrial ethics. Some advance technical knowledge how and help us to acquired with industrial working style.

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CONTENTS
S.No. 1. 2. 3. 4. 5. 6. 7. Topic Introduction Technology Used Electronics Part Mechanical Part Software Part Snapshot Conclusion Page 5 9 14 31 36 39 44

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INTRODUCTION

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INTRODUCTION :
Radio control (often abbreviated to R/C or simply RC) is the use of radio signals to remotely control a device. The term is used frequently to refer to the control of model vehicles from a hand-held radio transmitter. Industrial, military, and scientific research organizations make [traffic] use of radio-controlled vehicles as well. A remote control vehicle is defined as any mobile device that is controlled by a means that does not restrict its motion with an origin external to the device. This is often a radio control device, cable between control and vehicle, or an infrared controller. A remote control vehicle (Also called as RCV) differs from a robot in that the RCV is always controlled by a human and takes no positive action autonomously. One of the key technologies which underpin this field is that of remote vehicle control. It is vital that a vehicle should be capable of proceeding accurately to a target area; maneuvering within that area to fulfill its mission andreturning equally accurately and safely to base.

Recently, Sony Ericsson released a remote control car that could be controlled by any Bluetooth cell phone. Radio is the most popular because it does not require the vehicle to be limited by the length of the cable or in a direct line of sight with the controller (as with the infrared set-up). Bluetooth is still too expensive and short range to be commercially viable.

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EMBEDDED SYSTEM:
An embedded system is a computer system designed for specific control functions within a larger system, often with real-time computing constraints.It is embedded as part of a complete device often including hardware and mechanical parts. By contrast, a general-purpose computer, such as a personal computer (PC), is designed to be flexible and to meet a wide range of end-user needs. Embedded systems control many devices in common use today. Embedded systems contain processing cores that are typically eithermicrocontrollers or digital signal processors (DSP).The key characteristic, however, is being dedicated to handle a particular task. Since the embedded system is dedicated to specific tasks, design engineers can optimize it to reduce the size and cost of the product and increase the reliability and performance. Some embedded systems are mass-produced, benefiting fromeconomies of scale. Physically, embedded systems range from portable devices such as digital watches and MP3 players, to large stationary installations like traffic lights,factory controllers, or the systems controlling nuclear power plants. Complexity varies from low, with a single microcontroller chip, to very high with multiple units, peripherals and networks mounted inside a large chassis or enclosure.

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CHARACTERISTICS
Embedded systems are designed to do some specific task, rather than be a general-purpose computer for multiple tasks. Some also have realtime performance constraints that must be met, for reasons such as safety and usability; others may have low or no performance requirements, allowing the system hardware to be simplified to reduce costs. Embedded systems are not always standalone devices. Many embedded systems consist of small, computerized parts within a larger device that serves a more general purpose. For example, the Gibson Robot Guitar features an embedded system for tuning the strings, but the overall purpose of the Robot Guitar is, of course, to play music. Similarly, an embedded system in an automobile provides a specific function as a subsystem of the car itself. The program instructions written for embedded systems are referred to as firmware, and are stored in read-only memory or Flash memory chips. They run with limited computer hardware resources: little memory, small or non-existent keyboard or screen

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TECHNOLOGY USED

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TECHNOLOGY USED
Dual-Tone Multi-Frequency (DTMF): Dual-tone multi-frequency (DTMF) signaling is used for telecommunication signaling over analog telephone lines in the voice-frequency band between telephone handsets and other communications devices and the switching center. The version of DTMF used for telephone tone dialing is known by the trademarked term Touch-Tone (canceled March 13,1984), and is standardized by ITU-T Recommendation . It isalso known in the UK as MF4. Other multi-frequency systems are used for signaling internal to the Telephone network.

As a method of in-band signaling, DTMF tones were also used by cable television broadcasters to indicate the start and stop times of local commercial insertion points during station breaks for the benefit of cable companies. Until better out-of-band signaling equipment was developed in the 1990s, fast, unacknowledged, and loud DTMF tone sequences could be heard during the commercial breaks of cable channels in the United States and elsewhere.

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Telephone Keypad
The contemporary keypad is laid out in a 3x4 grid, although the original DTMF keypad had an additional column for four nowdefunct menu selector keys. When used to dial a telephone number, pressing a single key will produce a pitch consisting of two simultaneous pure tone sinusoidal frequencies. The row in which the key appears determines the low frequency, and the column determines the high frequency. For example, pressing the [1] key will result in a sound composed of both a 697 and a 1209 hertz (Hz) tone. The original keypads had levers inside, so each button activated two contacts. The multiple tones are the reason for calling the system multifrequency. These tones are then decoded by the switching center to determine which key was pressed.

A DTMF Telephone Keypad

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DTMF Keypad Frequencies (With Sound Clips)

1209 Hz 697 Hz 770 Hz 852 Hz 941 Hz 1 4 7 * 1336 Hz 2 5 8 0 1477 Hz 3 6 9 # 1633 Hz A B C D

DTMF Event Frequencies

Event Busy Signal Dial Tone Ringback Tone(US) Low Freq. 480 Hz 350 Hz 440 Hz High Freq. 620 Hz 440 Hz 480 Hz

Tones #, *, A, B, C, and D The engineershad envisioned phones being used to access computers, and surveyed a number of companies to see what they would need for this role. This led to the addition of the number sign (#, sometimes called !octothorpe! in this context) and asterisk or star (*) keys as well as a group of keys
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for menu selection: A, B, C and D. In the end, the lettered keys were dropped from most phones, and it was many years before these keys became widely used for vertical service codes such as *67 in the United States and Canada suppress caller ID. The U.S. military also used the letters, relabeled, in their now defunct Autovon phone system. Here they were used before dialing the phone in order to give some calls priority, cutting in over existing calls if need be. The idea was to allow important traffic to get through every time. The levels of priority available were Flash Override (A), Flash (B), Immediate (C), and Priority (D), with Flash Override being the highest priority.

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ELECTRONICS PART

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ELECTRONICS PART
BLOCK DIAGRAM:

ELECTRONICS CIRCUIT AND MATERIAL USED ARE 1. H-BRIDGE L293 IC IC BASE 1 RESISTANCE (1K ohm) 1 LED 2. DTMF DECODER MT 8870DE IC IC BASE 3.57954 MHZ CRYSTAL RESISTANCE CERAMIC CAPACITORS
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LED 3. 8051 MICROCONTROLLER IC BASE LEDS SWITCH DIODES CAPACITORS RESISTANCE VOLTAGE REGULATOR 11.0592 QUARTZ CRYSTAL

DESCRIPTION OF THE COMPONENTS USED IN

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THIS PROJECTS :
RESISTORS: Resistors restrict the flow of electric current, for example a resistor is placed in series with a light-emitting diode (LED) to limit the current passing through the LED. Resistance is measured in ohms, the symbol for ohm is an omega . 1 is quite small so resistor values are often given in k and M . 1 k = 1000 1 M = 1000000 .

CAPACITOR :
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Capacitors store electric charge. They are used with resistors in timing circuits because it takes time for a capacitor to fill with charge. They are used to smooth varying DC supplies by acting as a reservoir of charge. They are also used in filter circuits because capacitors easily pass AC (changing) signals but they block DC (constant) signals. Capacitance This is a measure of a capacitor's ability to store charge. A large capacitance means that more charge can be stored. Capacitance is measured in farads, symbol F. However 1F is very large, so prefixes are used to show the smaller values. Three prefixes (multipliers) are used, (micro), n (nano) and p (pico): means 10-6 (millionth), so 1000000F = 1F n means 10-9 (thousand-millionth), so 1000nF = 1F p means 10-12 (million-millionth), so 1000pF = 1Nf

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DIODES: Diodes allow electricity to flow in only one direction. The arrow of the circuit symbol shows the direction in which the current can flow. Diodes are the electrical version of a valve and early diodes were actually called valves.

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CRYSTAL OSCILLATOR: A crystal oscillator is an electronic oscillator circuit that uses the mechanical resonance of a vibrating crystal of piezoelectric material to create an electrical signal with a very precise frequency. This frequency is commonly used to keep track of time (as in quartz wristwatches), to provide a stable clock signal for digital integrated circuits, and to stabilize frequencies for radio transmitters and receivers. The most common type of piezoelectric resonator used is the quartz crystal, so oscillator circuits designed around them became known as "crystal oscillators."

3.57954 MHz CRYSTAL

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H-BRIDGE: L293D is a dual H-Bridge motor driver. So with one IC, two DC motors can be interfaced which can be controlled in both clockwise and counter clockwise directions and its direction of motion can also be fixed. The four I/Os can be used to connect up to four DC motors. L293D has output current of 600mA and peak output current of 1.2A per channel. Moreover for the protection of the 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. The name "H-Bridge" is derived from the actual shape of the switching circuit which controls the motion of the motor. It is also known as "Full Bridge".

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SNAPSHOT OF H-BRIDGE:

PCB OF H-BRIDGE:

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8870 DTMF DECODER: MT8870DE IC

DTMF KIT
INTRODUCTION:

DTMF means DUAL TONE MULTIPLE FREQUENCY .This technology is widely used and has many applications. One of the application is discussed that is mobile controlled robotic car using DTMF technology . Being able to achieve reliable communication is an important open area of research to robotics as well as other technology areas. As interest in robotics continues to grow, robots are increasingly being integrated in everyday life. The results of this integration are end-users possessing less and less technical knowledge of the technology. Currently, the primary mode for robot communication uses RF (radio frequency). RF is an obvious choice for communication since it allows more. Information to be transferred at smaller distance. The overall goal of the project is to control robot over a long distance using DTMF technology efficiently.
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Description The transmitter side is placed in the area which is to be supervised. The receiver section is placed in the operator side which receives the video from the corresponding area.

DTMF TONE : The DTMF technique outputs distinct representation of 16 common alphanumeric characters (0-9, A-D, *, #) on the telephone. The lowest frequency used is 697Hz and the highest frequency used is 1633Hz, as shown in Table.

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The DTMF keypad is arranged such that each row will have its own unique tone frequency and also each column will have its own unique tone frequency. Above is a representation of the typical DTMF keypad and the associated row/column frequencies. By pressing a key, for example 5, will generate a dual tone consisting of 770 Hz for the low group and 1336 Hz for the high group. DTMF Decoder: The MT-8870 is a DTMF Receiver that integrates both band split filter and decoder functions into a single 18-pin DIP or SOIC package. It is manufactured using CMOS process technology. The MT-8870 offers low power consumption (35 mW max) and precise data handling.

Its filter section uses switched capacitor technology for both the high and low group filters and for dial tone rejection. Its decoder uses digital counting techniques to detect and decode all 16 DTMF tone pairs into a
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4-bit code. External component count is minimized by provision of an on-chip differential input amplifier, clock generator, and latched tri-state interface bus. Minimal external components required includes a low-cost 3.579545 MHz color burst crystal, a timing resistor, and a timing capacitor. The filter section is used for separation of the low-group and high group tones and it is achieved by applying the DTMF signal to the inputs of two sixth order switched capacitor band pass filters, the bandwidths of which corresponds to the low and high group frequencies. The filter section also incorporates notches at 350 and 440 Hz for exceptional dial tone rejection. Each filter output is followed by a single order switched capacitor filter section which smoothes the signals prior to limiting. Limiting is performed by high-gain comparators which are provided with hysteresis to prevent detection of unwanted low-level signals. The outputs of the comparators provide full rail logic swings at the frequencies of the incoming DTMF signals. Following the filter section is a decoder employing digital counting techniques to determine the frequencies of the incoming tones and to verify that they correspond to the standard DTMF frequencies. CIRCUIT DIAGRAM

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SNAPSHOT OF DTMF:

PCB OF DTMF:

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8051 MICROCONTROLLER(AT89S52): Brain of the DTMF 40 Pin IC Actually a small computer Fitted on the Robot. Has Internal RAM , ROM , Microprocessor , Input/output buses , timer , counter and many other things. Code is burned on this IC and Processing is also done here. It has 4 Ports : P0 , P1 , P2 , P3 are shown on next page. Ecah port has 8 Bit. Crystal Oscillator Provides external Frequency.

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SNAPSHOT OF 8051 MICROCONTROLLER:

PCB OF 8051 MICROCONTROLLER:

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MECHANICAL PART

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MECHANICAL PARTS: S.No. 1. 2. 3. 4. Component Chassis Wheel Nut Bolt Quantity 1 2 7 13 Dimension L*B (in inches) 9*7 Diameter (in cm)7 2-4 inches long As per the dimension of the nut As per the size of dc motor Diameter (in cm) 3 12 volt 100 rpm

5. 6.

Clamps Caster wheel

2 1

7.

DC motor

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DC MOTOR:

A DC motor is designed to run on DC electric power. Two examples of pure DC designs are Michael Faraday's homopolar motor (which is uncommon), and the ball bearing motor, which is (so far) a novelty. By far the most common DC motor types are the brushed and brushless types, which use internal and external commutation respectively to reverse the current in the windings in synchronism with rotation.

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Most electric motors operate through the interaction of magnetic fields and current-carrying conductors to generate force. The reverse process, producing electrical energy from mechanical energy, is done by generators such as an alternator or a dynamo; some electric motors can also be used as generators, for example, a traction motor on a vehicle may perform both tasks. Electric motors and generators are commonly referred to as electric machines. Electric motors are found in applications as diverse as industrial fans, blowers and pumps, machine tools, household appliances, power tools, and disk drives. They may be powered by direct current, e.g., a battery powered portable device or motor vehicle, or by alternating current from a central electrical distribution grid or inverter. The smallest motors may be found in electric wristwatches. Medium-size motors of highly standardized dimensions and characteristics provide convenient mechanical power for industrial uses. The very largest electric motors are used for propulsion of ships, pipeline compressors, and water pumps with ratings in the millions of watts. Electric motors may be classified by the source of electric power, by their internal construction, by their application, or by the type of motion they give. Features of 12v dc motor: 100RPM 12V DC motors with Gearbox 3000RPM base motor 6mm shaft diameter with internal hole 125gm weight Same size motor available in various rpm 1.2kgcm torque No-load current = 60 mA(Max), Load current = 300 mA(Max)

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AFTER ASSEMBLING MECHANICAL PARTS : (Snapshot)

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SOFTWARE PART

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PROGRAM: M1CW EQU P0.0 M1CCW EQU P0.1 M2CW EQU P0.2 M2CCW EQU P0.3 ORG 0000H MOV A,P2 CJNE A,#0F2H,NXT1 AJMP FWD CJNE A,#0F4H,NXT2 AJMP LFT CJNE A,#0F8H,NXT3 AJMP REW CJNE A,#0F6H,NXT4 AJMP RGT CJNE A,#0F5H,MAIN AJMP STP SETB M1CCW SETB M2CCW CLR M1CW CLR M2CW AJMP MAIN SETB M1CW SETB M2CW CLR M1CCW CLR M2CCW AJMP MAIN
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MAIN:

NXT1:

NXT2:

NXT3:

NXT4:

FWD:

REW:

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RGT:

SETB M2CCW SETB M1CW CLR M2CW CLR M1CCW AJMP MAIN SETB M2CW SETB M1CCW CLR M2CCW CLR M1CW AJMP MAIN MOV P0,#11111111B AJMP MAIN

LFT:

STP:

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SNAPSHOT

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CONCLUSION
I am very satisfied with the experience gained during this practical training. I was given the possibility to work hand in hand with other Students inside the Institute learning about essentials of Embedded System. As a student of ELECTRONICS & COMM. ENGINEERING I tried to learn somewhat concept of the Embedded System which is mainly concerned with my focus area. In the technical aspect, we conclude that nothing can be understood thoroughly without practical knowledge and practice. We observed almost each process related to casting that we had just studied in books. It was really a fruitful training for us to enhance our knowledge and confidence level. At last, I would like to say thanks again all staff of the unit who helped me through my training period.

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