Segway Edited 13-5-19

SOLAR QUAD WHEEL VEHICLE
Chapter 1
INTRODUCTION
The Segway (PT) was developed from the self-balancing iBOT wheelchair which was
initially developed at University of Plymouth, in conjunction with Sumitomo Precision Products.
Segway's first patent was filed in 1994 and granted in 1997 followed by others including one
submitted in June 1999 and granted in October 2001.
Segway works in commercial and municipal organization to realize the benefits of zero
emission personal transportation that increases productivity and utilize existing infrastructure. It
is the future of mobility with – ease, efficiency, intelligence, simplicity. The result is electric
transportation with convenient
Basically Arduino is an open source platform used for building electronics project.
Arduino consists of both a physical programmable circuit board (a microcontroller chip) and a
piece of software or IDE (Integrated Development Environment) that runs on your computer
used to write and upload computer code to physical board. The Arduino does not need a separate
piece of hardware (a programmer) in order to load new code onto the board; you can simply use
a USB cable. Additionally the Arduino IDE uses a simplified version of C++ making it easier to
learn to program. The Segway is programmed using Arduino and it is controlled by user voice
with the help of Bluetooth device. If any obstacle is detected or collision is detected than it will
sensed by the on board sensor and the Segway slows down its speed and also stops the Segway.
Electrical and Electronic Engg Dept,SGBIT Page - 1 -

Chapter 2
LITERATURE SURVEY
[1] Bageant, M. - Balancing a two-wheeled Segway robot, 2011. IJIRST – International Journal
for Innovative Research in Science & Technology. . MIT BOSTON, USA.
This paper gives information about two wheeled Segway. Paper giver Information about detailed
design and function of Segway. The design and constructed hardware for a two-wheeled
balancing Segway robot. Because the robot could not be balanced based on a control system
derived from the original analytical model, additional system dynamics in the form of frictional
losses in the motors were incorporated. The robot was rebuilt using new parts that better
represented its ideal model, and software was created using National Instruments Lab VIEW to
control the robot.

[2] Pravin Kumar Singh, Abhishek Jaswal, Saurabh Chand, Ali Abdullah, Rishi Chakraborty,
“Design and Fabrication of Self Balancing Two Wheeler”, IJESC-International Journal of
Engineering science and computing, DOI 10.4010/2016.1233, ISSN 2321 3361 © 2016 .
This paper gives information uses gyroscopic sensors detects the motion of rider, so that he
can accelerate, brake or steer the vehicle. It also give the brief information about size and weight
that the Segway can carry. This paper describes the design and fabrication of Self Balancing two
wheeler. The Self balancing two wheeler is based on the principle of Segway knows when you
are learning forward. To maintain balance, it turns the wheels at just the right speed, so you move
forward. The Self balancing two wheeler is an intelligent vehicle which uses gyroscopic sensors
detects the motion of rider, so that he can accelerate, brake or steer the vehicle. This self-
balancing is absolutely eco-friendly mode of transport which causes zero pollution.

[3] Myank Sharma, Rahul Sharma, Vikrant Sinha under the guidance of prof. Shakil Tadavi
Segway – The Human Transporter, IJIRST – International Journal for Innovative Research in
Science & Technology, Volume 1, Issue 11, April 2015 ISSN (online): 2349-6010.
This paper gives information about the design of Segway Human Transporter is such that it
covers less space and comfort to the user .The Segway Human Transporter is one of several low-
speed transportation devices (e.g., bikes, scooters, wheelchairs) that, under certain
circumstances, travel on sidewalks, roadways, and other shared-use paths. In this paper we
present a Segway based on gyro sensor, accelerometer along with microcontroller and use of
mechanical and electrical hardware’s. The dynamics of the vehicle is similar to the classical
control problem of an inverted pendulum, which means that it is unstable and prone to tip over.
This is prevented by electronics sensing the pitch angle and its time derivative, controlling the
motors to keep the vehicle balancing. This kind of vehicle is interesting .Since it contains a lot of
technology relevant to an eco-friendly and energy efficient transportation industry. This thesis
describes the development of a similar vehicle from scratch, incorporating every phase from
literature study to planning, design, vehicle construction and verification. The main objective
was to build a vehicle capable of transporting a person weighing up to 70-80kg and capable of
travelling to some km distance with varying speed. The rider controls are supposed to be natural
movements; leaning forwards or backwards in combination with tilting the handlebar sideways
should be the only rider input required to ride the vehicle. This thesis also takes into
consideration the material used with minimum possible cost. The design of Segway Human
Transporter is such that it covers less space and comfort to the user.

Chapter 3
MOTIVATION
The motivation for this projects stems from the development of the Segway in 2001 which has
handle for controlling, balancing and for operation. The need for an intelligent transport system
has been heightened in the present day, by the ever-growing demand to combine ease of transport
with maximum efficacy. The Segway robot provides a platform which balances itself and
transports the user in accordance to its natural lean. The user can command the Segway to go
forward by shifting his weight forward on the platform and backward by shifting his weight
backward. The Segway developed by Segway.Inc uses gyroscopic and fluid levelling sensors to
detect shift of weight .The developed model of Segway called Hover Board which came into
existence in 2013, also called as self-balancing scooter. A hover board is the fictional levitating
board used for personal transportation. Hoverboards are two-wheeled, electric, portable devices
that are also commonly known as self-balancing scooters. Originally, the term hoverboard
referred to a levitating device made popular by 1980’s film culture. Not quite the stuff of Back to
the Future, hoverboards, as they have come to be known, are the latest craze in self-propelled
mobility. Typically, these devices function like powered skateboards and consist of a platform for
the rider, situated between two wheels and powered by large lithium-ion batteries. They use
Gyroscope sensors for adjust the tilt of hoverbord to maintain balance.Micrprocessors are tiny
processors used to regulate power output of wheels. In Hover board the handle is eliminated
which is used in the Segway.

Chapter 4
BLOCK DIAGRAM
ARDUINO
UNO
IR TX
Fig. 4.1 Block diagram of power flow.
The solar panel is used to collect solar radiations from sun.The solar radiations collectrd from the
sum is converted into electric through PV cell present in the solar panel.The energy is next send to
inverter which converts DC to AC.The battery store the converted energy.the power from battery is drawn
from the battery and is distributed to other components of vehicle.
Fig. 4.2 Different components connection
The user give user give command to the vehicle through apps, this command is receive by on
Bluetooth device. This signal is transfer to arduino .Arduino process the signal and give command relay
.The relay operates the motor according to command. If any obstacle comes on the way of the vehicle IR
TX and IR RX sensors are use to stop the vehicle.

Chapter 5
METHODOLOGY
The user gives voice commands from the mobile app to navigate the vehicle. These
commands are received by the on board. Bluetooth device which is connected to the Arduino. The
Arduino receives these commands and corresponding motors are rotated to move the Segway and to
take turn. The LDR is used to automatically turn on/off the headlights and taillights depending on
whether it is a night or day.
The IR sensor is used to detect the obstacle. Whenever any obstacle is present for the vehicle
the IR sensor senses this obstacle and generates a signal to slow the Segway speed. If the obstacle is
very close to the vehicle then it automatically stops the Segway. The Segway is powered by using
battery which can also be charged using solar energy.
Fig 5.1 Hoverboard Fig 5.2 Segway

Chapter 6
BUFFER, DRIVER & SWITCHING MODULE
When the user programs the schedule for the automation using GUI [Graphical User
Interface] software, it actually sends 5-bit control signals to the circuit. The present circuit
provides interfacing with the printer port of the Personal Computer and the controlling circuitry.
This circuit takes the 5-bit control signal, isolates the PC from this circuitry, boosts control
signals for required level and finally fed to the driver section to actuate relay. These five relays
in turn sends RC5 coded commands with respect to their relay position.
6.1 Hex buffer/converter [non-inverter] IC4050
Buffers does not affect the logical state of a digital signal (i.e. logic 1 input results into
logic 1 output where as logic 0 input results into logic 0 output). Buffers are normally used to
provide extra current drive at the output, but can also be used to regularise the logic present at an
interface. And Inverters are used to complement the logical state (i.e. logic 1 input results into
logic 0 output and vice versa). Also Inverters are used to provide extra current drive and, like
buffers, are used in interfacing applications. This 16-pin DIL packaged IC 4050 acts as Buffer
as-well-as a Converter. The input signals may be of 2.5 to 5V digital TTL compatible or DC
analogue the IC gives 5V constant signal output. The IC acts as buffer and provides isolation to
the main circuit from varying input signals. The working voltage of IC is 4 to 16 Volts and
propagation delay is 30 nanoseconds. It consumes 0.01 mill Watt power with noise immunity of
3.7 V and toggle speed of 3 Megahertz.

1 IC 4050 16
Vcc
2 15
3 14
4 13
5 12
6 11
7 10
8 Vss 9
Fig 6.1.1- IC 4050
6.2 ULN 2003

Since the digital outputs of the some circuits cannot sink much current, they are not
capable of driving relays directly. So, high-voltage high-current Darlington arrays are designed
for interfacing low-level logic circuitry and multiple peripheral power loads. The series
ULN2000A/L ICs drive seven relays with continuous load current ratings to 600mA for each
input. At an appropriate duty cycle depending on ambient temperature and number of drivers
turned ON simultaneously, typical power loads totalling over 260W [400mA x 7, 95V] can be
controlled. Typical loads include relays, solenoids, stepping motors, magnetic print hammers,
multiplexed LED and incandescent displays, and heaters. These Darlington arrays are furnished
in 16-pin dual in-line plastic packages (suffix A) and 16-lead surface-mountable SOICs (suffix
L). All devices are pinned with outputs opposite inputs to facilitate ease of circuit board layout.
The input of ULN 2004 is TTL-compatible open-collector outputs. As each of these outputs can
sink a maximum collector current of 500 mA, miniature PCB relays can be easily driven. No
additional free-wheeling clamp diode is required to be connected across the relay since each of
the outputs has inbuilt free-wheeling diodes. The Series ULN20x4A/L features series input
resistors for operation directly from 6 to 15V CMOS or PMOS logic outputs.

IC ULN 2003 or 2004
1 16
2 15
3 14
4 13
5 12
6 11
7 10
8 9
Vcc
Fig 6.2.1- IC ULN 2003 or 2004
6.3 1N4148 signal diode:

Signal diodes are used to process information (electrical signals) in circuits, so they are
only required to pass small currents of up to 100mA. General purpose signal diodes such as the
1N4148 are made from silicon and have a forward voltage drop of 0.7V.
+ +
D1
FROM BATTERY
TO REST OF THE B
CIRCUIT OF THE GADGET

BATTERY
Fig 6.3.1

CIRCUIT DIAGRAM OF BUFFER, DRIVER & SWITCHING

STAGE CIRCUIT DIAGRAM OF BUFFER, DRIVER & SWITCHING STAGE
+12 V
COM-1 COM-2 COM-3 COM-4 COM-5
R6-R10
IC2
D6-D10
+5V
IC1 9
1 16 N/C N/C N/C N/C N/C

1
3 2 15
2
5 4 3 14 RL1 RL2 RL3 RL4 RL5

7 6 4 13
9 10 5 12
11 12 6 11
15 10
Commands 14 7
from PC D1 TO D5
8
8
R1 TO R5 Gnd
Fig 6.3.2- Buffer, Driver & Switching Stage
Parts List
Table 6.3.1
IC1 4050 HEX BUFFER/CONVERTER(NON- 1

INVERTER)
IC2 2004 Darlington array 1
RESISTORS
R1 to R5 220 Ohm ¼ Watt Carbon Resistors 5
R6 to R10 2.2 K Ohm ¼ Watt Carbon Resistors 5
DIODES
D1to D5 1N4148 SIGNAL Diodes 5
D6 to D10 Red Indicator LEDs 5
MISCELLANEOUS
RL1-RL5 12 V, 700 Ohm DPDT Reed Relays 5
Electrical and Electronic Engg Dept,SGBIT Page 11

6.4 CIRCUIT DESCRIPTION

The Hex Buffer/Inverter IC1’s working voltage of +5V is applied at pin-1 and
five control signals are applied at input pins 3, 5, 7, 9 & 11. Thus the signal supplying
circuit [i.e. PC] is isolated from this Buffer & Driver circuit. Further the grounding
resistors R1 to R5 prevents the abnormal voltage levels passing inside the IC1. The
buffered outputs are acquired at pins 2, 4, 6, 10, & 12. Thus the varying input is further
stabilized and fed to signal diodes [D1 to D5]. As the load is inductive, there is a chance
of producing back e.m.f. So to cope with this back e.m.f, signal diodes are used. But this
signal level is not strong enough to drive the low impedance relay. IC2 Darlington
driver is used. Its working voltage is +12 V and only five input/output pins are used. The
output signal from the Darlington driver IC is strong enough to actuate five relays.
These relays with +12V working voltage can be used to produce five command
signals with RC5 format. The N/O [Normally Open] contact of each relay produces one
command signal with the help of RC5 Transmitter Circuit. The five relays activation
with their corresponding command signal production is tabulated as below:
Table 6.4.1
RELAY COMMAND NUMBER COMMAND SIGNAL
RL1 COM-1 TURN LEFT
RL2 COM-2 TURN RIGHT
RL3 COM-3 MOVE BACKWARD
RL4 COM-4 MOVE FORWARD
SWITCH ON/OFF THE

RL5 COM-5
Sucking Device

Chapter 7
555 TIMER
The 555 timer which gets its name from the three 5kΩ resistors it uses to
generate the two comparators reference voltage, is a very cheap, popular and useful
precision timing device that can act as either a simple timer to generate single pulses or
long time delays, or as a relaxation oscillator producing stabilized waveforms of varying
duty cycles from 50 to 100%.
The 555 timer chip is extremely robust and stable 8-pin device that can be
operated either as a very accurate Monostable, Bistable or Astable Multivibrator to
produce a variety of applications such as one-shot or delay timers, pulse generation,
LED and lamp flashers, alarms and tone generation, logic clocks, frequency division,
power supplies and converters etc, in fact any circuit that requires some form of time
control as the list is endless.
The single 555Timer chip in its basic form is a Bipolar 8-pin mini Dual-in-line
Package (DIP) device consisting of some 25 transistors, 2 diodes and about 16 resistors
arranged to form two comparators, a flip-flop and a high current output stage as shown
below. As well as the 555 Timer there is also available the NE556 Timer Oscillator
which combines TWO individual 555’s within a single 14-pin DIP package and low
power CMOS versions of the single 555 timer such as the 7555 and LMC555 which use
MOSFET transistors instead.
A simplified “block diagram” representing the internal circuitry of the 555

timer is given below with a brief explanation of each of its connecting pins to help
provide a clearer understanding of how it works.

7.1 555 Timer Block Diagram
Fig 7.1.1-IC 555
 Pin 1. – Ground, The ground pin connects the 555 timer to the negative (0v) supply
rail.
 Pin 2. – Trigger, The negative input to comparator No 1. A negative pulse on this pin
“sets” the internal Flip-flop when the voltage drops below 1/3Vcc causing the output to
switch from a “LOW” to a “HIGH” state.
 Pin 3. – Output, The output pin can drive any TTL circuit and is capable of sourcing
or sinking up to 200mA of current at an output voltage equal to approximately Vcc –
1.5V so small speakers, LEDs or motors can be connected directly to the output.
 Pin 4. – Reset, This pin is used to “reset” the internal Flip-flop controlling the state of
the output, pin 3. This is an active-low input and is generally connected to a logic “1”
level when not used to prevent any unwanted resetting of the output.
 Pin 5. – Control Voltage, This pin controls the timing of the 555 by overriding the
2/3Vcc level of the voltage divider network. By applying a voltage to this pin the width
of the output signal can be varied independently of the RC timing network. When not
used it is connected to ground via a 10nF capacitor to eliminate any noise.
 Pin 6. – Threshold, The positive input to comparator No 2. This pin is used to reset the
Flip-flop when the voltage applied to it exceeds 2/3Vcc causing the output to switch
from “HIGH” to “LOW” state. This pin connects directly to the RC timing circuit.

 Pin 7. – Discharge, The discharge pin is connected directly to the Collector of an

internal NPN transistor which is used to “discharge” the timing capacitor to ground
when the output at pin 3 switches “LOW”.
 Pin 8. – Supply +Vcc, This is the power supply pin and for general purpose TTL 555
timers is between 4.5V and 15V.
The 555 Timers name comes from the fact that there are three 5kΩ resistors
connected together internally producing a voltage divider network between the supply
voltage at pin 8 and ground at pin 1. The voltage across this series resistive network
holds the negative inverting input of comparator two at 2/3Vcc and the positive non-
inverting input to comparator one at 1/3Vcc.
The two comparators produce an output voltage dependent upon the voltage
difference at their inputs which is determined by the charging and discharging action of
the externally connected RC network. The outputs from both comparators are connected
to the two inputs of the flip-flop which in turn produces either a “HIGH” or “LOW”
level output at Q based on the states of its inputs. The output from the flip-flop is used to
control a high current output switching stage to drive the connected load producing
either a “HIGH” or “LOW” voltage level at the output pin.
The most common use of the 555 timer oscillator is as a simple astable oscillator
by connecting two resistors and a capacitor across its terminals to generate a fixed pulse
train with a time period determined by the time constant of the RC network. But the 555
timer oscillator chip can also be connected in a variety of different ways to produce
Monostable or Bistable multivibrators as well as the more common Astable
Multivibrator.
7.2 555 Timer Output

The output (pin 3) of the standard 555 timer or the 556 timer, has the ability to
either “Sink” or “Source” a load current of up to a maximum of 200mA, which is
sufficient to directly drive output transducers such as relays, filament lamps, LED’s
motors, or speakers etc, with the aid of series resistors or diode protection.
This ability of the 555 timer to both “Sink” (absorb) and “Source” (supply)
current means that the output device can be connected between the output terminal of
the 555 timer and the supply to sink the load current or between the output terminal and
ground to source the load current.

7.3 Sinking and Sourcing the 555 Timer Output
Fig 7.3.1
The ability of the 555 timer to both sink and source its output load current means
that both LED’s can be connected to the output terminal at the same time but only one
will be switched “ON” depending whether the output state is “HIGH” or “LOW”. The
circuit to the left shows an example of this. the two LED’s will be alternatively switched
“ON” and “OFF” depending upon the output. Resistor, R is used to limit the LED
current to below 20mA.
The maximum output current to either sink or source the load current via pin 3 is
about 200mA at the maximum supply voltage, and this value is more than enough to
drive or switch other logic IC’s, LED’s or small lamps, etc
7.4 555 Timer Transistor Driver
Fig 7.4.1 Fig 7.4.2

The transistor in the two examples above, can be replaced with a Power
MOSFET device or Darlington transistor if the load current is high. When using an
inductive load such as a motor, relay or electromagnet, it is advisable to connect a
freewheeling (or flywheel) diode directly across the load terminals to absorb any back
emf voltages generated by the inductive device when it changes state.
The 555 Timer to generate monostable and bistable output pulses. In the next
tutorial about Waveform Generation the 555 timer in an astable multivibrator
configuration. When used in the astable mode both the frequency and duty cycle of the
output waveform can be accurately controlled to produce a very versatile waveform
generator.

Chapter 8
COMPONENTS
8.1.BLUETOOTH TO SERIAL PORT MODULE
Fig 8.1-HC -05
HC-05 module is an easy to use Bluetooth SPP (Serial Port Protocol) module,
designed for transparent wireless serial connection setup.
Serial port Bluetooth module is fully qualified Bluetooth V2.0+EDR (Enhanced

D/ata Rate) 3Mbps Modulation with complete 2.4GHz radio transceiver and baseband. It
uses CSR Blue core 04-External single chip Bluetooth system with CMOS technology
and with AFH(Adaptive Frequency Hopping Feature). It has the footprint as small as
12.7mmx27mm. Hope it will simplify your overall design/development cycle.
8.1.2 SPECIFICATIONS
8.1.2.1 Hardware features
 Typical -80dBm sensitivity

 Up to +4dBm RF transmit power
 Low Power 1.8V Operation ,1.8 to 3.6V I/O
 PIO control
 UART interface with programmable baud rate
 With integrated antenna
 With edge connector

hhh28.1 888. Software features

 Default Baud rate: 38400, Data bits:8, Stop bit:1,Parity:No parity, Data control:
has. Supported baud rate: 9600,19200,38400,57600,115200,230400,460800.
 Given a rising pulse in PIO0, device will be disconnected.
 Status instruction port PIO1: low-disconnected, high-connected;
 PIO10 and PIO11 can be connected to red and blue led separately. When master
and slave are paired, red and blue led blinks 1time/2s in interval, while
disconnected only blue led blinks 2times/s.
 Auto-connect to the last device on power as default.
 Permit pairing device to connect as default.
 Auto-pairing PINCODE:”0000” as default
 Auto-reconnect in 30 min when disconnected as a result of beyond the range of
connection.
ELECTRICAL AND ELECTRONIC DEPT, SGBIT Page 19

Chapter 9
CIRCUIT COMPONENTS
9.1 RESISTORS
Fig 9.1.1
In many electronic circuit applications the resistance forms the basic part of the
circuit. The reason for inserting the resistance is to reduce current or to produce the desired
voltage drop . These components which offer value of resistance are known as resistors .
Resistors may have fixed value i.e., whose value cannot be changed and are known as fixed
resistors . Such of those resistors whose value can be changed or varied are known as variable
resistors.
Fig 9.2.2
There are two types of resistors available. They are :
1. Carbon resistors .
2. Wire wound resistors .
Carbon resistors are used when the power dissipation is less than 2W because they are
smaller and cost less. Wire wound resistors are used where the power dissipation is more than
5W . In electronic equipments carbon resistors are widely used because of their smaller size .
Electrical and Electronic Dept. SGBIT Page 20

All resistors have three main characteristics:

(i) Its resistance R in ohms (from 1 ohm to many mega ohms ).
(ii) Power rating (from several 10 W to 0.1 W ) .
(iii) Tolerance (in percentage ) .
9.2 PRESET ( POTENTIOMETER )
Fig 9.2
There are two general categories of variable resistors:

1. General purpose resistors.
2. Precision resistors.
The general purpose type can again be wire wound type and carbon type These
follows either linear or logarithmic law. The precision type are always wire wound and
follow a linear law .The variable resistors can be broadly classified as potentiometer ,
rheostats , presets and decade resistance boxes .
The general purpose wire wound potentiometers are available in 1, 2, 3 and 4 watts.
The usual tolerances ratings 10 % and 20% are available. The widely used potentiometers are
of the standard diameters 19mm, 31mm, and 44mm. The temperature coefficient depends on
the wire used and on the resistors values. The resolution of these wire wound resistors is
proper than carbon resistors because the wiper has to move from one winding to the other,
where as in carbon potentiometers it is continuous. These resistors are highly linear, the
linearity falling with 1%.

9.3 CAPACITORS
Like resistors, capacitors are also crucial to the correct working of nearly every electronic
circuit and provide us with a means of storing electrical energy in the form of an electric field.
Capacitors have numerous applications including storage capacitors in power supplies, coupling of
A.C. signals between the stages of an amplifier, and decoupling power supply rails so that, As far as
A.C. signal components are concerned, the supply rails are indistinguishable from zero volts.
9.3.1 TYPES OF CAPACITORS:
1. CERAMIC CAPACITORS
The Ceramic Capacitors use ceramic dielectric with thin film as electrodes bonded to the
ceramic .these capacitors are available as low permittivity, medium permittivity and high permittivity
types .The ceramic is used is generally thick because they cannot with stand high potential gradients
.The leads are soldered to metal electrodes and the entire assembly is enclosed in a ceramic or
epoxy molded cases. Capacitors are available as tubular ,disk, monolithic and barrier type.
Fig 9.3.1
2. DISC CAPACITORS
In the disk form, silver is fired on to both sides of the ceramic to form the conductor plates. The
sheets are then baked and cut to the appropriate shape and size & attached by pressure contact and
soldering . These have high capacitance per unit volume and are very economical. The disks are
lacquered or encapsulated in plastic or Phenolic molding. Round disk are used at high voltages the
capacitance of values upto 0.01F can be obtained. They have tolerance of +20% or –20%. In general
these capacitors have voltage ratings upto 750 V d.c.

Fig 9.3.2
9.3.2 ELECTROLYTIC CAPACITORS
These capacitors derive the name from electrolyte which is used as a medium to produce
high dielectric constants. These capacitors have low value for large capacitances at low working
voltages.
Fig 9.3.2
There are two types of Electrolytic capacitors:

1. Aluminum Electrolytic capacitors .
2. Tantalum electrolytic capacitors .
Electrolytic capacitors are used in circuits that have combination of D.C. voltage and A.C.
The D.C. voltage maintains the polarity . They are used as ‘ripple filter ‘ where large capacitance are
required at low cost in small space . They are also used as ‘biased capacitors ‘ and ‘decoupling
capacitors ‘ and even as ‘coupling capacitors ‘ in R- C amplifier.
9.4 DIODES
Fig 9.4
A diode is a device, which is mainly used for rectification purpose i.e. changing
alternating to direct current. It is made up of the semiconductor material (also known as p-n
junction). It has a unique property that it conducts current easily when it is forward biased
and practically no current flows when it is reversed biased. However, semiconductor diodes

have become more popular because they are smaller in size, cheaper & robust and usually
operate with greater efficiency.
A semiconductor diode has two terminals namely anode and cathode. The cathode
terminal is usually indicated with a ring or bar, and other terminal will be anode. The forward
biasing of the diode means connecting the +ve terminal to anode point and –ve to cathode
point. The resistance offered by the diode to forward bias whenever it is forward biased is
known as ‘forward resistance’. This resistance is not the same for the flow of direct current as
for the changing current (A.C). And the resistance offered during the reverse bias is ‘reverse
resistance’. It can be D.C reverses resistance or A.C reverse resistance depending upon
whether the reverse bias is direct or changing current.
Depending on the properties of the diode it can be used for many applications. The
most important application is for rectification. The other important application is, whenever
the diode is reverse biased initially it does not conduct, at some point it conducts and remains
stabilized. This property is known as Zener breakdown property and this property is used in
zener diodes. The zener diodes are used in voltage stabilizing circuits. The property of
variation of transition capacitance (CT) with voltage is used in voltage tuning of an LC
resonant, in balancing of bridge circuits and in parametric amplifier. Signal diodes are used
in communication circuits. They are also used in logic and digital circuits.
9.4.1 RECTIFIER DIODE (1N4007)
It is a most popular form of rectifier diode used in almost all low powered power
supply applications. It can handle up to 1000V voltage and current up to 3 amps. It consists
of two terminals one anode and the other cathode indicated with ring. The main application of
this diode is for rectification i.e. it converts alternating current to direct current.
In Full wave rectifier circuit the diode used are 2 nos., where as in Bridge rectifier
4 diodes are used. In full wave rectifier the transformer used is center tap type (3 terminals),
and in bridge rectifier the diode is of two terminals. After rectification the D.C output voltage
will be pulsating so a filter circuit is used.

Fig 9.4.1
9.4.2 LIGHT EMMITING DIODE (LED)
Fig 9.4.2
In a PN junction electrons cross from ‘n’ side and combine with holes on the ‘p’ side.
Free electrons are in the conduction band of energy level while holes are in the valance band.
Thus electrons are at a higher energy level than holes. During the recombination some of the
energy is given up in the form of heat and light. If the semiconductor material is translucent
the light will be emitted and the junction becomes a light source. Such a diode is called light
emitting diode or LED.
Fi g 9 .4 .3
Gallium arsenide emits infrared i.e., invisible light. Gallium arsenide

phosphate emits red or yellow light and gallium phosphate provides red or
green emission.

There are also L.E.D capable of emitting any one of two. They are built
with two light emitting junctions one of which has the spectral response peak
in one region (say red) of the spectrum.
Chapter 10
RELAYS
Fig 10.1
Relays are switching devices employed to control large power or to perform

switching operations. Relay may be considered as switch, the only difference is the switch
operates manually where as relay is automatic or by small D.C signal. There are different
types of relays depending upon the material used (or on construction), the no of contact
points, the parameters by which it changes it points or contacts, etc. Based on the material
used the electromagnetic relay is the most common used. The electromagnetic relay consists
of a coil. When a supply is given to the coil, it acts as electromagnet or turns as electromagnet
and attracts the pole in turn the pole changes the contact (the result is load is switched on).
When the supply is removed, the action is reversed and the load is turned off.
In the normal relay there are two terminals of relay coil points and the other three
terminals are for switching operations. The supply voltage for operating the relay is
connected to relay coil points. Out of the other three terminals, one is common(C) point; the
other is normally closed (NC) point and the last is normally open (NO) point. From these,
during normal condition i.e. when supply is not feed, the point C and NC is closed and after

applying the voltage across the coil points the relay is energized and the terminals C & NO
will be closed or act as short circuit. This is the operation of the relay.
Fig 10.2
The resistance of the coil of the relay judges the current carrying capacity, of the
relay. There are relays that can carry up to 1000V of D.C or A.C voltage or up to several
amperes of current. The operating voltage of relay can be A.C or D.C. Again depending upon
the contact points the relays are classified as single pole single through (SPST), double pole
double through (DPDT), etc. In the single pole relay there is a single common, nc and no
terminals. Where as in double pole the relay contacts, common, nc and no terminals are
double. The advantage of double pole relay is that it can switch on, two devices at a time .

Chapter 11
DC MOTORS
Fig 11.1 - DC Motor
Specifications of DC Motor
 500RPM 12V DC Motor with Gear box
 8 MM Shaft
 12KG-CM TORQUE
 No load Current =500MA (MAX),
 LOAD CURRENT= 700MA(MAX)
DC motors operate from a direct current power source. Movement of the magnetic
field is achieved by switching current between coils within the motor. This action is called
"commutation". Very many DC motors (brush-type) have built-in commutation, meaning that
as the motor rotates, mechanical brushes automatically commutate coils on the rotor.
In general, users select brush-type DC motors when low system cost is a priority, and
brushless motors to fulfill other requirements (such as maintenance-free operation, high
speeds, and explosive environments where sparking could be hazardous). Brush type DC
motors are used in very many battery powered appliances. Brushless DC motors are
commonly used in applications like DC powered fans and disk drive rotation motors.

Chapter 12
PRINTED CIRCUIT BOARD
12.1 INTRODUCTION
A printed circuit board is used to avoid most as all disadvantages of conventional
breadboards. They are small in size, efficient in performance. The only disadvantage is that
once the board is prepared no more changes are possible. It gives all the information on the
board. This involves the clear conception and details of the circuit before the actual layout
can be alone.
12.2 TYPES OF BOARD
The two most popular boards are the Single sided boards & Double sided board. The
single sided printed circuit boards are widely used for general-purpose application where the
cost is to be high and the layout is simple. However the circuit performance is also to be
considered in selecting the appropriate board. To jump over a conducting tracks jumper wires
are used. If the number of jumper wires the board is more than the double-sided printed
circuit boards are preferred. Even in the board the minimum for are liability the cost of
double sided printed circuit board without plated through holes is considered through contact
are made by soldering the component lead on both side.
12.3 PREPERATION OF PRINTED CIRCUIT BOARD
The drawing or art work as is the 1st steps on the preparation of printed circuit board.
A perfect drawing overcomes problem like inaccurate registration, broken annual rings and
critical spacing. A good method of artwork tabs is of the smallest details.
The pads are available in two varieties the self-adhesive and transfer type. Self-
adhesive pads are supplied sticking on a backing paper .The pad is pulled from the backing
pad paper and positioned where required and then slightly pressed. If the position of the pads
is to be shifted it can be pulled off again placed in the position required and prepared firmly
again.

The term transfer pads are pointed on a thin adhesive film. The thin film is mounted
on the carrier strip on to the art work by rubbing with a wooden stick on the carrier strip
while the pad is exactly positioned on the art work case. The carrier strip can there after be
lifted from the art work leaving behind pad.
 To prepare Printed Circuit Board following apparatus are required.
1. Copper Board.
2. Ferric Chloride.
3. Attaching stickers.
4. Drill machine, etc.

Chapter 13
POWER SUPPLY UNIT

The circuit needs two different voltages, +5V & +12V, to work. These dual voltages
are supplied by this specially designed power supply.
The power supply, unsung hero of every electronic circuit, plays very important role
in smooth running of the connected circuit. The main object of this ‘power supply’ is, as the
name itself implies, to deliver the required amount of stabilized and pure power to the circuit.
Every typical power supply contains the following sections:
13.1 CIRCUIT DESCRIPTION
A dc power supply which maintains the output voltage constant irrespective of ac

mains fluctuations or load variations is known as regulated dc power supply. It is also
referred as full-wave regulated power supply as it uses four diodes in bridge fashion w4ith
the transformer. This laboratory power supply offers excellent line and load regulation and
output voltages of +5V & +12 V at output currents up to one amp.
13.2 CIRCUIT DIAGRAM OF +5V & +12V FULL WAVE REGULATED
Fig 3.1

Parts List:
Table 3.1
IC1 7812 Regulator IC 1
IC2 7805 Regulator IC 1

D1& D2 1N4007 Rectifier Diodes 4
C1 1000 µf/25V Electrolytic 1
C2 0.1µF Ceramic Disc type 1
13.3 Solar Panel
Fig 13.3

Solar panel are those devices which are used to absorb sun’s rays and convert them into
electricity or heat. Solar panel is actually collection of solar cells, which can be used to
generate electricity through photovoltaic effect. These cells are arranged in grid- like pattern
on the surface of solar panels. Thus, it may also be described as a set of PV modules mounted
on structure supporting it .PV module is packaged and connected assembly of 6x10 solar
cells. When it comes to wear and tear these panels are very hard. Solar panels wear out
extremely slow. In year their effectiveness decreases only about 1-2%. Most of the solar cells
are made using crystalline silicon solar cells. These days, solar panels are used in wide –
range electronic equipment’s like calculator, which work as long as sun light is available.
However the only major drawback of solar panels is that they are quite costly. Also, solar
panels are installed outdoors as they need sunlight to get charged.

Chapter 6
PROPOSED MODEL
The proposed vehicle is much more efficient then Segway model which are in market
today. A solar panel will be used to power the vehicle. The solar energy generated will be
stored in a battery. As the battery will be charging continuously during daytime/ when
exposed to sunlight, the charging problem is eliminated. For indoor usage or when sunlight is
not available, the battery can be charged through a charging outlet provided to the vehicle.
The second advancement is, as four wheels are being used, people of any age group
can use it easily. The third advancement is that the handle is being replaced with voice
commands. The user can give commands like move forward, backward, start, stop, left and
right direction. The fourth advancement sensors are going to be used for automatic stopping
of vehicle in case an object or an obstacle comes in the way of the vehicle.

Chapter 15
15.1ArduinoUNO Atmega 328
Specifications of the Arduino UNO:

Microcontroller: ATmega328
Operating Voltage: 5V
Input Voltage (recommended): 7-12V
Input Voltage (limits): 6-20V
Digital I/O Pins: 14 (of which 6 provide PWM output)
Analog Input Pins: 6
DC Current per I/O Pin: 40 mA
DC Current for 3.3V Pin: 50 mA
Flash Memory: 32 KB of which 0.5 KB used by boot loader
SRAM: 2 KB (ATmega328)
EEPROM: 1 KB (ATmega328)
Clock Speed: 16 MHz

Chapter 16
16.1 Rubber Trolley Wheel
Fig 16.1 - Rubber Trolley Wheel
Description:
Size Customized
Wheel Material Rubber
Material Steel
Colour Black
Diameter (mm) 100-150 mm, 0-100 mm
Application Load Carrying Trolley
Features:
Robust construction
Easy installation
Perfect finish
Abrasion resistance

Chapter 17
Design of Chassis
Fig 17.1
Description
 Overall weight of chassis – 10Kg
 Dimensions – 22 inches x 11 inches
 Total weight it can withstand – 12kg -16kg
 Material used - Galvanised Iron

Chapter 18
18.1APPLICATIONS
 Used by astronauts-As the suits of astronauts are heavy, so to move from one station
to another station on moon and mars they can use.
 Waiters for serving in Hotels
 Shopping at Malls-To move trolley with human.
 Can be used for industrial vehicles-To carry heavy loads from one machine to another
machine.
 Provide easy transportation of soldiers/ weapons at Military bases

 Maintenance and shipping of goods from one place to another at large Ware houses
 Employees Corporate campuses-As the area of corporate is large, so to move
employee from one working site to another site.
17.2 ADVANTAGES
 Eco friendly – It is pollution free.

 Cost efficient – As the solar energy is free of cost.
 Low power consumption.
 Easy to control – It is simple to use as it is control voice commands.
 It’s a portable device – As it is small in size it is easy to carry and keep after use.
 User friendly – As it is control by voice any age group people can use.
REFERENCES
[1] Bageant, M. Balancing a two-wheeled Segway robot, 2011.
[2] “Design and Fabrication of Self Balancing Two Wheeler”, IJESC- International Journal
on, DOI 10.4010/2016.1233, ISSN 2321 3361 © 2016
[3] “Segway – The Human Transporter”, IJIRST –International Journal for Innovative
Research in Science & Technology
| Volume 1 | Issue 11 | April 2015 ISSN (online): 2349-6010


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SOLAR QUAD WHEEL VEHICLE

Electrical and Electronic Engg Dept,SGBIT Page - 1 -

Electrical and Electronic Engg Dept,SGBIT Page - 2 -

Electrical and Electronic Engg Dept,SGBIT Page - 3 -

Electrical and Electronic Engg Dept,SGBIT Page - 4 -

Electrical and Electronic Engg Dept,SGBIT Page - 5 -

Fig. 4.1 Block diagram of power flow.

Fig. 4.2 Different components connection

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Fig 5.1 Hoverboard Fig 5.2 Segway

Electrical and Electronic Engg Dept,SGBIT Page - 7 -

BUFFER, DRIVER & SWITCHING MODULE

6.1 Hex buffer/converter [non-inverter] IC4050

Electrical and Electronic Engg Dept,SGBIT Page - 8 -

Fig 6.1.1- IC 4050

6.2 ULN 2003

Electrical and Electronic Engg Dept,SGBIT Page - 9 -

IC ULN 2003 or 2004

Fig 6.2.1- IC ULN 2003 or 2004

6.3 1N4148 signal diode:

CIRCUIT OF THE GADGET

Electrical and Electronic Engg Dept,SGBIT Page - 10 -

CIRCUIT DIAGRAM OF BUFFER, DRIVER & SWITCHING

1 16 N/C N/C N/C N/C N/C

5 4 3 14 RL1 RL2 RL3 RL4 RL5

Fig 6.3.2- Buffer, Driver & Switching Stage

IC1 4050 HEX BUFFER/CONVERTER(NON- 1

IC2 2004 Darlington array 1

R1 to R5 220 Ohm ¼ Watt Carbon Resistors 5

R6 to R10 2.2 K Ohm ¼ Watt Carbon Resistors 5

D1to D5 1N4148 SIGNAL Diodes 5

D6 to D10 Red Indicator LEDs 5

RL1-RL5 12 V, 700 Ohm DPDT Reed Relays 5

Electrical and Electronic Engg Dept,SGBIT Page 11

6.4 CIRCUIT DESCRIPTION

RELAY COMMAND NUMBER COMMAND SIGNAL

RL1 COM-1 TURN LEFT

RL2 COM-2 TURN RIGHT

RL3 COM-3 MOVE BACKWARD

RL4 COM-4 MOVE FORWARD

SWITCH ON/OFF THE

Electrical and Electronic Engg Dept,SGBIT Page 12

A simplified “block diagram” representing the internal circuitry of the 555

Electrical and Electronic Engg Dept,SGBIT Page 13

7.1 555 Timer Block Diagram

Fig 7.1.1-IC 555

Electrical and Electronic Engg Dept,SGBIT Page 14

 Pin 7. – Discharge, The discharge pin is connected directly to the Collector of an

7.2 555 Timer Output

Electrical and Electronic Engg Dept,SGBIT Page 15

7.3 Sinking and Sourcing the 555 Timer Output

7.4 555 Timer Transistor Driver

Fig 7.4.1 Fig 7.4.2

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Electrical and Electronic Engg Dept,SGBIT Page 17

8.1.BLUETOOTH TO SERIAL PORT MODULE

Fig 8.1-HC -05

Serial port Bluetooth module is fully qualified Bluetooth V2.0+EDR (Enhanced

 Typical -80dBm sensitivity

Electrical and Electronic Engg Dept,SGBIT Page 18

hhh28.1 888. Software features

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