project file of gesture controlled robot

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GESTURE CONTROLLED ROBOT (ACCELEROMETER BASED) INTRODUCTION What is gesture? A gesture is a form of non-verbal communication in which visible bodily actions communicate particular messages, either in place of speech or together and in parallel with words. Gestures include movement of the hands , face , or other parts of the body . Gestures differ from physical non-verbal communication that does not communicate specific messages, such as purely expressive displays, proxemics , or displays of joint attention . Gestures allow individuals to communicate a variety of feelings and thoughts, from contempt and hostility to approval and affection, often 1

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Page 1: Project File of gesture controlled robot

GESTURE CONTROLLED ROBOT (ACCELEROMETER BASED)

INTRODUCTION

What is gesture?

A gesture is a form of non-verbal communication in which

visible bodily actions communicate particular messages,

either in place of speech or together and in parallel with

words. Gestures include movement of the hands, face, or

other parts of the body. Gestures differ from physical non-

verbal communication that does not communicate specific

messages, such as purely expressive displays, proxemics,

or displays of joint attention. Gestures allow individuals to

communicate a variety of feelings and thoughts, from

contempt and hostility to approval and affection, often

together with body language in addition to words when

they speak.

Gestures are processed in the same areas of the brain

as speech and sign language such as the left inferior

frontal gyrus (Broca's area) and the posteriormiddle

temporal gyrus, posterior superior temporal

sulcus and superior temporal gyrus (Wernicke's area). It

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has been suggested that these parts of the brain originally

supporting the pairing of gesture and meaning and then

were adapted in human evolution "for the comparable

pairing of sound and meaning as voluntary control over

the vocal apparatus was established and spoken language

evolved".

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What is robot?

A robot is a mechanical device that can perform tasks

automatically. Some robots require some degree of

guidance, which may be done using a remote control, or

with a computer interface. A robot is usually an electro-

mechanical machine that is guided by a program

or circuitry. Robots can be autonomous, semi-autonomous

or remotely controlled and range from humanoids such

as ASIMO and TOPIO to Nano robots, 'swarm' robots,

and industrial robots.

By mimicking a lifelike appearance or automating

movements, a robot may convey a sense of intelligence

or thought of its own. The branch of technology that

deals with robots is called robotics.

The first digital and programmable robot was invented

by George Devol in 1954 and was named the Unimate .

It was sold to General Motors in 1961 where it was used

to lift pieces of hot metal from die casting machines at

the Inland Fisher Guide Plant in the West Trentonsection

of Ewing Township, New Jersey. 3

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What is gesture controlled robot?

A Gesture Controlled robot is a kind of robot which

can be controlled by your hand gestures not by old

buttons. You just need to wear a small transmitting device

in your hand which included an acceleration meter. This

will transmit an appropriate command to the robot so that

it can do whatever we want.

The transmitting device included a comparator IC for

analog to digital conversion and an encoder IC(HT12E)

which is use to encode the four bit data and then it will

transmit by an RF Transmitter module.

At the receiving end an RF Receiver module receives the

encoded data and decode it by an decoder IC(HT12D).

This data is then processed by a microcontroller

(P89V51RD2) and finally our motor driver to control the

motor's. 

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As we can see in the images one is robot and the another

is to transmit the gesture data to robot.

Robot Gesture Device

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KEY COMPONENTS OF PROJECTS

This project contains mainly two parts -

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gesture controlled

robot

transmitter part or gesture

device

receiver part or robot

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TRANSMITTER PART OR GESTURE DEVICE

The Transmitter part contain four module in it—

                                                                                         

1- ACCELEROMETER

                                                                                         

2- COMPARATOR                                                               

 3- ENCODER (HT12E)

                                                                                         

4- RF TRANSMITTER 

Now we will discuss all of the parts of transmitter in

detail..

ACCELEROMETER7

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An Accelerometer is a kind of sensor which gives an

analog data while moving in X,Y,Z direction or may be X,Y

direction only depends on the type of the sensor. Here is a

small image of an Accelerometer shown. We can see in

the image that their are some arrow showing if we tilt

these sensor's in that direction then the data at that

corresponding pin will change in the analog form.

Figure 1.1-Accelerometer

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Conceptually, an accelerometer behaves as a damped

mass on a spring. When the accelerometer experiences

an acceleration, the mass is displaced to the point that

the spring is able to accelerate the mass at the same rate

as the casing. The displacement is then measured to give

the acceleration.

In commercial devices,  piezoelectric,  piezoresistive

and capacitive components are commonly used to

convert the mechanical motion into an electrical signal.

Piezoelectric accelerometers rely on piezoceramics

(e.g. lead zirconate titanate) or single crystals

(e.g. quartz, tourmaline). They are unmatched in terms of

their upper frequency range, low packaged weight and

high temperature range. Piezoresistive accelerometers are

preferred in high shock applications. Capacitive

accelerometers typically use a silicon micro-machined

sensing element. Their performance is superior in the low

frequency range and they can be operated in servo mode

to achieve high stability and linearity.

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The Accelerometer having 6 pin-

1-VDD- We will give the +5volt to this pin.

2- GND- We simply connect this pin to the ground for

biasing.

3- X- On this pin we will receive the analog data for x

direction movement.

4- Y- On this pin we will receive the analog data for y

direction movement.

5- Z-  On this pin we will receive the analog data for z

direction movement.

6- ST- this pin is use to set the sensitivity of the

accelerometer 1.5g/2g/3g/4g.

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COMPARATOR (LM324)

 For the purpose to change the analog voltage into digital

we use comparator which compare that analog voltage to

a reference voltage and give a particular high or low

voltage.

LM324

IC

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The figure shown here is comparator IC. The pin 1, 7, 8

and 14 are use to give out put to the microcontroller. We

should connect a reference voltage to the -ve terminal for

high output when input is high (+ve terminal for high output

when input is low) from the LM324 IC.

In this circuit we compare the data from x with two terminal

one for positive x direction and negative x direction and

same for y direction.

In electronics, a comparator is a device that compares

two voltages or currents and switches its output to indicate

which is larger. They are commonly used in devices such

as analog-to-digital converters (ADCs).

An operational amplifier (op-amp) has a well balanced

Difference input and a very high gain. This parallels the

characteristics of comparators and can be substituted in

applications with low-performance requirements.

In theory, a standard op-amp operating in open-loop

configuration (without negative feedback) may be used as

a low-performance comparator. When the non-inverting

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input (V+) is at a higher voltage than the inverting input

(V-), the high gain of the op-amp causes the output to

saturate at the highest positive voltage it can output. When

the non-inverting input (V+) drops below the inverting input

(V-), the output saturates at the most negative voltage it

can output. The op-amp's output voltage is limited by the

supply voltage. An op-amp operating in a linear mode with

negative feedback, using a balanced, split-voltage power

supply, (powered by ± VS) its transfer function is typically

written as:  . However, this equation

may not be applicable to a comparator circuit which is

non-linear and operates open-loop (no negative

feedback).

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In practice, using an operational amplifier as a comparator

presents several disadvantages as compared to using a

dedicated comparator:

1.Op-amps are designed to operate in the linear mode

with negative feedback. Hence, an op-amp typically

has a lengthy recovery time from saturation. Almost

all op-amps have an internal compensation capacitor

which imposes slew rate limitations for high frequency

signals. Consequently an op-amp makes a sloppy

comparator with propagation delays that can be as

slow as tens of microseconds.

2.Since op-amps do not have any internal hysteresis an

external hysteresis network is always necessary for

slow moving input signals.

3.The quiescent current specification of an op-amp is

valid only when the feedback is active. Some op-

amps show an increased quiescent current when the

inputs are not equal.

4.A comparator is designed to produce well limited

output voltages that easily interface with digital logic.

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Compatibility with digital logic must be verified while

using an op-amp as a comparator.

5.Some multiple-section opamps may exhibit extreme

channel-channel interaction when used as

comparators.

6.Many opamps have back to back diodes between

their inputs. Opamp inputs usually follow each other

so this is fine. But comparator inputs are not usually

the same. The diodes can cause unexpected current

through inputs.

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ENCODER (HT12E)

The HT12E is an 4bit encoder which encode the input

data applied on it .

Encoders are software programs that are used for

compressing information. Often, the function of

an encoder will also allow for the conversion of data from

one format to another. While there are several types of

programs that accomplish this for text data, the encoder is

usually associated with audio and video.

One of the common uses of an encoder today has to do

with the conversion of audio files from an originating

format to one that will match with a specific player. For

example, an encoder would be used to compress and

convert a WAV file into a file type that would be

compatible on an MP3 player. The WAV file would be

compressed to a fraction of the original size. The

compression would take place without having a negative

impact on the sound quality of the converted file.

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The pin description of the HT12E is shown in the figure .

FIGURE:-ENCODER

Pin (1 to 8) A0-A7 known as address bits so we do

not need to consider them.

Pin no (9 and 18) are use to bias the IC  as pin-18 as

VCC and pin-9 as GND.

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Pin - 17 is connected to the RF Transmitter module

Din.

Pin-16 and Pin-15 are connected by an Osc resistor

known as Roscc (1.1 Mohm)

Pin-14 is connected to ground to enable the transmitt.

Pin-13 to Pin-10 are known as AD0 to AD3 those

having the 4bit data which is required to transmit.

The VCC pin is connected to the +terminal in the

circuit.

The data pin is connected to the HT12E (Pin no-17)

that is transmitted or we can say that encoded data.

The next pin is shown in figure is GND that is

connected to the ground terminal.

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RF TRANSMITTER MODULE (TX)

In electronics and telecommunications a transmitter or radi

o transmitter is an electronic device which, with the aid of

an antenna, produces radio waves. The transmitter itself

generates a radio frequency alternating current, which is

applied to the antenna. When excited by this alternating

current, the antenna radiates radio waves. In addition to

their use in broadcasting, transmitters are necessary

component parts of many electronic devices that

communicate by radio, such as cell phones, wireless

computer networks, Bluetooth enabled devices, garage

door openers, two-way radios in aircraft, ships, and

spacecraft, radar sets, and navigational beacons. The

term transmitter is usually limited to equipment that

generates radio waves forcommunication purposes;

or radiolocation, such as radar and navigational

transmitters. Generators of radio waves for heating or

industrial purposes, such as microwave

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ovens or diathermy equipment, are not usually called

transmitters even though they often have similar circuits.

The term is popularly used more specifically to refer to

a broadcast transmitter, a transmitter used

in broadcasting, as in FM radio transmitter or television

transmitter. This usage usually includes both the

transmitter proper, the antenna, and often the building it is

housed in.

An unrelated use of the term is in industrial process

control, where a "transmitter" is a telemetry device which

converts measurements from a sensor into a signal, and

sends it, usually via wires, to be received by some display

or control device located a distance away.

The transmitter module is working  on the frequency of

433MHz and is easily available in the market at the cost of

250rs .

The VCC pin is connected to the +terminal in the

circuit.

The data pin is connected to the HT12E (pin no-17)

that is transmitted or we can say that encoded data.

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The next pin is shown in figure is GND that is

connected to the ground terminal.

Now the last pin ANT this is connected to a small wire

as an antenna.

FIGURE:-RF TRANSMITTER

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TRANSMITTER MODULE

FIGURE:-GESTURE SENSING DEVICE MODULE

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RECEIVER PART OR ROBOT

This part contain four module--         

1. Receiver

2. Decoder(HT12D)

3. Process(microcontroller 8051)

4. Actuator (Motor driver L293D)

Now we will discuss all of these parts in detail.

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RF RECEIVER MODULE (RX)

 The RF receiver module will receive the data which is

transfered by the gesture device. It is also working as

similar to the transmitter module.

Connect the VCC pin to the 5volt terminal.

Connect the ground pin to the ground terminal.

The data pin is then connected to the HT12D (pin-14).

So that we can get the decoded 4 bit data.

The RF module, as the name suggests, operates at Radio

Frequency. The corresponding frequency range varies

between 30 kHz & 300 GHz. In this RF system, the digital

data is represented as variations in the amplitude of

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carrier wave. This kind of modulation is known as

Amplitude Shift Keying (ASK).

Transmission through RF is better than IR (infrared)

because of many reasons. Firstly, signals through RF can

travel through larger distances making it suitable for long

range applications. Also, while IR mostly operates in line-

of-sight mode, RF signals can travel even when there is

an obstruction between transmitter & receiver. Next, RF

transmission is more strong and reliable than IR

transmission. RF communication uses a specific

frequency unlike IR signals which are affected by other IR

emitting sources.

This RF module comprises of an RF Transmitter and

an RF Receiver. The transmitter/receiver (Tx/Rx) pair

operates at a frequency of 434 MHz. An RF transmitter

receives serial data and transmits it wirelessly through RF

through its antenna connected at pin4. The transmission

occurs at the rate of 1Kbps - 10Kbps.The transmitted data

is received by an RF receiver operating at the same

frequency as that of the transmitter.

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DECODER (HT12D)

In a very simple way we can say that an HT12D converts

that serial data into parallel which is received by the RF

receiver module .The input data is decoded when no error

or unmatched codes are found.

FIGURE:-DECODER(HT12D

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A valid transmission in indicated by a high signal at VT pin

that is pin no 17.

pin 18  : It is use to give the +VCC or biasing to the

IC HT12D this pin is connected with the +5 volt

Pin 17 : It is the valid transmission pin it will high

when the transmission is ok so that we connected this pin

to an led for indication.

Pin16-15: we connect these two pin directly by a 51k

resistor

Pin 14 : This pin is connected with the rf receiver

module data pin to receiving the serial data.

Pin10-13: These pins are data pin which

is transferred by the gesture module.

A decoder is a combinational digital circuit that decodes

an n-bit binary input in to its correspoding decimal level.

An n-bit input (A0-A(n)) decoder has 2n output (E0-E(2n -

1)) lines with each line corresponding to a different

minterm or decimal level. Depending upon the input, the

corresponding decimal level becomes high while all other

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outputs remain as 0.E.g. If the input bits to a four input

decoder are 0110, then the 7th output line ( that

corresponds to decimal level 6) of the decoder will

become high while all the other will remain as zero.

A decoder can simply be synthesized by generating all

the minterms from the input bits by the use

of Inverters and AND gates.Besides decoding

a binary number to its corresponding decimal level, a

decoder can also be used for the realization of various

logical functions. Since all the minterms are available from

the decoder as its output lines, a logic function can easily

be realized by adding the required minterms in an OR

gate.

E.g. Let there be a 4:16 decoder and a logical function F

of four variables with minterms (0,4,6,7,9). Then F can be

realized by connection the variables to the input lines of

the decoder and then taking the E0,E4,E6,E7 and E9

output lines of the decoder and then adding them in an OR

gate. The output of the OR gate will give the function F.

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Decoders also come with active low outputs in which case

all the output lines remain high while the output line that

corresponds to the decimal level of the input bits become

low. To realize an active high logical function from such a

decoder, the minterms need to be fed in to a NAND gate

rather than an OR gate.

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PROCESS (MICROCONTROLLER P89V51RD2)

The processing is the most important part of the robot. Till now we get the data from the decoder now based on that data we have to make some decision so here the role of microcontroller is coming up. We use an 8051 microcontroller for our circuit to give them a decision capability. Our microcontroller is made up by nxp  the product

name is  P89V51RD2.The basic circuit to initialize the microcontroller is shown below. We just need an reset circuit and oscillator to run the program.

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FIGURE:-MOCROCONTROLLER(8051)

 we use the port 1 as an input port and port 2 as an output port.so the Data from the decoder  will connect with pin 1,2,3,4 and motor should be connect with pin 21,22,23,24. 

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For forward the data to the Port2 is 0a or for backward it is 05 then for lest its 02 and for right it is 08.

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ACTUATOR (L293D)

The Actuator's are those devices which actually gives the movement or to do a task like motor's. In the real world their are various types of motor's available which works on different voltages. So we need motor driver for running them through the controller. To get interface between motor and microcontroller . We use L293D motor driver IC in our circuit.

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motor driver circuit

As in above circuit a 2 pin male connector in connected to the pin 8 this will provide the operating voltage for the motor like if we want to run our

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voltage on 12volt. so we just have to connect a 12volt power source Now here is the full circuit diagram of the robot (receiver module)-

RECEIVER MODULE

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FIGURE:-RECEIVER

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