Apeejay Stya UniversityDepartment of Electronics and Instrumentation Engineering

Summer Training Program Report

On

Embedded system and robot

Under

I3 INDYA TECHNOLOGIESSubmitted by:

Banzadio salazaku ASU2013010100016

Abstract1

A system designed to record and report on discrete activities within a process is called as Tracking System. In the same procedure we have developed a methodology of robot direction system for robotics to control and achieve accurate direction for a class of non-linear systems in the presence of disturbances and parameter variations by using wireless communication technique.

In this methodology we are using two micro controllers one is for control section and other is for receiver section, resulting in the state trajectory 'sliding' along path-varying slides on the surface. This idealized control law achieves perfect direction however. The method is applied to the control of a two-link manipulator handling variable loads in a flexible manufacturing system environment and in robotics.

In our projects we track the robot by using wireless communication i.e. from Control section (acts as transmitter) we are ejecting the control signals, then the robot receives (acts as receiver) the signals, according to the signals it will change the direction in different paths like forward, backward, left, right.

Our robot will be easy to set up, will support the required hardware we desire and will serve your needs in the future. To design a robot that supports the newest technology available will be more expensive that boards that are already close to obsolete.

Acknowledgement

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It gives me immense pleasure in acknowledge the efforts of the staff of embedded system & robotics of i3indya technologies.

I specially thank Mrs. Kavita singh (training instructor and mentor) for her constant guidance and encouragement during the course of training. She was helpful in dealing with the problems in the projects that I have faced.

I am extremely grateful to trainees of i3indya technologies for providing us all technical knowledge, support and facilities that proved to be a great help and lead to completion of this training.

Banzadio salazaku

ASU2013010100016

Table of contents

Title

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Company profileDepartment and its role

Chapter 1: INTRODUCTION1.1 Introduction to robots1.2 Characteristics of robots1.3Different types of robot

Chapter 2: Wireless controlled Robot 2.1 Introduction2.2 Hardware & Circuits2.3 User input2.4 List of Components

Chapter 3: Overview of Integrated Circuits3.1 Atmega16L3.2 Motor driver IC3.3 ENCODER-DECODER ICs

Chapter 4: Software Store4.1 Embedded C4.2 AVR Studio4.3USB.asp

Conclusions References

List of figures

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Topic Page no. Block diagram (TX END) 15 Circuit Diagram (TX END) 15 Mobile part (Rx end) 16 RF module (TX & RX pair) 16 Controlling keypad 17 PIN OUT OF Atmega16L 20 PIN out of L293D 21 PIN out of HT12D & HT12E 22 Reception end circuit 23 Transmission end encoding circuit 24

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COMPANY PROFILE

I3indya Technologies (A unit of I THREE INFOTECH PVT LTD) with its foundation Innovation, Information and Intelligence is exploring indefinitely as a Technology service provider and as a Training Organization was started by a group of entrepreneurs with a sole mission of establishing a dedicated Research & Development Cell and bringing the findings to the benefit of budding Engineers. Little did they know that their efforts will bring an enormous change in the world of technology & Training, Today in just two years of its existence, i3indya has a pan India acclaim its unmatched quality services.

Department 6

Organizational structure

The Multi domains in which i3indya Technologies operate include the

following:

Research & Development:

With a 24X7 work in a Research & Development Cells, experts at i3indya have solved some of the most complex Cyber Security cases for Governments and MNC’s our research efforts have also dwelled into projects on software Testing Robotics kit Manufacturing, Website Testing, Circuit Designing and Secure Website Development.

Technical Workshops & Seminars:

On the journey to share its expertise with budding engineers, i3indya has come across 15,000+ students from 150+ colleges. The different themes of these workshops have been Ethical Hacking & Cyber Security, Robotics, 3D Animation many of its kind in top notch colleges like IIT Bombay, IIT Roorkee, IIT Kanpur, IIT Delhi, NIT Warangal, NIT Jaipur, BITS Pilani, Anna University, Sharda University.

Training Programs:

Vacancies have never been this fun! I3indya Organizes Summer Training and Internships on Embedded Systems & Ethical Hacking for the students to get an edge above the others. This is followed by an i3indya Certification for training Completion which is highly acknowledged in the job market.

Role/function of the department in the company

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Objective of the problemTo design a robot that supports the newest technology available will be more expensive that boards that are already close to obsolete.

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List of Project/ task projects

Theoretical background

1.1 Introduction to robots

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Robot is a mechanical or virtual artificial agent. In practice, it is usually

an electro-mechanical system which, by its appearance or movements, conveys a sense that it has intent or agency of its own. The word robot can refer to both physical robots and virtual software agents, but the latter are usually referred to as bots. There is no consensus on which machines qualify as robots, but there is general agreement among experts and the public that robots tend to do some or all of the following: move around, operate a mechanical arm, sense and manipulate their environment, and exhibit intelligent behavior, especially behavior which mimics humans or animals.

Or

A "Robot" is any automatically operated machine that replaces human effort, though it may not resemble human beings in appearance or perform functions in a humanlike manner. By extension, robotics is the engineering discipline dealing with the design, construction, and operation of robots.

1.2 Characteristics of Robot

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While there is no single correct definition of "robot," a typical

robot will have several, or possibly all, of the following characteristics.

It is an electric machine which has some ability to interact with physical objects and to be given electronic programming to do a specific task or to do a whole range of tasks or actions. It may also have some ability to perceive and absorb data on physical objects, or on its local physical environment, or to process data, or to respond to various stimuli. This is in contrast to a simple mechanical device such as a gear or a hydraulic press or any other item which has no processing ability and which does tasks through purely mechanical processes and motion.

*The physical appearance of a machine is less important than the way its actions are controlled also known as mental agency

*Physical agency, if a machine appears to be able to control its arms or limbs, and especially if it appears anthropomorphic or zoomorphic it would be called a robot.

1.3 Different types of robot

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Movable robot

Movable robots have the capability to move around in their environment and are not fixed to one physical location. An example of a mobile robot that is in common use today is the automated guided vehicle.

Industrial robots (or Manipulating Robots)

Industrial robots usually consist of a jointed arm (multi-linked manipulator) and end effectors that are attached to a fixed surface. One of the most common types of end effecter is a gripper assembly.

Service robot (a pick and Place robot in a factory)

Most commonly industrial robots are fixed robotic arms and manipulators used primarily for production and distribution of goods.

Military robots

Some experts and academics have questioned the use of robots for military combat, especially when such robots are given some degree of autonomous functions.

Approach2. Wireless controlled Robot

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Wireless controlled robot is a robot which can be controlled by user

without using any wired connection. These types of robots are of several types depending upon the communication technique and the control feature.

Few of them are:

RF TX and RxUsing gsm or mobileWi-Fi controlledBluetooth controlled

RF TX and Rx method to control the robot is most common method dew to simplicity and cost effectiveness, as Wi-Fi and Bluetooth require a special protocol to follow also gsm/mobile increases the cost of system.

Here, wireless controlled robot is designed using following components using Atmega16L as processing unit.

The complete system consist of basic two parts

Receiver End( Mobile part)Transmitter End(user operated part)

2.1 HARDWARE & CIRCUITS

Transmitter End

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Block diagram (TX END)

Circuit Diagram (TX END)

Receivers end

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Mobile part (Rx end)

RF module (TX & RX pair)

Receivers end consists of 4 RF reception ports and motor driving IC (L239D) as per the output received by receiver RF module part (TG-11B) we receive 4-bit data, that data is sufficient for control of 2 motors as per our need.

2.2 USER INPUT METHOD15

Controlling keypad:

A 4x4 keypad is used to input the device. Keyboard is specially designed to reduce the controlling lines i.e. to entertain 16 input features using 8 control lines.

This keyboard is further programmed as the remote control of robot.

2.3 LIST OF COMPONENTS

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Integrated circuits

Atmega16L -Microcontroller Atmega16L is used as the control unit or processing unit of the whole system. The user selected input is converted into certain set of instruction and transmitted through the RF module.

HT12E -EncoderHT12D -Decoder7805 -voltage regulator

Atmega16L is one of the most sensitive voltage device in context of power rating hence voltage regulator IC is used to give constant supply.

Other Elements

Capacitor-220 uF (filter for 7805 power supply)Resistor-220 ohm (current barrier)LCD (to read and understand every movement)DC Motors(9v 600mA)XTAL(8MHz) Quartz crystal oscillator for clockTG-11A(TX) (transmitter)TG-11B(RX) (Receiver) 4x4 push button keypad

Data collection and analysis

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3. OVERVEIW OF INTEGRATED CIRCUITS

3.1 Atmega16L

The ATmega16 is a low-power CMOS 8-bit microcontroller based on the AVR enhanced RISC architecture. By executing powerful instructions in a single clock cycle, the ATmega16 achieves throughputs approaching 1 MIPS per MHz allowing the system designed to optimize power consumption versus processing speed. The AVR core combines a rich instruction set with 32 general purpose working registers.

All the 32 registers are directly connected to the Arithmetic Logic Unit (ALU), allowing two independent registers to be accessed in one single instruction executed in one clock cycle. The resulting architecture is more code efficient while achieving through puts up to ten times faster than conventional CISC microcontrollers.

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PIN OUT OF Atmega16L

Special Pin Description

I/O ports [PA(0-7),PB(0-7),PC(0-7),PD(0-7)]XTAL(1,2) oscillator inputReset –hardware interruptVcc, GND – Provide power to IC

3.2 MOTOR DRIVER IC (L293D)

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Motor driver IC is fictional name of L293D as in this application this IC is responsible to drive the two DC motors attached in this system.

Basically it’s a dual H-bridge IC use to amplify the output of microcontroller

PIN OUT:

3.3 ENCODER-DECODER ICs

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(HT12D & HT12E)

This is set of two ICs, Generally used in pair to complete the communication.

Encoder

PIN OUT:

There are 7 address lines and 4 data lines for transmission. This IC encodes the signal into serial transmission format and then transmits it over DOUT pin with help of these pins.

DECODER

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PIN OUT:

Encoder IC of same pair also consists of

7 Address pins 4 data pins

Because of 4 data pins these can receive the serially transmitted data as in parallel output.

The use of address line is to bind the reception of the signal over the specific ICs only if both IC have same address pins high, transmission would be possible.

Reception end circuit

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Transmission end encoding circuit

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4. SOFTWARE STORE

There are several platforms for programming the uC one of the most

common method is assembly language programming, but due to lengthy codes and mnemonics embedded C is preferable.

4.1 EMBEDDED C

Difference between C and Embedded C: Though C and embedded C appear different and are used in different contexts; they have more similarities than the differences. Most of the constructs are same; the difference lies in their applications. Such as

Features like Heap, recursionIn-line Assembly CodeI/O Registers

Use of embedded C in embedded systems is small and reasonably simpler to learn, understand, program and debug.

Embedded C has advantage of processor-independence. This makes it convenient for a user to develop programs.

Embedded C combines functionality of assembly language and features of high level languages.

It is fairly efficient

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4.2 AVR Studio

AVR studio is an Integrated Development Environment (IDE) by ATMEL for developing applications based on 8-bit AVR microcontroller. Prior to installation of AVR Studio you have to install the compiler WinAVR. This will allow AVR Studio to detect the compiler.

Step 1: install and open the AVR Studio

Step 2: Click on new project

Step3: Click on AVR GCC, Write the project name, Select your project location, Click on Next>>

Step 4: Click on AVR Simulator in left block and then select your controller (e.g.: Atmega16). Click on finish button

Step5: Write the code in main body area. Save the project file.

Step6: Go to PROJECT -> Configuration Options

Step 7: Write the crystal frequency if you are using external crystal. Check the checkbox corresponding to Create Hex File and then click on OK. Save the project again.

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4.3 USBasp

USBasp is a USB in-circuit programmer for Atmel AVR controllers. It simply consists of an ATMega88 or an ATMega8 and a couple of passive components. The programmer uses a firmware-only USB driver, no special USB controller is needed.

FeaturesWorks under multiple platforms. Linux, Mac OS X and Windows are tested.No special controllers or smd components are needed.Programming speed is up to 5kBytes/sec.SCK option to support targets with low clock speed (< 1,5MHz).Planned: serial interface to target (e.g. for debugging).

Conclusion 26

The concept to design a robot is to reduce the man lab our and overcome the limitations. There are certain fields where human cannot stand to work there comes the picture of robot for example furnace, boilers, transmission lines (on). But we can design robot which can work on certain conditions.

Wireless controls to them provide us to control them over a distance and operate them. For example may be if we make Spyroboat with camera inbuilt hence it would be oppose the idea to make robot a spy if there are wires for communication. Wireless control method gives many advantages over that.

Several wireless future areas

Nuclear scienceRemote operated medical surgeries Defence systems

References

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ATmega16L-http://www.atmel.com/products/microcontrollers/avr/default.aspx?tab=documents&Asset_Type=010%20Datasheet

L293D-

http://content.solarbotics.com/products/documentation/kit10.pdf

HT12(D,E)

http://www.ipic.co.jp/Pdffiles/ht12e.pdf

USBasp

www.fischl.de/usbasp/

http://electronicsprojectsandparts.blogspot.in/2013/06/pc-controlled-wireless-robot-used-for.html

extremeelectronics.co.in/

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