1

ABSTRACT

The main aim of this project is to design a Automated Surveillance

radio controlled vehicle for battle field, etc which would monitor and

controlled by trained personal. With growing economy of country the threat

of criminal offenses are also at peak at battle grounds as well as in civilian

court ward which is demanding for safety of military or skilled personals of

this field. Hence it necessary to design systems which are unmanned.

The project is concentrated on radio control and monitoring of robo

that can be used to save precious human lives. This prototype describes an

embedded system architecture to implement an interactive smart

environment. The interactive smart environment comprises a variety of

technologies to assist military.

2

Table of content

Abstract………………………………………………………………………1Table Of Content………………………………………………………………2

1. Introduction ……………………………………………………………….41.1General Introduction ……………………………………………………51.2Spark……………………………………………………………………61.3Objective ……………………………………………………………….71.4Application……………………………………………………………..82. Literature Survey………………………………………………...………….92.1DRDO Project ………………………………………………………….102.2 Unmanned Ground Vehicle By USSR………………………………….12

3. Project Design And Description……………………………………………..15 3.1 Project Design Strategy ……………………………………………….183.2 Body Specification……………………………………………………193.3 Fabrication Material…………………………………………………….21

4. Performance Specification……………………………………………….....255. Block Diagram Description……………………………………………………26 5.1 The Core-Microcontroller…………………………………………………28 5.2 I/O Devices………………………………………………………………..296. Schematic Diagram Description………………………………………………..30

6.1 Tool Used : Proteus ISS Schematic Capture…………………………………326.2 Schematic Description ……………………………………………………….346.3 Atmega128 Port And Interfaces……………………………………………366.4 Atmega8 Port And Interface………………………………………………..37

7. Microcontroller And Description…………………………………………………..388. I/O Interfaces…………………………………………………………………….39

8.1 Liquid Crystal Displa………………………………………………………..428.2 Comparison Of Wireless Technologies ……………………………………....468.3 Metal Detector………………………………………………………………478.4 Temperature Sensor ( LM35)……………………………………………….488.5 MQ-5 Gas Sensor……………………………………………………………..498.6 DC Geared Motor……………………………………………………………..508.7 Power Supply …………………………………………………………….50

3

8.8 GPS: Sky Lab SGK13………………………………………………………51 9. Application ………………………………………………………………………5210. Advantages/Disadvantages…………………………………………………………52

11. Conclusion ……………………………………………………………………….53 12. Bibliography ………………………………………………………..55

4

CHAPTER-1

INTRODUCTION

5

INTRODUCTION

1.1 GENERAL INTRODUCTION

The radio frequency and gps embedded system used in the field of

military and special departments for rescue.

The main area of application of system is in rescue operation to locate

hazardous life threatening materials intended to damage precious human

lives. Radio control and information gathering system makes it easy to

operate. The criminals are growing smart now a days hence the idea behind

our project to safeguard human lives. In most cases, a lot of factors have to

be considered (e.g., temperature, harmful gases, location of threat etc)

before the commencement of a task. Embedded system can be used for

monitoring these in convenient way without large computers.

Key elements of the embedded system is that it should be more

economical and highly efficient. The important part of the military application

is real-time monitoring. The prototype details the design of a micro-controller

and mechanics based system for our application which can be used by

trained personal using radio commands to monitoring and control. In this

work, a system is designed with a Micro controller and zigbee remote control

using which not only vehicle is controlled but also parameters are read on lcd

screen in hand. The objective of the research is to develop a system using

multiple sensing Robot at same time. In recent years, advances in wireless

6

communication technologies, Mechanics and electronic systems have

contributed to the implementation of wireless sensing.

1.2 SPARKIn the view of big threat to human life with increase in

study of criminal psychology forces are at high alert and facing

difficulties to battle with enormous situations. Where there need of

speedy, light, multitasking system to perform tasks.

1.3 OBJECTIVEOur vision is to create an radio controlled, monitoring

system and task performing system which is even capable of sensing

parameters and sends required data to user wirelessly. This system is

controlled with the help of microcontroller ATmega128 & Atmega8

which generates various control signals. These control signals also

control various input and output modules (LCD, Keypad, GPS, ADC,

sensors, zeebee etc.).

1.4 APPLICATIONThe System finds its application in military,

firefighting, large small, medium & large industries, ware houses etc.

for detection of harmful explosive weapons and other materials.

7

CHAPTER-2

LITERATURE SURVEY

8

CHAPTER-2

LITERATURE SURVEY:

2.1 DRDO Project

In 2009  Defense Research and Development Organisation developed an unmmaned survelleience vehicle and named it as “ daksh ” which was controlled wirelessly it was basically built to safe guard human life Daksh is an electrically powered and remotely controlled robot used for locating, handling and destroying hazardous objects safely

9

Fig.1

DRDO Daksh ROV

Daksh is a battery-operated remote-controlled robot on wheels and its primary role is to recover

bombs. Developed by Defence Research and Development Organisation, it is fully automated. It

can climb staircases, negotiate steep slopes, navigate narrow corridors and tow vehicles to reach

hazardous materials. Using its robotized arm, it can lift a suspect object and scan it using its

portable X-Ray device. If the object is a bomb, Daksh can defuse it with its water jet disrupter.

10

 It has a shotgun, which can break open locked doors, and it can scan cars for explosives.] With a

master control station (MCS), it can be remotely controlled over a range of 500 m in line of sight

or within buildings. Ninety per cent of the robot’s components are indigenous. The Army has

also placed limited series production orders for 20 Dakshs.[4] The first batch of five units was

handed over to General Combat Engineers, on 19 December 2011. The technology has been

transferred for production to three firms, Dynalog, Theta Controls and

Bharat Electronics Ltd.

2.2 Unmanned ground vehicle by USSR

An unmanned ground vehicle (UGV) is a vehicle that operates while in contact

with the ground and without an onboard human presence. UGVs can be used for

many applications where it may be inconvenient, dangerous, or impossible to

have a human operator present. Generally, the vehicle will have a set

of sensors to observe the environment, and will either autonomously make

decisions about its behavior or pass the information to a human operator at a

different location who will control the vehicle through teleoperation.

11

The UGV is the land-based counterpart to unmanned aerial

vehicles and remotely operated underwater vehicles. Unmanned robotics are

being actively developed for both civilian and military use to perform a variety of

dull, dirty, and dangerous activities

Fig.2

In their 1930s, the USSR developed Teletanks, a machine gun-armed tank remotely controlled

by radio from another tank. These were used in the Winter War(1939-1940 ) against Finland and

at the start of the Eastern Front after Germany invaded the USSR in 1941. During World War II,

the British developed a radio control version of their Matilda II infantry tank in 1941. Known as

"Black Prince", it would have been used for drawing the fire of concealed anti-tank guns, or for

demolition missions

From 1942, the Germans used the Goliath tracked mine for remote demolition work. The Goliath

was a small tracked vehicle carrying 60 kg of explosive charge directed through a control cable.

Their inspiration was a miniature French tracked vehicle found after France was defeated in

1940. The combination of cost, low speed, reliance on a cable for control, and poor protection

against weapons meant it was not considered a success.

12

The first major mobile robot development effort named Shakey was created during the 1960s as

a research study for the Defense Advanced Research Projects Agency for Artificial Intelligence

(DARPA-AI) to test its obedience with commands, which is different from advanced robots that

are autonomous or semi-autonomous. Shakey was a wheeled platform that had a TV camera,

sensors, and a computer to help guide its navigational tasks of picking up wooden blocks and

placing them in certain areas based on commands.

So “THE SENA MITRA” is inspired from all these work and we tried to include maximum features of these in as economical way as possible

Chapter –3

13

Project Design and

Description

14

Fig.3

15

Fig.4

16

3.1 Project Design Strategy

Main Objective

To design a mobile robotic vehicle controlled wirelessly through GPS. The Lightweight vehicle will transmit images back to the base-station and receive directions. The directions can be made specific to a task that it is currently performing

3.2 Body Specification

Total Length – 360 mm Total Height – 120 mm Total width – 24 mm Number of wheels - 8 ( 4 driving , 4 pinion) Wheel diameter - Track length - 732 mm Width Of Track – 20 mm

3.3 Fabricating Material

The main body of the vehicle is made using acrylic sheet and is joined using Araldite epoxy adhesive for modeling purpose only. However the real vehicle body can be constructed using carbon fiber for better strength and light weight purpose.

17

Chapter -4

Performance specification

18

4.1 Performance specification

MOTOR

Speed of motor – 60 rpm Number of motor – 4 Torque produced by each motor – 38 kgcm/3.7265N.m Linear velocity of vehicle – 1.078 km/hr Unloaded weight of vehicle – 763 gm Climbing capacity – 30 degree Turning radius- 360 degree Power produced- 23.414 watt

19

CHAPTER-5

BLOCK DIAGRAM

DESCRIPTION

20

ATMEGA 128

DRIVER

GPS MODULE

RESET

REGULATOR

LCD

GPS ANT

BATTERY

XBEE

ADC SENSORS

MOTOR DRIVER

MOTORS

21

Fig. 5. ROBOT UNIT

Fig.6. CONTROL UNIT

ATMEGA 8RESET

REGULATOR

BATTERY

DRIVER

LCD

CONTROL SWITCHES

XBEE

22

5.1 The Core – Microcontroller

Microcontroller ATmega 128 & ATmega 8 are the Brain of our project

which are responsible for control and co-ordination of various modules

interfaced with it. They can be programmed according to the given

environment. With the help of various ports and I/O devices it can

communicate with the users.

5.2 I/O DEVICES

5.2.1 Skylab GPS

It receives signals from at least three Geostationary satallites to locate its position on earth surface in the form of latitude and longitude and sends it for interface serially.

5.2.2 LCD DISPLAY

Liquid Crystal Display is an output device. LCD used here is a 20X4

matrix which displays various results according to the user command given

through Voice.

5.2.3 Zigbee

Zigbee enables broad-based deployment of wireless networks with low-

cost, low-power solutions. It provides the ability to run for years on

inexpensive batteries for a host of monitoring and control applications.

5.2.4 LM35

23

The LM35 series are precision integrated-circuit temperature sensors,

whose output voltage is linearly proportional to the Celsius (Centigrade)

temperature.

5.2.5 MQ6

This is a simple-to-use liquified petroleum gas (LPG) sensor, suitable

for sensing  LPG (composed of mostly propane and butane) concentrations in

the air. The MQ-6 can detect gas concentrations anywhere from 200 to

10000ppm.

This sensor has a high sensitivity and fast response time.

5.2.6 Metal Detector

Metal detectors work by transmitting an electromagnetic field from the

search coil into the ground. Any metal objects (targets) within the

electromagnetic field will become energised and retransmit an

electromagnetic field of their own. The detector’s search coil receives the

retransmitted field and alerts the user by producing a target response.

5.2.7 Tank Tread

Tank tread or caterpillar track, is a system of vehicle propulsion in which a

continuous band of treads is driven by two or more wheels. This band is

typically made of modular steel plates in the case of military vehicles, or of

rubber / plastic in the case of lighter robots.

5.2.8 Wireless Camera

2.45ghz wireless cctv camera is used for getting live real time video from the

operational area which sends video signal through the medium of

radio waves to the operators console.

24

WORKING

The working of our project mainly consists of

Robot unit

Control unit

Robot unit :

GPS receiver : to receive GPS data

Sensors : to detect metal, temperature, Gas

Motors : to provide motions by means of rotating torque

Battery : power source

Microcontroller is meant to control above parameters like LCD, zigbee

and Motors.

Control unit :

Joystick : to control the moving robot

LCD : to display the received data

Xbee : to transmit and receive data

Battery : power source

It is at the user end. After initialization LCD displays “Latitude

and Longitude ” it indicates that the robot is ready to accept the

command and start operation. The physical conditions will be updated

automatically to user. Joystick is provided on remote unit to control

25

movement of vehicle through. Once the user starts giving commands,

module accepts the command and sends to xbeefor further

transmission.

Video streaming is contentious in nature. The movement robot is

defined to for operation video and audio data is received in user end.

As signals are received from remote side the controller sends signals to

L293D to operate motors in clockwise or anticlockwise direction.

26

CHAPTER-6

Schematic

diagram and

description

Schematic Diagram and Description

27

6.1 Tool used: Proteus ISS schematic capture.

This is a tool from Labcenter Electronics, a very powerful tool for schematic

design simulation and even debugging. This was chosen as it had all the

components available including ATmega8 & ATmega 128 in its rich library.

6.2 Schematic description

This chapter describes the interconnection of various sections to the

atmega128 & Atmega8 microcontrollers. In fact this chapter gives an

overview of port utilization of the controllers.

6.2.1 CLOCKING CIRCUITARY:

As shown in the schematic clocking circuitry comprises of a 11.0592Mhz

crystal with 10pF capacitors. Clocking source specifies speed of operation. As

the processor has a RISC architecture most instructions are carried out in

maximum of two machine cycles.

6.2.2 RESET CIRCUITARY:

The reset PIN on microcontroller is active low hence it is tied to Vcc using an

RC combination. Whenever there is a need to reset the microcontroller, the

reset switch is pressed discharging the capacitor and holding the PIN low for

10ms. This time is enough for microcontroller to reset.

6.2.3 POWERSUPPLY:

The power requirement of the project is 5v, ~1A. This is done with the

conventional Step-down transformer, Bridge rectifier, RC filter and an 7805

voltage regulator.

28

6.3 ATmega128 PORTS and interfaces:

ATmega128 has 7 ports with I/O capability as well as other functions. Here

only I/O capability is used and described. Each port has 8 physical pins which

can be individually or collectively made as input or output.

Sl.n

o

PORT FUNCTION

1 PORTB2 & B3 Zigbee

2 PORTD2 & D3 GPS

3 PORTG.0 to PORTG.2 Sensors

4 PORTC Motor Driver

6.4 ATmega8 PORTS and interfaces:

ATmega8 has 3 ports with I/O capability as well as other functions. Here only

I/O capability is used and described. Each port has 8 physical pins which can

be individually or collectively made as input or output.

Sl.n

o

PORT FUNCTION

1 PORTC Joystick

3 PORTD Xbee

4 PORTA.0 to PORTA.2 LCD Control signals

5 PORTA LCD Data Bus

29

CHAPTER-7

MICROCONTROLL

ER and

DESCRIPTION

30

MICROCONTROLLER ATmega 128

Features:

Memory: It has 128 Kb of Flash program memory, 4 Kb of EEPROM. 4 Kb Internal SRAM

I/O Ports: 53 I/o line can be obtained from seven ports; namely Port A, Port B, Port C, Port D, Port E and Port F.

Timer/Counter: Three Internal Timers are available, two 8 bit, two 16 bit with watchdog timer and Real time Timer, offering various operating modes and supporting internal or external clocking.

SPI (Serial Peripheral interface): ATmega128 holds three communication devices integrated. One of them is Serial Peripheral Interface. Four pins are assigned to Atmega128 to implement this scheme of communication.

USART: One of the most powerful communication solutions is USART and ATmega128 has 2 USART which supports both synchronous and asynchronous data transfer schemes. It has six pins assigned for that. In many projects, this module is extensively used for PC-Micro controller communication.

TWI (Two Wire Interface): Another communication device that is present in ATmega128 is Two Wire Interface. It allows designers to set up a commutation between two devices using just two wires along with a common ground connection, As the TWI output is made by means of open collector outputs, thus external pull up resistors are required to make the circuit.

Sleep Modes: Another special feature to save power in stand by condition is sleep mode.

Analog Comparator: A comparator module is integrated in the IC that provides comparison facility between two voltages connected to the two inputs of the Analog comparator via External pins attached to the micro controller.

31

Analog to Digital Converter: Inbuilt analog to digital converter can convert an analog input signal into digital data of 10bit resolution. For most of the low end application, this much resolution is enough.

Fig. 7. ATmega 128 architectural block diagram

32

Fig.8. Pin Diagram of ATmega 128

33

MICROCONTROLLER ATmega 8

34

Features

Memory: It has 8 Kb of Flash program memory (10,000 Write/Erase cycles durability), 512 Bytes of EEPROM (100,000 Write/Erase Cycles).  1Kbyte Internal SRAM

I/O Ports: 23 I/ line can be obtained from three ports; namely Port B, Port C and Port D.

Interrupts:  Two External Interrupt source, located at port D. 19 different interrupt vectors supporting 19 events generated by internal peripherals.

Timer/Counter: Three Internal Timers are available, two 8 bit, one 16 bit, offering various operating modes and supporting internal or external clocking.

SPI (Serial Peripheral interface): ATmega8 holds three communication devices integrated. One of them is Serial Peripheral Interface. Four pins are assigned to Atmega8 to implement this scheme of communication.

USART: One of the most powerful communication solutions is USART and ATmega8 supports both synchronous and asynchronous data transfer schemes. It has three pins assigned for that. In many projects, this module is extensively used for PC-Micro controller communication.

TWI (Two Wire Interface): Another communication device that is present in ATmega8 is Two Wire Interface. It allows designers to set up a commutation between two devices using just two wires along with a common ground connection, As the TWI output is made by means of open collector outputs, thus external pull up resistors are required to make the circuit.

Analog Comparator: A comparator module is integrated in the IC that provides comparison facility between two voltages connected to the two inputs of the Analog comparator via External pins attached to the micro controller.

Analog to Digital Converter: Inbuilt analog to digital converter can convert an analog input signal into digital data of 10bit resolution. For most of the low end application, this much resolution is enough.

Fig.9. ATmega 8 architectural block diagram

35

Fig.10. Pin Diagram of ATmega 8

36

37

CHAPTER-8

I/O INTERFACES

I/O INTERFACE

8.1 LIQUID CRYSTAL DISPLAY

38

A liquid crystal display (commonly abbreviated LCD) is a thin flat

display device made up of any number of colour or monochrome pixels

arrayed in front of a light source or reflector. It uses very small amount of

electric power and is suitable for use in battery powered devices.

FIG .11. LCD MODULE

The 2 X16 Parallel LCD is an 8 bit or 4 bit parallel interfaced LCD. This

module is used to display the vehicle types. As soon as the sensor detects

the inbound vehicle, the LCD module displays either “small vehicle/medium

vehicle or heavy vehicle”.

8.1.1 SPECIFICATIONS OF LCD

Important factors to consider when evaluating an LCD monitor include :

39

Resolution : Unlike CRT monitors, LCD monitors have a native –supported

resolution for best display effect.

Dot pitch : The granularity of LCD pixels. The smaller the dot pitch size, the

less granularity is present. Hence, a clearer presentation.

Viewable size : The length of diagonal of a LCD panel.

Response time(sync rate).

Matrix type(passive or active).

Viewing angle.

Colour support : How many types of colours are supported.

Brightness : The amount of light emitted from the display.

Contrast ratio

Aspect ratio : 4 by 3, 16 by 9, 16 by 10 etc.

Input ports (e.g:- DVI,VGA or even SVDA)

Table 8.1.1 - PIN DETAILS OF LCD

40

PIN SYMBOL I/O DESCRIPTION

1 VSS -- GROUND

2 VCC -- +5V POWER SUPPLY

3 VEE -- POWER SUPPLY TO CONTROL

CONTRAST

4 RS I RS=0 TO SELECT COMMAND

REGISTER. RS=1 FOR DATA

REGISTER

5 R/W I R/W= 0 FOR WRITE

R/W =1 FOR READ

6 E I/O ENABLE

7 DB0 I/O THE 8-BIT DATA BUS

8 DB1 I/O THE 8-BIT DATA BUS

9 DB2 I/O THE 8-BIT DATA BUS

10 DB3 I/O THE 8-BIT DATA BUS

11 DB4 I/O THE 8-BIT DATA BUS

12 DB5 I/O THE 8-BIT DATA BUS

13 DB6 I/O THE 8-BIT DATA BUS

14 DB7 I/O THE 8-BIT DATA BUS

41

8.2 COMPARISON OF WIRELESS TECHNOLOGIES

8.2.1 ZIGBEE:

• Was formally adopted in December 2004

• Is targeting control applications in industry, which do not require high data

rates, but must have low power demand, low cost and offer ease of use

(remote controls, home automation, etc.)

• Offers data rates of 250 Kbits at 2.4 GHz, 40 Kpbs at 915 Mhz, and 20

Kpbs at 868 Mhz with a range of 10-100m

• Currently offers three levels of security

• Costs around half that of Bluetooth

• Can network up to 256 devices

• Has as power requirements much less than Bluetooth

• uses star, tree or mesh topology.

8.2.3 ULTRA-WIDEBAND (UWB):

• transmits digital data over a wide frequency spectrum using very low

power;

• can transmit data at very high rates (for wireless local area network

applications) over distances of up to 10m;

• has two competing UWB standards currently - one based on direct

sequence spread spectrum techniques, (DS-UWB), the other based on

Multi-band Orthogonal Frequency Division Modulation (OFDM), with

each standard offering data rates around 500 Mbps at a range of 2 metres;

42

• has power demands typically twice that of Bluetooth and is typically twice

as expensive as Bluetooth implementations

8.2.4 REASONS FOR CHOOSING ZIGBEE INCLUDE:

• Low Cost

• High Reliability

• Very Long Battery Life

• High Security

• Self-Healing Properties

• Large Number Of Nodes Supported

• Ease Of Deployment

• Guaranteed Delivery

• Route Optimization.

8.2.5 Zigbee

43

ZigBee is a specification for high level communication protocols using

small, low-power digital radio based on an IEEE 802.15.4 for personal area

networks. ZigBee is targeted at radio frequency (RF) applications that

require a low data rate, long battery life, and secure networking. ZigBee has

a defined rate of 250 kbps best suited for periodic or intermittent data or a

single signal transmission from a sensor or input device.The ZigBee, also

known as XBee technology allows these devices to act as routers or end

devices. Features such as addressing, acknowledgements and retries help

ensure safe delivery of data to the intended node. The input and output of

XBee are UART. It communicates asynchronously through its serial port. It is

easy to extend its network size by changing its composition into ad-hoc, star,

mesh, and hybrid forms.

Interfaced zigbee establishes communication between Central control

unit with various point of operation unit with the help of microcontrollers.

This High Speed Based Wireless module is a plug and play replacement

for the wired Serial Port (UART) supporting baud rates upto 38400. This

zigbee based Wireless module allow to communicate long distance and cost-

effectively to our product.

44

8.3 Metal Detector

Metal detectors can detect nearly all metallic objects. That means anything that contains

elements like gold, silver, iron, nickel, copper , aluminum, tin and lead or mixtures and

combinations like bronze and brass. Metal detectors cannot detect nonmetal items such as wood,

plastic, stones and bone. Some metal detectors are able to discriminate which means that they

can differentiate between various types of metal.

8.4 Temperature sensor (LM35)

The LM35 is an integrated circuit sensor that can be used to measure temperature with an electrical output proportional to the temperature (in oC)

Working of LM35

1. It has an output voltage that is proportional to the Celsius temperature.

45

2. The LM35 does not require any external calibration or trimming and maintains an accuracy of  +/-0.4 oC at room temperature and +/- 0.8 oC over a range of 0 oC to +100 oC.

3. Another important characteristic of the LM35DZ is that it draws only 60 micro amps from its supply and possesses a low self-heating capability. The sensor self-heating causes less than 0.1 oC temperature rise in still air

The LM35 series are precision integrated-circuit temperature sensors, whose output voltage is linearly proportional to the Celsius (Centigrade) temperature

8.5 MQ-5 Gas Sensor

It can detect : natural gas , liquid gas,  kerosene

Description : 

Sensitive material of MQ-5 gas sensor is SnO2, which with lower conductivity in clean air. When the target combustible gas exist, The sensors conductivity is more higher along with the gas concentration rising. Please use simple

46

electrocircuit, Convert change of conductivity to correspond output signal of gas concentration.

MQ-5 gas sensor has high sensitity to Methane, Propane and Butane, and could be used to detect both Methane and Propane. The sensor could be used to detect different combustible gas especially Methane, it is with low cost and suitable for different application.

Character :

1. High sensitivity to Combustible gas in wide range.

2. High sensitivity to Methane, Butane and Propane.

3. Fast response.

4. Wide detection range.

5. Stable performance、long life、low cost.    

6. Simple drive circuit.

Application :

1)  Domestic gas leakage detector

2)  Industrial Combustible gas detector

3)  Portable gas detector

They are used in gas leakage detecting equipments in family and industry, are suitable for detecting of LPG, natural gas , town gas, avoid the noise of alcohol and cooking fumes and cigarette smoke.

8.6 DC Geared Motors =60RPM

47

60RPM 12V DC geared motors for robotics applications. It gives a massive torque of 38Kgcm.

The motor comes with metal gearbox and off-centered shaft.

Features

60RPM 12V DC motors with Metal Gearbox and Metal Gears 

18000 RPM base motor

6mm Dia shaft with M3 thread hole

Gearbox diameter 37 mm.

Motor Diameter 28.5 mm

Length 63 mm without shaft

Shaft length 30mm

180gm weight

38kgcm torque

No-load current = 800 mA, Load current = upto 7.5 A(Max)

Recommended to be used with DC Motor Driver 20A or Dual DC Motor Driver 20A 

8.7 POWER SUPPLY CIRCUIT

48

-+

D 1

W 0 1 G

2

1

3

4

TX1

V 1

C 14 7 0 u F

U 1

7 8 0 5

1 3V I N V O U T

C 14 7 u F

C 10 . 1 u F

R 1

3 3 0

D 2

L N 2 1 1 W P

12

J P 1

12

12

230/9V

230V

Fig.12

The operation of power supply circuits built using filters, rectifiers, and then

voltage regulators. Starting with an AC voltage, a steady DC voltage is

obtained by rectifying the AC voltage, Then filtering to a DC level, and

finally, regulating to obtain a desired fixed DC voltage. The regulation is

usually obtained from an IC voltage regulator Unit, which takes a DC

voltage and provides a somewhat lower DC voltage, Which remains the

same even if the input DC voltage varies, or the output Load connected to

the DC voltage changes.

 

 

8.8 GPS: Skylab SGK13

49

The SkyNav SKM13 Series with embedded GPS antenna enables high performance navigation in the most stringent applications and solid fix even in harsh GPS visibility environments. It is based on the high performance features of the MediaTek 3329 single-chip architecture, Its –165dBm tracking sensitivity extends positioning coverage into place like urban canyons and dense foliage environment where the GPS was not possible before. The UART and USB connector design is the easiest and convenient solution to communication with other electronic equipment.

Features : Ultra high sensitivity: -165dBm 22 tracking/66 acquisition-channel receiver WAAS/EGNOS/MSAS/GAGAN support NMEA protocols (default speed: 9600bps) Internal back-up battery Embedded patch antenna 25 x 25 x 4.0 mm Operating temperature range: -40 to 85℃ RoHS compliant (Lead-free) Tiny form factor ：48.5* 37 * 17mm

50

CHAPTER-9

APPLICATION

Application

1. The System finds its application in military, firefighting for detection of harmful

explosive weapons and other materials.

51

2. The system also finds its application in large small, medium & large industries, ware houses

etc.

3. Disaster management situation

4. Patrolling and surveillance of highly sensitive area

5. Mob control situation

6. Railway track inspection

CHAPTER-10

52

ADVANTAGES

53

ADVANTAGES

1. Can work in hazardous situation without risking human life.

2. Economic replacement for high cost defense equipment.

3. one operator can handle work of four person.

4. low maintenance, easy to operate

5. Can perform in all terrain with the help of continuous track

propulsion method

6. Light weight and easy to transport.

7. Can perform multiple task simultaneously

DISADVANTAGES

1. Radio signal can be hacked and robot control may be compromised

2. Cannot perform in high temperature due to delicate electronic parts .

3. Can become threat and disturb peace if miss utilized

.

54

CHAPTER-11

conclusion

CONCLUSION AND FUTURE ENHANCEMENT

55

The project was successfully tested for the expected performance.

The control circuitry works with precise accuracy.

Sensor are fairly accurate.

More number of monitoring units can be included to make the project

more sufficient.

The progress in science and technology is a non-stop process.

New things and new technology are being invented .As the technology

grows day by day ,we can imagine about the future in which thing we

may occupy every place.

The proposed system is found to be user friendly and less

complex, which can be implemented as a real time application

56

.

CHAPTER-12

bibliography

57

BIBLIOGRAPHY

BOOKS

[1] RICHARD BARNETT, LARRY O’CULL AND SARAH COX “Embedded C Programming and the Atmel AVR”,

Delmar Learning, 2002.

[2] Mobile Networks for Special Purposes (Mobilt spesialnett). Study on messaging for mobile

communications carried out at the R&D division of Televerket/Telenor in mid 80s.

[3] GSM 02.02 – Bearer Services (BS) Supported by a GSM Public Land Mobile Network (PLMN).

[4] Sing Li, Jon Eaves and John T. Bell “Beginning JavaServer Page” Wiley Publication 2005.

[5] Herbert Schildt “The Complete Reference Java” TMH Edition 2002.

[6] Jim Keogh “The Complete Reference J2EE” TMH Edition 2002

WEB SITE

[1] http://www.mediabankers.com/DeSilva+Phillips%20Ad%20 Networks20White%20Paper

%203%2008.pdf

[2] http://www.bienvenu.net

[3] http://javascript.internet.com

[4] http://www.gsmworld.com/index.shtml

[5] http://www.cellular.co.za/gsm-overviewpage.html

Send requested parameter Operate relay

if RequestNo Yes

if defined Parameters exceed rangeStop