heavy explosive removing robot

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Chapter 1 INTRODUCTION

1.1 NEED FOR A HEAVY EXPLOSIVE ROBOT

Today, explosive removing robot is an interesting area of robotics mainly because this

technology is ripening and the price of the robot has been accepted. Dangerous explosives can be

anywhere and can cause serious damage wherever it is present. They can be in the open field or in the

closed house. It can explode at anytime and can cause death or serious injury to numerous people

depending upon its intensity and the place where it is set up. So to avoid this, we go in for a robot

which is programmed to move, search, grasp, lift and put the explosive at a safer point. The earlier

methods employed people to move closer to the explosive and diffuse it by hand. This method was

quite risky as they werent assured of their life while carrying out this job. And moreover this process

usually required people to wear explosion resistant dresses which were quite and hefty. So to

overcome all these problems and for the safety of people we go in for a robot which does all the work

of people with a precise and reliable manner.

1.2 EXISTING ROBOTS IN THE WORLD

There are a host of explosive removing robots across the world. Some of them are listed below:

1.2.1 MK8 made by the British AB Electronic products company. 1.2.2

ANDROS F6A made by America REMOTEC company.

1.2.3 Defender made by British ALLEN company.

1.2.4 RMI-9WT made by Canada PEDSCO company.

1.2.5 TEODOR made by German TELEROB company.

1.2.6 Lingxi-B made in China.

1.2.7 Versatrax made by Canada INUKTUN company.

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Chapter 2 LITERATURE REVIEW

2.1 BACKGROUND

The use of remote controlled vehicles in various fields prompted engineers and

scientists to discover one such vehicle for bomb disposal purposes. There are various kinds of

explosives such as chemical, biological, nuclear etc. The robots developed helped in the disposal of a

particular kind of explosive. The Heavy explosive robot research control technique aids in disposing

heavy explosives which are quite difficult to lift manually.

2.2 INTERPRETATION

The robots were fitted with cameras, microphones, and sensors for chemical, biological, or

nuclear agents. Many of these robots even have hand-like manipulators in case a door needs to be

opened, or a bomb requires diffusion without moving. Then there are projectile water disrupters which

fires an explosively-propelled jet of water to disrupt the circuitry of a bomb and thereby disable it with

a low risk of detonation. The robots are generally controlled from a remote location to avoid

unpredictable explosion. Certain robots have specialized abilities such as image mapping, accurate

vehicle positioning, multi terrain vehicles.

The heavy explosive robot research control technique is used to lift particularly heavy

explosives. The robot weighs 450kgs and has a lift weight of 50kgs. It has a 7 joint arm for pickingexplosive. It has 5 cameras for control from remote location. It is powered by means of a battery. Since

the majority composition of heavy explosives constitute metals it is also fitted with a metal sensor.

The prototype is powered by 230V mains stepped down to 12V DC by means of a step down

transformer. Zigbee protocol is used for communication between the transmitter and receiver stations.

The robot can be controlled at a distance of 100m from the transmitter station. The position of the

robot is adjusted by trial and error. The robot weighs 2kgs and can lift 300gms. The robot has a camera

for controlling from a remote location. The movement of the wheels, the spinning of the robotic arm

and the picking of mine is controlled individually by respective relay drives.

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Chapter - 3 HARDWARE SPECIFICATIONS

An embedded system is a special-purpose computer system designed to perform a dedicated

function. Since the system is dedicated to specific tasks, design engineers can optimize it, reducing the

size and cost of the product. Embedded system comprises of both hardware and software. Embedded

system is fast growing technology in various fields like industrial automation, home appliances,

automobiles, aeronautics etc. Embedded technology uses PC or a controller to do the specified task

and the programming is done using assembly language programming or embedded C.

The various hardware specifications that come in place in this robot are as follows:

3.1 8051 MICROCONTROLLER

A microcontroller (also microcontroller unit, MCU or C) is a small computer on a single

integrated circuit consisting of a relatively simple CPU combined with support functions such as a

crystal oscillator, timers, etc. The reason for choosing a microcontroller over other control units is

because they are easily available and widely used.

3.2 KEYPAD

Keypads and LCDs are the most widely used input/output devices of the 8051. The keyboard

fundamentals, along with key press and key detection mechanisms, and a keyboard interfacing to an

8051 are necessary to understand the keypad working. The advantage of this input device is that it is

easy to handle and work upon.

3.3 ZIGBEE

ZigBee is a wireless technology developed as an open global standard to address the unique

needs of low-cost, low-power, wireless sensor networks. The standard takes full advantage of the IEEE

802.15.4 physical radio specification.

3.4 LCD LIQUID CRYSTAL DISPLAY

LCDs are more energy efficient and offer safer disposal than CRTs. Its low electrical power

consumption enables it to be used in battery-powered electronic equipment. This is mainly used at the

transmitting end to view the commands given to the robot.

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3.5 RELAY

A relay is an electrically operated switch. Electric current through the coil of the relay creates

a magnetic field which attracts a lever and changes the switch contacts. This is the most common

method used for driving the robot mechanism.

3.6 DC MOTOR

The advantages of a DC motor over other motors and the reason why we are going for this in

our heavy explosive removing robot mechanism is its low initial cost, high reliability, and simple

control of motor speed.

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Bit-addressable data objects

Built-in interface for the RTX51 real-time operating system

Support for dual data pointers on Atmel, AMD, Cypress, Dallas Semiconductor, Infineon,

Philips, and Triscend microcontrollers

Support for the Philips 8xC750, 8xC751, and 8xC752 limited instruction sets

Support for the Infineon 80C517 arithmetic unit

4.2.2 Macro Assembler

The A51 Assembler is a macro assembler for the 8051 family of microcontrollers. It

supports all 8051 derivatives. It translates symbolic assembly language mnemonics into relocatable

object code where the utmost speed, small code size, and hardware control are critical. The macro

facility speeds development and conserves maintenance time since common sequences need only be

developed once. The A51 assembler supports symbolic access to all features of the 8051 architecture.

The A51 assembler translates assembler source files into a relocatable object modules. The DEBUG

control adds full symbolic information to the object module and supports debugging with the Vision3

Debugger or an in-circuit emulator. In addition to object files, the A51 assembler generates list files

which optionally may include symbol table and cross reference information.

4.2.3 Vision 3 IDE

The Vision3 IDE from Keil Software combines project management, make facilities, source

code editing, program debugging, and complete simulation in one powerful environment. Vision3

helps you get programs working faster than ever while providing an easy-to-use development platform.

The editor and debugger are integrated into a single application and provide a seamless embedded

project development environment.

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Chapter - 5 PROJECT DESCRIPTION

5.1 PROBLEM DEFINITION

The main problem that has been arising in the military battlefield in the current year is the

correct searching of explosive and either detonating it or placing it in a safer place without any loss of

life. This is quite possible with the usage of this robot as it does all the operation of a human. The

current robot used for this case can only move a lesser distance that too without any obstacle in front

of it. This hinders a great problem to the people as the area should be first free of any obstacle in front

of the robot and then the pick and place of the explosive will be carried out. This problem is solved by

using zigbee communication protocol as the latter will allow to control the robot with some minimum

specification with the obstacle in between the robot and the controller. Zigbee, thereby tends to give

you great support where we have an explosive in the middle of heavily populated area. The heavy

explosive robot can lift heavier explosives and can dispose it at a safer location.

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5.2 OVERVIEW OF THE PROJECT

The robot has two units which make the final output. They are the transmitting end and the

receiving end. The block diagram of these are as given below:

5.2.1 Pictorial representation

Fig.5.1 General view of the robot

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5.2.2 Block diagram

9

Power Supply

KEYPAD8051

Micro

Controller

LCD

ZIGBEE

RELAY

Driver

8051

Micro

Controller

Power

Supply

Mine Detection

Sensor

RELAY

DriverSignal

conditioning

Circuit

R

O

B

O

T

ZIGBEE

Buzzer


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5.3 INTERFACING DIAGRAM

5.3.1 Transmitter station

The transmitter end consists of an microcontroller to get inputs from the keypad and transmit them

through the Zigbee transceiver. The power supply converts 230VAC power to 5V DC and gives it to

the microcontroller. The LCD is interfaced to the microcontroller to verify the commands given to the

robot. We also have a CCTV to monitor the robot from a remote location

Fig 5.2 Interfacing of the transmitter components

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5.3.1.1 Flow Chart

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5.3.2 Receiver station

The receiver station receives signals from transmitter through the Zigbee transceiver and the

movement of the robot is controlled. The microcontroller identifies the signals received from the

Zigbee transceiver and gives the output to the appropriate relay driver. The relay driver controls the

motor to propel the robot forward, backward and in either directions. The movement of the robotic

arm is also controlled in similar manner.

Fig. 5.3 Interfacing of the receiver components

5.3.2.1 Flow Chart

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5.4 MODULES

There are a total of six modules that control the whole working of the robot. These modules are

given as below:

8051 Microcontroller

Keypad

LCD Liquid crystal display

Zigbee

Relay

DC Motor

5.5 MODULES DESCRIPTION

5.5.1 8051 Microcontroller

A microcontroller (also microcontroller unit, MCU or C) is a small computer on a

single integrated circuit consisting of a relatively simple CPU combined with support functions such as

a crystal oscillator, timers and etc.

5.5.1.1 Schematic

Fig. 5.4 Pin diagram of 8051 micro-controller

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5.5.1.2 Power supply unit for the microcontroller

The power supply section is the important one. It should deliver constant output

regulated power supply for successful working of the project. A 0-12V/1 mA transformer is used for

this purpose. The primary of this transformer is connected in to main supply through on/off switch&

fuse for protecting from overload and short circuit protection. The secondary is connected to the diodes

to convert 12V AC to 12V DC voltage. And filtered by the capacitors, which is further regulated to

+5v, by using IC 7805.

Fig. 5.5 Power supply

5.5.2 Keypad

Keyboards and LCDs are the most widely used input/output devices of the 8051, and a

basic understanding of them is essential. In this section, we first discuss keyboard fundamentals, along

with key press and key detection mechanisms, Then we show how a keyboard is interfaced to an 8051.

5.5.2.1 Interfacing the keyboard to the 8051

At the lowest level, keyboards are organized in a matrix of rows and columns. The

CPU accesses both rows and column through ports; therefore, with two 8-bit ports, an 8*8 matrix of

keys can be connected to a microprocessor. When a key pressed, a row and column make a

connect; otherwise, there is no connection between row and column. In IBM PC keyboards, a single

microcontroller (consisting of microprocessor, RAM and EPROM, and several ports all on a single

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chip) takes care of software and hardware interfacing of keyboard. In such systems it is the function of

programs stored in the EPROM of microcontroller to scan the keys continuously, identify which one

has been activated, and present it to the motherboard. In this section we look at the mechanism

by which the 8051 scans and identifies the key.

5.5.2.2 Scanning and identifying the key

The figure shows a 4*4 matrix connected to two ports. The rows are connected to

an output port and the columns are connected to an input port. If no key has been pressed, reading

the input port will yield 1s for all columns since they are all connected to high (Vcc) If all the rows are

grounded and a key is pressed, one of the columns will have 0 since the key pressed provides the path

to ground. It is the function of the microcontroller to scan the keyboard continuously to detect and

identify the key pressed. How it is done is explained next.

Fig. 5.6 Matrix representation of kerpad

5.5.2.3 Grounding rows and reading columns

To detect a pressed key, the microcontroller grounds all rows by providing 0 to the

output latch, and then it reads the columns. If the data read from the columns is D3-D0=1111, no key

has been pressed and the process continues until a key press is detected. However, if one of the column

bits has a zero, this means that a key press has occurred. For example, if D3-D0=1101, this means that

a key in the D1 column has been pressed. After a key press is detected, the microcontroller will go

through the process of identifying the key. Starting with the top row, the microcontroller grounds it by

providing a low to row D0 only; then it reads the columns. If the data read is all1s, no key in that row

is activated and the process is moved to the next row. It grounds the next row, reads the columns,

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and checks for any zero. This process continues until the row is identified. After identification of the

row in which the key has been pressed, the next task is to find out which column the pressed key

belongs to. This should be easy since the microcontroller knows at any time which row and

column are being accessed.

5.5.3 LCD Liquid crystal display

It is an electronically-modulated optical device made up of any number of pixels filled with

liquid crystals and arrayed in front of a light source (backlight) or reflector to produce images in color

or monochrome. The earliest discovery leading to the development of LCD technology, the discovery

of liquid crystals, dates from 1888. By 2008, worldwide sales of televisions with LCD screeEach pixel

of an LCD typically consists of a layer of molecules aligned between two transparent electrodes, and

two polarizing filters, the axes of transmission of which are (in most of the cases) perpendicular to

each other. With no actual liquid crystal between the polarizing filters, light passing through the first

filter would be blocked by the second (crossed) polarizer. In most of the cases the liquid crystal has

double refraction.The LCD standard requires 3 control lines and 8 I/O lines for the data bus.

8 data pins D7:D0

Bi-directional data/command pins.

Alphanumeric characters are sent in ASCII format.

RS: Register Select

RS = 0 -> Command Register is selected

RS = 1 -> Data Register is selected

R/W: Read or Write

0 -> Write, 1 -> Read

E: Enable (Latch data)

Used to latch the data present on the data pins.

A high-to-low edge is needed to latch the data.

The 8 data lines are connected to PORT 1 of 8051 microcontroller. The three control

lines( RS,RW and EN ) are connected to PORT 3.5,3.6 and 3.7 respectively.

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5.5.3.1 Interfacing diagram

Fig. 5.7 Interfacing of LCD

5.5.4 Zigbee

ZigBee is a wireless technology developed as an open global standard to address the unique

needs of low-cost, low-power, wireless sensor networks. The standard takes full advantage of the IEEE

802.15.4 physical radio specification and operates in unlicensed bands worldwide at the following

frequencies: 2.4002.484 GHz, 902-928 MHz and 868.0868.6 MHz. The power levels (down from

5v to 3.3v) to power the zigbee module. The communication lines (TX, RX, DIN and DOUT) to the

appropriate voltages.

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5.5.4.1 Interfacing Diagram

Fig. 5.8 Interfacing of Zigbee

5.5.5 Relay

A relay is an electrically operated switch. Electric current through the coil of the

relay creates a magnetic field which attracts a lever and changes the switch contacts. The coil current

can be on or off so relays have two switch positions and there are double-throw (changeover)

switches. It consists of a coil of wire surrounding a soft iron core, an iron yoke, which provides a low

reluctancepath for magnetic flux, a movable ironarmature, and a set, or sets, of contacts. In this

condition, one of the two sets of contacts in the relay pictured is closed, and the other set is open. The

P0_0, P0_1, P0_2 and P0_3 pin of controller is assumed as data transmit pins to the relay through

relay driver ULN 2003. ULN 2003 is just like a current driver.

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5.5.5.1 Interfacing Diagram

Fig. 5.9 Interfacing of relay

5.5.5.2 Logic Diagram

Fig. 5.10 Relay logic

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5.5.6 DC Motor

A DC motor is designed to run on DC electric power. Two examples of pure DC

designs are Michael Faraday's homopolar motor (which is uncommon), and the ball bearing motor,

which is (so far) a novelty. By far the most common DC motor types are the brushed and brushless

types, which use internal and external commutation respectively to create an oscillating AC current

from the DC sourceso they are not purely DC machines in a strict sense. We in our project are using

brushed DC Motor, which will operate in the ratings of 12v DC 0.6A which will drive the flywheels in

order to make the robot move.

5.5.6.1 Schematic

Fig. 5.11 DC Motor connections

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Chapter - 6 PROTOTYPE ANALYSIS AND TESTING

6.1 Dimensions

Length of the robot 36 cm

Breadth of the robot 25 cm

Height with arm straightened 62 cm

Height below the arm 27 cm

Diameter of the back wheel 9.25 cm

Diameter of the front wheel 4.25 cm

6.2 Movement of the robot

Forward movement for one step 11 cm

Backward movement for a step 11 cm

Angular base wheel rotation for each step 30

Angular arm rotation for each step 51.5

Angular displacement of the vertical arm 3.75

6.3 Keypad details

S/w 1 Forward movement of the robot

S/w 2 Backward movement of the robot

S/w 3 Angular right movement of the robot

S/w 4 Angular left movement of the robot

S/w 5 Angular right movement of the robotic arm

S/w 6 Angular left movement of the robotic arm

S/w 7 Angular movement of the arm upwards

S/w 8 Angular movement of the arm downwardsS/w 9 Closes the width of the robotic finger.

S/w 10 Opens up the width of the robotic finger.

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6.4 Snapshots

Fig. 6.1 Picking of an object by the arm

Fig. 6.2 Transmitting station

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Fig. 6.3 Robot at work

Fig. 6.4 Robot when powered down

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Chapter - 7 CONCLUSION & FUTURE ENHANCEMENTS

7.1 CONCLUSION

The heavy explosive robot is made for the safety of the people from harmful explosives

that tend to end the lives of millions. The robot can thus tend to help in this noble cause. The searching

and picking up of the explosive and transporting it to a safer place where the human race is less

populated is attained through this project. With the use of zigbee communication protocol we have an

added advantage. With obstacle in front of the robot, it can still carry out the whole process of

searching, picking and placing without the need of people interfering it. Thus, this robot is of extensive

use in the military field where explosive removing is quite often.

7.2 FUTURE ENHANCEMENTS

The heavy explosive removing robot finds numerous applications which can be used in

the mere future as well. The number of cameras can be increased for improved control from a remote

location to get a multi-dimensional view. Using the recent and advantageous Zigbee technology we

can use multiple robots which can be controlled from a single transmitter. This can be extremely useful

in disposing multiple explosives in a very short period of time. Stepper motors can thereby be used for

accurately positioning the arm. The lifting capacity of the robot can be increased. The robotic wheels

can be improvised to make the robot mobile on various terrains.

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REFERENCES

[1] Ward, C.C.; Iagnemma, K.; A Dynamic-Model-Based Wheel Slip Detector for Mobile Robots on

Outdoor Terrain. Robotics, IEEE Transactions on Volume 24, Issue 4, Aug. 2008 Page(s):821 831

[2] Antonelli, G.; Chiaverini, S. Kinematic Control of Flatoons of Autonomous Vehicles Robotics,

IEEE Transactions on , Volume 22, Issue 6, Dec. 2006 Page(s):1285 1292.

[3] Mariottini, G. L.; Oriolo, G.; Prattichizzo, D, Image-Based Visual Servoing for Nonholonomic

Mobile Robots Using Epipolar Geometry. Robotics, IEEE Transactions on. Volume 23, Issue 1, Feb.

2007 Page(s): 87 100

[4] Pei-chun lin,Haldun Komsuoglu,Daniel E.koditschek. A Leg configuration measurement sys for

fuu-body pose estimate in a hexapod robot, IEEE TRAN ON ROBOTICS, 2005, 21(3),pp.411~422.

[5] Bhattacharya, S, Murrieta-Cid, R, Hutchinson, S. Optimal Paths for Landmark-Based Navigation

by Differential-Drive Vehicles With Fieldof- View Constraints. Robotics, IEEE Transactions on,Volume 23, Issue 1, Feb. 2007 Page(s): 47 59

[6] Daigle M. J.; Koutsoukos, X. D; Biswas, G.;Robotics. Distributed Diagnosis in Formations of

Mobile Robots, Robotics, IEEE Transactions on. Volume 23, Issue 2, April 2007 Page(s): 353 369.

[7] Wolf, D.F.; Sukhatme, G.S.; Semantic Mapping Using Mobile Robots, Robotics, IEEE

Transactions on. Volume 24, Issue 2, April 2008 Page(s):245 258

[8] Danwei Wang; Chang Boon Low; Modeling and Analysis of Skidding and Slipping in Wheeled

Mobile Robots: Control Design Perspective. Robotics, IEEE Transactions on. Volume 24, Issue 3,June 2008 Page(s):676 687

[9] Daigle, M.J.; Koutsoukos, X.D.; Biswas, G.; Distributed Diagnosis in Formations of MobileRobots. Robotics, IEEE Transactions on. Volume 23, Issue 2, April 2007 Page(s):353 369

[10] McCarthy, C.; Barnes, N.; Mahony, R.; A Robust Docking Strategy for a Mobile Robot Using

Flow Field Divergence, Robotics, IEEE Transactions on Volume 24, Issue 4, Aug. 2008 Page(s):832 842

[11] Ji, M.; Sarkar, N, Supervisory Fault Adaptive Control of a Mobile Robot and Its Application inSensor-Fault Accommodation, Robotics, IEEE Transactions on , Volume 23, Issue 1, Feb. 2007

Page(s):174 178

[12] Gabriely, Y.; Rimon , E.; CBUG: A Quadratically Competitive Mobile Robot NavigationAlgorithm. Robotics, IEEE Transactions on Volume 24, Issue 6, Dec. 2008 Page(s):1451 1457.

APPENDIX A

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Transmitting side:

#include

sbit RS = P3^7; //potr 2.0sbit RW = P3^6; //potr 2.1

sbit EN = P3^5; //potr 2.2

sbit buzzer = P0^0;

unsigned int m;

void delay(unsigned int value){

unsigned int i, j;for(i=0;i


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EN = 1;

delay(1);EN = 0;

}

void lcddatastr(unsigned char *value){

unsigned int i=0;

while(value[i] != '\0'){

P1 = value[i];i++;

RS = 1;

RW = 0;EN = 1;

delay(1);

EN = 0;}

}

void lcddata(unsigned char value){

P1 = value;RS = 1;

RW = 0;EN = 1;

delay(1);

EN = 0;}

void lcd_init(){lcdcmd(0x38);

lcdcmd(0x0C);

lcdcmd(0x80);}

void llcddata(int m)

{lcdcmd(0x01);

lcdcmd(0x80);

switch(m){

case 6: lcddatastr(" Rot Left");

break;case 1: lcddatastr(" Forward");

break;

case 5: lcddatastr(" Rot Right");break;

case 4: lcddatastr(" Move Left");

break;case 9: lcddatastr("Pick Mine ");

break;

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case 3: lcddatastr(" Move Right");

break;case 7: lcddatastr("Move Arm UP");

break;

case 2: lcddatastr(" Move Back");break;

case 8: lcddatastr("Move Arm Down ");

break;

case 10: lcddatastr(" Place Mine ");break;

case 11: lcddatastr(" Halt ");

break;

default:

lcddatastr(" Try Next ");

}

}

unsigned char keypad(){

int i,key=0;unsigned char val,row[4];

P2=0x0F;//0000 1111

row[0]=0xEF;//1110 1111row[1]=0xDF;//1101 1111

row[2]=0xBF;//1011 1111

row[3]=0x70;//1000 1111

P2=0x0F;

while((P2&0x0F)==0x0F);while((P2&0x0F)!=0x0F){

key=0;for(i=0;i


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while((P2&0x0F)!=0x0F);

return key;}

if(val==0x0B)

{key+=3;

Transmit(0x30+key);

while((P2&0x0F)!=0x0F);

return key;}

if(val==0x07)

{key+=4;

Transmit(0x30+key);

while((P2&0x0F)!=0x0F);return key;

}

key=(i+1)*4;}

}

}

void serial_interrupt()interrupt 4{if(RI==1)

{

RI=0;buzzer = 0;

lcdcmd(0x81);

lcddatastr("MINE HAS BEEN ");lcdcmd(0xC4);lcddatastr("DETECTED");

delay(1000);

lcdcmd(0x01);buzzer = 1;

}

}

void main(){

unsigned char a;

buzzer = 1;lcd_init();

serial_init();

serial_string("WILL OUTPUT COME?\n\r");IE=0x90;

while(1){

// Transmit('s');a = keypad();

// Transmit('p');

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// Transmit('\n');

//Transmit(a);llcddata(a);

delay(100);

}}

APPENDIX B

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Receiving side

#include

sbit motor1_1 = P0^0;sbit motor1_2 = P0^1;

sbit motor2_1 = P0^2;

sbit motor2_2 = P0^3;

sbit rotateleft = P0^4;sbit rotateright = P0^5;

sbit up = P0^6;

sbit down = P0^7;sbit pick = P2^0;

sbit place = P2^1;

sbit ir = P1^0;sbit us = P1^1;

void delay(unsigned int value){unsigned int i, j;

for(i=0;i


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s++;

}}

void External_interrupt() interrupt 0{Transmit('1');

}

void main(){unsigned char a;

serial_init();

IE = 0x81;P0=0x00;

P2=0x00;

while(1){

a=Recieve();

if(a=='1'){ //forwardif(ir==0||us==0){

}else{

motor1_1 = 1;motor2_1 = 1;

delay(100);

motor1_1 = 0;motor2_1 = 0;

}

}else if(a=='2'){//backward

motor1_2 = 1;

motor2_2 = 1;delay(100);motor1_2 = 0;

motor2_2 = 0;

}else if(a=='4'){//left

motor2_1 = 1;

delay(100);motor2_1 = 0;

}

else if(a=='3'){//right

motor1_1 = 1;delay(100);

motor1_1 = 0;

}else if(a=='5'){ //rotate left

rotateleft = 1;

delay(100);rotateleft = 0;

}

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Documents

heavy explosive removing robot