93517721 Metal Detection Robot

8/12/2019 93517721 Metal Detection Robot

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LANDMINE DETECTION ROBOT

CHAPTER I

INTRODUCTION

THE LANDMINE PROBLEM

It has been estimated that more than 100 million active mines are scattered

throughout over 60 Countries in the world, and more than 2,000 people are killed by

mines every month. Many antipersonnel mines are designed specially to maim rather

than kill as signi!icant resources are re"uired to care !or people who are in#ured by such

mines, and there is a signi!icant psychological impact on !ellow soldiers. $andmines

have also been used as a weapon agnist local population although such use is contary to

international humanitarian law.

$andmines persist as a signi!icant problem !or civilians long a!ter a con!lict has

!inished and have a ma#or impact on postcon!lict reconstruction. %hey are invisible &as

they are o!ten buried' and indiscriminate, and as a result cause terror in the civilian

population. (ven with international e!!orts to ban the use and production o! landmines

the situation continues to deteriorate with landmines being laid around 20 times !aster

than they are currently being cleared.

CURRENT TECHNIQUES FOR LANDMINE DETECTION AND

CLEARANCE:

%he detection o! buried landmines is traditionally per!ormed through e)haustive

searching by humans, using some combination basic tools. *enerally, potential mines

are located using a metal detector to locate metal !ragments such as the ring pin o!

the landmine and+or by !eeling !or mounds or depressions which are caused by the

laying o! the mines or by subse"uent settling o! the ground. %hese potential mines are

then investigated !urther through manual probing. In practice many deminers actually

probe the entire ground area regardless o! whether they have !ound a potential mine.

s a result o! military action there may be up to 1,000 metal !ragments tobe

investigated !or each single mine discovered resulting in potentially lethal deminer

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!atigue. In !act -0 o! all clearance accidents occur during the investigation o! metal

signatures/ , although this statistic is debated by some deminers. uch accidents can

also be caused by landmines which have moved !rom the horiontal position such as in

the alkland Islands where-0o! the mines are laid in peat or sand .

%he e!!ectiveness o! metal detectors is inhibited by mines with e)tremely low

metal content or by soils with high !errous content, and hence other detection

techni"ues have been &and are being' investigated. 3ne such techni"ue which is widely

used is the detection o! e)plosive material by smell using a dog .4ogs can be trained to

identi!y the presence o! e)plosives which are leaked by landmines, although the

e)plosives can be detected up to 10 meters !rom the mine resulting in only theappro)imate position being identi!ied. In addition, e)perience with dogs seems to show

that mines do not release signi!icant %5%vapour a!ter 1- months o! burial. %his

techni"ue, however, appears to have potential !or the identi!ication o! the boundaries o!

a mine eld.3nce detected, landmines are generally destroyed in situ as the risks

associated with neutralizing or disarming them are too great.

Detectors arenotoriously inaccurate

Hand prodding is very

dangerous

I*7( 1.18 97((5% $54MI5( 4(%(C%I5* M(%:34

ECE Dept. 2 SCCE


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1.2 SCHEMATIC DIAGRAM

I*7( 1.28C:(M%IC 4I*7M

ECE Dept. ; SCCE

VCC

VCC

VCC = 5V

RESET

10uf/63v

GNDVCCVEERSRWEND0

D3D2

D4D5D6D7

L

CDDISPLAY

D1

VCC

GND

1

2

3

4

5

6

7

8

910

11

12

13

14

15

16

SWITCH

104pf

LCD

GND

IER

1

4

3

2

C 109

>R" IS;

>R" IS;

VCC

?T!L2

R8

R7

R6

R5

R4

R3

R2

R1

C

10 ;LL;

9 8 7 6 5 4 3 2 1

10uf/63v

GND

;03

82

ELCD:

(9V,1 AMP)

DC M!R

VCC

R2T "!?232:

VCC

?T!L1

220 o

R 8

R 7

R 6

R 5

R 4

R 1

R 2

R 3

C

10 ;LL;

123456789

VCC

;15

C1+

VS+

C1-

C2+

C2-

VS"

!2#!

R2IN R2#!

!2IN

!1IN

R1#!

R1IN

!1#!

GND

VCC

"!?232

1

2

3

4

5

6

7

8 9

10

14

16

15

13

12

11

S" !SED !DV!CED SECRIT SSTE"

D6LCD:

;06

I

;WER S;;L5V DC:

33pf

T2I"!?232:

D7LCD:

D4LCD:

;01

DT"C;3201:

GND

RST

GND

33 pf 10 uf/63VC

1

2

3

;05

;07

VCC

TRI" ;T

5

P

VCC

;17

;16

GSM MDEM $P

>R" IS;

;04

?T!L2

GND

GND

1000uf/35V

GND

?T!L1

;31T?D:

R8R7R6R5R4

R1

R2

R3

C

10 ;LL;

1 2 3 4 5 6 7 8 9

VCC

S

LED

D

230V'!C

1

2

!RANS%RMER

RST

!T89S52

20

18

17

29

30

19

329

10

11

12

13

14

15

16

40

39

38

37

36

3534

33

28

27

26

25

24

23

22

21

1

2

3

4

5

67

8

31

D

?T!L2

RD: ;37

;SE

!LE/;R

?T!L1

;07/!D7RST

R?D: ;30

T?D: ;31

IT0: ;32

IT1: ;33

T0: ;34

T1: ;35

WR: ;36

VCC

;00/!D0

;01/!D1

;02/!D2

;03/!D3;04/!D4

;05/!D5

;06/!D6

;27/!15

;26/!14

;25/!13

;24/!12

;23/!11

;22/!10

;21/!9

;20/!8

T2: ;10

T2 E?: ;11

;12

;13

;14"SI: ;15

"IS: ;16

SC: ;17

E!/V;;

!T89S52 IS;

CL"C;3201:

VCC

;30R?D:

GND

47

10uf/63v


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1.3CIRCUIT DESCRIPTION

1.3.1:DESIGNING:

ince the main intension o! this pro#ect is to design a (7

?' election o! M3%37.

Complete studies o! all the above points are use!ul to develop this pro#ect.

1.3.2:POWER SUPPLY SECTION:

Inorder to work with any components basic re"uirement is power supply. In

this section there is a re"uirement o! two di!!erent voltage levels.

%hose are

1' ?@ 4C power supply.

2' A@ 4C power supply.

5ow the aim is to design the power supply section which converts 2;0@ C in to ?@

4C. ince 2;0@ C is too high to reduce it to directly ?@ 4C, there!ore we need a

stepdown trans!ormer that reduces the line voltage to certain voltage that will help us

to convert it in to a ?@ 4C. Considering the e!!iciency !actor o! the bridge recti!ier, we

came to a conclusion to choose a trans!ormer, whose secondary voltage is ; to = @

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higher than the re"uired voltage i.e. ?@. or this application 0A@ trans!ormers is used,

since it is easily available in the market.

%he output o! the trans!ormer is A@ CB it !eed to recti!ier that converts C to

pulsating 4C. s we all know that there are ; kind o! recti!iers that is

1' hal! wave

2' ull wave and

;'


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%hose are8

1' power supply section

2' pullups !or ports &it is must !or 937%0'

;' 7eset circuit

=' Crystal circuit

?' I9 circuit &!or program dumping'

6' (+@99 pin is connected to @cc.

937%0 is open collector thatDs why we are using pullup resistor which makes

937%0 as an I+3 port. 7eset circuit is used to reset the microcontroller. Crystal circuit

is used !or the microcontroller !or timing pluses. In this pro#ect we are not using

e)ternal memory thatDs why (+@99 pin in the microcontroller is connected to @cc that

indicates internal memory is used !or this application.

1.3.4:CONNECTIONS OF DC MOTOR:

In this pro#ect we are using one driver IC $2A;4 to 35E3 the dc motor. %he

terminals o! this $2A;4 is connected to the 937%2.1 &92.1' o! microcontroller.

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CHAPTER 2

EMBEDDED SYSTEM

2.1 INTRODUCTION TO EMBEDDED SYSTEM

(mbedded systems are electronic devices that incorporate microprocessors with

in their implementations. %he main purposes o! the microprocessors are to simpli!y the

system design and provide !le)ibility. :aving a microprocessor in the device helps in

removing the bugs, making modi!ications, or adding new !eatures are only matter o!

rewriting the so!tware that controls the device. 3r in other words embedded computer

systems are electronic systems that include a microcomputer to per!orm a speci!ic

dedicated application. %he computer is hidden inside these products. (mbedded

systems are ubi"uitous. (very week millions o! tiny computer chips come pouring out

o! !actories !inding their way into our everyday products.

(mbedded systems are sel!contained programs that are embedded within a

piece o! hardware. Fhereas a regular computer has many di!!erent applications and

so!tware that can be applied to various tasks, embedded systems are usually set to a

speci!ic task that cannot be altered without physically manipulating the circuitry.

nother way to think o! an embedded system is as a computer system that is created

with optimal e!!iciency, thereby allowing it to complete speci!ic !unctions as "uickly as

possible.

(mbedded systems designers usually have a signi!icant grasp o! hardware

technologies. %hey use speci!ic programming languages and so!tware to develop

embedded systems and manipulate the e"uipment. Fhen searching online, companies

o!!er embedded systems development kits and other embedded systems tools !or use by

engineers and businesses.

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(mbedded systems technologies are usually !airly e)pensive due to the

necessary development time and built in e!!iciencies, but they are also highly valued in

speci!ic industries. maller businesses may wish to hire a consultant to determine what

sort o! embedded systems will add value to their organiation.

2.1.1CHARACTERISTICS:

%wo ma#or areas o! di!!erences are cost and power consumption. ince many

embedded systems are produced in tens o! thousands to millions o! units range,

reducing cost is a ma#or concern. (mbedded systems o!ten use a &relatively' slow

processor and small memory sie to minimie costs.

%he slowness is not #ust clock speed. %he whole architecture o! the computer is

o!ten intentionally simpli!ied to lower costs. or e)ample, embedded systems o!ten use

peripherals controlled by synchronous serial inter!aces, which are ten to hundreds o!

times slower than comparable peripherals used in 9Cs. 9rograms on an embedded

system o!ten run with realtime constraints with limited hardware resources8 o!ten there

is no disk drive, operating system, keyboard or screen. !lash drive may replace

rotating media, and a small keypad and $C4 screen may be used instead o! a 9CGs

keyboard and screen.

irmware is the name !or so!tware that is embedded in hardware devices, e.g. in

one or more 73M+lash memory IC chips. (mbedded systems are routinely e)pected

to maintain 100 reliability while running continuously !or long periods, sometimes

measured in years. irmware is usually developed and tested too much harsher

re"uirements than is generalpurpose so!tware, which can usually be easily restarted i! a

problem occurs.

PLATFORM:

%here are many di!!erent C9 architectures used in embedded designs. %his in

contrast to the desktop computer market which is limited to #ust a !ew competing

architectures mainly the Intel+M4 )-6 and the pple+Motorola+I


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systems is the system on a chip, an applicationspeci!ic integrated circuit, !or which the

C9 was purchased as intellectual property to add to the ICGs design.

TOOLS:

$ike a typical computer programmer, embedded system designers use

compilers, assemblers and debuggers to develop an embedded system. %hose so!tware

tools can come !rom several sources8

o!tware companies that specialie in the embedded market 9orted !rom

the *5 so!tware development tools. ometimes, development tools !or a personal

computer can be used i! the embedded processor is a close relative to a common 9Cprocessor. (mbedded system designers also use a !ew so!tware tools rarely used by

typical computer programmers. ome designers keep a utility program to turn data !iles

into code, so that they can include any kind o! data in a program. Most designers also

have utility programs to add a checksum or C7C to a program, so it can check its

program data be!ore e)ecuting it.

OPERATING SYSTEM:

%hey o!ten have no operating system, or a specialied embedded operating

system &o!ten a realtime operating system', or the programmer is assigned to port one

o! these to the new system.

DEBUGGING:

4ebugging is usually per!ormed with an incircuit emulator, or some type o!

debugger that can interrupt the micro controllerDs internal microcode. %he microcode

interrupt lets the debugger operate in hardware in which only the C9 works. %he

C9based debugger can be used to test and debug the electronics o! the computer

!rom the viewpoint o! the C9.

4evelopers should insist on debugging which shows the highlevel language,

with breakpoints and single stepping, because these !eatures are widely available. lso,

developers should write and use simple logging !acilities to debug se"uences o! real

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time events. 9C or main!rame programmers !irst encountering this sort o! programming

o!ten become con!used about design priorities and acceptable methods. Mentoring,

codereviews and ego less programming are recommended.

2.1.2:DESIGN OF EMBEDDED SYSTEMS:

%he electronics usually uses either a microprocessor or a microcontroller. ome

large or old systems use generalpurpose main!rames computers or minicomputers.

START-UP:

ll embedded systems have startup code. sually it disables interrupts, sets up

the electronics, tests the computer &7M, C9 and so!tware', and then starts the

application code. Many embedded systems recover !rom shortterm power !ailures by

restarting &without recent sel!tests'. 7estart times under a tenth o! a second are

common.

Many designers have !ound one o! more hardware plus so!tware

controlled $(4Ds use!ul to indicate errors during development &and in some instances,

a!ter product release, to produce troubleshooting diagnostics'. common scheme is to

have the electronics turn o!! the $(4&s' at reset, whereupon the so!tware turns it on at

the !irst opportunity, to prove that the hardware and startup so!tware have per!ormed

their #ob so !ar. !ter that, the so!tware blinks the $(4&s' or sets up light patterns

during normal operation, to indicate program e)ecution progress and+or errors. %his

serves to reassure most technicians+engineers and some users.

THE CONTROL LOOP:

In this design, the so!tware has a loop. %he loop calls subroutines. (ach

subroutine manages a part o! the hardware or so!tware. Interrupts generally set !lags, or

update counters that are read by the rest o! the so!tware. simple 9I disables and

enables interrupts. 4one right, it handles nested calls in nested subroutines, and restores

the preceding interrupt state in the outermost enable. %his is one o! the simplest

methods o! creating an e)ocrine.

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%ypically, thereGs some sort o! subroutine in the loop to manage a list o!

so!tware timers, using a periodic real time interrupt. Fhen a timer e)pires, an

associated subroutine is run, or !lag is set. ny e)pected hardware event should be

backedup with a so!tware timer. :ardware events !ail about once in a trillion times.

tate machines may be implemented with a !unctionpointer per state

machine &in CHH, C or assembly, anyway'. change o! state stores a di!!erent !unction

into the pointer. %he !unction pointer is e)ecuted every time the loop runs.

Many designers recommend reading each I3 device once per loop, and storing

the result so the logic acts on consistent values. Many designers pre!er to design their

state machines to check only one or two things per state. sually this is a hardware

event, and a so!tware timer. 4esigners recommend that hierarchical state machines

should run the lowerlevel state machines be!ore the higher, so the higher run with

accurate in!ormation.

Comple) !unctions like internal combustion controls are o!ten handled with

multidimensional tables. Instead o! comple) calculations, the code looks up the values.

%he so!tware can interpolate between entries, to keep the tables small and cheap.

3ne ma#or disadvantage o! this system is that it does not guarantee a time to

respond to any particular hardware event. Care!ul coding can easily assure that nothing

disables interrupts !or long. %hus interrupt code can run at very precise timings.

nother ma#or weakness o! this system is that it can become comple) to add new

!eatures. lgorithms that take a long time to run must be care!ully broken down so only

a little piece gets done each time through the main loop.

%his systemGs strength is its simplicity, and on small pieces o! so!tware the loop

is usually so !ast that nobody cares that it is not predictable. nother advantage is that

this system guarantees that the so!tware will run. %here is no mysterious operating

system to blame !or bad behavior.

USER INTERFACES:

Inter!ace designers at 97C, pple Computer,


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other button should be /select this menu entry/'. touchscreen or screenedge buttons

also minimie the types o! user actions.

nother basic trick is to minimie and simpli!y the type o! output. 4esigns

should consider using a status light !or each inter!ace plug, or !ailure condition, to tell

what !ailed. cheap variation is to have two light bars with a printed matri) o! errors

that they select the user can glue on the labels !or the language that she speaks.

or e)ample,


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2.2 INTRODUCTION TO MICROCONTROLLER

Microcontrollers as the name suggests are small controllers. %hey are like single

chip computers that are o!ten embedded into other systems to !unction as

processing+controlling unit. or e)ample the remote control you are using probably has

microcontrollers inside that do decoding and other controlling !unctions. %hey are also

used in automobiles, washing machines, microwave ovens, toys ... etc, where

automation is needed.

Microcontrollers are use!ul to the e)tent that they communicate with other

devices, such as sensors, motors, switches, keypads, displays, memory and even other

microcontrollers. Many inter!ace methods have been developed over the years to solve

the comple) problem o! balancing circuit design criteria such as !eatures, cost, sie,

weight, power consumption, reliability, availability, manu!acturability. Many

microcontroller designs typically mi) multiple inter!acing methods. In a very simplistic

!orm, a microcontroller system can be viewed as a system that reads !rom &monitors'

inputs, per!orms processing and writes to &controls' outputs.

(mbedded system means the processor is embedded into the re"uired

application. n embedded product uses a microprocessor or microcontroller to do one

task only. In an embedded system, there is only one application so!tware that is

typically burned into 73M. ()ample8 printer, keyboard, video game player

Microprocessor single chip that contains the C9 or most o! the computer

Microcontroller single chip used to control other devices

Microcontroller di!!ers !rom a microprocessor in many ways. irst and the most

important is its !unctionality. In order !or a microprocessor to be used, other

components such as memory, or components !or receiving and sending data must be

added to it. In short that means that microprocessor is the very heart o! the computer.

3n the other hand, microcontroller is designed to be all o! that in one. 5o other e)ternal

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components are needed !or its application because all necessary peripherals are already

built into it. %hus, we save the time and space needed to construct devices.

2.2.1:MICROPROCESSOR VS MICROCONTROLLER:

Mi!"#!"$%%"!:

C9 is standalone, 7M, 73M, I+3, timer are separate

4esigner can decide on the amount o! 73M, 7M and I+3 ports.

e)pensive

versatility generalpurpose

Mi!""&'!"(($!:

C9, 7M, 73M, I+3 and timer are all on a single chip

!i) amount o! onchip 73M, 7M, I+3 ports

!or applications in which cost, power and space are critical singlepurpose

2.3: INTRODUCTION TO )IEL SOFTWARE

Many companies provide the -0?1 assembler, some o! them provide shareware

version o! their product on the Feb, Jiel is one o! them. Fe can download them !rom

their Febsites. :owever, the sie o! code !or these shareware versions is limited andwe have to consider which assembler is suitable !or our application.

2.3.1:)IEL U VISION2:

%his is an I4( &Integrated 4evelopment (nvironment' that helps you

write, compile, and debug embedded programs. It encapsulates the !ollowing

components8

. pro#ect manager

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. make !acility

. %ool con!iguration

. (ditor

. power!ul debugger

%o get start here are some several e)ample programs

BUILDING AN APPLICATION IN UVISION2:

%o build &compile, assemble, and link' an application in u@ision2, you must8

. elect 9ro#ectK3pen 9ro#ect

&or e)ample, EC166E(LM9$(E:($$3E:($$3.@2'

. elect 9ro#ect 7ebuild all target !iles or


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DEBUGGING AN APPLICATION IN UVISION2:

%o debug an application created using u@ision2, you must8

. elect 4ebug tart+top 4ebug ession.

. se the tep toolbar buttons to singlestep through your program. ou may

enter *, main in the 3utput Findow to e)ecute to the main C !unction.

. 3pen the erial Findow using the erial 1 button on the toolbar.

. 4ebug your program using standard options like tep, *o,


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%he u vision2 debugger provides complete simulation !or the C9 and on chip

peripherals o! most embedded devices. %o discover which peripherals o! a device are

supported, in u vision2. elect the imulated 9eripherals item !rom the :elp menu. ou

may also use the webbased device database. Fe are constantly adding new devices and

simulation support !or onchip peripherals so be sure to check 4evice 4atabase o!ten.

CHAPTER 3

COMPONENT DESCRIPTION

3.1 MICROCONTROLLER *+S,2

3.1.1FEATURES OF AT*+S,2

-J


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I*7( ;.18%-A?2 MIC73C35%73$$(7

3.1.2:PIN DIAGRAM - AT*+S,2:

I*7( ;.28%-A?2 9I54I*7M

ECE Dept. 1- SCCE


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3.1.3:PIN DESCRIPTION:

VCC - upply voltage.

GND - *round.

P"!' :

9ort 0 is an -bit open drain bidirectional I+3 port. s an output port,

each pin can sink eight %%$ inputs. Fhen 1s are written to port 0 pins, the pins can

be used as highimpedance inputs. 9ort 0 can also be con!igured to be the multiple)ed

loworder address+data bus during accesses to e)ternal program and data memory. In

this mode, 90 has internal pullups. 9ort 0 also receives the code bytes during lash

programming and outputs the code bytes during program veri!ication. ()ternal pull

ups are re"uired during program veri!ication.

P"!' 1:

9ort 1 is an -bit bidirectional I+3 port with internal pullups. %he

9ort 1 output bu!!ers can sink+source !our %%$ inputs. Fhen 1s are written to 9ort 1

pins, they are pulled high by the internal pullups and can be used as inputs. s

inputs, 9ort 1 pins that are e)ternally being pulled low will source current &II$'

because o! the internal pullups. In addition, 91.0 and 91.1 can be con!igured to be

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the timer+counter 2 e)ternal count input &91.0+%2' and the timer+counter 2 trigger

input &91.1+%2(L', respectively.

PORT PIN ALTERNATE FUNCTIONS:

P1. T2 $/'$!&0( "&' i' '" Ti$!C"&'$! 25 ("6-"'

P1.1 T2E7 Ti$!C"&'$! 2 0#'!$!$("08 '!i99$! 0&8 8i!$'i"& "&'!"(

P"!' 2:

9ort 2 is an -bit bidirectional I+3 port with internal pullups. %he

9ort 2 output bu!!ers can sink+source !our %%$ inputs. Fhen 1s are written to 9ort 2


inputs, 9ort 2 pins that are e)ternally being pulled low will source current &I I$'

because o! the internal pullups. 9ort 2 emits the highorder address byte during

!etches !rom e)ternal program memory and during accesses to e)ternal data memory

that uses 16bit addresses &M3@L O 49%7'. In this application, 9ort 2 uses strong

internal pullups when emitting 1s. 4uring accesses to e)ternal data memory that uses

-bit addresses &M3@L O 7I'B 9ort 2 emits the contents o! the 92 pecial unction

7egister. 9ort 2 also receives the highorder address bits and some control signals

during lash programming and veri!ication.

P"!' 3:

9ort ; is an -bit bidirectional I+3 port with internal pullups. %he

9ort ; output bu!!ers can sink+source !our %%$ inputs. Fhen 1s are written to 9ort ;


inputs, 9ort ; pins that are e)ternally being pulled low will source current &I I$'

because o! the pullups. 9ort ; also serves the !unctions o! various special !eatures o!

the %-AC?1. 9ort ; also receives some control signals !or lash programming and

veri!ication.

PORT PIN ALTERNATE FUNCTIONS:

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EAVPP:

()ternal ccess (nable &(' must be strapped to *54 in order to enable the

device to !etch code !rom e)ternal program memory locations starting at 0000: up

to :. :owever, i! lock bit 1 is programmed, ( will be internally latched on

reset. ( should be strapped to @CC !or internal program e)ecutions. %his pin also

receives the 12@ programming enable voltage &@99' during lash programming

when 12@ programming is selected.

7TAL1:

Input to the inverting oscillator ampli!ier and input to the internal clock

operating circuit.

7TAL2:

It is an output !rom the inverting oscillator ampli!ier.

3.1.4:BLOC) DIAGRAM OF *+S,2:

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I*7( ;.;8


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I*7( ;.=8 7C:I%(C%7( 3 %-A?2

OSCILLATOR CHARACTERISTICS:

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L%$1 and L%$2 are the input and output, respectively, o! an

inverting ampli!ier, which can be con!igured !or use as an onchip oscillator. (ither a

"uart crystal or ceramic resonator may be used. %o drive the device !rom an e)ternal

clock source, L%$2 should be le!t unconnected while L%$1 is driven. %here are

no re"uirements on the duty cycle o! the e)ternal clock signal, since the input to the

internal clocking circuitry is through a dividebytwo !lip!lop, but minimum and

ma)imum voltage high and low time speci!ications must be observed.

IDLE MODE:

In idle mode, the C9 puts itsel! to sleep while all the onchip peripherals

remain active. %he mode is invoked by so!tware. %he content o! the onchip 7M

and all the special !unctions registers remain unchanged during this mode. %he idle

mode can be terminated by any enabled interrupt or by a hardware reset. It should be

noted that when idle is terminated by a hardware reset, the device normally resumes

program e)ecution, !rom where it le!t o!!, up to two machine cycles be!ore the

internal reset algorithm takes control. 3nchip hardware inhibits access to internal

7M in this event, but access to the port pins is not inhibited. %o eliminate the

possibility o! an une)pected write to a port pin when Idle is terminated by reset, the

instruction !ollowing the one that invokes Idle should not be one that writes to a port

pin or to e)ternal memory.

OSCILLATOR CONNECTIONS:

I*7( ;.? 83CI$$%37 C355(C%I35

ECE Dept. 2? SCCE


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N"'$:C1, C2 P ;0 p Q 10 p !or Crystals

P =0 p Q 10 p !or Ceramic 7esonators

I*7( ;.68 (L%(75$ C$3CJ47I@( %3 -A?2

ECE Dept. 26 SCCE


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3.2 BOMB DETECTOR

" $'0( 8$'$'"!is a device which responds to metal that may not be

readily apparent.

%he simplest !orm o! a metal detector consists o! an oscillatorproducing an

alternating current that passes through a coil producing an alternating magnetic !ield.I!

a piece o! electrically conductive metal is close to the coil, eddy currents will be

induced in the metal, and this produces an alternating magnetic !ield o! its own. I!

another coil is used to measure the magnetic !ield &acting as a magnetometer', the

change in the magnetic !ield due to the metallic ob#ect can be detected.

%he !irst industrial metal detectors were developed in the 1A60s and were used

e)tensively !or mining and other industrial applications. ses include demining&the

detection o! land mines', the detection o! weapons such as knives and guns, especially

in airport security, geophysical prospecting, archaeology and treasure hunting.Metal

detectors are also used to detect !oreign bodies in !ood, and in the construction industry

to detect steel rein!orcing barsin concrete and pipes and wires buried in walls and

!loors.

ECE Dept. 2 SCCE
http://en.wikipedia.org/wiki/Oscillatorhttp://en.wikipedia.org/wiki/Magnetic_fieldhttp://en.wikipedia.org/wiki/Eddy_currentshttp://en.wikipedia.org/wiki/Magnetometerhttp://en.wikipedia.org/wiki/De-mininghttp://en.wikipedia.org/wiki/Land_minehttp://en.wikipedia.org/wiki/Airport_securityhttp://en.wikipedia.org/wiki/Geophysicshttp://en.wikipedia.org/wiki/Treasure_huntinghttp://en.wikipedia.org/wiki/Construction_industryhttp://en.wikipedia.org/wiki/Rebarhttp://en.wikipedia.org/wiki/Oscillatorhttp://en.wikipedia.org/wiki/Magnetic_fieldhttp://en.wikipedia.org/wiki/Eddy_currentshttp://en.wikipedia.org/wiki/Magnetometerhttp://en.wikipedia.org/wiki/De-mininghttp://en.wikipedia.org/wiki/Land_minehttp://en.wikipedia.org/wiki/Airport_securityhttp://en.wikipedia.org/wiki/Geophysicshttp://en.wikipedia.org/wiki/Treasure_huntinghttp://en.wikipedia.org/wiki/Construction_industryhttp://en.wikipedia.org/wiki/Rebar


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3.3 L2+3D DRIVER

3.3.1 INTRODUCTION

%he $2A; and $2A;4 are "uadruple highcurrent hal!: drivers. %he $2A; is

designed to provide bidirectional drive currents o! up to 1 at voltages !rom =.? @ to

;6 @. %he $2A;4 is designed to provide bidirectional drive currents o! up to 600m at

voltages !rom =.? @ to ;6 @.


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3.3.2: BLOC) DIAGRAM8

I*7( ;.8$2A;4


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$3*IC 4I*7M8

I*7( ;.A8 C:(M%IC I59% 54 3%9% 3 $2A;4

ECE Dept. ;0 SCCE


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3.4:STEPPER MOTOR

direct current &4C' motor is another widely used device that translate electrical

9ulses into mechanical movement. In the 4C motor we have only H and K leads

connecting them to a 4C voltage source moves the motor in one direction .


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I*7( ;.118 %(99(7 M3%37

CHAPTER 4

ADVANTAGES AND APPLICATIONS

4.1: ADVANTAGES:

(asier to navigate across di!!icult terrain.

a!e !or the user operator.

Can climb incline.

Cheaper !or all robots and having high resolutions area.

4.2: APPLICATIONS:

Metal detectors capable o! !inding low metal contents mines in mineralied soil.

In de!ence.

:ighly e!!ective !or detecting.

ECE Dept. ;; SCCE


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FUTURE SCOPE

$ighter plasticbased !rame


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SOURCE CODE

includeUreg?2.hV ++include at-Ac?1 microcontroller header !ile

sbit buerP92WB

sbit M71 P 92W0B

sbit M72 P 92W1B

sbit M$1 P 92W2B

sbit M$2 P 92W;B

unsigned char chB

void mov!&'B

void movb&'B

void movr&'B

void movl&'B

void stop&'B

void delayXmicro&unsigned int'B

void delayXms&unsigned int'B

void main &void'

Y

mov!&'B

stop&'B

ECE Dept. ; SCCE


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movb&'B

delayXms&2?0'B

stop&'B

movl&'B

delayXms&2?0'B

stop&'B

movr&'B

delayXms&2?0'B

stop&'B

movl&'B

delayXms&100'B

stop&'B

movr&'B

delayXms&100'B

stop&'B

Z

void mov!&'

Y

M71 P 1B

M72 P 0B

Z

void movb&'

Y

M71 P 0B

M72 P 1B

ECE Dept. ;- SCCE


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Z

void movr&'

Y

M71 P 1B

M72 P 0B

M$1 P 0B

M$2 P 1B

Z

void movl&'

Y

M71 P 1B

M72 P 0B

M$1 P 1B

M$2 P 0B

Z

void stop&'

Y

M71 P 0B

M72 P 0B

M$1 P 0B

M$2 P 0B

delayXms&?'B

Z

ECE Dept. ;A SCCE


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Documents

93517721 Metal Detection Robot