Hand Gesture Controlled

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College

Hand Gesture ontrolled Robot

1

Abhinav Education So

f Engineering & Technol

adwadi Tal- Khandala, D

A PROJECT REPORT


SUBMITTED BY

BHOSALE PRASAD BUNAGE YOGESH

SHINDE SWAPNIL V

UNDER THE GUIDAN

MR.TAMBE R.K.

2012-2013

HAND GESTURE CONTROLLED R

ietys

ogy (Polytechnic.),

ist- Satara.

ON


PRASAD S

YOGESH B

SHINDE SWAPNIL V

E OF

BOT


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Colle

This is to certify th

Students of A

& TC) has Project on

Work Is Done To My Satis

Year 2012 -2013

Mr. TAMBE R.K.

(PROJECT GUIDE)

EXTERNAL EXAMIN

2

Abhinav Education Society

e of Engineering & Technolo

Wadwadi Tal- Khandala, Di

CERTIFICATE

at,

Mr. BHOSALE PRASAD

Mr. BUNAGE YOGESH

Mr. SHINDE SWAPNIL

bhinav Education Societys College

HAND GESTURE CONTROLLE

action Under Requirement Of FIN

R

HAND GESTURE CONTROLLED R

gy (Polytechnic.),

t- Satara.

S.

B.

V.

of Engineering & Technology (Poly.

ROBOT under my guidance.

L YEAR PROJECT For The Acad

Ms. NARVADKAR

( H.O.D. E&TC Dept )

PRINCIPAL

AESCOET,WADWADI

BOT

) (E

This

mic

.S.


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HAND GESTURE CONTROLLED ROBOT

3

ACKNOWLEDGEMENT

We have a great pleasure in presenting this project report on HAND GESTURE

CONTROLLED ROBOT & to express our deep regard to towards those who have offered their valuable

time & guidance in my hour of need.

To complete any type of seminar work is teamwork. It involves all the technical/ non-technical

expertise from various sources. He contribution from the experts in the form of knows-how and other

technical supports is of vital importance. I am indebted to our inspiring guide Mr. Tambe R.K. and our

H.O.D. Ms. Narvadkar N.S. who has extended valuable guidelines, help and constant encouragement

through the various different stages for the onslaught of the project.

I have great pleasure in offering our sincere thanks to our honorable Principal Mr. Patil P.J. Last

but not least, we would like to thanks all the direct and indirect help provided by friends, parents and the

staff of this college for successful completion of this project.


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ABSTRACT

Now a days robots are controlled by remote or cellphone or by direct wired connection. If we

thinking about cost and required hardwares all this things increases the complexity, especially for low

level application.

Now the robot that we have designed is different from above one. It doesnt required any type of

remote or any communication module. it is self activated robot, which drive itself according to position of

user who stands in front of it. It does what user desires to do. it makes copy of its all movement of the

user standing in front of it. Hardware required is very small, and hence low cost and small in size.


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INDEX

SR. NO. TITLE PAGE NO

1. INTRODUCTION

2. BLOCK DIAGRAM

3. PROJECT SPECIFICATION

4. CIRCUIT DIAGRAM

5. WORKING OF MODULE

6. ACCELEROMETER ADXL 335

7. MICROCONTROLLER ATmega16

8. 16x2 LCD Display

9. MOTOR DRIVER IC L293D

10. PROGRAM SOFTWARE

11. APPLICATIONS

12. FUTURE SCOPE

13. CONCLUSION

14. REFERENCE


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INDEX OF DIAGRAM

SR. NO. TITLE PAGE

NO

1. BLOCK DIAGRAM OF PROJECT

2. CIRCUIT DIAGRAM OF PROJECT

3. BLOCK DIAGRAM OFACCELEROMETER

4. PIN DIAGRAM OFACCELEROMETER

5. PIN DIAG. OF ATmega16

6. 2*16 ICD DISPLAY

7. MOTOR DRIVER IC L293D


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INTRODUCTION


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INTRODUCTION

We generally find people working in chemical industries under different hazardous condition .

these people suffers with many dangerous diseases like skin cancer, lungs problem and many more. So we

finally thought of designing a robot that can copy that instant action of human being under various

conditions and situations.

In market many types of robot are available that are controlled by remote or cellphone or by direct

wired connection. But limitation of this robot are that they can only perform those activity which are

present in their program. They dont have ability to sense the situation and react as per that and more over

their cost are high even for low application activities. so we decided to design a robot that doesnt required

any type of remote or any communication module. It should be self-activated robot which will be driving

itself according to position of user which stands in front of it. It does what user desires to do. it makes

copy of its all movement of the user standing in front of it. Hardware required is very small, and hence

low cost and small in size


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BLOCK DIAGRAM


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BLOCK DIAGRAM

Fig 1.1 Hand gesture controlled robot

ACCELEROM

TER

ADXL 335

A

V

R

ATmega16

MICRO

CONTROLLER

DC MOTOR1

DC MOTOR 2

2 X 16 LCD

MOTOR DRIVER


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PROJECT SPECIFICATION

POWER SUPPLY

MOTOR : 9V

SENSOR(ACCELEROMETER): 3.5V

CONTROLLER: 5V

CONTROOLER USED ATmega 16(AVR):8-Bit

SENSOR

ADXL335 (ACCELEROMETER)

Three direction (x,y,z)

Speed of robot: 60 rpm

Maximum input channel capacity: max 8 input

It Can drive max four motors.


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CIRCUIT DIAGRAM


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CIRCUIT DIAGRAM

Fig. 1.2 Hand gesture controlled robot


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WORKING OF MODULE

This robot consists of mainly three parts. First is sensor, which works as vision of robot. We

have used accelerometer that act as sensor for our robot.

A Gesture Controlled robot is a kind of robot which can be controlled by your hand gestures not

by old buttons.You just need to wear a small transmitting device in your hand which included

an acceleration meter.This will transmit an appropriate command to the robot so that it can do whatever we

want. The transmitting device included a comparator IC foranalog to digital conversion and an encoder

IC(HT12E) which is use to encode the four bit data and then it will transmit by an RF Transmitter module.

At the receiving end an RF Receiver module receive's the encoded data and decode it by an decoder

IC(HT12D). This data is then processed by a microcontroller (P89V51RD2) and finally our motor driver to

control the motor's

As user makes movements of his hand in front of it, it senses and according to that it sends the

signal for decision. Output from accelerometer is gathered for process by microcontroller.

As per sensor output, the controller is made to work according to the program written inside it and

it sends the respective signal to third part which is motors. This is the last part which drives the wheel ofour robot. It uses two dc motors to make movement. To drive them one motor driver is IC used which

provides sufficient current to motors. All this material is mounted on metal chesi. As we move our hand to

right robot will move to right side. Similar to this it will copy all our movements.


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Accelerometer ADXL335


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1) Accelerometer ADXL335

Small,

Low Power,

3-Axis 3 g Accelerometer

What is an accelerometer?

An accelerometer is an electromechanical device that will measure acceleration forces. These forces

may be static, like the constant force of gravity pulling at your feet, or they could be dynamic - caused by

moving or vibrating the accelerometer.

What are accelerometers useful for?

By measuring the amount of static acceleration due to gravity, you can find out the angle thedevice is tilted at with respect to the earth. By sensing the amount of dynamic acceleration, you can

analyze the way the device is moving. At first, measuring tilt and acceleration doesn't seem all that

exciting. However, engineers have come up with many ways to make really useful products with them.

An accelerometer can help your project understand its surroundings better. Is it driving uphill? Is it

going to fall over when it takes another step? Is it flying horizontally or is it dive bombing your professor?

A good programmer can write code to answer all of these questions using the data provided by an

accelerometer.


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How do accelerometers work?

There are many different ways to make an accelerometer! Some accelerometers use the

piezoelectric effect - they contain microscopic crystal structures that get stressed by accelerative forces,

which causes a voltage to be generated. Another way to do it is by sensing changes in capacitance. If you

have two microstructures next to each other, they have a certain capacitance between them. If an

accelerative force moves one of the structures, then the capacitance will change. Add some circuitry to

convert from capacitance to voltage, and you will get an accelerometer. There are even more methods,

including use of the piezoresistive effect, hot air bubbles, and light

Types of Accelerometer

There are several different principles upon which an analog accelerometer can be built. Two very

common types utilize capacitive sensing and the piezoelectric effect to sense the displacement of the proof

mass proportional to the applied acceleration.

Capacitive

Accelerometers that implement capacitive sensing output a voltage dependent on the distance

between two planar surfaces. One or both of these plates are charged with an electrical current. Changing

the gap between the plates changes the electrical capacity of the system, which can be measured as a voltage

output. This method of sensing is known for its high accuracy and stability. Capacitive accelerometers are

also less prone to noise and variation with temperature, typically dissipate less power, and can have larger

bandwidths due to internal feedback circuitry. (Elwenspoek 1993)

Piezoelectric

Piezoelectric sensing of acceleration is natural, as acceleration is directly proportional to force.

When certain types of crystal are compressed, charges of opposite polarity accumulate on opposite sides of

the crystal. This is known as the piezoelectric effect. In a piezoelectric accelerometer, charge accumulates

on the crystal and is translated and amplified into either an output current or voltage.

Piezoelectric accelerometers only respond to AC phenomenon such as vibration or shock. They have

a wide dynamic range, but can be expensive depending on their quality (Doscher 2005)


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Piezo-film based accelerometers are best used to measure AC phenomenon such as vibration or

shock, rather than DC phenomenon such as the acceleration of gravity. They are inexpensive, and respond

to other phenomenon such as temperature, sound, and pressure (Doscher 2005)

Other

There are many other types of accelerometer that are less important to musical applications,

including:

Piezoresistive

Thermal

Null-balance

Servo force balance

Strain gauge

Resonance

Magnetic induction

Optical

Surface acoustic wave (SAW)

Specifications

A typical accelerometer has the following basic specifications:

Analog/digital

Number of axes

Output range (maximum swing)

Sensitivity (voltage output per g)

Bandwidth

Amplitude stability

The user selects the bandwidth of the accelerometer using the C X, CY, and CZ capacitors at the

XOUT, YOUT, and ZOUT pins. Bandwidths can be selected to suit the application, with a range of 0.5 Hz

to 1600 Hz for the X and Y axes, and a range of 0.5 Hz to 550 Hz for the Z axis.


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GENERAL DESCRIPTION:

The ADXL335 is a small, thin, low power, complete 3-axis accelerometer with signal conditioned

voltage outputs. The product measures acceleration with a minimum full-scale range of 3 g. It can

measure the static acceleration of gravity in tilt-sensing applications, as well as dynamic Acceleration

resulting from motion, shock, or vibration.

One of the most common inertial sensors is the accelerometer, a dynamic sensor capable of a vast

range of sensing. Accelerometers are available that can measure acceleration in one, two, or three

orthogonal axes. They are typically used in one of three modes:

As an intertial measurement of velocity and position;

As a sensor of inclination, tilt, or orientation in 2 or 3 dimensions, as referenced from the

acceleration of gravity (1 g = 9.8m/s2);

As a vibration or impact (shock) sensor.

There are considerable advantages to using an analog accelerometer as opposed to an inclinometer such

as a liquid tilt sensor inclinometers tend to output binary information (indicating a state of on or off), thus

it is only possible to detect when the tilt has exceeded some thresholding angle.

Most accelerometers are Micro-Electro-Mechanical Sensors (MEMS). The basic principle of operation

behind the MEMS accelerometer is the displacement of a small proof mass etched into the silicon surface of

the integrated circuit and suspended by small beams. Consistent with Newton's second law of motion ( F =

ma), as an acceleration is applied to the device, a force develops which displaces the mass. The support

beams act as a spring, and the fluid (usually air) trapped inside the IC acts as a damper, resulting in a second

order lumped physical system. This is the source of the limited operational bandwidth and non-uniform

frequency response of accelerometers. For more information, see reference to Elwenspoek, 1993.


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FUNCTIONAL BLOCK DIAGRAM

Fig. 1.3 Block diagram of ADXL 335


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ADXL335

An Accelerometer is a kind of sensor which gives an analog data while moving in X,Y,Z

direction or may be X,Y direction only depend's on the type of the sensor.Here is a small image of an

Accelerometer shown. We can see in the image that their are some arrow showing if we tilt these sensor's in

that direction then the data at that corresponding pin will change in the analog form.

The Accelerometer having 6 pin-

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

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

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

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

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

6- ST- this pin is use to set the sensitivity of the accelerometer 1.5g/2g/3g/4g.


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THEORY OF OPERATION

The ADXL335 is a complete 3-axis acceleration measurement system. The ADXL335 has a

measurement range of 3 g minimum. It containsa polysilicon surface-micromachined sensor and signal

conditioning circuitry to implement an open-loop acceleration measurement architecture. The output

signals are analog Voltages that are proportional to acceleration.

The accelerometer can measure the static acceleration of gravity in tilt-sensing applications as

well as dynamic acceleration resulting From motion, shock, or vibration.The sensor is a polysilicon

surface-micromachined structure built on top of a silicon wafer. Polysilicon springs suspend the structure

over the surface of the wafer and provide a resistance against acceleration forces. Deflection of thestructure is measured using a differential capacitor that consists of independent fixed plates and plates

attached to the moving mass.

If you have two microstructures next to each other, they have a certain capacitance between them.

If an accelerative force moves one of the structures, then the capacitance will change. Add some circuitry

to convert from capacitance to voltage, and you will get an accelerometer. There are even more methods,

including use of the piezoresistive effect, hot air bubbles, and light.

The fixed plates are driven By 180 out-of-phase square waves. Acceleration deflects the moving

mass and unbalances the differential capacitor resulting in a sensor output whose amplitude is proportional

to acceleration. Phase-sensitive demodulation techniques are then used to determine the magnitude and

direction of the acceleration.


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FEATURES:

3 axis sensing small, low profile package

4mm x 4mm x 1.45mm LFCSP low power:350uA(typical)

Single operation: 1.8v to 3.6v 10,000g shock survival

excellent temperature stability BW adjustment with a single capacitor per axis

RoHS/WEEE lead-free complement

ACCELEROMETER ADXL 335

Fig. 1.4 Pin dia. Of ADXL 335


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Pin Function Descriptions

Pin No. Mnemonic Description

1 NC No Connect.1

2 ST Self-Test.

3 COM Common.

4 NC No Connect.1

5 COM Common.

6 COM Common.

7 COM Common.

8 ZOUT Z Channel Output.

9 NC No Connect.1

10 YOUT Y Channel Output.

11 NC No Connect. 1

12 XOUT X Channel Output.

13 NC No Connect. 1

14 VS Supply Voltage (1.8 V to 3.6 V).

15 VS Supply Voltage (1.8 V to 3.6 V).

16 NC No Connect. 1

EP Exposed Pad Not internally connected. Solder for

mechanical integrity.


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MICROCONTROLLER

ATmega16


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2) MICROCONTROLLER (ATMEGA 16)

Pin Diagram:

Fig 1.5 AVR AT mega16


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FEATURES

High-performance, Low-power Atmel AVR 8-bit Microcontroller

Advanced RISC Architecture

131 Powerful Instructions Most Single-clock Cycle Execution

32 x 8 General Purpose Working Registers

Fully Static Operation

Up to 16 MIPS Throughput at 16 MHz

On-chip 2-cycle Multiplier

High Endurance Non-volatile Memory segments

16 Kbytes of In-System Self-programmable Flash program memory

512 Bytes EEPROM

1 Kbyte Internal SRAM

Write/Erase Cycles: 10,000 Flash/100,000 EEPROM

Data retention: 20 years at 85C/100 years at 25C(1)

Optional Boot Code Section with Independent Lock Bits

In-System Programming by On-chip Boot Program

True Read-While-Write Operation

Programming Lock for Software Security

JTAG (IEEE std. 1149.1 Compliant) Interface

Boundary-scan Capabilities According to the JTAG Standard

Extensive On-chip Debug Support

Programming of Flash, EEPROM, Fuses, and Lock Bits through the JTAG Interface


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Peripheral Features

Two 8-bit Timer/Counters with Separate Prescalers and Compare Modes

One 16-bit Timer/Counter with Separate Prescaler, Compare Mode, and Capture Mode

Real Time Counter with Separate Oscillator

Four PWM Channels

8-channel, 10-bit ADC

8 Single-ended Channels

7 Differential Channels in TQFP Package Only

2 Differential Channels with Programmable Gain at 1x, 10x, or 200x

Byte-oriented Two-wire Serial Interface

Programmable Serial USART

Master/Slave SPI Serial Interface

Programmable Watchdog Timer with Separate On-chip Oscillator

On-chip Analog Comparator

Special Microcontroller Features

Power-on Reset and Programmable Brown-out Detection

Internal Calibrated RC Oscillator

External and Internal Interrupt Sources

Six Sleep Modes: Idle, ADC Noise Reduction, Power-save, Power-down, Standby and

Extended Standby

I/O and Packages

32 Programmable I/O Lines

40-pin PDIP, 44-lead TQFP, and 44-pad QFN/MLF

Operating Voltages


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2.7V - 5.5V for ATmega16L

4.5V - 5.5V for ATmega16

Speed Grades

0 - 8 MHz for ATmega16L

0 - 16 MHz for ATmega16

Power Consumption @ 1 MHz, 3V, and 25C for ATmega16L

Active: 1.1 mA

Idle Mode: 0.35 mA

Power-down Mode: < 1 A


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2x16 LCD DISPLAY


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2x16 LCD DISPLAY

FEATURES:

61 x 15.8 mm viewing area

5 x 7 dot matrix format for 2.96 x 5.56 mm character, plus cursor line

Can display 224 different symbols

Low power consumption (1 mA typical)

Powerful command set and user produced characters

TTL and CMOS compiler

Connector for standard 0.1-pitch pin headers

5 x 8 dots with cursor

Built-in controller (KS 0066 or Equivalent)

+ 5V power supply (Also available for + 3V)


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1/16 duty cycle

B/L to be driven by pin 1, pin 2 or pin 15, pin 16 or A.K (LED)

N.V. optional for + 3V power supply

Description

This is an LCD Display designed for E-blocks. It is a 16 character, 2-line alphanumeric LCD

displayconnected to a single 9-way D-type connector. This allows the device to be connected to most E-Block I/O

ports.

The LCD display requires data in a serial format, which is detailed in the user guide below. The

display also

requires a 5V power supply. Please take care not to exceed 5V, as this will cause damage to the

device. The 5V is best generated from the E-blocks Multipogrammer or a 5V fixed regulated power

supply.

The potentiometer RV1 is a contrast control that should be used to adjust the contrast of the display for the

environment it is being used in.


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LCD DISPLAY:

Fig 1.6 LCD Display


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16 x 2 Character LCD

PIN NO. SYMBOL FUNCTION

1 Vss GND

2 Vdd + 3V or + 5V

3 Vo Contrast Adjustment

4 RS H/L Register Select Signal

5 R/W H/L Read/Write Signal

6 E H L Enable Signal

7 DB0 H/L Data Bus Line








15 A/Vee + 4.2V for LED/Negative Voltage Output

16 K Power Supply for B/L (OV)


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2x16 LCD DISPLAY


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MOTOR DRIVER IC L293D

Fig 1.7 Motor Driver L293D

L293D

MOTOR

DRIVER IC


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FEATURES

-Out put current 1A per channel (600 mA for L293D).

-Peak output current 2A per channel ( 1.2A for L293D).

-Inhibit facility.

-High noise immunity.

-Separate logic supply.

-Over temperature protection

DESCRIPTION:

L293D is a dual HBridge motor driver, so with one IC we can interface two DC motors which can

be controlled in both clockwise and counter clockwise direction and if you have motor with fix direction

of motion. You can make use of all the four I/Os to connect up to four DC motors. L293D has output

current of 600mA and peak output current of 1.2A per channel. Moreover for protection of circuit from

back EMF output diodes are included within the IC. The output supply (VCC2) has a wide range from

4.5V to 36V, which has made L293D a best choice for DC motor driver.

Each channel is controlled by a TTL compatible logic input and each pair of driver is equipped

with an inhibit input which turns off all four transistor. A separate supply voltage is provided for logic so

that it may be run off a lower voltage to reduce dissipation. Additionally the L293D includes the output

clamping diodes within the IC for complete interfacing with inductive loads.


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Battery

We use 9 volt 3 amp rechargeable battery

A battery is a device that converts stored chemical energy to electrical energy. Batteries are

commonly used as energy sources in many household and industrial applications.

There are two types of batteries: primary batteries (disposable batteries), which are designed to be

used once and discarded, and secondary batteries (rechargeable batteries), which are designed to be

recharged and used multiple times. Batteries come in many sizes, from miniature cells used in hearing aids

and wristwatches to room-size battery banks that serve as backup power supplies in telephone exchanges

and computer data centers.


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SOFTWARE


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SOFTWARE

SOFTWARE USED:

1) AVR STUDIO

It is most commonly used compiler software. It allows to do programming in c and compiling as

well. It supports the all avr families


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2) PROTEUS

Proteus is simulation software used for various electronic circuit. It contain large library

of electronic component. We have designed of circuit using this library. We have simulated our

circuit in proteus. We use hex file created by AVR studio for simulation. And finally we got our

result .


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3)SINAPROG

Sinaprog it is a software which is used for the downloading the programming AVR

microcontroller. The program is hex file which is created by AVR studio.


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ACTUAL OUTPUT


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APPLICATIONS


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APPLICATIONS

1. We generally find people working in chemical industries under different hazardous

condition.These people suffers with many dangerous diseases like skin cancer,lungs

problem and many more. So we finally thought of designing a robot that can copy that

instant action of human being under various conditions and situations.So in that place of

industry it can be used.

2. Most of the computer games are now using motion detecting remot technology.

3. It is also used in mine


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FUTURE SCOPE


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FUTURE SCOPE

In future we can design a wireless robot which can sense hand gesture by using wireless

technologies.

It can be used in military applications as a robotic vehicle which can be handled by a soldier to

avoid casualties.

Our system has shown the possibility that interaction with machines through gestures is a feasible

task and the set of detected gestures could be enhanced to more commands by implementing a

more complex model of a advanced vehicle for not only in limited space while also in broader

area as in the roads too .

In the future, service robot executing many different tasks from private movement to a fully-

fledged advanced automotive that can make disabled to able in all sense.


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CONCLUSION

In our project we have added special features by which our robot can overcome so many problems

in industry. If it is further developed then it can be used for military application.

An Accelerometer is a kind of sensor which gives an analog data while moving in X,Y,Z

direction or may be X,Y direction only depend's on the type of the sensor.Here is a small image of an

Accelerometer shown. We can see in the image that their are some arrow showing if we tilt these sensor's in

that direction then the data at that corresponding pin will change in the analog form.

A Gesture Controlled robot is a kind of robot which can be controlled by your hand gestures

not by old buttons.You just need to wear a small transmitting device in your hand which included

an acceleration meter.This will transmit an appropriate command to the robot so that it can do whatever we

want. The transmitting device included a comparator IC foranalog to digital conversion and an encoder

which is use to encode the four bit data and then it will transmit by an RF Transmitter module.

At the receiving end an RF Receiver module receive's the encoded data and decode it by an decoder


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REFERENCES

www.atmel.com

www.alldatasheet.com

www.wikipedia.com

www.google.com

ieeexplore.ieee.org


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APPENDIX A:

Component list:

Sr. no. Name of component Prize(Rs)

1 Microcontroller (ATMEGA16)

8- bit

220

2 Motor driver (L293D) 75

3 Accelerometer (ADXL335) 1800

4 Dc motor (9V, 150rpm) 500

5 2x16 ALPHANUMERIC LCD

DISPLAY

115

6 Crystal 15

7 Resistor (10k, 1k) 1

8 Capacitor (0.1uf, 10uf) 1

Total 2727.00


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NO

NO YES

NO YES

NO YES

YES

START

CONFIGURE THE LCD

MONITOR THE I/P

CHANNEL OF ADC

ADC CONVERSION

FOR X Y & Z

if((X179)&

&(Y151))

IF((X124)&&(Y142))

ROBOT WILL

MOVE TO LEFT

ROBOT WILL

MOVE TO RIGHTif((Y181)&&

(X152))

ROBOT WILL

MOVE FORWARD

if((Y122)&&

(X158))

ROBOT WILL MOVE

BACKWARD


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APPENDIX C

SPECIFICATIONS

ADXL335

Parameter Conditions Min Typ Max Unit

SENSOR INPUT Each axisMeasurement Range 3 3.6 gNonlinearity % of full scale 0.3 %

Package Alignment Error 1 DegreesInteraxis Alignment Error 0.1 DegreesCross-Axis Sensitivity 1 %

SENSITIVITY(RATIOMETRIC)

2Each axis

Sens t v ty at XOUT,YOUT, ZOUT VS = 3 V 270 300 330 mV/gSensitivity Change Due toTemperature

3VS = 3 V 0.01 %/C

ZERO g BIAS LEVEL(RATIOMETRIC)

0 g Voltage at XOUT,YOUT VS = 3 V 1.35 1.5 1.65 V0 g Voltage at ZOUT VS = 3 V 1.2 1.5 1.8 V0 g Offset vs.Temperature 1 mg/C

NOISE PERFORMANCENoise Density XOUT,YOUT 150 g/Hz rmsNoise Density ZOUT 300 g/Hz rms

FREQUENCY RESPONSE4

Bandwidth XOUT, YOUT5

No external filter 1600 HzBandwidth Z OUT

5No external filter 550 Hz

RFILT Tolerance 32 15% kSensor ResonantFrequency 5.5 kHz

SELF-TEST6

Logic Input Low +0.6 VLogic Input High +2.4 VST Actuation Current +60 A

Output Change at XOUTSelf-Test 0 to Self-Test 1 150 325 600 mV

Output Change at YOUTSelf-Test 0 to Self-Test 1 +150 +325 +600 mV

Output Change at ZOUT Self-Test 0 to Self- +150 +550 +1000 mV


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Test 1

OUTPUT AMPLIFIEROutput Swing Low No load 0.1 V

Output Swing High No load 2.8 V

POWER SUPPLY

Operating Voltage Range 1.8 3.6 VSupply Current VS = 3 V 350 ATurn-On Time No external filter 1 ms

TEMPERATUREOperating TemperatureRange 40 +85 C


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MICROGONTROLLER AVR ATmega26

Idle Mode

When the SM2..0 bits are written to 000, the SLEEP instruction makes the MCU enter Idle

mode, stopping the CPU but allowing SPI, USART, Analog Comparator, ADC, Two-wire Serial

Interface, Timer/Counters, Watchdog, and the interrupt system to continue operating. This sleep

mode basically halts clkCPU and clkFLASH, while allowing the other clocks to run.

Idle mode enables the MCU to wake up from external triggered interrupts as well as internal

ones like the Timer Overflow and USART Transmit Complete interrupts. If wake-up from the

Analog Comparator interrupt is not required, the Analog Comparator can be powered down by

setting the ACD bit in the Analog Comparator Control and Status Register ACSR. This will

reduce power consumption in Idle mode. If the ADC is enabled, a conversion starts automatically

when this mode is entered.

ADC Noise Reduction Mode

When the SM2..0 bits are written to 001, the SLEEP instruction makes the MCU enter ADC

Noise Reduction mode, stopping the CPU but allowing the ADC, the External Interrupts, the

Two-wire Serial Interface address watch, Timer/Counter2 and the Watchdog to continue operating

(if enabled). This sleep mode basically halts clkI/O, clkCPU, and clkFLASH, while allowing the

other clocks to run.

This improves the noise environment for the ADC, enabling higher resolution measurements. If the

ADC is enabled, a conversion starts automatically when this mode is entered. Apart form the

ADC Conversion Complete interrupt, only an External Reset, a Watchdog Reset, a Brown-out

Reset, a Two-wire Serial Interface Address Match Interrupt, a Timer/Counter2 interrupt, an

SPM/EEPROM ready interrupt, an External level interrupt on INT0 or INT1, or an external interrupt

on INT2 can wake up the MCU from ADC Noise Reduction mode.


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Power-down Mode

When the SM2..0 bits are written to 010, the SLEEP instruction makes the MCU enter Powerdown

mode. In this mode, the External Oscillator is stopped, while the External interrupts, the

Two-wire Serial Interface address watch, and the Watchdog continue operating (if enabled).

Only an External Reset, a Watchdog Reset, a Brown-out Reset, a Two-wire Serial Interface

address match interrupt, an External level interrupt on INT0 or INT1, or an External interrupt on

INT2 can wake up the MCU. This sleep mode basically halts all generated clocks, allowing operation

of asynchronous modules only.

Note that if a level triggered interrupt is used for wake-up from Power-down mode, the changed

level must be held for some time to wake up the MCU. Refer to External Interrupts on page 68

for details.

When waking up from Power-down mode, there is a delay from the wake-up condition occurs

until the wake-up becomes effective. This allows the clock to restart and become stable after

having been stopped. The wake-up period is defined by the same CKSEL Fuses that define the

reset time-out period, as described in Clock Sources on page 25.

Power-save Mode

When the SM2..0 bits are written to 011, the SLEEP instruction makes the MCU enter Power save

mode. This mode is identical to Power-down, with one exception:

If Timer/Counter2 is clocked asynchronously, that is, the AS2 bit in ASSR is set, Timer/Counter2

will run during sleep. The device can wake up from either Timer Overflow or Output Compare event from

Timer/Counter2 if the corresponding Timer/Counter2 interrupt enable bits are set in TIMSK, and the Global

Interrupt Enable bit in SREG is set.

If the Asynchronous Timer is NOT clocked asynchronously, Power-down mode is recommended

instead of Power-save mode because the contents of the registers in the Asynchronous Timer should be

considered undefined after wake-up in Power-save mode if AS2 is 0.

This sleep mode basically halts all clocks except clkASY, allowing operation only of asynchronous

modules, including Timer/Counter2 if clocked asynchronously.


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Analog Comparator

When entering Idle mode, the Analog Comparator should be disabled if not used. When entering

ADC Noise Reduction mode, the Analog Comparator should be disabled. In the other sleep

modes, the Analog Comparator is automatically disabled. However, if the Analog Comparator is

set up to use the Internal Voltage Reference as input, the Analog Comparator should be disabled

in all sleep modes. Otherwise, the Internal Voltage Reference will be enabled,

independent of sleep mode. Refer to Analog Comparator on page 201 for details on how to

configure the Analog Comparator

I/O Ports

Introduction

All AVR ports have true Read-Modify-Write functionality when used as general digital I/O ports.

This means that the direction of one port pin can be changed without unintentionally changing

the direction of any other pin with the SBI and CBI instructions. The same applies when changing

drive value (if configured as output) or enabling/disabling of pull-up resistors (if configured as

input). Each output buffer has symmetrical drive characteristics with both high sink and source

capability. The pin driver is strong enough to drive LED displays directly. All port pins have individually

selectable pull-up resistors with a supply-voltage invariant resistance. All I/O pins have

protection diodes to both VCC and Ground as indicated in Figure 22. Refer to Electrical Characteristics

All registers and bit references in this section are written in general form. A lower case x

represents the numbering letter for the port, and a lower case n represents the bit number. However,

when using the register or bit defines in a program, the precise form must be used, that is,

PORTB3 for bit no. 3 in Port B, here documented generally as PORTxn. The physical I/O Registers

and bit locations are listed in Register Description for I/O Ports on page 66.

Three I/O memory address locations are allocated for each port, one each for the Data Register

PORTx, Data Direction Register DDRx, and the Port Input Pins PINx. The Port Input Pins

I/O location is read only, while the Data Register and the Data Direction Register are read/write.

In addition, the Pull-up Disable PUD bit in SFIOR disables the pull-up function for all pins in all

ports when set.


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Using the I/O port as General Digital I/O is described in Ports as General Digital I/O on page

50. Most port pins are multiplexed with alternate functions for the peripheral features on the

device. How each alternate function interferes with the port pin is described in Alternate Port

Functions on page 55. Refer to the individual module sections for a full description of the alternate

functions.


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Alternative Function of port 3

Port

Pin

Alternate Functions

PB7 SCK (SPI Bus Serial Clock)

PB6 MISO (SPI Bus Master Input/Slave Output)

PB5 MOSI (SPI Bus Master Output/Slave Input)

PB4 SS (SPI Slave Select Input)

PB3 AIN1 (Analog Comparator Negative Input)

OC0 (Timer/Counter0 Output Compare Match Output)

PB2 (External Interrupt 2 Input)

PB1 T1 (Timer/Counter1 External Counter Input)

PB0 T0 (Timer/Counter0 External Counter Input)

XCK (USART External Clock Input/Output)

USART

The Universal Synchronous and Asynchronous serial Receiver and Transmitter (USART) is a

highly flexible serial communication device. The main features are:

Full Duplex Operation (Independent Serial Receive and Transmit Registers)

Asynchronous or Synchronous Operation

Master or Slave Clocked Synchronous Operation

High Resolution Baud Rate Generator

Supports Serial Frames with 5, 6, 7, 8, or 9 Data Bits and 1 or 2 Stop Bits

Odd or Even Parity Generation and Parity Check Supported by Hardware

Data OverRun Detection

Framing Error Detection

Noise Filtering Includes False Start Bit Detection and Digital Low Pass Filter

Three Separate Interrupts on TX Complete, TX Data Register Empty, and RX Complete

Multi-processor Communication Mode

Double Speed Asynchronous Communication Mode


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Electrical Characteristics

Absolute Maximum Ratings

Operating Temperature.................................. -55C to +125C

Storage Temperature ..................................... -65C to +150C

Voltage on any Pin except RESET

with respect to Ground ................................-0.5V to VCC+0.5V

Voltage on RESET with respect to Ground......-0.5V to +13.0V

Maximum Operating Voltage ............................................ 6.0V

DC Current per I/O Pin ............................................... 40.0 mADC Current VCC and GND Pins................ 200.0 mA PDIP and

400.0 mA TQFP/MLF

Analog to Digital Converter

Features

10-bit Resolution

0.5 LSB Integral Non-linearity

2 LSB Absolute Accuracy

13 s- 260 s Conversion Time

Up to 15 kSPS at Maximum Resolution

8 Multiplexed Single Ended Input Channels

7 Differential Input Channels

2 Differential Input Channels with Optional Gain of 10x and 200x

Optional Left adjustment for ADC Result Readout


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0 - VCC ADC Input Voltage Range

Selectable 2.56V ADC Reference Voltage

Free Running or Single Conversion Mode

ADC Start Conversion by Auto Triggering on Interrupt Sources

Interrupt on ADC Conversion Complete

Sleep Mode Noise Canceler

The ATmega16 features a 10-bit successive approximation ADC. The ADC is connected to an

8-channel Analog Multiplexer which allows 8 single-ended voltage inputs constructed from the pins of

Port A. The single-ended voltage inputs refer to 0V (GND).

The device also suports 16 differential voltage input combinations. Two of the differential inputs

(ADC1, ADC0 and ADC3, ADC2) are equipped with a programmable gain stage, providing

amplification steps of 0 dB (1x), 20 dB (10x), or 46 dB (200x) on the differential input voltage before

the A/D conversion. Seven differential analog input channels share a common negative terminal

(ADC1), while any other ADC input can be selected as the positive input terminal. If 1x or 10x gain is

used, 8-bit resolution can be expected. If 200x gain is used, 7-bit resolution can be expected.

The ADC contains a Sample and Hold circuit which ensures that the input voltage to the ADC

is held at a constant level during conversion. A block diagram of the ADC. The ADC has a separate

analog supply voltage pin, AVCC. AVCC must not differ more than

0.3V from VCC. See the paragraph ADC Noise Canceler on page 211 on how to connect this pin.

Internal reference voltages of nominally 2.56V or AVCC are provided On-chip. The voltage

reference may be externally decoupled at the AREF pin by a capacitor for better noise performance.

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