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Monitoring robot using GPRS and Bluetooth

Department of ECE 1 H.K.B.K.C.E

CHAPTER 1

INTRODUCTION

The robot manipulator has been an essential tool for the development of the automated

industry. In the near future these robots will be accompanied by intelligent mobile robots that

will assist us in many different areas, including transportation, cleaning, mining photography or

agriculture. Such intelligent robots incorporate increased flexibility and need the ability to plan

their actions and to execute them in a safe way. In order to operate in a changing and partially

unpredictable environment, these robots also need the ability to detect when the execution does

not proceed as planned, and to correctly identify the causes of the failure. An execution

monitoring system is a system that allows the robot to detect and classify these failures.

1.1Proposed System:

Server-Side:

The server PC is designed to monitor the place by viewing the video being streamed from

the mobile. The server has the privilege to move the robot remotely i.e. left, right, front and back

to have the person in focus. The PIR could also be controlled by turning it on/off.

Client-Side:

At the client end, the Android C++ is responsible for the communication between the

robot and the mobile through Bluetooth. There is an option for controlling the PIR sensor i.e. to

turn on/off. The PIR sensor senses for any motion in the affected area and when the motion is

detected, the PC is intimated by the mobile through socket communication as well as starts

capturing the images.

The mobile streams the video to the server such that the robot can be moved in all the

directions i.e. front, back, left and right to monitor the place as well as to focus to view the status

of the alive person.



1.2 Project requirements:

1.2.1 Hardware Requirements

Smart phone with Android OS and Bluetooth enabled

ULN 2003A

Bluetooth

DC Motor

PIC Micro controller

Relays

PIR Sensor

1.2.2 Software Requirements

JDK 1.6 or above

Android Operating System(GPRS enabled)

Android emulator

Android Bluetooth

Wireless Tool Kit 2.5.2

Embedded C

MPLAB

1.2.3 PC Requirements

PIII Processor

40GB HDD

256MB RAM



1.3 Block Diagram:

Socket Communication(GPRS)

1.3.1 Detailed Block diagram

Figure 1.1 block diagram of proposed project

BT Enabled android

OS cell

PC

BT

Communication

PIRSensor

Blue tooth

Module

PIC

Controller

Cell

Phone modem

Driver unit

for Motor Robot

Wheels

PIR

Sensor

PC



CHAPTER 2

OVERVIEW ON ROBOTICS

2.1 Introduction

The Robot Institute of America defines a robot as a programmable, multifunctional

manipulator designed to move material, parts, tools, or specialized devices, through variable

programmed motions, for the performance of a variety of tasks.It can also be defined as an

electro-mechanical contraption that is designed for performing a certain task or a certain set of

tasks repeatedly without fail. The chief feature of robots that distinguishes them from purely

mechanical or purely electronic devices is in the property of self-locomotion, limited

intelligence, and in the element of automation built into them.

Robotics means the study and application of robot technology.The Merriam Webster

Dictionary, 1998, defines Robotics as ―technology dealing with the design, construction, and

operation of robots‖. It is a fast emerging technology which is a merging point of many diverse

fields of Science such as Electronics, Electrical, Computers, Mechanicals,and Material Science

etc and has been hugely responsible for domestic and industrial automation revolution. Because

of rapid change in the industries requirements of performance and speed, with the progression

towards the 21st century, the current state automation is being fast replaced by Robotization.



2.2 Types of Robots

There are different types of robot that are widely used nowadays for variety of

applications. Some of them are:

1. Mobile Robots

A mobile robot is a machine which can move as a whole in a controlled way with

some degree of autonomy. A mobile robot‘s possible motions can be analyzed in terms of

degree of freedom: it may fly or float in three-dimensional medium or it may be confined

to a follow a surface or it may be confined to a track or pipe. Most mobile robots so far,

like land vehicles in general, have used wheels since this is the simplest method of

locomotion.

2. Pick and place manipulator

Pick and place manipulator or limited sequence manipulators, use mechanical

stops to set two stopping positions on each axis. The joint must travel backwards and

forwards between these two end stops, whose positions can be adjusted when the

machine is set up. They are fast and relatively cheap. They are limited to transfer of parts

from one place to another.

3. Point to point robots

Point to point robots have servo positions control of each axis and can go through

a sequence of specified points. The path between these points is unspecified. There can

be any number of stopping positions in each axis. The program for such a robot consists

of a series of points; for each point all the joint angles must be specified. It is really just a

pick and place machine with arbitrarily large number of programmable positions.

4. Continuous path robots

Continuous path robots do not go through a finite list of target points but can,

ideally, execute a smooth path of any shape, with continuous variation of speed as the

arm moves along the path. This requires not only servo control of the velocity of each

joint but that several joints move at once in a coordinated way, whereas for a point to

point robot it is possible ,although not compulsory, to move one joint at a time.



2.3 Overview of Mobile Robots

As a result a brief overview on the concepts of mobile robot is mentioned here which

includes arrangement of wheels, navigation for land vehicles, route planning and control and

coordination.

Figure 2.1 Mobile Robot

ARRANGEMENTS OF WHEELS AND TRACKS

There are three fundamental ways of steering a wheeled or tracked vehicle by ground

reaction and they need two wheels.

- In the least restricted way all the wheels or tracks can be turned together or differentially,

resulting in translational or rotational motion or a combination. Such a vehicle can rotate about

its own center. Three wheels are often are used.

- The second way, used by caterpillar tractors and some AGV‘s, is differential steering of a

pair of fixed wheels or tracks. Again it allows rotation on the spot but the vehicle cannot move

sideways.

- The third way it to pivot on wheel or group of wheels while others remain fixed. This

method is used by cars and bicycles. This arrangement is rarely found in robots as turned around

in a confined space or passing through a narrow gap tends to need complex back-and-forth

manoeurving.



NAVIGATION FOR LAND VEHICLES

Navigation is used here to mean determining the position of a mobile robot. It is

sometimes defined to include route planning and following. There are many possible methods,

some of which are listed below:

- Tele-operation

If the operator can see the vehicle directly or see its surroundings through an on-board

television camera, the robot need have no autonomous ability.

- Dead reckoning

Odometry (travelled- distance measurement) by counting the wheel revolution together

with direction finding using a magnetometer or gyrocompass, or differential wheel rotation, is

often used for wheeled indoor robots. Dead reckoning is of little use on rough ground except as a

coarse or emergency method.

- Tracking from a fixed base

Triangulation using radar, optical or acoustic methods can be used to locate the vehicle

relative to fixed stations and the information can be transmitted to the vehicle. A related

technique is for the radar or other sensor to be on the vehicle and to detect beacons which may be

lights, reflectors or transponders.

- Satellite navigation

The equipment for a satellite navigation system, which uses radio transponders to

measure the distance to satellites of accurately known position, is small enough to fit to some

larger mobile robots.



ROUTE PLANNING

Assuming that the problem of navigation can be solved, a mobile robot, except when

teleported, must work out a route to its current destination. Route planning can be regarded as a

branch of Artificial Intelligence.

CONTROL AND COMMUNICATION

Mobile robots generally have a hierarchical control structure in which on- board

software handles the lowest levels such as interrogating sensors and driving motors, and often

the intermediate levels such as following a path or even planning a route.

The highest level of control is often remote control by human operator. In this case the

on-board software must be able to receive commands by radio or some other link and to carry

them out, maintaining a safe course of action even when communication is interrupted.

Communication is usually by radio, infrared or cable. Each has its problem. A cable can

become entangled, limits range and imposes drag, but is cheap and simple and is sometimes

useful as a way of pulling the robot out of a dangerous place if its own mobility fails.

If radio is used it may need bandwidth for television signals, and so it has to be ultrahigh

frequency or microwave and there may be legal restrictions on its use and problems of

obstruction and interference.

An antenna pointing mechanism may be necessary. Infrared is strictly a line-of-sight

method and so is even more prone to obstruction than radio, but is immune to most forms of

interference. A combination of methods is needed for the highest reliability.



2.4 Applications of Mobile Robots

The correlation between the applications and the physical forms of mobile robots is not

perfect, but for most applications only one or two physical types are common. This section lists

the main application of robot surface vehicles and in each case describes the types of robot used.

Education and Research – Mobile robots such as turtle types connected as peripherals

to microcomputers are used to enliven the teaching of programming, of computer

principles, and of elementary geometry and other aspects of mathematics.

Remote Handling – Mobile robots for remote handling of radioactive, explosive and

other dangerous materials are generally teleoperated. They have been built with

internal combustion engines for long-endurance outdoor use, but most are electric,

powered by batteries.

Military Mobile Robots – These robots are currently being designed around multi-

wheeled (six being common) chassis, or with tracks. These robots will have to able to

recognize targets, threats and friendly units.

Fire- fighting and Rescue – Robots are potentially attractive for inspecting dangerous

areas in fire and for providing a fire-proof vehicle which can be sent through a fire to

rescue people.

Construction – Legged robots for surveying the sea- bed in preparation for bridge

construction has been proposed.

The use of mobile robot in the mining activity and planetary exploration has been

proposed such as mine clearance, as decoys etc.



2.5 Advantages of Mobile robots

Speed – These robots can process information much more quickly than humans. This means they

are good for controlling machinery that might need to be adjusted instantly.

Repetition – Mobile robots are automated systems that can do the same task over and over again

without getting bored, needing breaks or making mistakes.

Accuracy – These robots can do very detailed work and follow precise instructions without

error.

Safety – Mobile robots can work in places where it would be unsafe to put a human, for

example, in a nuclear power plant, under water or in space.

Efficiency - They get more done than humans but cost less to operate. This is because they do

not need breaks, wages, holidays, canteens, heating and lighting. The quality of the work done is

always of the same standard being materials are not wasted due to human error.

Adaptability - Automated systems can be reprogrammed to do different tasks. For example, the

Survobot is performing subdivision of plots with a constraint of 3 inches, as a result of which it

can be at present used for small area calculations. It can be reprogrammed for bigger area

calculation as well.

So we understood how advantageous mobile robots are present day scenario.



CHAPTER 3

LITERATURE SURVEY

The definition we have chosen for a ―robot‖ requires the device to obtain data about its

environment, make a decision, and then take action accordingly. This does not exclude the

option of a robot being semi-autonomous (having aspects which are controlled by a human and

others which it does on its own). A good example of this is a sophisticated underwater robot; a

human controls the basic movements of the robot while an on-board processor measures and

reacts to underwater currents in order to keep the robot in the same position without drifting. A

camera onboard the robot sends video back to the human while onboard sensors may track the

water temperature, pressure and more. If the robot loses communication with the surface, an

autonomous program may kick-in causing it to surface. If you want to be able to send and/or

receive commands from your robot, you will need to determine its level of autonomy and if you

want it to be tethered, wireless or fully autonomous.

3.1 Tethered

3.1.1Direct Wired Control

The easiest way to control a vehicle is with a handheld controller physically connected to the

vehicle using a cable (i.e. a tether). Toggle switches, knobs, levers, joysticks and buttons on this

controller allow the user to control the vehicle without the need to incorporate complex

electronics. In this situation, the motors and a power source can be connected directly with a

switch in order to control its forward/backwards rotation. Such vehicles usually have no

intelligence and are considered to be more ―remote controlled machines‖ than ―robots‖.

Figure 3.1 direct wired control



Advantages

The robot is not limited to an operating time since it can be connected directly to the

mains

There is no worry about loss of signal

Minimal electronics and minimal complexity

The robot itself can be light weight or have added payload capacity

The robot can be physically retrieved if something goes wrong (very important for

underwater robots)

Disadvantages

The tether can get caught or snagged (and potentially cut)

Distance is limited by the length of the tether

Dragging a long tether adds friction and can slow or even stop the robot from moving.

3.1.2 Wired computer control

The next step is to incorporate a microcontroller into the vehicle but continue to use a tether.

Connecting the microcontroller to one of your computer‘s I/O ports (e.g. a USB port) allows you

to control its actions using a keyboard (or keypad), joystick or other peripheral device. Adding a

microcontroller to a project also may require you to program how the robot reacts to the input.

Instead of using a laptop or desktop computer, netbooks are often a desirable choice because of

their low price, small size and low weight.

Figure 3.2 wired computer control



Advantages

Same advantages as with direct wired control

More complex behaviors can be programmed or mapped to single buttons or commands.

Larger controller choice (mouse, keyboard, joystick, etc.)

Added onboard intelligence means it can interface with sensors and make certain

decisions on its own

Disadvantages

Cost is higher than a purely tethered robot because of the added electronics

Same disadvantages as with direct wired control.

3.1.3 Ethernet

A variation on computer control would be to use an Ethernet interface. A robot that is physically

connected to a router (so it could be controlled via the Internet) is also possible (though not very

practical) for mobile robots. Setting-up a robot that can communicate using the internet can be

fairly complex, and more often than not, a WiFi (wireless internet) connection is preferable. A

wired and wireless combination is also an option, where there is a transceiver (transmit and

receive) connected physically to the internet and data received via the internet is then sent

wirelessly to the robot.

Figure 3.3 Ethernet



Advantages

Robot can be controlled through the Internet from anywhere in the world

The robot is not limited to an operating time since it could use Power over Ethernet

(PoE).

Using Internet Protocol (IP) can simplify and improve the communication scheme.

Same advantages as with direct wired computer control

Disadvantages

Programming involved is more complex

The tether can get caught or snagged (and potentially cut)

Distance is limited by the length of the tether

Dragging a long tether adds friction and can slow or even stop the robot from moving.

3.2 Wireless

3.2.1 Infrared

Infrared transmitters and receivers cut the cables connecting the robot to the operator. This is

usually a milestone for beginners. Infrared control requires ―line of sight‖ in order to function;

the receiver must be able to ―see‖ the transmitter at all times in order to receive data. Infrared

remote controls (such as universal remote controls for televisions) are used to send commands to

an infrared receiver connected to a microcontroller which then interprets these signals and

controls the robot‘s actions.

Figure 3.4 Infrared



Advantages

Low cost

Simple TV remote controls can be used as controllers

Disadvantages

Needs to be line of sight

Distance is limited.

3.2.2 Radio Frequency (RF)

Commercially available Remote Control (R/C) units use small microcontrollers in the transmitter

and receiver to send, receive and interpret data sent via radio frequency (RF). RF communication

requires either a transmitter matched/paired with a receiver, or a transceiver (which can both

send and receive data). RF does not require line of sight and can also offer significant range

(transmission distance). Standard radio frequency devices can allow for data transfer between

devices as far away as several kilometers and there is seemingly no limit to the range for more

professional RF units.

XBee and Zigbee modules use RF for communication, but allow the user to vary many of the

communication parameters involved. These modules have a specific footprint (layout) and are

only produced by certain companies. Their main advantage is that they provide a very robust

easy to set up link and take care of all of the communication protocol details.

Many robot builders choose to make semi-autonomous robots with RF capability since it allows

the robot to be as autonomous as possible, provide feedback to a user and still give the user some

control over some of its functions should the need arise.

Figure 3.5 Radio Frequency(RF)



Advantages

Considerable distances possible

Setup can be straightforward

Omni directional (impeded but not entirely blocked by walls and obstructions)

Disadvantages

Very low data rate (simple commands only)

Pay attention to the transmission frequencies – they can be shared.

3.2.3 Bluetooth

Bluetooth is a form of RF and follows specific protocols for sending and receiving data. Normal

Bluetooth range is often limited to about 10m though it does have the advantage of allowing

users to control their robot via Bluetooth-enabled devices such as cell-phones, PDAs and laptops

(though custom programming may be required to create an interface). Just like RF, Bluetooth

offers two-way communication.

Figure 3.6 Bluetooth

Advantages

Controllable from any Bluetooth enabled device (usually additional programming is

necessary) such as a Smartphone, laptop, desktop etc.

Higher data rates possible

Omnidirectional (does not need line of sight and can travel a little through walls)



Disadvantages

Devices need to be ―paired‖

Distance is usually about 10m (without obstructions).

3.2.4 WiFi

WiFi is now an option for robots; being able to control a robot wirelessly via the internet

presents some significant advantages (and some drawbacks) to wireless control. In order to set

up a WiFi robot, you need a wireless router connected to the internet and a WiFi unit on the

robot itself. For the robot, you can also use a device that is TCP/IP enabled with a wireless

router.

Figure 3.7 WiFi

Advantages

Controllable from anywhere in the world so long as it is within range of a wireless router

High data rates possible

Disadvantages

Added programming required

Maximum range is usually determined by the choice of wireless router



3.2.5 GPRS / Cellular

Another wireless technology that was originally developed for human to human communication,

the cell phone, is now being used to control robots. Since cellular frequencies are regulated,

incorporating a cellular module on a robot usually requires added patience for programming as

well as an understanding of the cellular network system and the regulations.

Figure 3.8 GPRS enabled mobile phone

Advantages

Robot can be controlled anywhere it has a cellular signal

Direct satellite connection is possible

Disadvantages

Setup and configuration can be complex – NOT for beginners

Each network has its own requirements / restrictions

Cellular service is not free; usually the more data you transmit/receive the more money

you will need to pay.

System is not (yet) well setup for robotics use.



CHAPTER 4

PIC16F87X

PIC is a family ofmodified Harvard architecturemicrocontrollers made by Microchip

Technology, derived from the PIC1650 originally developed byGeneral Instrument's

Microelectronics Division. The name PIC initially referred to "Peripheral Interface

Controller".

PICs are popular with both industrial developers and hobbyists alike due to their low cost, wide

availability, large user base, extensive collection of application notes, availability of low cost or

free development tools, and serial programming (and re-programming with flash memory)

capability. They are also commonly used in educational programming as they often come with

the easy to use 'pic logicator' software.

4.1 Core architecture

The PIC architecture is characterized by its multiple attributes:

Separate code and data spaces (Harvard architecture).

A small number of fixed length instructions

Most instructions are single cycle execution (2 clock cycles, or 4 clock cycles in 8-bit

models), with one delay cycle on branches and skips

One accumulator (W0), the use of which (as source operand) is implied (i.e. is not

encoded in the opcode)

All RAM locations function as registers as both source and/or destination of math and

other functions.

A hardware stack for storing return addresses

A small amount of addressable data space (32, 128, or 256 bytes, depending on the

family), extended through banking

Data space mapped CPU, port, and peripheral registers



ALU status flags are mapped into the data space

The program counter is also mapped into the data space and writable (this is used to

implement indirect jumps).

There is no distinction between memory space and register space because the RAM serves the

job of both memory and registers, and the RAM is usually just referred to as the register file or

simply as the registers.

Data space (RAM)

PICs have a set of registers that function as general purpose RAM. Special purpose control

registers for on-chip hardware resources are also mapped into the data space. The addressability

of memory varies depending on device series, and all PIC devices have some banking

mechanism to extend addressing to additional memory. Later series of devices feature move

instructions which can cover the whole addressable space, independent of the selected bank. In

earlier devices, any register move had to be achieved via the accumulator.

To implement indirect addressing, a "file select register" (FSR) and "indirect register" (INDF)

are used. A register number is written to the FSR, after which reads from or writes to INDF will

actually be to or from the register pointed to by FSR. Later devices extended this concept with

post- and pre- increment/decrement for greater efficiency in accessing sequentially stored data.

This also allows FSR to be treated almost like a stack pointer (SP).

External data memory is not directly addressable except in some high pin count PIC18 devices.

Code space

The code space is generally implemented as ROM, EPROM or flash ROM. In general, external

code memory is not directly addressable due to the lack of an external memory interface. The

exceptions are PIC17 and select high pin count PIC18 devices.

Word size

All PICs handle (and address) data in 8-bit chunks. However, the unit of addressability of the

code space is not generally the same as the data space. For example, PICs in the baseline (PIC12)

and mid-range (PIC16) families have program memory addressable in the same word size as the



instruction width, i.e. 12 or 14 bits respectively. In contrast, in the PIC18 series, the program

memory is addressed in 8-bit increments (bytes), which differ from the instruction width of 16

bits.

Stacks

PICs have a hardware call stack, which is used to save return addresses. The hardware stack is

not software accessible on earlier devices, but this changed with the 18 series devices.

Hardware support for a general purpose parameter stack was lacking in early series, but this

greatly improved in the 18 series, making the 18 series architecture more friendly to high level

language compilers.

Figure 4.1 Pin Diagram PIC16F877



4.2 Peripheral Features:

• Timer0: 8-bit timer/counter with 8-bit prescaler

• Timer1: 16-bit timer/counter with prescaler, can be incremented during SLEEP via external

Crystal/clock

• Timer2: 8-bit timer/counter with 8-bit period register, prescaler and postscaler

• Two Capture, Compare, PWM modules

- Capture is 16-bit, max. Resolution is 12.5 ns

- Compare is 16-bit, max. Resolution is 200 ns

- PWM max. Resolution is 10-bit

• 10-bit multi-channel Analog-to-Digital converter

• Synchronous Serial Port (SSP) with SPI (Master mode) and I2C (Master/Slave)

• Universal Synchronous Asynchronous Receiver Transmitter (USART/SCI) with 9-bit address

Detection

• Parallel Slave Port (PSP) 8-bits wide, with external RD, WR and CS controls (40/44-pin only)

• Brown-out detection circuitry for Brown-out Reset (BOR).

4.3Instruction set

A PIC's instructions vary from about 35 instructions for the low-end PICs to over 80 instructions

for the high-end PICs. The instruction set includes instructions to perform a variety of operations

on registers directly, the accumulator and a literal constant or the accumulator and a register, as

well as for conditional execution, and program branching.

Some operations, such as bit setting and testing, can be performed on any numbered register, but

bi-operand arithmetic operations always involve W (the accumulator), writing the result back to

either W or the other operand register. To load a constant, it is necessary to load it into W before

it can be moved into another register. On the older cores, all register moves needed to pass

through W, but this changed on the "high end" cores.



PIC cores have skip instructions which are used for conditional execution and branching. The

skip instructions are 'skip if bit set' and 'skip if bit not set'. Because cores before PIC18 had only

unconditional branch instructions, conditional jumps are implemented by a conditional skip (with

the opposite condition) followed by an unconditional branch. Skips are also of utility for

conditional execution of any immediate single following instruction. It is possible to skip skip

instructions. For example, the instruction sequence "skip if A; skip if B; C" will execute C if A is

true or if B is false.

The 18 series implemented shadow registers which save several important registers during an

interrupt, providing hardware support for automatically saving processor state when servicing

interrupts.

In general, PIC instructions fall into 5 classes:

1. Operation on working register (WREG) with 8-bit immediate ("literal") operand.

E.g. movlw (move literal to WREG), andlw (AND literal with WREG). One instruction

peculiar to the PIC isretlw, load immediate into WREG and return, which is used with

computed branches to produce lookup tables.

2. Operation with WREG and indexed register. The result can be written to either the

Working register Bit operations. These take a register number and a bit number, and

perform one of 4 actions: set or clear a bit, and test and skip on set/clear. The latter are

used to perform conditional branches. The usual ALU status flags are available in a

numbered register so operations such as "branch on carry clear" are possible.

3. Control transfers. Other than the skip instructions previously mentioned, there are only

two: goto and call.

4. A few miscellaneous zero-operand instructions, such as return from subroutine,

and sleep to enter low-power mode.



4.4Performance

The architectural decisions are directed at the maximization of speed-to-cost ratio. The PIC

architecture was among the first scalar CPU designs,and is still among the simplest and cheapest.

The Harvard architecture—in which instructions and data come from separate sources—

simplifies timing and microcircuit design greatly, and this benefits clock speed, price, and power

consumption.

The PIC instruction set is suited to implementation of fast lookup tables in the program space.

Such lookups take one instruction and two instruction cycles. Many functions can be modeled in

this way. Optimization is facilitated by the relatively large program space of the PIC (e.g. 4096 ×

14-bit words on the 16F690) and by the design of the instruction set, which allows for embedded

constants. For example, a branch instruction's target may be indexed by W, and execute a

"RETLW" which does as it is named - return with literal in W.

Interrupt latency is constant at three instruction cycles. External interrupts have to be

synchronized with the four clock instruction cycle, otherwise there can be a one instruction cycle

jitter. Internal interrupts are already synchronized. The constant interrupt latency allows PICs to

achieve interrupt driven low jitter timing sequences. An example of this is a video sync pulse

generator. This is no longer true in the newest PIC models, because they have a synchronous

interrupt latency of three or four cycles.



4.5Advantages

The PIC architectures have these advantages:

Small instruction set to learn

RISC architecture

Built in oscillator with selectable speeds

Easy entry level, in circuit programming plus in circuit debugging PICKit units available

for less than $50

Inexpensive microcontrollers

Wide range of interfaces including I²C, SPI, USB, USART, A/D, programmable

comparators, PWM, LIN, CAN, PSP, and Ethernet.

Availability of processors in DIL package makes them easy to handle for hobby use.

4.6Limitations

The PIC architectures have these limitations:

One accumulator

Register-bank switching is required to access the entire RAM of many devices

Operations and registers are not orthogonal; some instructions can address RAM

and/or immediate constants, while others can only use the accumulator



CHAPTER 5

HARDWARE COMPONENTS

5.1 ULN2003

ULN2003 is a high voltage, high current Darlingtonarrays each containing seven open

collector Darlingtonpairswithcommon emitters.Each channelisrated at 500mA and can withstand

peak currents of600mA.These versatile devicesare useful for driving a widerange of loads

including solenoids, relays DC motors, LED displays filament lamps, thermal printheadsand high

power buffers.

Figure 5.1: ULN2003

Figure 5.2 Pin diagram ULN2003



5.2 Relay

A relay is an electrically controllable switch widely used in industrial controls, automobiles and

appliances. It allows the isolation of two separate sections of a system with two different voltage

sources. For instance, a 5V system can be isolated from a 120V system by placing a relay

between them. One such relay is called an eletromechanical relay (EMR). The EMR have 3

components: the coil, spring and contacts.

When current flows through the coil, a magnetic field is created around the coil (the coil is

energized), which causes the armature to be attracted to the coil. The armatures contact acts like

a switch and closes or opens the circuit. When the coil is not energized, a spring pulls the

armature to its normal state of open or closed.

There are different types of relays:

Single Pole Single Throw (SPST): These have two terminals which can be connected or

disconnected. Including two for the coil, such a relay has four terminals in total. It is

ambiguous whether the pole is normally open or normally closed. The terminology

"SPNO" and "SPNC" is sometimes used to resolve the ambiguity.

Single Pole Double Throw (SPDT): A common terminal connects to either of two

others. Including two for the coil, such a relay has five terminals in total.

Double Pole Double Throw (DPDT): These have two pairs of terminals are equivalent

to two SPST switches or relays actuated by a single coil. Including two for the coil, such

a relay has six terminals in total. The poles may be Form A or Form B (or one of each).

Double Pole Single Throw (DPDT): These have two rows of change-over terminals.

Equivalent to two SPDT switches or relays actuated by a single coil. Such a relay has

eight terminals, including the coil.

Figure 5.3 Circuit symbols of relay

http://en.wikipedia.org/wiki/File:Relay_symbols.svg



In choosing a relay the following characteristics used to be considered:

The contacts can be normally open (NO) or normally closed (NC). In the NC type, the

contacts are closed when the coil is not energized. In the NO, the contacts are open when

the coil is not energized.

There can be one or more contacts: SPST, SPDT, DPST and DPDT.

Voltage and current are needed to energize the coil. The voltage can vary from a few

volts to 50V, while the current can be a few mA to 20mA. The relay has a minimum

voltage is called the pull in voltage.

The maximum DC/AC voltage and current that can be handled by the contacts. This is in

the range of a few volts to hundreds of volts depending on the relay.

5.2.1 To drive a relay

Digital systems and microcontroller pins lack sufficient current to drive the relay. While the

relay‘s coil needs around 10mA to be energized, the microcontroller‘s pin can provide a

maximum of 1-2mA current. For this reason, we place a driver such as the ULN2803 between

the µC and the relay.

5.2.2 Operation

When a current flows through the coil, the resulting magnetic field attracts an armature that is

mechanically linked to a moving contact. The movement either makes or breaks a connection

with a fixed contact. When the current to the coil is switched off, the armature is returned by a

force approximately half as strong as the magnetic force to its relaxed position.

Usually this is a spring, but gravity is also used commonly in industrial motor starters.

Most relays are manufactured to operate quickly. In a low voltage application, this is to reduce

noise. In a high voltage or high current application, this is to reduce arcing.



Figure 5.4 Circuit diagram of relay

If the coil is energized with DC, a diode is frequently installed across the coil, to dissipate

the energy from the collapsing magnetic field at deactivation, which would otherwise generate a

spike of voltage and might cause damage to circuit components. Some automotive relays already

include that diode inside the relay case. If the coil is designed to be energized with AC, a small

copper ring can be crimped to the end if the solenoid. This ―shading ring‖ creates a small out-of-

phase current, which increases the minimum pull on the armature during the AC cycle.

By analogy with the functions of the original electromagnetic device, a solid-state relay is

made with a thyristor or other solid-state switching device. To achieve electrical isolation, a

light-emitting diode (LED) is used with a photo transistor.



5.3 DC motor

A DC motor is an electric motor that runs on DC current. The working of a geared DC

motor is similar to that of a DC motor, with a difference that geared DC motor gives a more

controlled RPM and more torque.

In any electric motor, operation is based on simple electromagnetism. A current carrying

conductor generates a magnetic field, when this is then placed in an external magnetic field, it

will experience a force proportional to the current in the conductor, and to the strength of the

external magnetic field. The internal configuration is designed to harness the magnetic

interaction between a current carrying conductor and an external magnetic field to generate a

rotational motion.

Figure 5.5 Schematic diagram of a DC motor

Every DC motor has six parts – axle, rotor, stator, commutator, field magnets, and

brushes. In most common DC motors, the external magnetic field is produced by high strength

permanent magnets. The stator is the stationary part of the motor which is includes the motor

casing as well as two or more permanent magnet pole pieces. The rotor rotates with respect to the

stator. The rotor consists of windings, the windings being electrically connected to the

commutator.

The above diagram shows a common motor layout – with the rotor inside the stator

magnets. The geometry of the brushes, commutator contacts and rotor windings are such that

when power is applied, the polarities of the energized winding and the stator magnets are

misaligned and the rotor will rotate until it is almost aligned with the stator‘s field magnet.



5.4 Bluetooth

Bluetooth is an always-on, short-range radio hookup that resides on a microchip. It was initially

developed by Swedish mobile phone maker Ericsson in 1994 as a way to let laptop computers

make calls over a mobile phone. Since then, several thousand companies have signed on to make

Bluetooth the low-power short-range wireless standard for a wide range of devices. Industry

observers expect Bluetooth to be installed in billions of devices by 2005.

The Bluetooth standards are published by an industry consortium known as the Bluetooth SIG

(special interest group).

The concept behind Bluetooth is to provide a universal short-range wireless capability. Using the

2.4 GHz band, available globally for unlicensed low-power uses, two Bluetooth devices within

10 m of each other can share up to 720 Kbps of capacity. Bluetooth is intended to support an

open-ended list of applications, including data (such as schedules and telephone numbers), audio,

graphics, and even video. For example, audio devices can include headsets, cordless and

standard phones, home stereos, and digital MP3 players. Following are some examples of the

capabilities that Bluetooth can provide consumers:

Make calls from a wireless headset connected remotely to a cell phone;

Eliminate cables linking computers to printers, keyboards, and the mouse;

Hook up MP3 players wirelessly to other machines to download music;

Set up home networks so that a couch potato can remotely monitor air conditioning, the

oven, and children's Internet surfing;

Call home from a remote location to turn appliances on and off, set the alarm, and

monitor activity.



5.4.1 Bluetooth Applications

Bluetooth is designed to operate in an environment of many users. Up to eight devices can

communicate in a small network called a piconet. Ten of these piconets can coexist in the same

coverage range of the Bluetooth radio. To provide security, each link is encoded and protected

against eavesdropping and interference.

Bluetooth provides support for three general application areas using short-range wireless

connectivity:

Data and voice access points - Bluetooth facilitates real-time voice and data

transmissions by providing effortless wireless connection of portable and stationary

communications devices;

Cable replacement - Bluetooth eliminates the need for numerous, often proprietary cable

attachments for connection of practically any kind of communications device.

Connections are instant and are maintained even when devices are not within line of

sight. The range of each radio is approximately 10 m, but can be extended to 100 m with

an optional amplifier;

Ad hoc networking - A device equipped with a Bluetooth radio can establish instant

connection to another Bluetooth radio as soon as it comes into range.

5.4.2 Rn-42 module

Description

The RN42 is a small form factor, low power, highly economic Bluetooth radio for OEM‘s

adding wireless capability to their products. The RN42 supports multiple interface protocols, is

simple to design in and fully certified, making it a complete embedded Bluetooth solution. The

RN 42 is functionally compatible with RN 41. With its high performance on chip antenna and

support for Bluetooth® Enhanced Data Rate (EDR), the RN42 delivers up to 3 Mbps data rate

for distances to 20M. The RN-42 also comes in a package with no antenna (RN-42-N). Useful

when the application requires an external antenna, the RN-42-N is shorter in length and has RF

pads to route the antenna signal.



Features

fully qualified Bluetooth 2.1/2.0/1.2/1.1 module

Bluetooth v2.0+EDR support

Available with on board chip antenna (RN- 42) and without antenna (RN-42-N)

Postage stamp sized form factor, 13.4mm x 25.8 mm x 2mm (RN-42) and 13.4mm x 20 mm x

2 mm (RN-42-N)

Low power (26uA sleep, 3mA connected, 30mA transmit)

UART (SPP or HCI) and USB (HCI only) data connection interfaces.

Sustained SPP data rates - 240Kbps (slave), 300Kbps (master)

HCI data rates - 1.5Mbps sustained, 3.0Mbps burst in HCI mode

Embedded Bluetooth stack profiles included (requires no host stack): GAP, SDP, RFCOMM

and L2CAP protocols, with SPP and DUN profile support.

Bluetooth SIG certified

Castellated SMT pads for easy and reliable PCB mounting

Certifications: FCC, ICS, CE

Environmentally friendly, RoHS compliant

Figure 5.6 RN-42 Bluetooth module



Figure 5.7 RN-42 Bluetooth module pin diagram

5.5 PIR sensors

A passive infrared sensor (PIR sensor) is an electronic sensor that measures infrared (IR) light

radiating from objects in its field of view. They are most often used in PIR-based motion

detectors.

Operation

Strictly speaking, individual PIR sensors do not detect motion; rather, they detect abrupt changes

in temperature at a given point. As an object, such as a human, passes in front of the background,

such as a wall, the temperature at that point will rise from room temperature to body temperature,

and then back again. This quick change triggers the detection. Moving objects of identical

temperature, however, will not trigger a detection because that is the sensors job. It detects



motion regardless of temperature. This is also why you can take a piece of paper from a desk that

is the same, exact, temperature as everything in the room, attach it to a stick (also the same exact

temperature as the room) and wave it slowly in front of a sensor (at any range within the limit of

the sensor) and it will activate the sensor).

PIRs can be equipped with more than one internal sensing element so that, with the appropriate

electronics, it can detect the apparent direction of movement. As an object passes in front of

adjacent sensors in turn, this implies the direction of movement. This may be used by on-board

electronics to reduce false alarms, i.e., by requiring adjacent sensors to trip in succession. It may

also be used to signal the direction of movement to a monitoring apparatus.

PIRs come in many configurations for a wide variety of applications. The most common models

have numerous Fresnel lenses or mirror segments, an effective range of about ten metres (thirty

feet), and a field of view less than 180 degrees. Models with wider fields of view, including 360

degrees, are available—typically designed to mount on a ceiling. Some larger PIRs are made

with single segment mirrors and can sense changes in infrared energy over one hundred feet

away from the PIR. There are also PIRs designed with reversible orientation mirrors which allow

either broad coverage (110° wide) or very narrow "curtain" coverage, or with individually

selectable segments to "shape" the coverage.

5.6 camouflage

Camouflage is the use of any combination of materials, coloration or illumination for

concealment, either by making animals or objects hard to see (crypsis), or by disguising them as

something else (mimesis). Examples include the leopard's spotted coat, the battledress of a

modern soldier, and the leaf-mimic katydid's wings. .

Figure 5.8 camouflage using LED‘s(RGB recognition circuit)



A third approach, motion dazzle, confuses the observer with a conspicuous pattern, making the

object visible but momentarily harder to locate.The majority of camouflage methods aim for

crypsis, often through a general resemblance to the background, high contrast disruptive

coloration, eliminating shadow, and countershading. In the open ocean, where there is no

background, the principal methods of camouflage are transparency, silvering, and

countershading, while the ability to produce light is among other things used for counter-

illumination on the undersides of cephalopods such as squid. Some animals, such

as chameleons andoctopuses, are capable of actively changing their skin pattern and colours;

they often use this ability both for camouflage and for signalling.



CHAPTER 6

SOFTWARE REQUIREMENTS

6.1 Java Development Kit(JDK 1.6)

The Java Development Kit (JDK) is an implementation of either one of the Java SE, Java

EE or Java ME platformsreleased by Oracle Corporation in the form of a binary product aimed

at Java developers on Solaris, Linux, Mac OS X orWindows. Since the introduction

of Java platform, it has been by far the most widely used Software Development Kit (SDK). On

17 November 2006, Sun announced that it would be released under the GNU General Public

License(GPL), thus making it free software. This happened in large part on 8 May 2007, when

Sun contributed the source code to theOpenJDK.

6.1.1 JDK contents

The JDK has as its primary components a collection of programming tools, including:

appletviewer – this tool can be used to run and debug Java applets without a web browser

apt – the annotation-processing tool

extcheck – a utility which can detect JAR-file conflicts

idlj – the IDL-to-Java compiler. This utility generates Java bindings from a given Java

IDL file.

java – the loader for Java applications. This tool is an interpreter and can interpret the class

files generated by the javac compiler. Now a single launcher is used for both development

and deployment. The old deployment launcher, jre, no longer comes with Sun JDK, and

instead it has been replaced by this new java loader.

javac – the Java compiler, which converts source code into Java bytecode

javadoc – the documentation generator, which automatically generates documentation

from source code comments

jar – the archiver, which packages related class libraries into a single JAR file. This tool also

helps manage JAR files.

javah – the C header and stub generator, used to write native methods



javap – the class file disassembler

javaws – the Java Web Start launcher for JNLP applications

JConsole – Java Monitoring and Management Console

jdb – the debugger

jhat – Java Heap Analysis Tool (experimental)

jinfo – This utility gets configuration information from a running Java process or crash

dump. (experimental)

jmap – This utility outputs the memory map for Java and can print shared object memory

maps or heap memory details of a given process or core dump. (experimental)

jps – Java Virtual Machine Process Status Tool lists the instrumented HotSpot Java Virtual

Machines (JVMs) on the target system. (experimental)

jrunscript – Java command-line script shell.

jstack – utility which prints Java stack traces of Java threads (experimental)

jstat – Java Virtual Machine statistics monitoring tool (experimental)

jstatd – jstat daemon (experimental)

keytool – tool for manipulating the keystore

pack200 – JAR compression tool

policytool – the policy creation and management tool, which can determine policy for a Java

runtime, specifying which permissions are available for code from various sources

VisualVM – visual tool integrating several command-line JDK tools and

lightweight performance and memory profiling capabilities

wsimport – generates portable JAX-WS artifacts for invoking a web service.

xjc – Part of the Java API for XML Binding (JAXB) API. It accepts an XML schema and

generates Java classes.

Experimental tools may not be available in future versions of the JDK.

The JDK also comes with a complete Java Runtime Environment, usually called

a private runtime, due to the fact that it is separated from the "regular" JRE and has extra

contents. It consists of aJava Virtual Machine and all of the class libraries present in the

production environment, as well as additional libraries only useful to developers, such as

the internationalization libraries and theIDL libraries



6.1.2About the Java Technology

Java technology is both a programming language and a platform.

The Java Programming Language

The Java programming language is a high-level language that can be characterized by all of the

following buzzwords:

Simple

Object oriented

Distributed

Multithreaded

Dynamic

Architecture neutral

Portable

High performance

Robust

Secure

Each of the preceding buzzwords is explained in The Java Language Environment, a white paper

written by James Gosling and Henry McGilton.

In the Java programming language, all source code is first written in plain text files ending with

the .java extension. Those source files are then compiled into .class files by thejavac compiler.

A .class file does not contain code that is native to your processor; it instead

contains bytecodes — the machine language of the Java Virtual Machine1 (Java VM).

The java launcher tool then runs your application with an instance of the Java Virtual Machine.

Figure 6.1 an overview of the software development process.

Because the Java VM is available on many different operating systems, the same .class files are

capable of running on Microsoft Windows, the Solaris™ Operating System (Solaris OS), Linux,

or Mac OS. Some virtual machines, such as the Java SE HotSpot at a Glance, perform additional

steps at runtime to give your application a performance boost. This include various tasks such as

http://docs.oracle.com/javase/tutorial/getStarted/intro/definition.html#FOOT



finding performance bottlenecks and recompiling (to native code) frequently used sections of

code.

Figure 6.2 Through the Java VM, the same application is

capable of running on multiple platforms.

6.1.3 The Java Platform

A platform is the hardware or software environment in which a program runs. We've already

mentioned some of the most popular platforms like Microsoft Windows, Linux, Solaris OS, and

Mac OS. Most platforms can be described as a combination of the operating system and

underlying hardware. The Java platform differs from most other platforms in that it's a software-

only platform that runs on top of other hardware-based platforms.

The Java platform has two components:

The Java Virtual Machine

The Java Application Programming Interface (API)

You've already been introduced to the Java Virtual Machine; it's the base for the Java platform

and is ported onto various hardware-based platforms.



The API is a large collection of ready-made software components that provide many useful

capabilities. It is grouped into libraries of related classes and interfaces; these libraries are known

as packages.

Figure 6.3 The API and Java Virtual Machine insulate the

program from the underlying hardware.

As a platform-independent environment, the Java platform can be a bit slower than native code.

However, advances in compiler and virtual machine technologies are bringing performance close

to that of native code without threatening portability.

The terms"Java Virtual Machine" and "JVM" mean a Virtual Machine for the Java platform.

The general-purpose, high-level Java programming language is a powerful software platform.

Every full implementation of the Java platform gives you the following features:

Development Tools: The development tools provide everything you'll need for

compiling, running, monitoring, debugging, and documenting your applications. As a

new developer, the main tools you'll be using are the javac compiler,

the java launcher, and the javadoc documentation tool.

Application Programming Interface (API): The API provides the core functionality of

the Java programming language. It offers a wide array of useful classes ready for use in

your own applications. It spans everything from basic objects, to networking and

security, to XML generation and database access, and more.

Deployment Technologies: The JDK software provides standard mechanisms such as the

Java Web Start software and Java Plug-In software for deploying your applications to end

users.



User Interface Toolkits: The Swing and Java 2D toolkits make it possible to create

sophisticated Graphical User Interfaces (GUIs).

Integration Libraries: Integration libraries such as the Java IDL API, JDBC™ API,

Java Naming and Directory Interface™ (JNDI) API, Java RMI, and Java Remote Method

Invocation over Internet Inter-ORB Protocol Technology (Java RMI-IIOP Technology)

enable database access and manipulation of remote objects.

6.2 Android operating system

Android is a Linux-based operating system designed primarily for touchscreen mobile devices

such as smartphones and tablet computers. Initially developed by Android, Inc., which Google

backed financially and later bought in 2005, Android was unveiled in 2007 along with the

founding of the Open Handset Alliance: a consortium of hardware, software, and

telecommunication companies devoted to advancing open standards for mobile devices. The first

Android-powered phone was sold in October 2008.

Android is open source and Google releases the code under the Apache License. This open

source code and permissive licensing allows the software to be freely modified and distributed

by device manufacturers, wireless carriers and enthusiast developers. Additionally, Android has

a large community of developers writing applications ("apps") that extend the functionality of

devices, written primarily in a customized version of the Java programming language. In October

2012, there were approximately 700,000 apps available for Android, and the estimated number

of applications downloaded from Google Play, Android's primary app store, was 25 billion.

These factors have contributed towards making Android the world's most widely used

smartphone platform, overtaking Symbian in the fourth quarter of 2010, and the software of

choice for technology companies who require a low-cost, customizable, lightweight operating

system for high tech devices without developing one from scratch. As a result, despite being



primarily designed for phones and tablets, it has seen additional applications on televisions,

games consoles, digital cameras and other electronics. Android's open nature has further

encouraged a large community of developers and enthusiasts to use the open source code as a

foundation for community-driven projects, which add new features for advanced users or bring

Android to devices which were officially released running other operating systems.

Android had a worldwide smartphone market share of 75% during the third quarter of 2012, with

750 million devices activated in total and 1.5 million activations per day. The operating system's

success has made it a target for patent litigation as part of the so-called "smartphone wars"

between technology companies.

Figure 6.4 the green Android logo, designed by graphic designer Irina Blok.

6.2.1 History

Android, Inc. was founded in Palo Alto, California in October 2003 by Andy Rubin (co-founder

of Danger), Rich Miner (co-founder of Wildfire Communications, Inc.), Nick Sears (once VP at

T-Mobile), and Chris White (headed design and interface development at WebTV) to develop, in

Rubin's words "smarter mobile devices that are more aware of its owner's location and

preferences". The early intentions of the company were to develop an advanced operating system

for digital cameras, when it was realized that the market for the devices was not large enough,

and diverted their efforts to producing a smartphone operating system to rival those of Symbian

and Windows Mobile (Apple's iPhone had not been released at the time). Despite the past

accomplishments of the founders and early employees, Android Inc. operated secretly, revealing

only that it was working on software for mobile phones. That same year, Rubin ran out of



money. Steve Perlman, a close friend of Rubin, brought him $10,000 in cash in an envelope and

refused a stake in the company.

Google acquired Android Inc. on August 17, 2005, making it a wholly owned subsidiary of

Google. Key employees of Android Inc., including Rubin, Miner and White, stayed at the

company after the acquisition. Not much was known about Android Inc. at the time, but many

assumed that Google was planning to enter the mobile phone market with this move. At Google,

the team led by Rubin developed a mobile device platform powered by the Linux kernel. Google

marketed the platform to handset makers and carriers on the promise of providing a flexible,

upgradable system. Google had lined up a series of hardware component and software partners

and signaled to carriers that it was open to various degrees of cooperation on their part.

Speculation about Google's intention to enter the mobile communications market continued to

build through December 2006. Reports from the BBC and the Wall Street Journal noted that

Google wanted its search and applications on mobile phones and it was working hard to deliver

that. Print and online media outlets soon reported rumors that Google was developing a Google-

branded handset. Some speculated that as Google was defining technical specifications, it was

showing prototypes to cell phone manufacturers and network operators. In September 2007,

Information Week covered an evalueserve study reporting that Google had filed several patent

applications in the area of mobile telephony.

On November 5, 2007, the Open Handset Alliance, a consortium of technology companies

including Google, device manufacturers such as HTC and Samsung, wireless carriers such as

Sprint Nextel and T-Mobile, and chipset makers such as Qualcomm and Texas Instruments,

unveiled itself, with a goal to develop open standards for mobile devices.That day, Android was

unveiled as its first product, a mobile device platform built on the Linux kernel version 2.6.The

first commercially available phone to run Android was the HTC Dream, released on October 22,

2008.

Since 2008, Android has seen numerous updates which have incrementally improved the

operating system, adding new features and fixing bugs in previous releases. Each major release is

named in alphabetical order after a dessert or sugary treat; for example, version 1.5 Cupcake was

followed by 1.6 Donut. The latest release is 4.2 Jelly Bean. In 2010, Google launched its Nexus

series of devices—a line of smartphones and tablets running the Android operating system, and



built by a manufacturer partner. HTC collaborated with Google to release the first Nexus

smartphone, the Nexus One. The series has since been updated with newer devices, such as the

Nexus 4 phone and Nexus 10 tablet, made by LG and Samsung, respectively. Google releases the

Nexus phones and tablets to act as their flagship Android devices, demonstrating Android's latest

software and hardware features.

On 13 March 2013, it was announced by Larry Page in a blog post that Andy Rubin had moved

from the Android division to take on new projects at Google. He was replaced by SundarPichai,

who also continues his role as the head of Google's Chrome division,which develops Chrome

OS.

6.2.2 Interface

Android's user interface is based on direct manipulation, using touch inputs that loosely

correspond to real-world actions, like swiping, tapping, pinching and reverse pinching to

manipulate on-screen objects. The response to user input is designed to be immediate and

provides a fluid touch interface, often using the vibration capabilities of the device to provide

haptic feedback to the user. Internal hardware such as accelerometers, gyroscopes and proximity

sensors are used by some applications to respond to additional user actions, for example

adjusting the screen from portrait to landscape depending on how the device is oriented, or

allowing the user to steer a vehicle in a racing game by rotating the device, simulating control of

a steering wheel.

Android devices boot to the homescreen, the primary navigation and information point on the

device, which is similar to the desktop found on PCs. Android homescreens are typically made

up of app icons and widgets; app icons launch the associated app, whereas widgets display live,

auto-updating content such as the weather forecast, the user's email inbox, or a news ticker

directly on the home screen.

A home screen may be made up of several pages that the user can swipe back and forth between,

though Android's homescreen interface is heavily customisable, allowing the user to adjust

thelook and feel of the device to their tastes. Third party apps available on Google Play and other

app stores can extensively re-theme the homescreen, and even mimic the look of other operating



systems, such as Windows Phone. Most manufacturers, and some wireless carriers, customise the

look and feel of their Android devices to differentiate themselves from the competition.

Present along the top of the screen is a status bar, showing information about the device and its

connectivity. This status bar can be "pulled" down to reveal a notification screen where apps

display important information or updates, such as a newly received email or SMS text, in a way

that does not immediately interrupt or inconvenience the user. In early versions of Android these

notifications could be tapped to open the relevant app, but recent updates have provided

enhanced functionality, such as the ability to call a number back directly from the missed call

notification without having to open the dialer app first. Notifications are persistent until read or

dismissed by the user.

Figure 6.5 Android 4.2 "Jelly Bean" on the Nexus 4



6.2.3 Applications

Android has a growing selection of third party applications, which can be acquired by users

either through an app store such as Google Play or the Amazon Appstore, or by downloading and

installing the application's APK file from a third-party site. The Play Store application allows

users to browse, download and update apps published by Google and third-party developers, and

is pre-installed on devices that comply with Google's compatibility requirements. The app filters

the list of available applications to those that are compatible with the user's device, and

developers may restrict their applications to particular carriers or countries for business reasons.

Purchases of unwanted applications can be refunded within 15 minutes of the time of download,

and some carriers offer direct carrier billing for Google Play application purchases, where the

cost of the application is added to the user's monthly bill. As of September 2012, there were

more than 675,000 apps available for Android, and the estimated number of applications

downloaded from the Play Store was 25 billion.

Applications are developed in the Java language using the Android software development kit

(SDK). The SDK includes a comprehensive set of development tools, including a debugger,

software libraries, a handset emulator based on QEMU, documentation, sample code, and

tutorials. The officially supported integrated development environment (IDE) is Eclipse using the

Android Development Tools (ADT) plugin. Other development tools are available, including a

Native Development Kit for applications or extensions in C or C++, Google App Inventor, a

visual environment for novice programmers, and various cross platform mobile web applications

frameworks.

In order to work around limitations on reaching Google services due to Internet censorship in the

People's Republic of China, Android devices sold in the PRC are generally customized to use

state approved services instead.



6.3 Android emulator

The Android SDK includes a virtual mobile device emulator that runs on your computer. The

emulator lets you prototype, develop and test Android applications without using a physical

device.

The Android emulator mimics all of the hardware and software features of a typical mobile

device, except that it cannot place actual phone calls. It provides a variety of navigation and

control keys, which you can "press" using your mouse or keyboard to generate events for your

application. It also provides a screen in which your application is displayed, together with any

other active Android applications.

Figure 6.6 Android emulator

To let you model and test your application more easily, the emulator utilizes Android Virtual

Device (AVD) configurations. AVDs let you define certain hardware aspects of your emulated

phone and allow you to create many configurations to test many Android platforms and hardware

permutations. Once your application is running on the emulator, it can use the services of the

Android platform to invoke other applications, access the network, play audio and video, store

and retrieve data, notify the user, and render graphical transitions and themes.



The emulator also includes a variety of debug capabilities, such as a console from which you can

log kernel output, simulate application interrupts (such as arriving SMS messages or phone

calls), and simulate latency effects and dropouts on the data network.

6.3.1 Overview

The Android emulator is an application that provides a virtual mobile device on which you can

run your Android applications. It runs a full Android system stack, down to the kernel level, that

includes a set of preinstalled applications (such as the dialer) that you can access from your

applications. You can choose what version of the Android system you want to run in the

emulator by configuring AVDs, and you can also customize the mobile device skin and key

mappings. When launching the emulator and at runtime, you can use a variety of commands and

options to control its behavior.

The Android system images available through the Android SDK Manager contain code for the

Android Linux kernel, the native libraries, the Dalvik VM, and the various Android packages

(such as the Android framework and preinstalled applications). The emulator provides dynamic

binary translation of device machine code to the OS and processor architecture of your

development machine.

The Android emulator supports many hardware features likely to be found on mobile devices,

including:

An ARMv5 CPU and the corresponding memory-management unit (MMU)

A 16-bit LCD display

One or more keyboards (a Qwerty-based keyboard and associated Dpad/Phone buttons)

A sound chip with output and input capabilities

Flash memory partitions (emulated through disk image files on the development machine)

A GSM modem, including a simulated SIM Card

A camera, using a webcam connected to your development computer.

Sensors like an accelerometer, using data from a USB-connected Android device.



6.3.2 Android Virtual Devices and the Emulator

To use the emulator, you first must create one or more AVD configurations. In each

configuration, you specify an Android platform to run in the emulator and the set of hardware

options and emulator skin you want to use. Then, when you launch the emulator, you specify the

AVD configuration that you want to load.

Each AVD functions as an independent device, with its own private storage for user data, SD

card, and so on. When you launch the emulator with an AVD configuration, it automatically

loads the user data and SD card data from the AVD directory. By default, the emulator stores the

user data, SD card data, and cache in the AVD directory.

To create and manage AVDs you use the AVD Manager UI or the android tool that is included in

the SDK. For complete information about how to set up AVDs, see Managing Virtual Devices.

6.3.3 Starting and Stopping the Emulator

During development and testing of your application, you install and run your application in the

Android emulator. You can launch the emulator as a standalone application from a command

line, or you can run it from within your Eclipse development environment. In either case, you

specify the AVD configuration to load and any startup options you want to use, as described in

this document.

You can run your application on a single instance of the emulator or, depending on your needs,

you can start multiple emulator instances and run your application in more than one emulated

device. You can use the emulator's built-in commands to simulate GSM phone calling or SMS

between emulator instances, and you can set up network redirection that allows emulators to

send data to one another. For more information, see Telephony Emulation, SMS Emulation, and

Emulator Networking

To start an instance of the emulator from the command line, navigate to the tools/ folder of the

SDK. Enter emulator command like this:

emulator -avd<avd_name> [<options>]



This initializes the emulator, loads an AVD configuration and displays the emulator window. For

more information about command line options for the emulator, see the Android Emulator tool

reference.

Note: You can run multiple instances of the emulator concurrently, each with its own AVD

configuration and storage area for user data, SD card, and so on.

If you are working in Eclipse, the ADT plugin for Eclipse installs your application and starts the

emulator automatically, when you run or debug the application. You can specify emulator startup

options in the Run/Debug dialog, in the Target tab. When the emulator is running, you can issue

console commands as described later in this document.

If you are not working in Eclipse, see Installing Applications on the Emulator for information

about how to install your application.

To stop an emulator instance, just close the emulator's window.

6.3.4 Installing Applications on the Emulator

If you don't have access to Eclipse or the ADT Plugin, you can install your application on the

emulator using the adb utility. Before installing the application, you need to build and package it

into an .apk as described in Building and Running Apps. Once the application is installed, you

can start the emulator from the command line as described previously, using any startup options

necessary. When the emulator is running, you can also connect to the emulator instance's console

to issue commands as needed.

As you update your code, you periodically package and install it on the emulator. The emulator

preserves the application and its state data across restarts, in a user-data disk partition. To ensure

that the application runs properly as you update it, you may need to delete the emulator's user-

data partition. To do so, start the emulator with the -wipe-data option. For more information

about the user-data partition and other emulator storage, see Working with Emulator Disk

Images.



6.3.5 Emulator Limitations

The functional limitations of the emulator include:

No support for placing or receiving actual phone calls. You can simulate phone calls

(placed and received) through the emulator console, however.

No support for USB connections

No support for device-attached headphones

No support for determining network connected state

No support for determining battery charge level and AC charging state

No support for determining SD card insert/eject

No support for Bluetooth

6.4 MPLAB

The MPLAB is the new graphical, integrated debugging tool set for all of Microchip‘s more than

800 8-bit, 16-bit and 32-bit MCUs and digital signal controllers, and memory devices. It includes

a feature-rich editor, source-level debugger, project manager, software simulator, and supports

Microchip‘s popular hardware tools, such as the MPLAB ICD 3 in-circuit debugger, PICkit™ 3,

and MPLAB PM3 programmer. Based on the open-source NetBeans platform, MPLAB X runs

on Windows® OS, MAC® OS and Linux, supports many third-party tools, and is compatible

with many NetBeans plug-ins.

Figure 6.7 MPLAB X

MPLAB Integrated Development Environment (IDE) is a free, integrated toolset for the

development of embedded applications employing Microchip's PIC® and

dsPIC® microcontrollers. MPLAB IDE runs as a 32-bit application on MS Windows

®, is easy to

use and includes a host of free software components for fast application development and super-



charged debugging. MPLAB IDE also serves as a single, unified graphical user interface for

additional Microchip and third party software and hardware development tools. Moving between

tools is a snap, and upgrading from the free software simulator to hardware debug and

programming tools is done in a flash because MPLAB IDE has the same user interface for all

tools.

6.4.1 Embedded C

Embedded C is a set of language extensions for the C Programming language by the C Standards

committee to address commonality issues that exist between C extensions for different embedded

systems. Historically, embedded C programming requires nonstandard extensions to the C

language in order to support exotic features such as fixed-point arithmetic, multiple distinct

memory banks, and basic I/O operations.

In 2008, the C Standards Committee extended the C language to address these issues by

providing a common standard for all implementations to adhere to. It includes a number of

features not available in normal C, such as, fixed-point arithmetic, named address spaces, and

basic I/O hardware addressing.

Embedded C use most of the syntax and semantics of standard C, e.g., main() function, variable

definition, data type declaration, conditional statements (if, switch. case), loops (while, for),

functions, arrays and strings, structures and union, bit operations, macros, unions,etc.

Looking around, we find ourselves to be surrounded by various types of embedded systems. Be

it a digital camera or a mobile phone or a washing machine, all of them has some kind of

processor functioning inside it. Associated with each processor is the embedded software. If

hardware forms the body of an embedded system, embedded processor acts as the brain, and

embedded software forms its soul. It is the embedded software which primarily governs the

functioning of embedded systems.

During infancy years of microprocessor based systems, programs were developed using

assemblers and fused into the EPROMs. There used to be no mechanism to find what the

program was doing. LEDs, switches, etc. were used to check correct execution of the program.



Some ‗very fortunate‘ developers had In-circuit Simulators (ICEs), but they were too costly and

were not quite reliable as well.

As time progressed, use of microprocessor-specific assembly-only as the programming language

reduced and embedded systems moved onto C as the embedded programming language of

choice. C is the most widely used programming language for embedded processors/controllers.

Assembly is also used but mainly to implement those portions of the code where very high

timing accuracy, code size efficiency, etc. are prime requirements.

Initially C was developed by Kernighan and Ritchie to fit into the space of 8K and to write

(portable) operating systems. Originally it was implemented on UNIX operating systems. As it

was intended for operating systems development, it can manipulate memory addresses. Also, it

allowed programmers to write very compact codes. This has given it the reputation as the

language of choice for hackers too.

As assembly language programs are specific to a processor, assembly language didn‘t offer

portability across systems. To overcome this disadvantage, several high level languages,

including C, came up. Some other languages like PLM, Modula-2, Pascal, etc. also came but

couldn‘t find wide acceptance. Amongst those, C got wide acceptance for not only embedded

systems, but also for desktop applications. Even though C might have lost its sheen as

mainstream language for general purpose applications, it still is having a strong-hold in

embedded programming. Due to the wide acceptance of C in the embedded systems, various

kinds of support tools like compilers & cross-compilers, ICE, etc. came up and all this facilitated

development of embedded systems using C.

Subsequent sections will discuss what is Embedded C, features of C language, similarities and

difference between C and embedded C, and features of embedded C programming.

EMBEDDED SYSTEMS PROGRAMMING

Embedded systems programming is different from developing applications on a desktop

computers. Key characteristics of an embedded system, when compared to PCs, are as follows:



· Embedded devices have resource constraints(limited ROM, limited RAM, limited stack

space, less processing power)

· Components used in embedded system and PCs are different; embedded systems typically

uses smaller, less power consuming components.

· Embedded systems are more tied to the hardware.

Two salient features of Embedded Programming are code speed and code size. Code speed is

governed by the processing power, timing constraints, whereas code size is governed by

available program memory and use of programming language. Goal of embedded system

programming is to get maximum features in minimum space and minimum time.

Embedded systems are programmed using different type of languages:

· Machine Code

· Low level language, i.e., assembly

· High level language like C, C++, Java, Ada, etc.

· Application level language like Visual Basic, scripts, Access, etc.

Assembly language maps mnemonic words with the binary machine codes that the processor

uses to code the instructions. Assembly language seems to be an obvious choice for

programming embedded devices. However, use of assembly language is restricted to developing

efficient codes in terms of size and speed. Also, assembly codes lead to higher software

development costs and code portability is not there. Developing small codes are not much of a

problem, but large programs/projects become increasingly difficult to manage in assembly

language. Finding good assembly programmers has also become difficult nowadays. Hence high

level languages are preferred for embedded systems programming.

Use of C in embedded systems is driven by following advantages

· It is small and reasonably simpler to learn, understand, program and debug.

· C Compilers are available for almost all embedded devices in use today, and there is a large

pool of experienced C programmers.



· Unlike assembly, C has advantage of processor-independence and is not specific to any

particular microprocessor/ microcontroller or any system. This makes it convenient for a user to

develop programs that can run on most of the systems.

· As C combines functionality of assembly language and features of high level languages, C is

treated as a ‗middle-level computer language‘ or ‗high level assembly language‘

· It is fairly efficient

· It supports access to I/O and provides ease of management of large embedded projects.

Compared to assembly language, C Code written is more reliable and scalable, more portable

between different platforms (with some changes). Moreover, programs developed in C are much

easier to understand, maintain and debug. Also, as they can be developed more quickly, codes

written in C offers better productivity. C is based on the philosophy ‗programmers know what

they are doing‘; only the intentions are to be stated explicitly. It is easier to write good code in C

& convert it to an efficient assembly code (using high quality compilers) rather than writing an

efficient code in assembly itself. Benefits of assembly language programming over C are

negligible when we compare the ease with which C programs are developed by programmers.

Objected oriented language, C++ is not apt for developing efficient programs in resource

constrained environments like embedded devices. Virtual functions & exception handling of

C++ are some specific features that are not efficient in terms of space and speed in embedded

systems. Sometimes C++ is used only with very few features, very much as C.

Java is another language used for embedded systems programming. It primarily finds usage in

high-end mobile phones as it offers portability across systems and is also useful for browsing

applications. Java programs require Java Virtual Machine (JVM), which consume lot of

resources. Hence it is not used for smaller embedded devices.

Efficient embedded C programs must be kept small and efficient; they must be optimized for

code speed and code size. Good understanding of processor architecture embedded C

programming and debugging tools facilitate this.



DIFFERENCE BETWEEN C AND EMBEDDED C

Though C and embedded C appear different and are used in different contexts, they have more

similarities than the differences. Most of the constructs are same; the difference lies in their

applications.

C is used for desktop computers, while embedded C is for microcontroller based applications.

Accordingly, C has the luxury to use resources of a desktop PC like memory, OS, etc. While

programming on desktop systems, we need not bother about memory. However, embedded C has

to use with the limited resources (RAM, ROM, I/Os) on an embedded processor. Thus, program

code must fit into the available program memory. If code exceeds the limit, the system is likely

to crash.

Compilers for C (ANSI C) typically generate OS dependantexecutables. Embedded C requires

compilers to create files to be downloaded to the microcontrollers/microprocessors where it

needs to run. Embedded compilers give access to all resources which is not provided in

compilers for desktop computer applications.

Embedded systems often have the real-time constraints, which is usually not there with desktop

computer applications. Embedded systems often do not have a console, which is available in case

of desktop applications. So, what basically is different while programming with embedded C is

the mindset; for embedded applications, we need to optimally use the resources, make the

program code efficient, and satisfy real time constraints, if any. All this is done using the basic

constructs, syntaxes, and function libraries of ‗C‘.

6.4.2 MPLAB IDE

MPLAB Integrated Development Environment (IDE) is a free, integrated toolset for the

development of embedded applications employing Microchip's PIC® and

dsPIC® microcontrollers. MPLAB IDE runs as a 32-bit application on MS Windows

®, is easy to

use and includes a host of free software components for fast application development and super-

charged debugging. MPLAB IDE also serves as a single, unified graphical user interface for

additional Microchip and third party software and hardware development tools.



Figure 6.8 MPLAB IDE interface

The typical tasks for developing an embedded controller application are:

1. Create the high level design. From the features and performance desired, decide which PIC®

MCU or dsPIC® DSC device is best suited to the application, then design the associated

hardware circuitry.

After determining which peripherals and pins control the hardware, write the firmware – the

software that will control the hardware aspects of the embedded application. A language tool

such as an assembler, which is directly translatable into machine code, or a compiler that allows

a more natural language for creating programs should be used to write and edit code.

Assemblers and compilers help make the code understandable, allowing function labels to

identify code routines with variables that have names associated with their use, and with

constructs that help organize the code in a maintainable structure.



2. Compile, assemble and linkthe software using the assembler and/or compiler and linker to

convert your code into ―ones and zeroes‖ –-machine code for the PIC MCUs. This machine code

will eventually become the firmware (the code programmed into the microcontroller).

3. Test your code. Usually a complex program does not work exactly the way imagined, and

―bugs‖ need to be removed from the design to get proper results. The debugger allows you to see

the ―ones and zeroes‖ execute, related to the source code you wrote, with the symbols and

function names from your program.

Debugging allows you to experiment with your code to see the value of variables at various

points in the program, and to do ―what if‖ checks, changing variable values and stepping through

routines.

4. ―Burn‖ the code into a microcontroller and verify that it executes correctly in the finished

application.



CHAPTER 7

EXECUTION

STEP 1

Install JDK 1.6

set path (%path%;C:\Program Files\Java\jdk1.6.0_02\bin) and class path as

(%classpath%;C:\Program Files\Java\jdk1.6.0_02\lib) in environment variables Wizard.

STEP 2

Transfer android(apk file) to cell phone.

STEP 3

Run Project by Double Click on run.bat file in src folder.

Figure 7.1 double click run.bat file



STEP 4

Can Control the Project Using This Window.

Figure 7.2 GUI on PC

STEP 5

Pair Your ANDROID MOBILE with your robot‘s Bluetooth maodule.



STEP 6

Run ANDROID Application(To Read Command From Socket Programs, Give the Server dail up

ip address)

Figure 7.3 android application on phone

STEP 7

Enter the ip address of remote pc

Figure 7.4 IP address of PC on application



STEP 8

Streamed images are displayed in and robot can be controlled through buttons.



CHAPTER 8

SIGNIFICANCE OF THE PROJECT

The increase of greed in people has paved way to civil-wars and natural disasters. A swift action

has to be taken in the relief work of the aftermath of earthquake affected areas, such that any

delay in the rescue could lead the death toll to rise. The same can be applied to war fields too.

The project focuses on human beings who are alive and struggling for their lives either in the war

field or due to natural disasters like earthquakes, to be recognized and rescued in a much faster

pace.

The robot senses humans alive and sends a notification to the mobile to capture the images of the

same. The captured image is then sent to the server to view and act accordingly. The

administrator at the server end has options to move the robot in any required direction for more

accurate detection of human beings alive.

8.1 Advantages of process monitoring robot

An affordable Technology with high end advantage

Can help tracking alive human beings

View the status of the person alive

The place can be monitored remotely by moving the robot

Based on the robot‘s background color, LED‘s on robot will glow, i.e. robot will change

it color based on its background color.

8.2 Disadvantages of process monitoring robot

Frame rate of video capture is less

The mobile device is confined to android operating system and the GPRS in the phone

should be enables

Internet should be available at the server end



CHAPTER 9

FUTURE SCOPE AND CONCLUSION

9.1 Future enhancements

detect the signals of other living beings based on the frequency of the breathing and

heartbeat signals

The video streaming can be made much faster using Advanced Multimedia API.

A speaker can be connected to broadcast message to the people.

9.2 CONCLUSION

Thus a process monitoring robot capable of hiding itself by its camouflage capability. Can be

used for various operation including remote and military areas. With the advancement of mobile

network the connection can be made faster, easier and user friendly. It comes as a revolutionary

model for the society which can be helpful in saving a lot of lives during natural disasters or even

a national threat.

Documents

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