Project on automated Robot Put to Security Measures

7/28/2019 Project on automated Robot Put to Security Measures

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Wireless Surveillance Robot

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1. INTRODUCTION TO ROBOTICS

A robot is a virtual or mechanical artificial agent in practice, it is usually an electro-mechanical

machine which is guided by computer or electronic programming, and is thus able to do tasks on its

own. Another common characteristic is that by its appearance or movements, a robot often conveysa sense that it has intent or agency of its own.

The Robotic Industries Association defines robot as follows: "A robot is a reprogrammable

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

variable programmed motions for the performance of a variety of tasks." Recently, however, the

industry's current working definition of a robot has come to be understood as any piece of

equipment that has three or more degrees of movement or freedom.

Robotics is an increasingly visible and important component of modern business, especially in

certain industries. Robotics-oriented production processes are most obvious in factories and

manufacturing facilities; in fact, approximately 90 percent of all robots in operation today can be

found in such facilities. These robots, termed "Industrial Robots," were found almost exclusively in

automobile manufacturing plants as little as 15 to 20 years ago. But industrial robots are now being

used in laboratories, research and development facilities, warehouses, hospitals,

energy-oriented industries (petroleum, nuclear power, etc.), and other areas.

Fig 1: Asimo Robot Fig 2: A Path Finder


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Today's robotics systems operate by way of hydraulic, pneumatic and electrical power. Electric

motors have become progressively smaller, with high power-to-weight ratios, enabling them to

become the dominant means by which robots are powered.

Robots are programmed either by guiding or by off-line programming. Most industrial robots are

programmed by the former method. This involves manually guiding a robot from point to pointthrough the phases of an operation, with each point stored in the robotic control system. With off-

line programming, the points of an operation are defined through computer commands. This is

referred to as manipulator level off-line programming. An important area of research is the

development of off-line programming that makes use of higher-level languages, in which robotic

actions are defined by tasks or objectives.

An industrial robot is officially defined by ISO as an automatically controlled, reprogrammable,

multipurpose manipulator programmable in three or more axes. The field of robotics may be more

practically defined as the study, design and use of robot systems for manufacturing (a top-level

definition relying on the prior definition of robot).

Robots may be programmed to move through a specified continuous path instead of from point to

point. Continuous path control is necessary for operations such as spray painting or arc welding a

curved joint. Programming also requires that a robot be synchronized with the automated machine

tools or other robots with which it is working. Thus robot control systems are generally interfaced

with a more centralized control system.

Fig 3: A Sample Collector Fig 4: A Pick & Place Bot


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Robots are moving out of the realm of science fiction and into real-life applications, with the usage

of robots in industry, food service and health care. Robots have long been used in assembling

machines, but reliability was a problem as was the need to design products so that robots could

assemble them. Now with better controls and sensors, and the use of complex programming, robots

are being used in areas dangerous to humans, such as nuclear power plants. While robots have not

proved successful in food service several home robots will carry dishes and other small loads from

room to room. A friend, recovering from hip surgery, used his cue to carry food from the kitchen to

the living room, and the dirty dishes back into the kitchen again. Since he was on crutches, this was

a real lifesaver. Future robots could carry water in a storage container, and use this to water plants,

or even fill a pets bowl.

The use of industrial robots is becoming more widespread. They are primarily used for the

automation of mass production in factories. Industrial robots have the ability to perform the same

tasks repeatedly without stopping. An industrial robot is used for applications such as welding,

painting, assembly, palletizing, cutting, and material handling. Robot supports a variety of robotic

applications such as arc welding, spot welding, machine loading, and palletizing, which utilize

robotic grippers, and robotic tooling.

Typical applications of robots include welding, painting, assembly, pick and place, packaging and

palletizing, product inspection, and testing, all accomplished with high endurance, speed, and

precision.

1.1 ADVANTAGES OF ROBOTICS:

Robotics is very advantageous in several ways to mankind. For example, humans work in many

unsuitable places and conditions like chemical plants, or pharmaceuticals and exposure to some

chemicals constantly may not be good for the humans. However, if these responsibilities are

automated using robots, then human beings need not face work based injuries and diseases. When it

comes to handling hazardous materials robots are better suited. There are similar advantageous

applications for a robot in several other industries.

Today, robots are also used to launch satellites and travel to a different planet altogether. Robots are

being launched on Mars to explore the planet and are being designed with intelligence at par with

humans.

Robotic systems have the capability of impressively meliorating the quality of work. They don't

make any mistakes and errors as humans do. This saves a lot of important output and production

time. They provide optimum output in regards to quality as well as quantity. In the medical field,


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they are used to carry out complicated surgeries which are very difficult for doctors and surgeons to

perform.

The use of robotic systems in the industrial sector is a necessity nowadays, as more and more

products are to be manufactured in a very less time, and that too with high-quality and accuracy.

Big industrial manufacturing giants have robotic systems that work 24/7. Such systems can even do

the work of approximately 100 or more human workers at a time.

Future robotics systems may come up with benefits that we can't even imagine of. In many films,

the robotic hand has been showed; who knows it may become a reality in the near future. The

advantages of robotics are certainly predicted to grow in several other fields over time.

1.2 APPLICATIONS OF ROBOTICS:

Robotics has been of interest to mankind for over one hundred years. A robots characteristics

change depending on the environment it operates in. Some of these are:

1) OUTER SPACEManipulative arms that are controlled by a human are used to unload the docking bay of space

shuttles to launch satellites or to construct a space station.

2) THE INTELLIGENT HOMEAutomated systems can now monitor home security, environmental conditions and energy usage.

Door and windows can be opened automatically and appliances such as lighting and air

conditioning can be preprogrammed to activate. This assists occupants irrespective of their state of

mobility.

3) EXPLORATIONRobots can visit environments that are harmful to humans. An example is monitoring the

environment inside a volcano or exploring our deepest oceans. NASA has used robotic probes for

planetary exploration since the early sixties.

4) MILITARY ROBOTSAirborne robot drones are used for surveillance in today's modern army. In the future automated

aircraft and vehicles could be used to carry fuel and ammunition or clear mine fields.


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5) FARMSAutomated harvesters can cut and gather crops. Robotic dairies are available allowing operators to

feed and milk their cows remotely.

6) THE CAR INDUSTRYRobotic arms that are able to perform multiple tasks are used in the car manufacturing process.

They perform tasks such as welding, cutting, lifting, sorting and bending. Similar applications but

on a smaller scale are now being planned for the food processing industry in particular the

trimming, cutting and processing of various meats such as fish, lamb, beef.

7) HOSPITALSUnder development is a robotic suit that will enable nurses to lift patients without damaging their

backs. Scientists in Japan have developed a power-assisted suit which will give nurses the extra

muscle they need to lift their patients - and avoid back injuries.

The suit was designed by Keijiro Yamamoto, a professor in the welfare-systems engineering

department at Kanagawa Institute of Technology outside Tokyo. It will allow caregivers to easily

lift bed-ridden patients on and off beds.

8) DISASTER AREASSurveillance robots fitted with advanced sensing and imaging equipment can operate in hazardous

environments such as urban setting damaged by earthquakes by scanning walls, floor sand ceilings

for structural integrity.

9) ENTERTAINMENTInteractive robots exhibit behaviors and learning ability. SONY has one such robot which moves

freely, plays with a ball and can respond to verbal instructions.


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2. INTRODUCTION TO WIRELESS VIDEO SURVEILLANCE

2.1 What is Surveillance??

Surveillance is the monitoring of behavior, activities or other changing information, usually of

people for the purpose of influencing, managing, directing, or protecting. Surveillance is therefore

an ambiguous practice, sometimes creating positive effects, at other times negative. It is sometimes

done in a surreptitious manner. It most usually refers to observation of individuals or groups by

government organizations.

The word surveillance may be applied to observation from a distance by means of electronic

equipment or interception of electronically transmitted information (such as phone calls). It may

also refer to simple, relatively no- or low-technology methods such as human intelligence agents

and postal interception.

Surveillance is very useful to governments and law enforcement to maintain social control,

recognize and monitor threats, and prevent/investigate criminal activity. With the advent of

programs such as the Total Information Awareness program and ADVICE technologies such as

high speed surveillance computers and biometrics software, and laws such as the Communication

Assistance for Law Enforcement Act governments now possess an unprecedented ability to monitor

the activities of their subjects.

Surveillance applications have very specific needs due to their inherently critical nature associated

to security. The basic objective of video surveillance systems is to allow detection and/or

identification of intruders.

2.2 Types of Surveillance:

Surveillance may be categorized according to the field in which its applied. The types of

surveillance are given below:

Surveillance cameras (Video Surveillance) Social network analysis Biometric surveillance Aerial surveillance Data mining and profiling Corporate surveillance Human operatives


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Satellite imagery Identification and credentials RFID and Geo-Location devices RFID tagging Global Positioning System Mobile phones Surveillance deviceIn our project we are using wireless video surveillance on a robot for stealth purpose to be used by

the defense department. So we would like to concentrate on Wireless Video Surveillance.

The goal of our small demo project is to show the actual application of the Wireless Video

Surveillance Stealth Bot which is to collect and disseminate real-time information from the

battlefield to improve the situational awareness of commanders and staff. Other military and federal

law enforcement applications include providing perimeter security for troops, monitoring peace

treaties or refugee movements from unmanned air vehicles, providing security for embassies or

airports, and staking out suspected drug or terrorist hide-outs by collecting time-stamped pictures of

everyone entering and exiting the building.

Keeping track of logistics and strategy in battlefield environment is a difficult task. The role of

Wireless Video Surveillance Stealth Bot in achieving this goal is to render video feeds from the area

to determine enemys Geo-Locations and insert them into dynamic scene visualization.

In this project we have used RF technology for video surveillance as its the most fundamental and

cost effective method. Radio frequency (RF) video surveillance is a common way for people to

setup video cameras that do not require wires.

Fig 5: Principle of Wireless Transmission


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RF video surveillance uses radio waves on a specific frequency to transmit video using wireless

signals from the cameras to a base station, which takes those signals and interprets and records them

into video format. Radio broadcasts intended to travel long distances usually make use of ground-

based antennae or satellites that relay the signal from the transmitter to the receiver.

RF video cameras come in a variety of sizes and types, depending on the application they are built

to serve. Some cameras can be as small as a button and are used for spying on individuals or for

mobile surveillance where a camera has to be hidden inside of a vehicle. Larger cameras can be

used as security cameras in areas where placing wire for a closed circuit system is not practical or

where a quick setup is needed. There are even some models that can be used for transmitting over

distances as long as 20 miles and are used by government agencies inside of planes or other

vehicles.

Fig 6: Types of cameras used for Surveillance


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2.3 Advantages of RF Video Surveillance:

RF video surveillance offers several advantages over traditional, wired video surveillance.

RF video cameras can be mobile since they do not rely on wires. They can be set up quickly and can be placed in areas that would be difficult or impossible

to string wire to.

This makes RF video surveillance perfect for a variety of situations that require stealth, mobility or

speedy setups, as well as for individuals who do not have the time or knowledge to set up a complex

wired surveillance network.

2.4 Disadvantages of RF Video Surveillance:Making this more challenging, using RF in surveillance forces lots of unclear tradeoffs:

The more power your radio transmits, the more likely your video will 'make it' to the otherside. However, you need to be cognizant of legal limitations in the commonly used

unlicensed frequencies.

The narrower the beam width of your antenna, the further your camera can be from yoursite. However, this can make it more difficult to line up your radios and can cause problems

in designing systems that 'talk' to multiple cameras.

Unlike wired transmission which is generally very stable, wireless surveillance throughputcan vary significant, can drop out of the blue or due to the weather or vegetation growth.

Integrators need to factor in potential issues and plan for likely risks.

You can choose from many radio frequencies but you need to be careful because importanttradeoffs exist in bandwidth capacity, interference likelihood and ability to transmit through

obstacles.


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3. POWER SUPPLY MODULE

The power supply module contains:

A 12V power supply adapter receiver/ 12V DC power supply battery. A +5V voltage regulator. A resistor. A capacitor. A LED.

So lets have a look & discuss each of the above parameters listed above.

1) A 12V Power Supply Adapter Receiver :The work of this power supply adapter is to only receive the AC current from the AC

adapter of 12V power & transfer it to the voltage regulator.

2) A +5V Voltage Regulator:

7805 is a voltage regulator integrated circuit. It is a member of 78xx series of fixed linearvoltage regulator ICs. The voltage source in a circuit may have fluctuations and would not give

the fixed voltage output. The voltage regulator IC maintains the output voltage at a constant

value. The xx in 78xx indicates the fixed output voltage it is designed to provide. 7805 provides

+5V regulated power supply. Capacitors of suitable values can be connected at input and output

pins depending upon the respective voltage levels.

Fig 7: DC Jack


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Pin Diagram:

Pin Description:

3) A Resistor:

A resistor is a passive two-terminal electrical component that implements electrical resistance as

a circuit element. The current through a resistor is in direct proportion to the voltage across the

resistor's terminals. Thus, the ratio of the voltage applied across a resistor's terminals to the

intensity of current through the circuit is called resistance. This relation is represented by Ohm's

law:

Fig 8: Pin diagram of 7805 IC

Fig 9: Resistors
http://en.wikipedia.org/wiki/Passivity_%28engineering%29http://en.wikipedia.org/wiki/Terminal_%28electronics%29http://en.wikipedia.org/wiki/Electronic_componenthttp://en.wikipedia.org/wiki/Electrical_resistancehttp://en.wikipedia.org/wiki/Electric_currenthttp://en.wikipedia.org/wiki/Direct_proportionhttp://en.wikipedia.org/wiki/Voltagehttp://en.wikipedia.org/wiki/Ohm%27s_lawhttp://en.wikipedia.org/wiki/Ohm%27s_lawhttp://en.wikipedia.org/wiki/Ohm%27s_lawhttp://en.wikipedia.org/wiki/Ohm%27s_lawhttp://en.wikipedia.org/wiki/Ohm%27s_lawhttp://en.wikipedia.org/wiki/Voltagehttp://en.wikipedia.org/wiki/Direct_proportionhttp://en.wikipedia.org/wiki/Electric_currenthttp://en.wikipedia.org/wiki/Electrical_resistancehttp://en.wikipedia.org/wiki/Electronic_componenthttp://en.wikipedia.org/wiki/Terminal_%28electronics%29http://en.wikipedia.org/wiki/Passivity_%28engineering%29


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5) A LIGHT EMITTING DIODE:The main specification of LED are its current rating=20mA, typical cut in voltage=2V, life

time=2lakh hours, max.voltage is around 4.5V. There is different color LED's depending on the

semi conducting material.

LED has two leads- cathode and anode. They are identified by the length of the lead. Cathode lead

is of lesser length. But we have seen some LED's with manufacturing defect having cathode lead

longer. So in order to identify the cathode of the LED see the figure below. In that one can see that

cathode is of broader filament.

We don't have to connect LED to Vcc. Suppose if one connect the output of 7805 directly to an

LED then the voltage output of 7805 reduces to 3.85V from 5.02 voltage output of 7805( we

checked it with a white LED producing green light). So when one connects LED to the output of

any IC connect a series resistor with it. The brightness of LED is controlled by the series resistance.

If one want a good brightness use R=100,150ohm. If one want a medium light series

resistance=330ohm. The maximum value of 470ohm can be inserted for a small light.

Fig 11: Types of Light Emitting Diode

Fig 12: Symbol of LED Fig 13: LED Operation


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4. Atmel ATMEGA16 Microcontroller

4.1 Introduction:

A microcontroller often serves as the brain of a mechatronic system. Like a mini, self-contained

computer, it can be programmed to interact with both the hardware of the system and the user. Even

the most basic microcontroller can perform simple math operations, control digital outputs and

monitor digital inputs. As the computer industry has evolved, so has the technology associated with

microcontrollers. Newer microcontrollers are much faster, have more memory and have a host of

input & output features that dwarf the ability of earlier models. Most modern controllers have

analog-to-digital converters, high-speed timers and counters; interrupt capabilities, outputs that can

be pulse-width modulated, serial communication ports, etc.

The device is manufactured using Atmels high density nonvolatile memory technology. The

On-chip ISP Flash allows the program memory to be reprogrammed in-system through an SPI serial

interface, by a conventional nonvolatile memory programmer, or by an On-chip Boot program

running on the AVR core. The boot program can use any interface to download the application

program in the Application Flash memory. Software in the Boot Flash section will continue to run

while the Application Flash section is updated, providing true Read-While-Write operation. By

combining an 8-bit RISC CPU with In-System Self-Programmable Flash on a monolithic chip, the

Atmel ATmega16 is a powerful microcontroller that provides a highly-flexible and cost-effective

solution to many embedded control applications.

4.2 Features:

High-performance, Low-power AVR 8-bit Microcontroller Advanced RISC Architecture

131 Powerful InstructionsMost 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 16K Bytes of In-System Self-programmable Flash program memory 512 Bytes EEPROM 1K Byte Internal SRAM Write/Erase Cycles: 10,000 Flash/100,000 EEPROM Data retention: 20 years at 85C/100 years at 25C


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Optional Boot Code Section with Independent Lock Bits In-SystemProgramming 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

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


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Operating Voltages 2.7 - 5.5V for ATmega16L 4.5 - 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

Pin Diagram:

Fig 14: Pin Diagram of ATMEGA 16


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4.3 Pin description:

VCC - Digital supply voltage.

Port A (PA7..PA0) - Port A serves as the analog inputs to the A/D Converter. Port A also serves as

an 8-bit bi-directional I/O port, if the A/D Converter is not used. Port pins can provide internal pull-

up resistors (selected for each bit). The Port A output buffers have symmetrical drive characteristics

with both high sink and source capability. When pins PA0 to PA7 are used as inputs and are

externally pulled low,they will source current if the internal pull-up resistors are activated. The Port

Apins are tri-stated when a reset condition becomes active, even if the clock is not running

Port B (PB7..PB0) - Port B is an 8-bit bi-directional I/O port with internal pull-up resistors

(selected for each bit). The Port B output buffers have symmetrical drive characteristics with both

high sink and source capability. As inputs, Port B pins that are externally pulled low will source

current if the pull-up resistors are activated. The Port B pins are tri-stated when a reset condition

becomes active, even if the clock is not running.

Port C (PC7..PC0) - Port C is an 8-bit bi-directional I/O port with internal pull-up resistors

(selected for each bit). The Port C output buffers have symmetrical drive characteristics with both

high sink and source capability. As inputs, Port C pins that are externally pulled low will source

current if the pull-up resistors are activated. The Port C pins are tri-stated when a reset condition

becomes active, even if the clock is not running. If the JTAG interface is enabled, the pull-up

resistors on pins PC5(TDI), PC3(TMS) and PC2(TCK) will be activated even if a reset occurs.

Port D (PD7..PD0) - Port D is an 8-bit bi-directional I/O port with internal pull-up resistors

(selected for each bit). The Port D output buffers have symmetrical drive characteristics with both

high sink and source capability. As inputs, Port D pins that are externally pulled low will source

current if the pull-up resistors are activated. The Port D pins are tri-stated when a reset condition

becomes active, even if the clock is not running.

RESET - Reset Input. A low level on this pin for longer than the minimum pulse length will

generate a reset, even if the clock is not running. Shorter pulses are not guaranteed to generate a

reset.

XTAL1 - Input to the inverting Oscillator amplifier and input to the internal clock operating circuit.

XTAL2 - Output from the inverting Oscillator amplifier.


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AVCC - AVCC is the supply voltage pin for Port A and the A/D Converter. It should be externally

connected to VCC, even if the ADC is not used. If the ADC is used, it should be connected to VCC

through a low-pass filter.

AREF - AREF is the analog reference pin for the A/D Converter.

GND - Ground.

4.4 Atmel ATMEGA Memories:

This section describes the different memories in the ATmega16. The AVR architecture has two

main memory spaces, the Data Memory and the Program Memory space. In addition, the

ATmega16 features an EEPROM Memory for data storage. All three memory spaces are linear and

regular.

The ATmega16 contains 16K bytes On-chip In-System Reprogrammable Flash memory for

program storage. Since all AVR instructions are 16 or 32 bits wide, the Flash is organized as 8K

x16. For software security, the Flash Program memory space is divided into two sections, Boot

Program section and Application Program section.

The Flash memory has an endurance of at least 10,000 write/erase cycles. The ATmega16 Program

Counter (PC) is 13 bits wide, thus addressing the 8K program memory locations.


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5. L293D MOTOR DRIVER

5.1 Introduction:

The L293D is a quadruple half H-bridge bidirectional motor driver IC that can drive current of up to

600mA with voltage range of 4.5 to 36 volts. It is suitable to drive small DC-Geared motors, bipolar

stepper motor etc. One H-bridge is capable to drive a dc motor in bidirectional. L293D IC is a

current enhancing IC as the output from the sensor is not able to drive motors itself so L293D is

used for this purpose. L293D is a 16 pin IC having two enables pins which should always be remain

high to enable both the H-bridges. L293B is another IC of L293 series having two main differences

with L293D.

5.2 Specifications:

Supply Voltage Range 4.5V to 36V 600-mA Output current capability per driver Separate Input-logic supply It can drive small DC-geared motors, bipolar stepper motor. Pulsed Current 1.2-A Per Driver Thermal Shutdown Internal ESD Protection High-Noise-Immunity Inputs

Fig 15: L293D Motor Driver Chip


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5.3 Description:

The device is a monolithic high voltage, high current four channel driver designed to accept

standard DTL or TTL logic levels & drive inductive loads (such as relays, solenoids, DC &

stepping motors) & switching power transistors.

To simplify use as two bridges each pair of channels is equipped with an enable input. A separate

supply input is provided for the logic, allowing operation at a lower voltage & internal clamp diodes

are included. This device is suitable for use in switching applications at frequencies up to 5kHZ.

The L293D is assembled in a 16 lead plastic package which has 4 center pins connected together &

used for heat sinking.

5.4 Block Diagram:

Fig 16: Block Diagram of L293D Motor Driver


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Pin Diagram:

Fig 17: Pin Diagram of Motor Driver


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5.5 Pin Description:

Truth Table (One Channel):


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5.6 TROUBLESHOOTING L293D:

Insert IC into the breadboard. Make sure that IC is inserted properly into breadboard. One canverify it using continuity test in the multimeter. Test continuity between the pins of the IC and

the holes of the breadboard. If you get a beep then one can sure that IC is fitted strongly into

breadboard and the portion of breadboard you are using is good.

Test the continuity in the 16 pins of the IC and the breadboard holes, to make sure that nothinggoes wrong. One should be thorough with the steps you are taking.

Apply Vss =5V(Pin 16) . The first thing to apply when one connect an IC is applying Vcc andground. Remember Vss should be in the range of 4.5V to 7V.

Now connect ground at Pins 4, 5,12,13. Remember if you use multiple supplies, one shouldshort circuit all grounds and this ground is applied to the Pins.

Now Vss and Gnd applying is over. Now apply +5V to chip enable pins . Chip enable pins are pin1,9. Here we are trying to use both channels, atleast test both channels of the IC so that we can test

whether IC is good or not.

Apply Vc at Pin8. For testing the IC one can apply Vc=Vss=5V. When one connect the motorone should apply Vc>Vss or may it canbe equal also.

The following test are done for each channels separatively. In the following explanation werefer '1' as +5V(Vss) and '0' as ground.

Apply Input 1 = Input 2 =0( ie,ground ) and connect multimeter to output 1 and ground of thecircuit. Now test output1 and output2 voltages. Both should be zero at this condition.

Apply Input1=1 and Input2=0 and check voltages at output1 and output2. Remembermultimeter's one lead should be ground. Then one should get one output= Vc and other

output = 0. Suppose if one got output1=Vc and output2=0.

Apply Input1=0 and Input2=1 and check voltages at output1 and output2. Then output1=0 andoutput2=Vc. That is this case is should be reverse of the previous case, motor will rotate in

opposite direction.

Apply Input1=1 and Input2=1 and check voltages at output1 and output2. Thenoutput1=output2=Vc. This is the braking case.

Test conditions 10-13 for both channels to test the IC is good. One should test it thoroughly sothat a repetition is not needed. If ones IC is not working, repeat steps 1-13 to make sure IC is

bad.


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The most problems occurring are breadboard problems,IC not inserted properly, applying Vssand Vc wrongly (this can sometimes cause problems to IC), not disabling chip inhibit, absence

of common ground.

If you are applying Vc=Vss = +5V, then one can use two LED's to see outputs. When chip inhibit is enabled, ie chip is not working the outputs will be high impedance, one

can test high impedance using an LED. First connect the cathode of LED to ground through a

series resistor of 330ohm and test the output. LED will not glow. The apply 5V to the anode of

the LED and apply output to the cathode through a series resistor of 330 ohm. Now also LED

won't glow. Now one can assure that the output is high impedance.

Before connecting motor to the outputs of L293D, first test the motor is working with thedesired VC by applying VC and ground directly to the two leads of the motor. Confirm this

first, then connect the motor.

L293D has a thermal shutdown function. So see it is working in all conditions of the circuit androbot.


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6. HT12D DECODER

6.1 Introduction:

The HT12D ICs are series of CMOS LSIs for remote control system applications. These ICs are

paired with each other. For proper operation a pair of encoder/decoder with the same number of

address and data format should be selected. The Decoder receive the serial address and data from its

corresponding decoder, transmitted by a carrier using an RF transmission medium and gives output

to the output pins after processing the data.

6.2 Features:

Low power and high noise immunity CMOS technology Low standby current Capable of decoding 12 bits of information Binary address setting Built-in oscillator needs only 5% resistor Easy interface with an RF or an infrared transmission medium 18-pin DIP, 20-pin SOP package Minimal external components

6.3 General descriptions:

The 212 decoders are a series of CMOS LSIs for remote control system applications. They are

paired with Holtek_s2^12 series of encoders (refer to the encoder/decoder cross reference table).

For proper operation, a pair of encoder/decoder with the same number of addresses and data format

should be chosen. The decoders receive serial addresses and data from a programmed 2^12 series of

encoders that are transmitted by a carrier using an RF or an IR transmission medium. They compare

the serial input data three times continuously with their local addresses. If no error or unmatched

codes are found, the input data codes are decoded and then transferred to the output pins. The VT

pin also goes high to indicate a valid transmission. The 212 series of decoders are capable of

decoding information that consists of N bits of address and 12_N bits of data. Of this series, the

HT12D is arranged to provide 8 address bits and 4 data bits, and HT12F is used to decode 12 bits of

address information


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Block Diagram:

Pin Diagram:

Fig 18: Block Diagram of Decoder

Fig 19: Pin Diagram of Decoder


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6.5Functional descriptions:

The 2^12 series of decoders provides various combinations of addresses and data pins in different

packages so as to pair with the 212 series of encoders. The decoders receive data that are

transmitted by an encoder and interpret the first N bits of code period as addresses and the last 12_N

bits as data, where N is the address code number. A signal on the DIN pin activates the oscillator

which in turn decodes the incoming address and data. The decoders will then check the received

address three times continuously. If the received address codes all match the contents of the

decoders local address, the 12_N bits of data are decoded to activate the output pins and the VT pin

is set high to indicate a valid transmission. This will last unless the address code is incorrect or no

signal is received. The output of the VT pin is high only when the transmissions valid.

Application Circuits:

Fig 20: Application Circuit of Decoder


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7. RF MODULE FOR TRANSMITTER AND RECEIVER

7.1 INTRODUCTION:

Radio frequency (RF) radiation is a subset of electromagnetic radiation with a wavelength of 100km

to 1mm, which is a frequency of 3 KHz to 300 GHz respectively. This range of electromagnetic

radiation constitutes the radio spectrum and corresponds to the frequency of alternating current

electrical signals used to produce and detect radio waves. RF can refer to electromagnetic

oscillations in either electrical circuits or radiation through air and space. Like other subsets of

electromagnetic radiation, RF travels at the speed of light.

The rising use of cellular phones has regenerated interest in an area of technology that has not

evolved greatly since the early days of AM Radio. Today, fiber optics, signal processing, and

microwave go hand-in hand in support of RF Communication.

RF communication works by creating electromagnetic waves at a source and being able to pick up

those electromagnetic waves at a particular destination. These electromagnetic waves travel through

the air at near the speed of light. The wavelength of an electromagnetic signal is inversely

proportional to the frequency; the higher the frequency, the shorter the wavelength.

Frequency is measured in Hertz (cycles per second) and radio frequencies are measured in kilohertz

(KHz or thousands of cycles per second), megahertz (MHz or millions of cycles per second) and

gigahertz (GHz or billions of cycles per second).

Higher frequencies result in shorter wavelengths. The wavelength for a 900 MHz device is longer

than that of a 2.4 GHz device. In general, signals with longer wavelengths travel a greater distance

and penetrate through, and around objects better than signals with shorter wavelengths.

7.2 RF COMMUNICATION WORKING:

Imagine an RF transmitter wiggling an electron in one location. This wiggling electron causes a

ripple effect, somewhat akin to dropping a pebble in a pond. The effect is an electromagnetic (EM)

wave that travels out from the initial location resulting in electrons wiggling in remote locations. An

RF receiver can detect this remote electron wiggling.

The RF communication system then utilizes this phenomenon by wiggling electrons in a specific

pattern to represent information. The receiver can make this same information available at a remote

location; communicating with no wires.


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In most wireless systems, a designer has two overriding constraints: it must operate over a certain

distance (range) and transfer a certain amount of information within a time frame (data rate). Then

the economics of the system must work out (price) along with acquiring government agency

approvals (regulations and licensing).

7.3 RANGE DETERMINATION:

In order to accurately compute rangeit is essential to understand a few terms

DBDECIBELS:

Decibels are logarithmic units that are often used to represent RF power. To convert from watts to

dB: Power in dB = 10* (log x) where x is the power in watts.

Another unit of measure that is encountered often is dBm (dB milli-watts). The conversion formula

for it is Power in dBm = 10* (log x) where x is the power in milli-watts.

LINE-OF-SITE (LOS):

Line-of-site when speaking of RF means more than just being able to see the receiving antenna

from the transmitting antenna. In, order to have true line-of-site no objects (including trees, houses

or the ground) can be in the Fresnel zone. The Fresnel zone is the area around the visual line-of-

sight that radio waves spread out into after they leave the antenna. This area must be clear or else

signal strength will weaken. There are essentially two parameters to look at when trying to

determine range.

TRANSMIT POWER:

Transmit power refers to the amount of RF power that comes out of the antenna part of the radio.

Transmit power is usually measured in Watts, milli-watts or dBm. (Conversion between watts and

dB see below)

7.4 RECEIVER SENSITIVITY:

Receiver sensitivity refers to the minimum level signal the radio can demodulate. It is convenient to

use an example with sound waves; Transmit power is how loud someone is yelling and receive

sensitivity would be how soft a voice someone can hear. Transmit power and receive sensitivity

together constitute what is know as link budget. The link budget is the total amount of signal

attenuation you can have between the transmitter and receiver and still have communication occur.


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7.5 RF COMMUNICATIONS AND DATA RATE:

Data rates are usually dictated by the system - how much data must be transferred and how often

does the transfer need to take place. Lower data rates, allow the radio module to have better receive

sensitivity and thus more range. In the Xstream modules the 9600 baud module has 3dB more

sensitivity than the 19200 baud module. This means about 30% more distance in line-of-sight

conditions. Higher data rates allow the communication to take place in less time, potentially using

less power to transmit.

7.6 ADVANTAGES OF RF:

Widely used, including Bluetooth, Radios, Cell phones, Satellite etc Wide range, from few meters to millions of kilometers (Can be Used to control Robots in

Mars)

Does not require two devices to be in line of sight. Can cross many obstacles

Radio frequency (RF) is a term that refers to alternating current (AC) having characteristics such

that, if the current is input to an antenna, an electromagnetic (EM) field is generated suitable for

wireless broadcasting and/or communications. These frequencies cover a significant portion of the

electromagnetic radiation spectrum, extending from nine kilohertz (9 kHz),the lowest allocated

wireless communications frequency (it's within the range of human hearing), to thousands of

gigahertz(GHz).

When an RF current is supplied to an antenna, it gives rise to an electro magnetic field that

propagates through space. This field is sometimes called an RF field in less technical jargon it is a

"radio wave." Any RF field has a wavelength that is inversely proportional to the frequency.

The frequency of an RF signal is inversely proportional to the wave length of the EM field to whichit corresponds. At 9 kHz, the free-space wavelength is approximately 33 kilometers (km). At the

highest radio frequencies, the EM wavelengths measure approximately one millimeter (1 mm). As

the frequency is increased beyond that of the RF spectrum, EM energy takes the form of infrared

(IR), visible, ultraviolet (UV), X rays, and gamma rays.

Many types of wireless devices make use of RF fields. Cordless and cellular telephone, radio and

television broadcast stations, satellite communications systems, and two-way radio services all

operate in the RF spectrum. Some wireless devices operate at IR or visible-light frequencies, whose

electromagnetic wavelengths are shorter than those of RF fields. Examples include most television-


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set remote-control boxes, some cordless computer keyboards and mice, and a few wireless hi-fi

stereo headsets.

The RF spectrum is divided into several ranges or bands. With the exception of the lowest-

frequency segment, each band represents an increase of frequency corresponding to an order of

magnitude (power of 10). The table depicts the eight bands in the RF spectrum, showing frequency

and bandwidth ranges. The SHF and EHF bands are often referred to as the microwave spectrum.

PIN DIAGRAM:

7.7 PIN DESCRITION:

RF RECEIVER:

Pin no Function Name

1 Ground Ground

2 Serial data output Data

3 Linear output pin: not connected NC

4 Supply voltage: 5V Vcc


6 Ground Ground

7 Ground Ground

8 Antenna input pin ANT

Fig 21: Pin Diagram of RF Transmitter &


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RF TRANSMITTER:

Pin no Function Name

1 Ground Ground

2 Serial data input Data


4 Antenna output pin ANT


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8. MINI WIRELESS SPY CAMERA

8.1 Introduction

Surveillance cameras are video cameras used for the purpose of observing an area. They are often

connected to a recording device, IP network, and/or watched by a security guard/law enforcement

officer/army. Cameras and recording equipment used to be relatively expensive and required human

personnel to monitor camera footage. Now with cheaper production techniques, it is simple and

inexpensive enough to be used in home security systems, and for everyday surveillance. Analysis of

footage is made easier by automated software that organizes digital video footage into a searchable

database, and by automated video analysis software. The amount of footage is also drastically

reduced by motion sensors which only record when motion is detected.

8.2 Main features:

Complete Wireless Camera Transmitter + Receiver Set Camera Transmitter can be powered by wall socket or battery Camera Transmitter can connect to TV as a normal video camera 1/3 Inch CMOS image sensor Captures both audio and video Perfect spy device So inexpensive, it's like having a disposable transmitter!

8.3 Specifications:

Primary Function: Tiny Wireless Spy Camera Transmitter and Long Range WirelessReceiver

Wireless Camera + Transmitter Info: Image Sensor: 1/3 Inch CMOS TV Color System: PAL Horizontal Definition: 380TV Lines Angular Field of View: 80 deg f=4mm Synchronization System: Internal Minimum Illumination: 3Lux F/1.2 White Balance: Auto Transmission Frequency: 1.2 GHz Power Source: wall socket or 9V battery
http://en.wikipedia.org/wiki/IP_networkhttp://en.wikipedia.org/wiki/Security_guardhttp://en.wikipedia.org/wiki/Law_enforcement_officerhttp://en.wikipedia.org/wiki/Law_enforcement_officerhttp://en.wikipedia.org/wiki/Databasehttp://en.wikipedia.org/wiki/Databasehttp://en.wikipedia.org/wiki/Law_enforcement_officerhttp://en.wikipedia.org/wiki/Law_enforcement_officerhttp://en.wikipedia.org/wiki/Law_enforcement_officerhttp://en.wikipedia.org/wiki/Security_guardhttp://en.wikipedia.org/wiki/IP_network


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Recommended Max Range for Objects: 4-6 Meters Transmission Range: 30-50 Meters Built In Microphone (suggested range 2-3m) Wireless or Wired (AV) connectivity Adjustable Vertical Angle Frame Dimensions (with stand): 40mm x 40mm x 30mm (L x W x D) Wireless Long Range Receiver Info: Receiving Frequency: 1.2GHz Intermediate Frequency: 480Mhz Frequency Stabilization: +/-100Khz Demodulation Mode: FM Antenna: 50ohm SMA Receiving Sensitivity: -85dBm Power Source: wall socket

Fig 22: Radio AV Receiver & Camera


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9. GAS SENSOR

9.1 Introduction:-

Gas sensor has recently attracted much attention due to increasing demand of environmental

monitoring and other gas detecting applications. Gas sensors interact with a gas to initiate themeasurement of its concentration. The gas sensor then provides output to a gas instrument to

display the measurements. Common gases measured by gas sensors include Ammonia,

Aerosols, Arsine, Bromine, Carbon Dioxide, Carbon Monoxide, Chlorine, Chlorine Dioxide,

Diborane, Dust, Fluorine, Halocarbons or Refrigerants, Hydrocarbons, Hydrogen, Hydrogen

Chloride, Hydrogen Cyanide, Hydrogen Fluoride, Hydrogen Selenide, hydrogen sulfide,

mercury vapor, nitrogen dioxide, nitrogen oxides, nitric oxide, organic solvents, oxygen,

ozone, phosphine, silane, sulfur dioxide, and water vapor. Important measurement

specifications to consider when looking for gas sensors include the response time, the

distance, and the flow rate.

The response time is the amount of time required from the initial contact with the gas to the

sensors processing of the signal. Distance is the maximum distance from the leak or gas

source that the sensor can detect gases. The flow rate is the necessary flow rate of air or gas

across the gas sensor to produce signal. Gas sensors can output a measurement of the gases

detected in a number of ways. These include percent LEL, percent volume, trace, leakage,

consumption, density, and signature or spectra. The lower explosive limit (LEL) or lower

flammable limit (LFL) of a combustible gas is defined as the smallest amount of the gas that

will support a self-propagating flame when mixed with air (or oxygen) and ignited.

9.2 APPLICATIONS OF GAS SENSOR:

1. Gas Leak Protection2. Confined Space Entry Surveillance.3. Protection in Hazardous Area.4. Portable gas detector


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9.3 MQ-2 Semiconductor Sensor Used In Arm Force Surveillance Robot:

Sensitive material of MQ-2 gas sensor is SnO_2, with lower conductivity in clean air. When

the target combustible gas exist, the sensors conductivity is more higher along with the gas

concentration rising.

9.3.1 Characteristics:

Good sensitivity to Combustible gas in wide range. High sensitivity to LPG, Propane and Hydrogen. Long life and low cost. Simple drive circuit.

9.3.2 Technical Data:


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9.3.3 Sensitivity Characteristics

Fig. shows the typical sensitivity characteristics of the MQ-2, ordinate means resistance ratio

of the sensor(Rs/Ro), abscissa is concentration of gases. Rs means resistance in different

gases, Ro means resistance of. sensor in 1000ppm Hydrogen. All tests are under standard test

conditions.

Fig 23: Sensitivity Characteristics of MQ2


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9.3.4Influence of Temperature/Humidity:

Fig. shows the typical temperature and humidity characteristics. Ordinate means resistance

ratio of the sensor (Rs/Ro), Rs means resistance of sensor in 1000ppm Butane under different

tem. and humidity.Ro means resistance of the sensor in environment of test conditions.

1000ppm Methane, 20.C/65%RH.

Fig 24:Influence of Temperature/Humidity on MQ2


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9.3.5 Structure and Configuration:

Structure and configuration of MQ-2 gas sensor is shown as Fig., sensor composed by

micro AL2O3 ceramic tube, Tin Dioxide (SnO2) sensitive layer, measuring electrode

and heater are fixed into a crust made by plastic and stainless steel net. The heater

provides necessary work conditions for work of sensitive components. The enveloped

MQ-2 have 6 pin, 4 of them are used to fetch signals, and other 2 are used for

providing heating current.

Conditions Prohibited:

Exposing to organic silicon steam. Using High Corrosive gas Touching water Freezing. Applying higher Voltage.

Applying Voltage on wrong pins

Following conditions must be avoided:

Water Condensation Using in high gas concentration. Storing for long time without Electrifying. Long time exposing to adverse environment. Avoiding Vibration & Concussion.

.

Fig 25: Structure & Configuration of MQ2 gas


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10. HT12E ENCODER

10.1 Introduction:

The HT 12E Encoder ICs are series of CMOS LSIs for Remote Control system applications.

They are capable of Encoding 12 bit of information which consists of N address bits and 12-

N data bits. Each address/data input is externally trinary programmable if bonded out.

10.2 Features:

Operating Voltage= 2.4V~12V Low power and high noise immunity CMOS technology Data code has positive polarity Minimal external components 18-pin DIP, 20-pin SOP package Built-in oscillator needs only 5% resistor Minimum transmission word= Four words for the HT12E Low standby current: 0.1_A (typ.) at VDD=5V

10.3 General Descriptions:

The 2^12 encoders are a series of CMOS LSIs for remote control system applications. They

are capable of encoding information which consists of N address bits and12-N data bits.

Each address/data input can be set to one of the two logic states. The programmed

addresses/data are transmitted together with the header bits via an RF or an infrared

transmission medium upon receipt of a trigger signal. The capability to select a TE trigger on

the HT12E is further enhances the application flexibility of the 2^12 series of encoders


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Block Diagram:

Pin Assignment:

Fig 26: Block Diagram of Encoder

Fig 27: Pin Diagram of HT12E Encoder


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10.5 Electrical characteristics:


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10.6 Functional Descriptions:

The 2^12 series of encoders begin a 4-word transmission cycle upon receipt of a

transmission enable (TE for the HT12E is, active low). This cycle will repeat itself as long as

the transmission enable (TE or D8~D11) is held low. Once the transmission enables returns

high the encoder output completes its final cycle and then stops as shown below.

Application circuit:

Fig 28: Application Circuit for HT12E Encoder


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11. IR OBSTRACLE SENSOR

11.1 INTRODUCTION

Infrared sensor is always one of the preferred choices in designing a low cost mobile robot. A

simple infrared obstacle sensor can be easily built within a few hours by using a few

components and a microcontroller. The microcontroller is used to generate infrared beam and

process the signal from the infrared module. In this project the microcontroller being used is

AT89C2051. However, it is presumed that other similar microcontroller should work fine as

well.

11.2 Circuit Design

Infrared detector is one of the common sensors used forsensing the environments condition.

However, the ambient light surrounding will introduce a lot of noises to the infrared detector.

Hence, the infrared beam that used to detect the obstacle has to be modulated in certain

frequency so that the BPF can eliminate the unwanted noises. The infrared module that used

in this circuit is IRM-8751, which is a generic IR module with BPF of 38kHz. Two IR

emitters are put on the left and right of the IR module. Since the microcontroller has no

sufficient current to drive a load like infrared emitter, transistors are used to provide a large

current to drive the infrared emitters for a longer distance of detection. Besides that, it is

always not a good idea to drive a load directly by using microcontroller.

Since both IR emitters will flash the IR beam at different time, the microcontroller will able

to determine the location of the obstacle based on the received signal. The IR carrier has to be

in 38kHz. So the time period for the carrier is 26us, which it should on and off for 13us each

time. The microcontroller will approximately use 1us to perform 1 cycle of operation. In

other words, it should generate the IR pulse for every 13 cycles with the pulse width of 13

cycles. And for the same thing, the microcontroller will idle for 600us by executing 600 times

of NOP (1 cycle) command.


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11.3 Infra Red Obstacle Detector Circuit

Fig:29 Infrared obstacle detector circuit

Fig. 30: IR Sensor Chip


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11.4 Key Features:

1. On Board High Quality Infra Red Transmitter & Receiver (5 mm IR Tx & IR Rx).

2. Header Pins for VCC, GND And Output.

3. Preset (50K) For High Accuracy.

4. Easy Interfacing WithATB-100 Development Board.

5. Sensing range up to 600 mm.

11.5 Technical Specifications:

Power Supply: 5V DC

Distance Between Tx & Rx: 8 mm

5 mm High Quality IR Tx & IR Rx

Size: 15x24 sq. mm


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12. FUNCTIONALITY OF WIRELESS SURVEILLANCE ROBOT

Our project is based on the concept of wireless video surveillance using Radio Frequency

(RF) Technology. Along with video surveillance we have Gas Sensor and Obstacle Detector

(using IR Sensor). The RF Module used has a range of 50 metre thus this bot is basically designed

for defense purpose. For Video Surveillance purpose we are using a wireless camera which is

mounted on a rotating base for 360 degree orientation.

Fig 31: Wireless Surveillance Robot


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12.1 COMPONENTS OF WIRELESS SURVEILLANCE ROBOT

12.2 FUNCTIONAL BLOCK DIAGRAM OF WIRELESS RF MOULE

POWERSUPPLY

+12VSWITCHES ENCODER

RF

TRANSMITTER

POWERSUPPLY

+12V

MICRO-CONTROLLER

DECODERRF

RECEIVER

IR SENSOR

SINGLE

CHANNEL


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12.3 FUNCTIONAL BLOCK OF VIDEO SURVEILLANCE

MICRO-

CONTROLLER

MOTORDRIVER

BOT

MOVEMENT

3600 CAMERAMOVEMENT

GAS SENSOR

+9V POWERSUPPLY

CAMERA TRANSMITTER

DISPLAYUNIT

COMPUTER

PROJECTOR

TV

RECEIVE R


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12.4 Working:

The chassis is made up of plywood and has a dimension of (30*25*13) centimeter. Two 100

rpm gear motor are connected to the base of the chassis by the help of two clamps. Two wheels

are also connected to the shaft of the gear motor. A multi-movable wheel is attached at the front

end of the chassis which assists in the rotation of the bot. Another 3 rpm motor is connected to

the rotating base of the camera for enabling its 360 degree vision. The receiver section consist

of power supply module, decoder, microcontroller, two motor drivers, RF receiver, MQ2 Gas

sensor, Obstacle detector (IR sensor).

Fig 30: Receiver Section of Wireless Surveillance Robot


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Fig 32: Circuit Diagram of Receiver Section


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For the power supply of the bot we have two alternatives one is through a 12 volt battery supply and

the other is through 12 volt Adapter. The power supply to the components of the circuit is

controlled by the on/off switch .A 780 +5 voltage regulator is used to step-down the 12 volt dc

supply to +5 volt supply. The output of the power regulator (3.5V to 2.5V) is opposed by the

resistor and is given to the LED to glow. A Capacitor is used across the DC supply to act as an

reservoir and to smoothen the supply current.

The Atmega16 microcontroller has 40 pins which is divided into 4 ports i.e Port A (PA7 to PA0),

Port B (PA7 to PA0), Port C (PC7 to PC0), Port D (PD7 to PD0. Port A takes the analog signals

from the MQ2 gas sensor. Port C receives as input decoded data from the decoder. The received

decoded data is processed by the ATMEGA 16 microcontroller and sends the data to the LM 293D

motor driver via. Port B. Here we are using two LM293D motor which is connected to the gear

motor and a camera motor respectively. The output pins are connected to the motor supply

terminals and the input pins are connected to the microcontroller which receives the transmitted

signal.

We use a MQ2 gas sensor to detect the presence of any hazardous gases in the environment. An

Obstacle Detector (IR Sensor) is used which is connected directly to the power supply.

A RF module is used to transmit and receive the wireless signals.

Fig 33: Transmitter Section of Wireless Surveillance Robot


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The Transmitter Section consists of a Power Supply, Encoder, RF Transmitter and 4 Switches.

The four switches when pressed individually control the direction of motion of the robot and when

the switches when pressed in pairs in alternative order i.e. up and down, left and right then the

rotation of the camera takes place in clockwise and anticlockwise direction respectively.

Fig 34: Circuit Diagram of Transmitter Section


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12.5 Program:

#include

#include

#include

#define SMOKE_THRES 150

void main(void)

{

DDRD=0x01;

DDRC=0x00;

DDRB=0xff;

adc_init();

unsigned char smoke_value,rf_value;

while(1)

{

smoke_value=read_adc_channel(0);

rf_value=PINC & 0x0f;

if(rf_value==0x0e)

PORTB=0x02;

else if(rf_value==0x0d)

PORTB=0x05;

else if(rf_value==0x0b)

PORTB=0x08;

else if(rf_value==0x07)

PORTB=0x0a;


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else if(rf_value==0x0a)

PORTB=0x10;

else if(rf_value==0x05)

PORTB=0x20;

else

PORTB=0x00;

if(smoke_value>SMOKE_THRES)

PORTD=0x01;

else

;

}

}

As per the program when the switches are pressed in pair or individually the default value of the

switches are conveyed to the encoder which then encodes the values and sends the encoded data to

the RF transmitter then the RF transmitter transmits the signal.


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13. CONCLUSION

A surveillance robot is generally used for stealth purpose in places which are not humanly

accessible, though it can be put to many uses its generally used by armed forces from the beginning

to spy on the enemy lines.

In general the wireless surveillance robot having a flexible range of visions handy in many defense

areas not only to survey the enemy lines but also keep an eye on efficient working of the infantry

and the troops. These types of robots are generally nor detectable in general range of optical vision

and hence can be moved in any direction desired.

The obstacle sensor used help in avoiding help in avoiding the obstruction placed before the bot

which could be seen through the camera and hence easily steer the robot from harm ways

The transmitter or the remote of the robot has a n easy layout of the switches which helps in easy

steering of the robot and movement of the camera giving a 360 degree rotation modern warfare

involves use of dangerous gases in order to in stabilize the army so we are using a mq2 gas sensor

in order to sense the presence of any hazardous gas in nearby area.

The advancement in electronics circuit design and robotics has even made the robot smallercompact in size and design. The main aim of these is to supply uninterrupted and correct

information to seeker without being detected. Now days flying bots in forms of drones are used for

both surveillance and attack. In the days to come these type of robot are going to play a significant

role in the modern field of intelligence collection and warfare.


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14. REFERENCE

Mobile Robots Inspiration to Implementationby Joseph L. Jones, Anita M. Flynn andBruce A. Seiger.

8051 microcontroller Muhammad ali mazidi,PHI http://www.8052.com http://www.google.com/images http://www.robotroom.com http://www.roboticsindia.com http://www.wekipedia.org http://www.rentron.com http://www.datasheetarchive.com http://www.atmel.com http://www.8051projects.info http://www.8051projects.net

Documents

Project on automated Robot Put to Security Measures