A Project Report on

REMOTE CONTROLLED ROBOTIC ARM Submitted in partial fulfillment of Bachelor of Technology degree of the Rajasthan Technical University, Kota

Submitted by:
1. DHARMENDRA KUMAR YADAV #. $I%ESH SHARMA *. SANDEE AGAR+AL

Guided by: Ms. NEHA SINGH

Lecturer/Asst. r!". De&'rtme(t !" E)ectr!(ics '(d ,!mmu(ic'ti!( E(--.

DEPARTMENT OF ELECTRONICS & COMMUNICATION ENG.

INSTITUTE OF ENGINEERING & TECHNOLOGY ALWAR (RAJASTHAN) 30 030

Sessi!( #..1./11

CERETIFICATE
This is to certify that the project report entitled REMOTE CONTROLLED ROBOTIC ARM su !itted y D"ARMENDRA een su !itted #$MAR % &ITE'" '"ARMA % and 'ANDEE( A)AR*AL under !y super+ision is students o,n ,or- and has not elief0 else,here for the a,ard of any de.ree% to the est of !y -no,led.e /

Date: 24, dec, 2010 #ecturer

Signature (Ms. NE A SIN! "

De$tt.% E&ectr'nics and C'((unicati'n engg.

A,KN0+LEDGEMEN%
)e *is+ t' e,$ress 'ur sincere gratitude t' Mr. V.K.A-'r1') 2 C+air(an, I.E.T, A&*ar, Mr. S. . G'r- 2 Direct'r, I.E.T, A&*ar, -'r $r'.iding us t+e in-rastructure. )e *is+ t' e,$ress 'ur sincere gratitude t' Mr. R'3es4 S4'rm'2 de$art(ent -'r $r'.iding us t+e '$$'rtunit0 t' *'r1 in De$art(ent. )e '*n 'ur de2t '- gratitude t' 'ur $r'3ect guide Ms. Ne4' Si(-4, -'r +er su$$'rt, +e&$ and .a&ua2&e guidance during t+e $r'3ect tenure. It +as 2een a distinct +'n'r -'r us t' +a.e *'r1ed under +is estee(ed guidance and +as &earnt t+e art '- science -r'( +er. It +as 2een $r'ud $ri.i&ege t' +a.e *'r1ed under t+e sti(u&at'r0 guidance '- an aus$ici'us (u&ti-aceted teac+er *+' ga.e us an '$$'rtunit0 t' d' researc+ in t+is -ie&d. er scienti-ic 3udg(ent, c'nstructi.e criticis( and e.er&asting c'ncern -'r 2etter(ent, sincerit0 and de.'ti'n +a.e 2een t+e r'&e $i&&ars t+at +a.e $r'.ided us t+e arc+itectura& -ra(e *'r1 -'r designing t+is $r'3ect t' its $resent s+a$e. )e *is+ t' acc'rd (0 s$ecia& t+an1s t' (0 -riends -'r t+eir ('ra& and e('ti'na& su$$'rt t+r'ug+'ut t+e de$utati'n $eri'd -'r t+e researc+ *'r1. /D '- EC

N'me
D+ar(endra 4u(ar 5ada. 6ites+ S+ar(a Sandee$ agar*a&

Si-('ture

D'te
24, dec, 2010 24, dec, 2010 24, dec, 2010

A5S%RA,%
T' reduces t+e +u(an e--'rts and in industries t' increase e--icienc0, $r'-icienc0 and t+e ('st i($'rtant is t' reduce t+e ti(e. N'*ada0s a ne* tec+n'&'g0 '- R'2'tics is used *+ic+ can d' a s$eci-ic tas1. R'2'tics *+ic+ is used in ('st '- t+e de.e&'$ed c'untries &i1e !er(an0, France, and 6a$an, 7SA, C INA etc. T+ese R'2'ts are c'ntr'&&ed *it+ t+e re('te. T+e R'2't is $r'gra((ed -'r t+e s$eci-ic tas1. E.er0 tas1 '- t+e r'2't is de-ined% st'$$age ti(ing '- t+e r'2't and ang&e '- r'tati'n 2et*een t+e t*' $&aces is de-ined 20 t+e ser.' ('t'rs. T+is is .er0 *'nder-u& $r'3ect t' c'ntr'& t+e *'r1ing '- t+e r'2'tic ar( *it+'ut *ire. T+e $r'3ect is t' c'ntr'& a r'2'tic ar( using t+e re('te c'ntr'&. T+e re('te c'ntr'& *'r1s 'n t+e RC8 9R/T/C/#. It trans(its 14 data at a ti(e. T+e c'((and data is a Manc+ester c'ded 2it strea( ('du&ating a :; 1 < carrier. T+e IR signa& -r'( t+e trans(itter is detected 20 a s$ecia&i<ed IC (IR recei.er" *it+ an integra& $+'t'=di'de, and is a($&i-ied, -i&tered, and de('du&ated. T+e 14 2it c'ntains 2 start 2it, 1 t'gg&e 2it, 8 address 2it and ; c'((and 2it. >0 recei.ing t+e data t+e c'ding is d'ne -'r t+e '$erati'n '- t+e ser.' ('t'rs. As -'r t+e $articu&ar 2it $attern t+e $articu&ar nu(2er 'r ('t'rs are t' 2e '$erated -'r a $articu&ar ang&e. In t+is *a0 t+e r'2'tic ar( is c'ntr'&&ed using t+e re('te c'ntr'&.

,0N%EN%S
,4'&ter (!. '-e (!. 1. IN%R0DU,%I0N66666666666666666666..1 1.1 >&'c1 diagra(????????????????????..2 1.2 I($'rtance '- t+e Researc+ ???????????????.2 1.: C'ntri2uti'ns '- t+e $r'3ect??????????????? 2 #. R050%I, ARM666666666666666666666: 2.1 /.er.ie* '- r'2'tic ar(????????????????: 2.2 Ad.antages?????????????????????4 2.: Disad.antages???????????????????....4 *. DESIGNING 07 R050%I, ARM6666666666666.8 :.1 C'($'nent used in r'2'tic ar(?????????????..8 :.1.1 Ser.' ('t'r???????????????????8 :.1.2 @A08 IC?????????????????????@ :.1.: C9#D?????????????????????.11 :.1.4 CR5STA# 'sci&&at'r???????????????.1: :.1.8 T s'$?????????????????????.18 :.1.; RC8 $r't'c'&??????????????????..1; :.2 Design descri$ti'n '- r'2'tic ar(????????????...20 :.2.1 B#SI i($&e(entati'n '- r'2'tic ar(?????????.22 8. SIMULA%I0N RESUL%S6666666666666666...24 9. ,0N,LUSI0N AND 7U%URE S,0 E666666666662; A ENDI:66666666666666666666666 2@

RE7EREN,ES666666666666666666666..:8

LIS% 07 7IGURES
NAME 07 7IGURE AGE N0.

1.1. )'r1ing '- $r'3ect ???????????????????..2 2.1. >asic Design /- R'2'tic Ar( ???????????????.: 2.2. Di--erent R'2'tic Ar(s ??????????????????4 :.1. Ser.' M't'r (Bega Ser.' BS=1" ??????????????..8 :.2. @A08 IC????????????????????????.. A :.: @A08 c'necti'ns???...??????????????????C :.4 9in descri$ti'n??????????????????????.C :.8 Circuit @A08???????????????????????10 :.; C9#D?.????????????????????????.18 :.@ TS/9?????????????????????????..1; :.A Ti(ing Diagra( '- RC8 9r't'c'&??????????????..1A :.C Re('te c'ntr'&&ed r'2'tic ar(????????????????20 :.10 C'($'nents '- r'2'tic ar(????????????????....21 :.11 Ti(ing diagra( '- ser.'('t'r???????????????...22

,HA %ER 1

IN%R0DU,%I0N
T+is $r'3ect is designed s' t+at students can understand t+e tec+n'&'g0 used in n'* a da0Ds. R'2'tics *+ic+ is used in ('st '- t+e de.e&'$ed c'untries &i1e !er(an0, France, and 6a$an, 7SA, C+ina etc. T+ese R'2'ts are c'ntr'&&ed *it+ t+e re('te. T+e R'2't is $r'gra((ed -'r t+e s$eci-ic tas1. E.er0 tas1 '- t+e r'2't is de-ined% st'$$age ti(ing '- t+e r'2't and ang&e '- r'tati'n 2et*een t+e t*' $&aces is de-ined 20 t+e ser.' ('t'rs. T+is is .er0 *'nder-u& $r'3ect t' c'ntr'& t+e *'r1ing '- t+e r'2'tic ar( *it+'ut *ire. )e are using t+ese c'($'nents in 'ur $r'3ect *+ic+ are C9#D, 7#N 200:, Ser.' ('t'r, Re('te. In t+is $r'3ect *e tr0 t' gi.e t+e sa(e $r't'c'& -'r t+is t0$e '- re('te. )e are using C9#D t' c'ntr'& a&& t+e -uncti'n as C97. C9#D c'ntr'&s t+e r'tati'n '('t'r. First t+e ('t'r is c'ntr'&&ed and r'tati'n '- ('t'r is s$eci-ied and acc'rding&0 t+e di--erent de&a0 -'r eac+ ang&e is $r'.ided. S' t+is $r'3ect *'r1s -'r r'2'tic ar( *it+ re('te. T+e ('ti'n '- t+e ar( is c'ntr'&&ed 20 t+e Ser.' M't'r.

5)!c3 di'-r'm:

CPL D

IR RECEIVER

ROBOTIC ARM REMOTE

Fig1.1 >&'c1 Diagra( '- 9r'3ect

Im&!rt'(ce !" t4e Rese'rc4 T' reduces t+e +u(an e--'rts, and in industries t' increase e--icienc0, $r'-icienc0 and t+e ('st i($'rtant is t' reduce t+e ti(e. T+r'ug+ t+is a $ers'n *+' +as n' +and can a&s' *'r1 20 using t+e r'2'tic ar( as a te($'rar0 +and.

,!(tributi!( !" t4e r!;ect T+e $r'3ect c'nc&udes t+e B#SI i($&e(entati'n '- t+e Re('te C'ntr'&&ed R'2'tic Ar(. In t+is +ard*are is designed -'r ser.' ('t'r 20 *+ic+ t+e ('ti'n '- t+e r'2'tic ar( can 2e c'ntr'&&ed.
2

,HA %ER #

R050%I, ARM
#.1 0<er<ie1 !" R!b!tic Arm A&t+'ug+ t+ese d' n't -a&& under t+e categ'r0 '- m!bi)e r'2'tics, t+e -ie&d 'r'2'tics essentia&&0 started *it+ ar(s and end=e--ect'rs (de.ices t+at attac+ t' t+e end '- an ar( suc+ as gri$$ers, e&ectr'(agnets etc". Ar(s and gri$$ers are t+e 2est *a0 -'r a r'2't t' interact *it+ t+e en.ir'n(ent it is e,$&'ring. Si($&e r'2't ar(s can +a.e 3ust 'ne ('ti'n, *+i&e ('re c'($&e, ar(s can +a.e a d'<en 'r ('re uniEue degrees '- -reed'(.

Fig.2.1 >asic Design '- r'2'tic ar(

Fig.2.2 Di--erent R'2'tic ar( ('de&s

#.# Ad<'(t'-es

Ber0 si($&e t' .er0 c'($&e, design $'ssi2i&ities Eas0 t' (a1e a : 'r 4 degree '- -reed'( r'2't ar( (t*' 3'ints and turning 2ase"

#.* Dis'd<'(t'-es Stati'nar0 un&ess ('unted 'n a ('2i&e $&at-'r( C'st t' 2ui&d is $r'$'rti'na& t' &i-ting ca$a2i&it0

,HA %ER *

DESIGNING 07 R050%I, ARM

*.1 ,!m&!(e(ts used i( R!b!tic 'rm *.1.1 Ser<! m!t!rs Ser.' ('t'rs are t0$es '- actuat'rs t+at r'tate t' a s$eci-ic angu&ar $'siti'n, and *ere c&assica&&0 used in ('re e,$ensi.e re('te c'ntr'&&ed .e+ic&es -'r steering 'r c'ntr'&&ing -&ig+t sur-aces. N'* t+at t+e0 are used in a .ariet0 'a$$&icati'ns, t+e $rice '- +'220 ser.'s +as g'ne d'*n signi-icant&0, and t+e .ariet0 (di--erent si<es, tec+n'&'gies, and strengt+" +as increased.

Fig. :.1 Ser.' M't'r (.ega ser.' BS=1"

T+e c'(('n -act'r t' ('st ser.'s is t+at t+e (a3'rit0 'n&0 r'tate a2'ut 1A0 degrees. A +'220 ser.' ('t'r actua&&0 inc&udes a DC ('t'r, gearing, e&ectr'nics and a r'tar0 $'tenti'(eter (*+ic+, in essence, (easures t+e ang&e". T+e e&ectr'nics and $'tenti'(eter *'r1 in unis'n t' acti.ate t+e ('t'r and st'$ t+e 'ut$ut s+a-t at a s$eci-ied ang&e. T+ese ser.'s are genera&&0 +a.e t+ree *ires: gr'und, .'&tage in, and a c'ntr'& $u&se. T+e c'ntr'& $u&se is usua&&0 generated *it+ a ser.' ('t'r c'ntr'&&er. A Fr'2't ser.'F is a ne* t0$e '- ser.' t+at '--ers 2't+ c'ntinu'us r'tati'n and $'siti'n -eed2ac1. A&& ser.'s can r'tate C) and CC). Dc ser.' ('t'rs are n'r(a&&0 used as $ri(e ('.ers in c'($uters, nu(erica&&0 c'ntr'&&ed (ac+iner0, 'r 't+er a$$&icati'ns *+ere starts and st'$s are (ade Euic1&0 and accurate&0. Ser.' ('t'rs +a.e &ig+t*eig+t, &'*=inertia ar(atures t+at res$'nd Euic1&0 t' e,citati'n=.'&tage c+anges. In additi'n, .er0 &'* ar(ature inductance in t+ese ser.' ('t'rs resu&ts in a &'* e&ectrica& ti(e c'nstant (t0$ica&&0 0.08 t' 1.8 (sec" t+at -urt+er s+ar$ens ser.' ('t'r res$'nse t' c'((and signa&s. Ser.' ('t'rs inc&ude $er(anent=(agnetic, $rinted=circuit, and ('.ing=c'i& ('r s+e&&" dc ser.' ('t'rs. T+e r't'r '- a s+e&& dc ser.' ('t'r c'nsists '- a c0&indrica& s+e&& '- c'$$er 'r a&u(inu( *ire c'i&s *+ic+ r'tate in a (agnetic -ie&d in t+e annu&ar s$ace 2et*een (agnetic $'&e $ieces and a stati'nar0 ir'n c're. T+e ser.' ('t'r -eatures a -ie&d, *+ic+ is $r'.ided 20 cast A&NiC' (agnets *+'se (agnetic a,is is radia&. Ser.' ('t'rs usua&&0 +a.e t*', -'ur, 'r si, $'&es. Dc ser.' ('t'r c+aracteristics inc&ude inertia, $+0sica& s+a$e, c'sts, s+a-t res'nance, s+a-t c'n-igurati'n, s$eed, and *eig+t. A&t+'ug+ t+ese dc ser.' ('t'rs +a.e si(i&ar t'rEue ratings, t+eir $+0sica& and e&ectrica& c'nstants .ar0.

DC Servo Motor Selection: T+e -irst se&ecti'n a$$r'ac+ is t' c+''se a ser.' ('t'r &arge en'ug+ -'r a (ac+ine t+at +as a&read0 2een designed% t+e sec'nd is t' se&ect t+e 2est a.ai&a2&e ser.' ('t'r *it+ a s$eci-ic -eature and t+en 2ui&d t+e s0ste( ar'und it% and t+e t+ird is t' stud0 ser.' ('t'r $er-'r(ance and s0ste( reEuire(ents and (ate t+e t*'. T+e -ina& ser.' ('t'r s0ste( design is usua&&0 t+e &east s'$+isticated t+at (eets t+e $er-'r(ance s$eci-icati'ns re&ia2&0. Ser.' ('t'r reEuire(ents (a0 inc&ude c'ntr'& '- acce&erati'n, .e&'cit0, and $'siti'n t' .er0 c&'se t'&erances. T+is sa0s t+at t+e ser.' designer (ust de-ine t+e s0ste( care-u&&0, esta2&is+ t+e ser.' ('t'rGs $er-'r(ance s$eci-icati'ns, deter(ine critica& areas, and set u$ t'&erances. /n&0 t+en *i&& t+e designer 2e a2&e t' $r'$'se an adeEuate ser.'s0ste( and c+''se a ser.' ('t'r t0$e

*.1.# =>.9 I,

B'&tage regu&at'r ICs are a.ai&a2&e *it+ -i,ed (t0$ica&&0 8, 12 and 18B" 'r .aria2&e 'ut$ut .'&tages. T+e (a,i(u( current t+e0 can $ass a&s' rates t+e(. Negati.e .'&tage regu&at'rs are a.ai&a2&e, (ain&0 -'r use in dua& su$$&ies. M'st regu&at'rs inc&ude s'(e aut'(atic $r'tecti'n -r'( e,cessi.e current ('.er &'ad $r'tecti'n" and '.er+eating (t+er(a& $r'tecti'n". Man0 '- -i,ed .'&tage regu&at'r ICs +as : &eads. T+e0 inc&ude a +'&e -'r attac+ing a +eat sin1 inecessar0.

Fig :.2 @A08 IC

T+ese .'&tage regu&at'rs are ('n'&it+ic circuit integrated circuit designed as -i,ed .'&tage regu&at'rs -'r a *ide .ariet0 '- a$$&icati'ns inc&uding &'ca&, 'n card regu&ati'n. T+ese regu&at'rs e($&'0 interna& current &i(iting, t+er(a& s+utd'*n, and sa-e=area c'($ensati'n. )it+ adeEuate +eat sin1ing t+e0 can de&i.er 'ut$ut current in e,cess '- 1.0 A. A&t+'ug+ designed $ri(ari&0 as a -i,ed .'&tage regu&at'r, t+ese de.ices can 2e used *it+ e,terna& c'($'nents t' '2tain ad3usta2&e .'&tage and current. T+is is ('st c'(('n voltage regulator t+at is sti&& used in e(2edded designs. #M@A08 voltage regu&at'r is a &inear regu&at'r (ade 20 se.era& (anu-acturers &i1e Fairc+i&d, 'r ST Micr'e&ectr'nics. T+e0 can c'(e in se.era& t0$es '$ac1ages. F'r 'ut$ut current u$ t' 1A t+ere (a0 2e t*' t0$es '- $ac1ages: T/= 220 (.ertica&" and D=9A4 (+'ri<'nta&".

Fig::.: @A08 c'necti'ns

)it+ $r'$er +eat sin1 t+ese #M@A,, t0$es can +and&e e.en ('re t+an 1A current. T+e0 a&s' +a.e T+er(a& overload protection, S+'rt circuit $r'tecti'n. I- 0'ur design *'nHIJt e,ceed 0.1A current 0'u (a0 c+'se regu&at'r #M@A#08 *it+ s(a&&er $ac1ages and &'*er (a,i(u( current u$ t' 0.1A. T+e0 c'(e in t+ree (ain t0$es '- $ac1ages S/=A, S/T=AC and T/=C2

Fig: :.4 9in Descri$ti'n

C

'rt #M@A08 #M@A0; #M@A0A #M@A0C #M@A10 #M@A12 #M@A18 #M@A1A #M@A24

0ut&ut ?V@ 8 ; A C 10 12 18 1A 24

I(&ut r'(-e ?V@ @HIF28 AHIF28 10.8HIF28 11.8HIF28 12.8HIF28 14.8HIF:0 1@.8HIF:0 21HIF:: 2@HIF:A

T0$ica& C'nnecti'n is .er0 si($&e:

Fig::.8 Circuit @A08

C'u$&e dec'u$&ing ca$acit'rs (2et*een 10 uF and 4@ uF" is reEuired 'n t+e in$ut (B=IN" and 'ut$ut (B=/7T" c'nnected t' gr'und.

T+ere are negati.e .'&tage regu&at'rs t+at *'r1 t+e sa(e *a0. T+e0 are (ar1ed as #M@C,,.
10

*.1.* , LD

, LD ?,!m&)eA r!-r'mm'b)e L!-ic De<ice@ is '( arrange(ent '- (u&ti$&e S9#D=&i1e 2&'c1s 'n a sing&e c+i$. A&ternati.e na(es are en+anced 9#D (E9#D", su$er9A#, and (ega 9A#. T+e C9#D *e used is '- S$artan2.

Fig :.: C9#D

A c!m&)eA &r!-r'mm'b)e )!-ic de<ice ?, LD@ is a $r'gra((a2&e &'gic de.ice *it+ c'($&e,it0 2et*een t+at '- 9A#s and F9!As, and arc+itectura& -eatures '- 2't+. T+e 2ui&ding 2&'c1 '- a C9#D is t+e (acr'ce&&, *+ic+ c'ntains &'gic i($&e(enting dis3uncti.e n'r(a& -'r( e,$ressi'ns and ('re s$ecia&i<ed &'gic '$erati'ns. Features in c'(('n *it+ 9A#s:

N'n=.'&ati&e c'n-igurati'n (e('r0. 7n&i1e (an0 F9!As, an e,terna& c'n-igurati'n R/M isnGt reEuired, and t+e C9#D can -uncti'n i((ediate&0 'n s0ste( start=u$. F'r (an0 &egac0 C9#D de.ices, r'uting c'nstrains ('st &'gic 2&'c1s t' +a.e in$ut and 'ut$ut signa&s c'nnected t' e,terna& $ins, reducing '$$'rtunities -'r interna& state st'rage and dee$&0 &a0ered &'gic. T+is is usua&&0 n't a -act'r -'r &arger C9#Ds and ne*er C9#D $r'duct -a(i&ies.

Features in c'(('n *it+ F9!As:

#arge nu(2er '- gates a.ai&a2&e. C9#Ds t0$ica&&0 +a.e t+e eEui.a&ent 't+'usands t' tens '- t+'usands '- &'gic gates, a&&'*ing i($&e(entati'n '11

M'derate&0 c'($&icated data $r'cessing de.ices. 9A#s t0$ica&&0 +a.e a -e* +undred gate eEui.a&ents at ('st, *+i&e F9!As t0$ica&&0 range -r'( tens '- t+'usands t' se.era& (i&&i'n.

S'(e $r'.isi'ns -'r &'gic ('re -&e,i2&e t+an su(='-=$r'duct e,$ressi'ns, inc&uding c'($&icated -eed2ac1 $at+s 2et*een (acr' ce&&s, and s$ecia&i<ed &'gic -'r i($&e(enting .ari'us c'(('n&0=used -uncti'ns, suc+ as integer arit+(etic.

T+e ('st n'ticea2&e di--erence 2et*een a &arge C9#D and a s(a&& F9!A is t+e $resence '- 'n=c+i$ n'n=.'&ati&e (e('r0 in t+e C9#D. T+is distincti'n is ra$id&0 2ec'(ing &ess re&e.ant, as se.era& '- t+e &atest F9!A $r'ducts a&s' '--er ('de&s *it+ e(2edded c'n-igurati'n (e('r0. T+e c+aracteristic '- n'n=.'&ati&it0 (a1es t+e C9#D t+e de.ice '- c+'ice in ('dern digita& designs t' $er-'r( G2''t &'aderG -uncti'ns 2e-'re +anding '.er c'ntr'& t' 't+er de.ices n't +a.ing t+is ca$a2i&it0. A g''d e,a($&e is *+ere a C9#D is used t' &'ad c'n-igurati'n data -'r an F9!A -r'( n'n=.'&ati&e (e('r0. C9#Ds *ere an e.'&uti'nar0 ste$ -r'( e.en s(a&&er de.ices t+at $receded t+e(, 9#As (-irst s+i$$ed 20 Signetics", and 9A#s. T+ese in turn *ere $receded 20 standard &'gic $r'ducts t+at '--ered n' $r'gra((a2i&it0 and *ere K$r'gra((edK 20 *iring se.era& standard &'gic c+i$s t'get+er. T+e (ain distincti'n 2et*een F9!A and C9#D de.ice arc+itectures is t+at F9!As are interna&&0 2ased 'n #''1=u$ ta2&es (#7Ts" *+i&e C9#Ds -'r( t+e &'gic -uncti'ns *it+ sea='-=gates

12

*.1.8 ,ryst') 0sci))'t!r ?>MHB@

A cryst') !sci))'t!r is an e&ectr'nic 'sci&&at'r circuit t+at uses t+e (ec+anica& res'nance '- a .i2rating cr0sta& '- $ie<'e&ectric (ateria& t' create an e&ectrica& signa& *it+ a .er0 $recise -reEuenc0. T+is -reEuenc0 is c'(('n&0 used t' 1ee$ trac1 '- ti(e (as in Euart< *rist*atc+es", t' $r'.ide a sta2&e c&'c1 signa& -'r digita& integrated circuits, and t' sta2i&i<e -reEuencies -'r radi' trans(itters and recei.ers. T+e ('st c'(('n t0$e '- $ie<'e&ectric res'nat'r used is t+e Euart< cr0sta&, s' 'sci&&at'r circuits designed ar'und t+e( 2eca(e 1n'*n as Kcr0sta& 'sci&&at'rs.K Luart< cr0sta&s are (anu-actured -'r -reEuencies -r'( a -e* tens '- 1i&'+ert< t' tens '- (ega+ert<. M're t+an t*' 2i&&i'n (2M10C" cr0sta&s are (anu-actured annua&&0. M'st are s(a&& de.ices -'r c'nsu(er de.ices suc+ as *rist*atc+es, c&'c1s, radi's, c'($uters, and ce&& $+'nes. Luart< cr0sta&s are a&s' -'und inside test and (easure(ent eEui$(ent, suc+ as c'unters, signa& generat'rs, and 'sci&&'sc'$es.

*.1.9 %S0

S+'rt -'r T+in S(a&& /ut&ine 9ac1age, itGs a sur-ace=('unt (e('r0 $ac1aging -r'( Inte&. Features '- t+e TS/9 inc&ude t+e -'&&'*ing: 6EDEC and EIA6 standard di(ensi'ns, itGs t+e s(a&&est &eaded $ac1age -'r( -act'r -'r -&as+, 0.8 (( (1C.@ (i&" &ead $itc+, reduced t'ta& $ac1age +eig+t, 1.20 (( (a,i(u(, gu&& *ing -'r(ed &eads, and su$$'rts -uture -&as+ densit0 and -eature gr'*t+.

18

Fig :.4 TS/9

*.1.C R, 9 r!t!c!)

Bari'us re('te c'ntr'& s0ste(s are used in e&ectr'nic eEui$(ent t'da0. T+e RC8 c'ntr'& $r't'c'& is 'ne '- t+e ('st $'$u&ar and is *ide&0 used t' c'ntr'& nu(er'us +'(e a$$&iances, entertain(ent s0ste(s and s'(e industria& a$$&icati'ns inc&uding uti&it0 c'nsu($ti'n re('te (eter reading, c'ntact=&ess a$$aratus c'ntr'&, te&e(etr0 data trans(issi'n, and car securit0 s0ste(s. 9+i&i$s 'rigina&&0 in.ented t+is $r't'c'& and .irtua&&0 a&& 9+i&i$sD re('tes use t+is $r't'c'&.

F'&&'*ing is a descri$ti'n '- t+e RC8. )+en t+e user $us+es a 2utt'n 'n t+e +and=+e&d re('te, t+e de.ice is acti.ated and sends ('du&ated in-rared &ig+t t' trans(it t+e c'((and. T+e re('te se$arates c'((and data int' $ac1ets. Eac+ data $ac1et c'nsists '- a 14=2it data *'rd, *+ic+ is re$eated i- t+e user c'ntinues t' $us+ t+e re('te 2utt'n. T+e data $ac1et structure is as -'&&'*s:

2 start 2its,

 1 c'ntr'& 2it, 8 address 2its, ; c'((and 2its.

1;

T+e start 2its are a&*a0s &'gic N1D and intended t' ca&i2rate t+e '$tica& recei.er aut'(atic gain=c'ntr'& &''$. Ne,t, is t+e c'ntr'& 2it. T+is 2it is in.erted eac+ ti(e t+e user re&eases t+e re('te 2utt'n and is intended t' di--erentiate situati'ns *+en t+e user c'ntinues t' +'&d t+e sa(e 2utt'n 'r $resses it again. T+e ne,t 8 2its are t+e address 2its and se&ect t+e destinati'n de.ice. A nu(2er '- de.ices can use RC8 at t+e sa(e ti(e. T' e,c&ude $'ssi2&e inter-erence, eac+ (ust use a di--erent address. T+e ; c'((and 2its descri2e t+e actua& c'((and. As a resu&t, a RC8 trans(itter can send t+e 204A uniEue c'((ands. T+e trans(itter s+i-ts t+e data *'rd, a$$&ies Manc+ester enc'ding and $asses t+e created 'ne=2it seEuence t' a c'ntr'& carrier -reEuenc0 signa& a($&itude ('du&at'r. T+e a($&itude=('du&ated carrier signa& is sent t' t+e '$tica& trans(itter, *+ic+ radiates t+e in-rared &ig+t. In RC8 s0ste(s t+e carrier -reEuenc0 +as 2een set t' :; 1 <. Figure 1 dis$&a0s t+e RC8 $r't'c'&. T+e recei.er $er-'r(s t+e re.erse -uncti'n. T+e $+'t' detect'r c'n.erts '$tica& trans(issi'n int' e&ectric signa&s, -i&ters it and e,ecutes a($&itude de('du&ati'n. T+e recei.er 'ut$ut 2it strea( can 2e used t' dec'de t+e RC8 data *'rd. T+is '$erati'n is d'ne 20 t+e (icr'$r'cess'r t0$ica&&0, 2ut c'($&ete +ard*are i($&e(entati'ns are $resent 'n t+e (ar1et as *e&&. Sing&e=die '$tica& recei.ers are 2eing (ass $r'duced 20 a nu(2er '- c'($anies suc+ as Sie(ens, Te(ic, S+ar$, Oia(en ua&ian, 6a$anese E&ectric and 't+ers. 9&ease n'te t+at t+e recei.er 'ut$ut is in.erted (&'g. 1 c'rres$'nds t' i&&u(inati'n a2sence".

1@

Fig. :.8 Ti(ing diagra(s '- RC8 9r't'c'&.

T+e 2asics '- t+e $r't'c'& are *e&& 1n'*n. T+e +andset c'ntains a 1e0$ad and a trans(itter integrated circuit (IC" dri.ing an IR #ED. T+e c'((and data is a Manc+ester c'ded 2it strea( ('du&ating a :; 1 < carrier. (/-ten t+e carrier used is :A 1 < 'r 40 1 <, a$$arent&0 due t' (isin-'r(ati'n a2'ut t+e actua& $r't'c'&." T+e IR signa& -r'( t+e trans(itter is detected 20 a s$ecia&i<ed IC *it+ an integra& $+'t'=di'de, and is a($&i-ied, -i&tered, and de('du&ated s' t+at t+e recei.ing de.ice can act u$'n t+e recei.ed c'((and. RC=8 'n&0 $r'.ides a 'ne=*a0 &in1, *it+ in-'r(ati'n tra.e&ing -r'( t+e +andset t' t+e recei.ing unit.

1A

T+e c'((and c'($rises 14 2its:

A start 2it, *+ic+ is a&*a0s &'gic 1 and a&&'*s t+e recei.ing IC t' set t+e $r'$er gain. A -ie&d 2it, *+ic+ den'tes *+et+er t+e c'((and sent is in t+e &'*er -ie&d (&'gic 1 P 0 t' ;: deci(a&" 'r t+e u$$er -ie&d (&'gic 0 P ;4 t' 12@ deci(a&". T+e -ie&d 2it *as added &ater 20 9+i&i$s *+en it *as rea&i<ed t+at ;4 c'((ands $er de.ice *ere insu--icient. 9re.i'us&0, t+e -ie&d 2it *as c'(2ined *it+ t+e start 2it. Man0 de.ices sti&& use t+is 'rigina& s0ste(. A c'ntr'& 2it, *+ic+ t'gg&es *it+ eac+ 2utt'n $ress. T+is a&&'*s t+e recei.ing de.ice t' distinguis+ 2et*een t*' successi.e 2utt'n $resses (suc+ as K1K, K1K -'r K11K" as '$$'sed t' t+e user si($&0 +'&ding d'*n t+e 2utt'n and t+e re$eating c'((ands 2eing interru$ted 20 a $ers'n *a&1ing 20, -'r e,a($&e. A -i.e=2it s0ste( address t+at se&ects 'ne '- :2 $'ssi2&e s0ste(s. A si,=2it c'((and t+at (in c'n3uncti'n *it+ t+e -ie&d 2it" re$resents 'ne '- t+e 12A $'ssi2&e RC=8 c'((ands.

T+e :; 1 < carrier -reEuenc0 *as c+'sen t' render t+e s0ste( i((une t' inter-erence -r'( TB scan &ines. Since t+e re$etiti'n '- t+e :; 1 < carrier is 2@.@@A Qs and t+e dut0 -act'r is 28R, t+e carrier $u&se durati'n is ;.C44 Qs. Since t+e +ig+ +a&- '- eac+ s0(2'& (2it" '- t+e RC=8 c'de *'rd c'ntains :2 carrier $u&ses, t+e s0(2'& $eri'd is ;4 , 2@.@@A Qs P 1.@@A (s, and t+e 14 s0(2'&s (2its" '- a c'($&ete RC=8 c'de *'rd ta1es 24.AAC (s t' trans(it. T+e c'de *'rd is re$eated e.er0 11:.@@A (s (40C; S :; 1 <" as &'ng as a 1e0 re(ains $ressed. (Again, $&ease n'te t+at t+ese ti(ings are n't strict&0 -'&&'*ed 20 a&& (anu-acturers, due t' a &ac1 '- *ides$read distri2uti'n '- accurate in-'r(ati'n 'n t+e RC=8 $r't'c'&."

1C

*.# Desi-( descri&ti!( !" R!b!tic Arm

T+e ser.' ('t'r used in 'ur $r'3ect is BS=1. T+ese ser.' ('t'rs are -i,ed *it+ t+e stri$s -'r t+e design '- t+e ar(. T+e ser.' ('t'rs are -i,ed in t+e *a0 t+at can *'r1 as an ar( $r'$er&0. T+ere are 4 ser.' ('t'rs used. T+e 1 st 'ne is at t+e 2ase *+ic+ is -'r 2ase ('.e(ent '- 0 t' 1A0 degree. T+e 2 nd and :rd ('t'r is used -'r t+e ar( ('.e(ent '- 0 t'1A0 degree and t+e 4 t+ ('t'r is used -'r catc+ t+e '23ect.

Fig::.A Re('te c'ntr'&&ed r'2'tic ar(

20

SERV0M0%0RS %s!&

,RYS%AL 0S,ILLA%0R

, LD

Fig::.C C'($'nents '- r'2'tic ar(

21

*.#.1 VLSI im&)eme(t'ti!( !" R!b!tic Arm

T+e r'2'tic ar( is c'ntr'&&ed 20 t+e C9#D .C'ding '- t+e $r'3ect is designed in B D# in t+e Oi&in, s'-t*are. T+e B D# c'de is designed in : stages. In t+e -irst stage t+e recei.ed data is dec'ded. )+ic+ is recei.ed -r'( t+e re('te 20 t+e ts'$T T+en in t+e sec'nd stage t+e data is $r'cessed and a $articu&ar 'ut$ut is generated. And in t+e : stage t+e ser.' ('t'rs are c'ntr'&&ed in a $articu&ar (anner 20 using t+e generated 'ut$ut. T+e *+'&e s0ste( is c'ntr'&&ed 20 t+e re('te.

Fig::.10 Ti(ing diagra( -'r ser.'('t'r

T+e AM < cr0sta& 'sci&&at'r c&'c1 +as 0.128uSec in 'ne c0c&e. )e deri.e t+e 2'de rate '- 80 < *+ic+ +as 0.02 sec ti(e in 'ne c0c&e. F'r t+e '$erati'n 'ser.'('t'rs *e +a.e t' send t+e di--erent c&'c1s '- di--erent dut0 c0c&es acc'rding t' t+e diagra( gi.en a2'.e.
22

F'r t+e 0 degree '- t+e ser.'('t'r *e generate 0.A(s ti(e c0c&es (eans ;400 nu(2er '- t+e c0c&es '- t+e AM < c&'c1 -'r +ig+ &'gic N1D and re(aining :CC:;00 c0c&es re(ain &'* &'gic N0D, and assign t+is c&'c1 t' ('t'r -'r 0 degree $'siti'n. F'r t+e C0 degree '- t+e ser.'('t'r *e generate 1.82(s ti(e c0c&es (eans 12000 nu(2er '- t+e c0c&es '- t+e AM < c&'c1 -'r +ig+ &'gic N1D and re(aining :CAA000 c0c&es re(ain &'* &'gic N0D, and assign t+is c&'c1 t' ('t'r -'r C0 degree $'siti'n. F'r t+e 1A0 degree '- t+e ser.'('t'r *e generate 2.8(s ti(e c0c&es (eans 20000 nu(2er '- t+e c0c&es '- t+e AM < c&'c1 -'r +ig+ &'gic N1D and re(aining :CA0000 c0c&es re(ain &'* &'gic N0D, and assign t+is c&'c1 t' ('t'r -'r 1A0 degree $'siti'n. T+ese c&'c1s are assigned t' t+e ('t'rs 20 t+e C9#D. T+e C9#D *'r1s 'n t+e 2asis '- re('te trans(itted data. T+is trans(itted data is '- 8;: < *+ic+ is ('du&ated 'n t+e :;4 < -reEuenc0 and t+is data is Manc+ester c'ded. T+e data is sent 20 t+e IR *a.es. T+ese IR *a.es are detected 20 t+e Ts'$ de.ice and t+e data is de('du&ated 20 t+e Ts'$ itse&- t+e Manc+ester c'ding re(ains in t+e data. )e detect t+e data -r'( t+e recei.ed data 20 t+e c'ding in t+e B D# t+at data is t+en c'ntr'& t+e ser.'('t'rs acc'rding t' t+e c'de de-ined in t+e B D#.

2:

,HA %ER 8

SIMULA%UI0N RESUL%S

/ut$ut '- ser.' ('t'r *+en s1PD1D

/ut$ut '- ser.' ('t'r *+en s2PD1D

24

/ut$ut '- ser.'('t'r *+en 0PD1D

28

,HA %ER 9

,0N,LUSI0N AND 7U%URE S,0 E

In t+is $r'3ect *e *'r1 'n Rc8 $r't'c'& and 20 using it *e c'ntr'&&ed a r'2'tic ar(. )e *'r1 'n Oi&in, s'-t*are t' (a1e t+e c'de and -'r si(u&ati'n *e use M'de&si( s'-t*are. )e *'r1ed 'n C9#D. T+e c'de is 2urned int' t+e C9#D. T+e ser.' ('t'rs *e +a.e used are .ega ser.' ('t'r (.s=1".T+us *e (ade -ina&&0 'ur $r'3ect. T+is Ar( *i&& reduce t+e +u(an e--'rts, and in industries it *i&& increase e--icienc0, $r'-icienc0 and t+e ('st i($'rtant is it *i&& reduce t+e ti(e. T+r'ug+ t+is a $ers'n *+' +as n' +and can a&s' *'r1 20 using t+e r'2'tic ar( as a te($'rar0 +and. In Future *e can c'ntr'& t+is r'2'tic Ar( 20 gi.ing a .'ice signa& as a in$ut. A-ter t+at *e can i($&e(ent ('re 20 adding *+ee&s at t+e 2ase '- t+is ar(.

2;

ENDI:

&i2rar0 IEEE% use IEEE.STDU#/!ICU11;4.A##% use IEEE.STDU#/!ICUARIT .A##% use IEEE.STDU#/!ICU7NSI!NED.A##% entit0 &cdrec is 9'rt ( c&1 : in STDU#/!IC% (1: 'ut stdU&'gic% d : 'ut STDU#/!ICUBECT/R (10 d'*nt' 0"% 0 : in STDU#/!IC"% end &cdrec% arc+itecture >e+a.i'ra& '- &cdrec is signa& c&'c1,c&'c11,c&'c12,c&'c1:,c&'c14,c&'c18:stdU&'gic:PG0G% signa& si: stdU&'gicU.ect'r(10 d'*nt' 0":PK00000000000K% 2egin $r'cess(c&1" .aria2&e c:integer range 0 t' A0000000:P 0% .aria2&e t1,t2,t:,t4,t8:integer range 0 t' A0000000:P 0% 2egin i- c&1Ge.ent and c&1PG1G t+en c:PcV1% t1:Pt1V1% t2:Pt2V1% t::Pt:V1% t4:Pt4V1% t8:Pt8V1% i- cP114 t+en

2@

c&'c1WPn't c&'c1% c:P 0% end i-% i- t1XP0 and t1W8000 t+en c&'c11WPG1G% e&si- t1XP800 and t1W1;00000 t+en c&'c11WPG0G% end i-% i- t2XP0 and t2W@2000 t+en c&'c12WPG1G% e&si- t2XP@200 and t2W1;000 t+en c&'c12WPG0G% end i-% i- t:XP0 and t:W1200 t+en c&'c1:WPG1G% e&si- t:XP12000 and t:W1;00000 t+en c&'c1:WPG0G% end i-% i- t4XP0 and t4W1;A00 t+en c&'c14WPG1G% e&si- t4XP1;A000 and t4W1;000 t+en c&'c14WPG0G% end i-% i- t8XP0 and t8W1C0000 t+en c&'c18WPG1G% e&si- t8XP1C000 and t8W1;000 t+en c&'c18WPG0G% end i-% i- t1P1;0000 t+en t1:P0%
2A

end i-% i- t2P1;0000 t+en t2:P0% end i-% i- t:P1;0000 t+en t::P0% end i-% i- t4P1;0000 t+en t4:P0% end i-% i- t8P1;0000 t+en t8:P0% end i-% end i-% end $r'cess% $r'cess(c&'c1,c&'c11,c&'c12,c&'c1:,c&'c14,c&'c18" .aria2&e $: stdU&'gicU.ect'r(2@ d'*nt' 0":PK00000000000000000000000000K% .aria2&e ,:integer range 0 t' 2A :P 0% 2egin i- c&'c1Ge.ent and c&'c1PG1G t+en i- ,P0 t+en ,:P,V1% e&si- ,P1 t+en i- 0PG1G t+en $(0":PG0G% ,:P,V1% end i-% e&si- ,P2 t+en i- 0PG0G t+en $(1":PG1G%
2C

,:P,V1% end i-% e&si- ,P: t+en $(2":P0% ,:P,V1% e&si- ,P4 t+en $(:":P0% ,:P,V1% e&si- ,P8 t+en $(4":P 0% ,:P,V1% e&si- ,P; t+en $(8":P 0% ,:P,V1% e&si- ,P@ t+en $(;":P 0% ,:P,V1% e&si- ,PA t+en $(@":P 0% ,:P,V1% e&si- ,PC t+en $(A":P 0% ,:P,V1% e&si- ,P10 t+en $(C":P 0% ,:P,V1% e&si- ,P11 t+en $(10":P 0% ,:P,V1% e&si- ,P12 t+en
:0

$(11":P 0% ,:P,V1% e&si- ,P1: t+en $(12":P 0% ,:P,V1% e&si- ,P14 t+en $(1:":P 0% ,:P,V1% e&si- ,P18 t+en $(14":P 0% ,:P,V1% e&si- ,P1; t+en $(18":P 0% ,:P,V1% e&si- ,P1@ t+en $(1;":P 0% ,:P,V1% e&si- ,P1A t+en $(1@":P 0% ,:P,V1% e&si- ,P1C t+en $(1A":P 0% ,:P,V1% e&si- ,P20 t+en $(1C":P 0% ,:P,V1% e&si- ,P21 t+en $(20":P 0% ,:P,V1% e&si- ,P22 t+en
:1

$(21":P 0% ,:P,V1% e&si- ,P2: t+en $(22":P 0% ,:P,V1% e&si- ,P24 t+en $(2:":P 0% ,:P,V1% e&si- ,P28 t+en $(24":P 0% ,:P,V1% e&si- ,P2; t+en $(28":P 0% ,:P,V1% e&si- ,P2@ t+en $(2;":P 0% ,:P,V1% e&si- ,P2A t+en $(2@":P 0% end i-% i- ,P2A t+en ,:P0% end i-% i- $(0"PG0G and $(1"PG1G t+en si(0"WP$(;"% si(1"WP$(A"% si(2"WP$(10"% si(:"WP$(12"% si(4"WP$(14"% si(8"WP$(1;"%
:2

si(;"WP$(1A"% si(@"WP$(20"% si(A"WP$(22"% si(C"WP$(24"% si(10"WP$(2;"% dWPsi% end i-% end i-% i- siPK11110011101K t+en (1WPc&'c11 % e&si- siPK11111100011K t+en (1WPc&'c12 % e&si- siPK11110010011K t+en (1WPc&'c1:% e&si- siPK11111110010K t+en (1WPc&'c14% e&si- siPK11111101110K t+en (1WPc&'c18% end i-% end $r'cess% end 2e+a.i'ra&%

::

Y9ACE: Start '- 9ACE IS/ 9in Assign(ents Y9ACE: Start '- C'nstraints generated 20 9ACE Y9ACE: Start '- 9ACE IS/ 9in Assign(ents NET Kc&1K #/C P K$A0K % NET KdW0XK #/C P K$48K % NET KdW10XK #/C P K$;:K % NET KdW1XK #/C P K$4;K % NET KdW2XK #/C P K$4@K % NET KdW:XK #/C P K$4AK % NET KdW4XK #/C P K$4CK % NET KdW8XK #/C P K$8@K % NET KdW;XK #/C P K$8AK % NET KdW@XK #/C P K$8CK % NET KdWAXK #/C P K$;1K % NET KdWCXK #/C P K$;2K % NET K(1K #/C P K$14@K % NET K0K #/C P K$142K % Y9ACE: Start '- 9ACE Area C'nstraints Y9ACE: Start '- 9ACE 9r'+i2it C'nstraints Y9ACE: End '- C'nstraints generated 20 9AC

:4

Re"ere(ces
Z1[ 6 C ! 9ie(ente& and 'ang &e= n0, FA B D#=2ased (et+'d'&'g0 t' De.e&'$ +ig+ $er-'r(ance ser.' dri.ers\, IEEE 0=@A0:=;401=8S00. Z2[ Eric M'n(ass'n and Marcian N cirstea FF9!A Design (et+'d'&'g0 -'r industria& c'ntr'& s0ste(s= A Re.ie*\, IEEE trans 'n industria& e&ectr'nics .'&=84,n'.=4,A7!=200@. Z:[ eui=)''1 4i(, 6'ng=)'' C+'i, Seung=4i S7I, FAccurate 9'siti'n C'ntr'& -'r AC Ser.' M't'r using N'.e& S$eed Esti(at'r\ 0=@A0:= :02;=CSC8, 1CC8 IEEE. Z4[ 6''n 0u1 4ang, C+ung 0u1 5i(, and D'ng I1 4i(, FR'2ust 9'siti'n C'ntr'& '- AC Ser.' M't'rs\ 0=@A0:=:02;=CSC8 1CC8 IEEE. Z8[ S.en >e+n1e and Mic+ae& Sc+rei2er FDigita& 9'siti'n C'ntr'& -'r Ana&'g Ser.'s\ 9r'ceedings,IEEE=RAS,Ita&0,Dec=0;. Z;[ E. M'n(ass'n, and 5.A. C+a$uis FC'ntri2uti'ns '- F9!As t' t+e C'ntr'& '- E&ectrica& S0ste(s, a Re.ie*\ IEEE Industria& E&ectr'nics S'ciet0 Ne*s&etter ISSN 0@4;=1240 B/#. 4C, N/. 4 2002. Z@[ D'ng(ei 5u, Lingding !u' and Ling uF 9'siti'n C'ntr'& '- #inear Ser.' S0ste( 7sing Inte&&igent Feed2ac1 C'ntr'&&er\ Internati'na& C'n-erence 'n Inte&&igent S0ste(s Design and A$$&icati'ns (ISDAG0;" 0=@;C8=282A=AS0; ] 200;. ZA[ B D# $ri(er (t+ird editi'n, 6. >+as1er". ZC[ B D# $r'gra((ing 20 e,a($&e (-'urt+ editi'n, D'ug&as #. 9err0".

:8