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CHAPTER 1
INTRODUCTION
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1.1 INTRODUCTION
Terrorism, the new face of nations fate has exceeded its own state of action. Its time to uproot
terrorism instead to face it and to dedicate the brave hearts to the nation. With the advent growth
in the field of Robotics in todays scenario is tremendous especially in the areas of nations
security is concerned .As terrorism increasing day by day, its duty of engineers to curb it
through innovation. Since robots become more advanced and sophisticated it can be used to
perform the desired tasks where men cannot be in a state to carry out his tasks. With automation
and application of electronics in the field of robotics ensures safety for individuals and desired
task can be achieved This project set sights on devising and demonstrating an archetype of one
guided weapon system which considerably reduces the people substantially present in the streaks
of fire. The objective of our work is to devastate the terror activities. In this project, the
methodology adopted to achieve our objective is to build a self-powered vehicle with selfnavigating design; sensing obstacle in the navigation path of the vehicle; to turn ON the wireless
camera once the vehicle movement is detected; to transmit the real time video signals to control
room and to trigger the weapon if necessary.
Most of the military organization now takes the help of robots to carry out many risky jobs that
cant be done the soldier.ARV robots are more like tanks. In fact they are less like soldiers. These
military robots are mainly used as support for manned vehicle missions. The commander of a
tank squadron can use these robots without the need for more soldiers. The history of military
robots during the time of World War II these robots were in the form of German Goliath tracked
and Soviet teletanks. The history begins with the invention of radio controlled boat intended for
military use by Nicola Tesla. Smart controlled robotic vehicles like QinetiQs MAARS are armed
with weapons to shoot insurgents;
The development of Unmanned Robotic Ground Vehicle was divided into three phrases. In first
phrase, the vehicle module was instrumented. In second phrase, the computer control module
was instrumented. In third phrase, a display unit is set up in the control room.
By employing GPS and ZIG-BEE technology, we can navigate the robotic ground vehicle from
control room to exercise some defense operations, a place where man power cannot handle.
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CHAPTER 2
BLOCK DIAGRAM
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Page 4
CHAPTER 3
BLOCK DIAGRAM EXPLANATION
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3.2VEHICLE MODULE
In the vehicle module section, the microcontroller ARM7 is the heart of the entire design. Its
features includes 32-bit, 0-MHz, 32-bit ARM7TDMI-S with AHB/APB interfaces. And Very fast
Flash programming via on-chip boot-loader software with Temperature range: -40 to +85 C.
These powerful yet cost-effective microcontrollers have up to 512 KB of ISP/IAP Flash and up
to32 KB of SRAM. Each has up to two 10-bit A/D converters, two I2C-bus interfaces, and Fast
I/o operations. Wide operating voltage range (2.0V to 5.5V).The GPS Receiver GMO-101
features include Full implementation of ultra-high performance Si RF star III single chip
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architecture. High tracking sensitivity of -159dBm; Low power consumption of 45mA at full
tracking (for USB interface); Small size of 36(W)x42(L)x15(H) (mm) with patch antenna of
25x25x4mm.;Built-in backup battery for hot/warm starts and better performance; Firmware
upgradeable for future potential performance enhancements and Flexible connector interface and
cable length.
The PIR sensor features includes Detection range up to 20 feet away; Single bit output; Jumper
selects single or continuous trigger output mode; 3-pin SIP header ready for breadboard or
through hole project; Small size makes it easy to conceal; Compatible with BASIC Stamp,
Propeller, and many other microcontrollers. The sensor in a motion detector is actually split in
two halves. The reason for that is that we are looking to detect motion (change) not average IR
levels. The two halves are wired up so that they cancel each other out. If one half sees more or
less IR radiation than the other, the output will swing high or low. The PIR sensor itself has two
slots in it; each slot is made of a special material that is sensitive to IR. The lens used here is not
really doing much and so we see that the two slots can 'see' out past some distance (basically the
sensitivity of the sensor). When the sensor is idle, both slots detect the same amount of IR, the
ambient amount radiated from the room or walls or outdoors.
3.3CONTROL MODULE
The computer control module circuit diagram is shown below. The AC source is used, which is
fed to the transformer. From the transformer the AC voltage is fed to a rectifier circuit consisting
of one or more diodes. The rectifier converts AC voltage to DC voltage. This DC is not steady as
from a battery. The regulator circuit is used to give out a very steady voltage. The MAX232 is
used which is an integrated circuit that converts signals from an RS-232 serial port to signals
suitable for use in TTL compatible digital logic circuits. To interface the hardware module to the
computer, the RS232 port on the computer is used. The Zig-Bee transceiver with the following
specifications is used, Indoor/Urban: up to 100 (30 m); Outdoor line-of-sight: up to 300 (100
m); Transmit Power: 1mW (0 dBm); Receiver Sensitivity: -92 dBm; TX Current: 45 mA (@3.3
V); RX Current: 50 mA (@3.3 V); Power-down Current: < 10 A.
The commands for the action on the robotic vehicle to be performed are sent only from the
control room. The control room module has a Zig-Bee transceiver which transmits the command
window input to the vehicle. The command window is programmed by means of using Visual
Basic 6.0 software. As the vehicle power supply is turned on the GPS location of the vehicle is
shown in command window in terms of Latitude and Longitude. The command window is
programmed in a way to show the GPS location of the vehicle even while navigation. The
latitude can be incremented or decremented by clicking on the respective icons on the command
window. Similarly, the longitude can also be incremented or decremented by clicking on the
icons on the command window for the respective navigation of the vehicle. As the desired
location of the vehicle is reached, the message DESTINATION REACHED is popped up on the
command window. If any kind of obstacle or intruder is been detected the vehicle intimates the
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control room with message OBSTACLE DETECTED with the location of obstacle in terms of
latitude and longitude. A receiver is kept on the control room to receive the video signals which
is been transmitted from the wireless camera mounted on the vehicle. The receiver is connected
to a display unit to view the real time video captured by the vehicle camera.
The IR LED proximity sensor is used in the system for the detection obstacle on the path of
navigation. The Infrared proximity sensors work by sending out a beam of IR light, and then
computing the distance to any nearby objects from characteristics of the returned (reflected)
signal which is received by another IR LED.
The Zig-Bee transceiver is placed on the vehicle this receives all the commands given from the
control room. 802.15.4 is a packet-based radio protocol. It addresses the communication needs of
wireless applications that have low data rates and low power consumption requirements. It is the
foundation on which Zig-Bee is built. The heart of this vehicle is microcontroller ARM7 Two
microcontrollers, IC2 is first microcontroller which acts as master controller which decodes all
the commands received from the transmitter and give commands to slave microcontroller1 IC3
and slave2 IC5.
CHAPTER 4
OVERVIEW OF TECHNOLOGIES
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4. OVERVIEW OF TECHNOLOGIES
4.1. INTRODUCTION TO EMBEDDED SYSTEMS
An embedded system is some combination of computer hardware and software, either
fixed in capability or programmable, that is specifically designed for a particular function.
A general-purpose definition of embedded systems is that they are devices used to
control, monitor or assist the operation of equipment, machinery or plant. "Embedded" reflects
the fact that they are an integral part of the system. In many cases their embedded may be such
that their presence is far from obvious to the casual observer and even the more technically
skilled might need to examine the operation of a piece of equipment for some time before being
able to conclude that an embedded control system was involved in its functioning. At the other
extreme a general-purpose computer may be used to control the operation of a large complex
processing plant, and its presence will be obvious. All embedded systems are including
computers or microprocessors. Some of these computers are however very simple systems as
compared with a personal computer.
The very simplest embedded systems are capable of performing only a single function or
set of functions to meet a single predetermined purpose. In more complex systems an application
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program that enables the embedded system to be used for a particular purpose in a specific
application determines the functioning of the embedded system. The ability to have programs
means that the same embedded system can be used for a variety of different purposes. In some
cases a microprocessor may be designed in such a way that application software for a particular
purpose can be added to the basic software in a second process, after which it is not possible to
make further changes.
The simplest devices consist of a single microprocessor (often called a "chip), which
may itself be packaged with other chips in a hybrid system or Application Specific Integrated
Circuit (ASIC). Its input comes from a detector or sensor and its output goes to a switch or
activator which (for example) may start or stop the operation of a machine or, by operating a
valve, may control the flow of fuel to an engines.
Embedded
System
Software
ALP
C
VB
Etc.,
Hardware
Processor
Peripherals
memory
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Memory
Peripherals
Processor
A general-purpose definition of embedded systems is that they are devices used to control,
monitor or assist the operation of equipment, machinery or plant. "Embedded" reflects the fact
that they are an integral part of the system. In many cases their embedded may be such that their
presence is far from obvious to the casual observer and even the more technically skilled might
need to examine the operation of a piece of equipment for some time before being able to
conclude that an embedded control system was involved in its functioning.
Processors are classified into four types like:
1. Micro Processor (p)
2. Micro controller (c)
3. Digital Signal Processor (DSP)
4. Application Specific Integrated Circuits (ASIC)
MEMORY
Fig 4.1.2: Block Diagram of Micro Processor (p)
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embedded system to be used for a particular purpose in a specific application determines the
functioning of the embedded system.
CPU
CPU
MEMORY
MEMORY
INPUT/OUTPUT
PORTS
I/O PORTS
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of I/O ports in Microcontrollers makes them ideal for many applications in which cost and space
are critical.
In many applications, for example a TV remote control, there is no need for the computing
power of a 486 or even an 8086 microprocessor. These applications most often require some I/O
operations to read signals and turn on and off certain bits.
Construction industry
Transport
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Domestic service
Communications
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For makers of low-cost consumer electronic devices who wish to integrate the LynxOS realtime operating system into their products, we offer special MSRP-based pricing to reduce royalty
fees to a negligible portion of the device's MSRP.
4.2 ZIG-BEE
Zig-Bee used for wireless communication, we can transmit data by using Zig-Bee transmitter
and the data transmitted is received by the Zig-Bee receiver at the receiver end. In our project the
data is transmitted from Zig-Bee transmitter and it is received by receiver module which is
placed in far distance also. The minimum distance that a Zig-Bee can cover is 100mts to 1000mts
(1km).The main advantage of Zig-Bee technology is the data can be transmitted and received
without any signals.
Zig-Bee-style networks began to be conceived around 1998, when many installers realized
that both Wi-Fi and Bluetooth were going to be unsuitable for many applications. In particular,
many engineers saw a need for self-organizing ad-hoc digital radio networks.
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Zig-Bee operates in the industrial, scientific and medical (ISM) radio bands; 868 MHz in
Europe, 915 MHz in the USA and Australia and 2.4 GHz in most jurisdictions worldwide. Data
transmission rates vary from 20 kilobits/second in the 868 MHz frequency band to 250
kilobits/second in the 2.4GHz frequency band.
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CHAPTER 5
HARD WARE COMPONENTS
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ARM designs microprocessor technology that lies at the heart of advanced digital
products, from mobile phones and digital cameras to games consoles and automotive systems,
and is leading intellectual property (IP) provider of high-performance, low-cost, power-efficient
RISC processors, peripherals, and system-on-chip (SoC) designs through involvement with
organizations such as the Virtual Socket Interface Alliance (VSIA) and Virtual Component
Exchange (VCX). ARM also offers design and software consulting services.
The ARM architecture processors popular in Mobile phone systems popular in Mobile
phone systems.ARM provides the advantage of using a CISC in terms of functionality, along
with the advantage of an RISC in terms of faster program implementation as well as reduced
code lengths. ARM's architecture is compatible with all four major platform operating systems:
1. Symbian OS
2. Palm OS
3. Windows CE
4. Linux
ARM is the industry standard embedded microprocessor architecture, and is a leader in
low-power high performance cores.
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imaging, providing both large buffer size and high processing power. Various 32-bit timers,
single or dual 10-bit ADC(s), 10-bit DAC, PWM channels and 45 fast GPIO lines with up to nine
edge or level sensitive external interrupt pins make these microcontrollers suitable for industrial
control and medical systems.
5.1.2 Features:
PWM unit,
Real Time Clock with optional battery backup,
Brown out detect circuit
General purpose I/O pins.
CPU clock up to 60 MHz,
On-chip crystal oscillator and On-chip PLL
5.1.3 Architecture:
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instruction is being fetched from memory. The ARM7TDMI-S processor also employs a unique
architectural strategy known as Thumb, which makes it ideally suited to high-volume
applications with memory restrictions, or applications where code density is an issue. The key
idea behind Thumb is that of a super-reduced instruction set. Essentially, the ARM7TDMI-S
processor has two instruction sets:
The Thumb sets 16-bit instruction length allows it to approach twice the density of
standard ARM code while retaining most of the ARMs performance advantage over a traditional
16-bit processor using 16-bit registers. This is possible because Thumb code operates on the
same 32-bit register set as ARM code. Thumb code is able to provide up to 65 % of the code size
of ARM, and 160 % of the performance of an equivalent ARM processor connected to a 16-bit
memory system. The particular flash implementation in the LPC2141/42/44/46/48 allows for full
speed execution also in ARM mode. It is recommended to program performance critical and
short code sections (such as interrupt service routines and DSP algorithms) in ARM mode. The
impact on the overall code size will be minimal but the speed can be increased by 30% over
Thumb mode. The VPB interface provides a communications link between the CPU or host and
the UART0.The UART0 receiver block, U0RX, monitors the serial input line, RXD0, for valid
input. TheUART0 RX Shift Register (U0RSR) accepts valid characters via RXD0. After a valid
character is assembled in the U0RSR, it is passed to the UART0 RX Buffer Register FIFO to
await access by the CPU or host via the generic host interface.
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JTAG interface, using In System Programming (ISP) and UART0, or by means of In Application
Programming (IAP) capabilities. The application program, using the IAP functions, may also
erase and/or program the Flash while the application is running, allowing a great degree of
flexibility for data storage field firmware upgrades, etc. When the LPC2141/2/4/6/8 on-chip boot
loader is used, 32 kB, 64 kB, 128 kB, 256 kB, and 500 kB of Flash memory is available for user
code. The LPC2141/2/4/6/8 Flash memory provides minimum of 100,000 erase/write cycles and
20 years of data-retention.
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following exceptions: If debug is enabled, the JTAG pins will assume their JTAG functionality;
if trace is enabled, the Trace pins will assume their trace functionality. The pins associated with
the I2C0 and I2C1 interface are open drain.
Mask registers allow treating sets of port bits as a group, leaving other bits unchanged.
All GPIO registers are byte addressable.
Entire port value can be written in one instruction
Features:
Bit-level set and clear registers allow a single instruction set or clear of any number of
bits in one port.
Features:
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Features
10-bit DAC.
Buffered output.
Power-down mode available.
Features:
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one pin.
Supports bus-powered capability with low suspend current.
Supports DMA transfer on all non-control endpoints (LPC2146/48 only).
One duplex DMA channel serves all endpoints (LPC2146/48 only).
5.1.13 UARTs:
The LPC2141/42/44/46/48 each contains two UARTs. In addition to standard transmit
and receive data lines, the LPC2144/46/48 and UART1 also provide a full modem control
handshake
interface.
Compared
to
previous
LPC2000
microcontrollers,
UARTs
in
LPC2141/42/44/46/48 introduce a fractional baud rate generator for both UARTs, enabling these
microcontrollers to achieve standard baud rates such as 115200 with any crystal frequency above
2MHz. In addition, auto-CTS/RTS flow-control functions are fully implemented in hardware
Features:
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slave mode, depending on whether the chip has to initiate a data transfer or is only addressed.
The I2C-bus is a multi-master bus; it can be controlled by more than one bus master connected to
it. The I2C-bus implemented in LPC2141/42/44/46/48 supports bit rates up to 400 Kbit/s (Fast
I2C-bus).
Features:
on the bus.
Serial clock synchronization allows devices with different bit rates to communicate via
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during a given data transfer. The SSP supports full duplex transfers, with data frames of 4 bits to
16 bits of data flowing from the master to the slave and from the slave to the master. Often only
one of these data flows carries meaningful data.
Features:
Compatible with Motorolas SPI, TIs 4-wire SSI and National Semiconductors Micro
wire buses.
Synchronous serial communication.
Master or slave operation.
8-frame FIFOs for both transmit and receive.
Four bits to 16 bits per frame.
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Four external outputs per timer/counter corresponding to match registers, with the
following capabilities:
disabled.
Incorrect/Incomplete feed sequence causes reset/interrupt if enabled.
Flag to indicate watchdog reset.
Programmable 32-bit timer with internal pre-scalar.
Selectable time period from (TPCLK 256 4) to (TPCLK 232 4) in multiples of
TPCLK 4.
of Year.
Can use either the RTC dedicate 32 kHz oscillator input or clock derived from the
external crystal/oscillator input at XTAL1. Programmable reference clock divider allows
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Pulse period and width can be any number of timer counts. This allows complete
flexibility in the trade-off between resolution and repetition rate. All PWM outputs will
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output clock. Since the minimum output divider value is 2, it is insured that the PLL output has a
50 % duty cycle. The PLL is turned off and bypassed following a chip reset and may be enabled
by software. The program must configure and activate the PLL, wait for the PLL to Lock, then
connect to the PLL as a clock source. The PLL settling time is 100s.
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the voltage on the VDD pins falls below 2.6 V. This reset prevents alteration of the flash as
operation of the various elements of the chip would otherwise become unreliable due to low
voltage. The BOD circuit maintains this reset down below 1 V, at which point the POR circuitry
maintains the overall reset. Both the 2.9 V and 2.6 V thresholds include some hysteresis. In
normal operation, this hysteresis allows the 2.9V detection to reliably interrupt, or a regularlyexecuted event loop to sense the condition.
Idle Mode:
In Idle mode, execution of instructions is suspended until either a reset or interrupt
occurs. Peripheral functions continue operation during idle mode and may generate interrupts to
cause the processor to resume execution. Idle mode eliminates power used by the processor
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itself, memory systems and related controllers, and internal buses. In Power-down mode, the
oscillator is shut down and the chip receives no internal clocks. The processor state and registers,
peripheral registers, and internal SRAM values are preserved throughout Power-down mode and
the logic levels of chip output pins remain static.
Power-Down Mode:
The Power-down mode can be terminated and normal operation resumed by either a reset
or certain specific interrupts that are able to function without clocks. Since all dynamic operation
of the chip is suspended, Power-down mode reduces chip power consumption to nearly zero.
Selecting an external 32 kHz clock instead of the PCLK as a clock-source for the on-chip
RTC will enable the microcontroller to have the RTC active during Power-down mode. Powerdown current is increased with RTC active. However, it is significantly lower than in idle mode.
not needed in the application, resulting in additional power savings during active and idle mode.
5.1.29 VPB Bus:
The VPB divider determines the relationship between the processor clock (CCLK) and
the clock used by peripheral devices (PCLK). The VPB divider serves two purposes. The first is
to provide peripherals with the desired PCLK via VPB bus so that they can operate at the speed
chosen for the ARM processor. In order to achieve this, the VPB bus may be slowed down to 12
to 14 of the processor clock rate. Because the VPB bus must work properly at power-up (and its
timing cannot be altered if it does not work since the VPB divider control registers reside on the
VPB bus), the default condition at reset is for the VPB bus to run at 14 of the processor clock
rate. The second purpose of the VPB divider is to allow power savings when an application does
not require any peripherals to run at the full processor rate. Because the VPB divider is
connected to the PLL output, the PLL remains active (if it was running) during Idle mode.
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rectification. Now, this voltage is given to a voltage regulator to obtain a pure constant dc
voltage.
Transformer
Rectifier
Filter
Regulator
Load
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power supply of 5V and 12V are required. In order to obtain these voltage levels, 7805 and 7812
voltage regulators are to be used. The first number 78 represents positive supply and the numbers
05, 12 represent the required output voltage levels.
5.3 RESET
In electronics and technology, a reset button is a button that can reset a device. On video game
consoles, the reset button restarts the game, losing the player's unsaved progress. On personal
computers, the reset button clears the memory and reboots the machine forcibly. Reset buttons
are found on circuit breakers to reset the circuit. This button can cause data corruption so this
button often doesn't exist on many machines. Usually, in computers and other electronic devices,
it is present as a small button, possibly recessed into the case or only accessible by a pin or
similar thin object, to prevent it being pressed accidentally.
The reset button could be an actual button or concept. The reset button would typically kick off
a soft boot, instructing the computer to go through the process of shutting down, which would
clear memory and reset devices to their initialized state. Contrary to the 'Power Button', which
would simply remove power immediately?
Pressing the reset button would be preferable to the power button, which could potentially leave
a device in the middle of some operation and subject to defect. In most commodity hardware, the
consumer would expect the device to be resilient enough to 'reset' when power was restored.
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newer computers have no separate button for resetting the computer; it is integrated with the
power button. On most new operating systems, the user can customize what happens when they
press the power button. For example they may set it to 'Do nothing', 'restart', 'shutdown', or 'stand
by'. This is only for pressing the button once; on most computers the power button can remove
power immediately if held down for a few seconds. When OS hangs reset button is no longer
"integrated with the power button".The RESET signal into the LM4F232H5QD microcontroller
connects to the RESET switch and to the Stellaris ICDI circuit for a debugger-controlled reset.
External reset is asserted (active low) under any one of these conditions:
1. Power-on reset
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resonator used is the quartz crystal, so oscillator circuits incorporating them became known as
crystal oscillators,[] but other piezoelectric materials including polycrystalline ceramics are used
in similar circuits.
Quartz crystals are manufactured for frequencies from a few tens of kilohertz to tens of
megahertz. More than two billion crystals are manufactured annually.
Most are used for consumer devices such as wristwatches, clocks, radios, computers, and cell
phones. Quartz crystals are also found inside test and measurement equipment, such as
counters, signal
generators,
and oscilloscopes.
A crystal is
a solid in
which
the
constituent atoms, molecules, or ions are packed in a regularly ordered, repeating pattern
extending in all three spatial dimensions. Almost any object made of an elastic material could be
used
like
crystal,
with
appropriate transducers,
since
all
objects
have
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between PC and microcontroller, the baud rate and voltage levels of Microcontroller and PC
should be the same. The voltage levels of microcontroller are logic1 and logic 0 i.e., logic 1 is
+5V and logic 0 is 0V. But for PC, RS232 voltage levels are considered and they are: logic 1 is
taken as -3V to -25V and logic 0 as +3V to +25V. So, in order to equal these voltage levels,
MAX232 IC is used. Thus this IC converts RS232 voltage levels to microcontroller voltage
levels and vice versa.
5.6 Zig-Bee
5.6.1 Introduction:
Zig-Bee is the name of a specification for a suite of high level communication protocols using
small, low-power digital radios based on the IEEE 802.15.4 standard for wireless personal area
networks (WPANs), such as wireless headphones connecting with cell phones via short-range
radio. The technology is intended to be simpler and cheaper than other WPANs, such as
Bluetooth. Zig-Bee is targeted at radio-frequency (RF) applications which require a low data
rate, long battery life, and secure networking.
In an industry during certain hazards is will be very difficult to monitor the parameter through
wires and analog devices such as transducers. To overcome this problem we use wireless device
to monitor the parameters so that we can take certain steps even in worst case. Few years back
the use of wireless device was very less, but due the rapid development is technology now a days
we use maximum of our data transfer through wireless like Wi-Fi, Bluetooth, wi-max ,etc.
In view of all this things, the design of wireless parameter progress helps in an industry to
monitor the parameter in real time with the use of Zig-Bee, is an easy installation platform, cost
effective method for the low bit rate transmission, so with the help of the ready Zig-Bee platform
by using the embedded c language we interface the module with the pc by the help of visual
basic we monitor the parameters in the system.
The main use of this module helps in an industry during the worst cases as the analog device may
be damaged may be during the fire accidents, etc. But with the wireless transmission we have not
have an accurate data but when compared to the analog failure the errors are very minimum so
we use wireless to monitor the parameter in an industry where their no means of human interface
to monitor the parameters .
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5.6.2 Overview:
Zig-Bee builds upon the physical layer and medium access control defined in IEEE standard
802.15.4 (2003 version) for low-rate WPAN's. The specification goes on to complete the
standard by adding four main components: network layer, application layer, Zig-Bee device
objects (ZDO's) and manufacturer-defined application objects which allow for customization and
favor total integration.
Besides adding two high-level network layers to the underlying structure, the most significant
improvement is the introduction of ZDO's. These are responsible for a number of tasks, which
include keeping of device roles, management of requests to join a network, device discovery and
security. At its core, Zig-Bee is mesh network architecture. Its network layer natively supports
three types of topologies: both star and tree typical networks and generic mesh networks. Every
network must have one coordinator device, tasked with its creation, the control of its parameters
and basic maintenance. Within star networks, the coordinator must be the central node. Both
trees and meshes allow the use of Zig-Bee routers to extend communication at the network level
(they are not Zig-Bee coordinators, but may act as 802.15.4 coordinators within their personal
operating space), but they differ in a few important details: communication within trees is
hierarchical and optionally utilizes frame beacons, whereas meshes allow generic
communication structures but no router beaconing.
The relationship between IEEE 802.15.4-2003 and Zig-Bee is similar to that between IEEE
802.11 and the Wi-Fi Alliance. The Zig-Bee 1.0 specification was ratified on December 14, 2004
and is available to members of the Zig-Bee Alliance. An entry level membership called Adopter,
in the Zig-Bee Alliance costs US$3500 annually and provides access to the specifications and
permission to create products for market using the specifications. For non-commercial purposes,
the Zig-Bee specification is available to the general public at the Zig-Bee Specification
Download Request. Most recently, the Zig-Bee 2006 specification was posted in December
2006.
Zig-Bee operates in the industrial, scientific and medical (ISM) radio bands; 868 MHz in Europe,
915 MHz in countries such as USA and Australia, and 2.4 GHz in most jurisdictions worldwide.
The technology is intended to be simpler and cheaper than other WPANs such as Bluetooth. The
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most capable Zig-Bee node type is said to require only about 10% of the software of a typical
Bluetooth or Wireless Internet node, while the simplest nodes are about 2% However, actual
code sizes are much higher, closer to 50% of Bluetooth code size Zig-Bee chip vendors have
announced 128-kilobyte devices.
As of 2006, the retail price of a Zig-Bee-compliant transceiver is approaching $1, and the price
for one radio, processor, and memory package is about $3. Comparatively, before Bluetooth was
launched (1998) it had a projected price, in high volumes, of $4 - $6; the price of consumergrade Bluetooth chips is now under $3.
First stack release is now called "Zig-Bee 2004". The 2nd stack release is called 2006, and
mainly replaces the MSG/KVP structure used in 2004 with a "cluster library". The 2004 stack is
now more or less obsolete. The Zig-Bee Alliance has started work on Zig-Bee 2007, looking to
extend the Zig-Bee 2006 specification capabilities; the main enhancements are optimizing
certain network level functionality (such as data aggregation). There are also some new
application profiles like Automatic Meter Reading, Commercial building automation and home
automation based on the "cluster library principle".
Zig-Bee 2007, now the current stack release, is sometimes called "Pro", but pro is a stack profile,
which defines certain stack settings and mandatory features. Zig-Bee 2007 at the network level is
not backwards-compatible with Zig-Bee 2004/2006, although a Zig-Bee 2004/2006 RFD node
can join a 2007 network, and vice-versa. It's not possible to mix 2004/2006 routers with 2007
routers/coordinator.
Network Layers:
The main functions of the network layer are to enable the correct use of the MAC sub layer and
provide a suitable interface for use by the next upper layer, namely the application layer. Its
capabilities and structure are those typically associated to such network layers, including routing.
Application Layer:
The application layer is the highest-level layer defined by the specification, and is the effective
interface of the Zig-Bee system to its end users. It comprises the majority of components added
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by the Zig-Bee specification: both ZDO and its management procedures, together with
application objects defined by the manufacturer, are considered part of this layer.
Know precisely how far you have run and at what pace while tracking your path so you
can find your way home.
Pinpoint the perfect fishing spot on the water and easily relocate it.
Get the closest location of your favorite restaurant when you are out-of-town.
Find the nearest airport or identify the type of airspace in which you are flying
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The Global Positioning System (GPS) is a satellite-based navigation system that sends and
receives radio signals. A GPS receiver acquires these signals and provides you with information.
Using GPS technology, you can determine location, velocity, and time, 24 hours a day, in any
weather conditions anywhere in the worldfor free.GPS, formally known as the NAVSTAR
(Navigation Satellite Timing and Ranging). Global Positioning System originally was developed
for the military. Because of its popular navigation capabilities and because you can access GPS
technology using small, inexpensive equipment, the government made the system available for
civilian use. The USA owns GPS technology and the Department of Defense maintains it.GPS
technology requires the following three segments.
Space segment.
Control segment.
User segment
Space Segment
At least 24 GPS satellites orbit the earth twice a day in a specific pattern. They travel at
approximately 7,000 miles per hour about 12,000 miles above the earths surface. These satellites
are spaced so that a GPS receiver anywhere in the world can receive signals from at least four .
Each GPS satellite constantly sends coded radio signals (pseudorandom code) to the earth.
These GPS satellite signals contain the following information.
Where that satellite should be at any given time (the precise location of the satellite is.
called ephemeris data).
The date and time that the satellite sent the signal.
The signals can pass through clouds, glass, and plastic. Most solid objects such as
buildings attenuate (decrease the power of) the signals. The signals cannot pass through objects
that contain a lot of metal or objects that contain water (such as underwater locations). The GPS
satellites are powered by solar energy. If solar energy is unavailable, for example, when the
satellite is in the earths shadow, satellites use backup batteries to continue running. Each GPS
satellite is built to last about 10 years. The Department of Defense monitors and the satellites to
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ensure that GPS technology continues to run smoothly for years to come.
Monitor stations
Ground antennas
Monitor Stations
At least six unmanned monitor stations are located around the world. Each station
constantly monitors and receives information from the GPS satellites and then sends the orbital
and clock information to the master control station (MCS).
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Ground Antennas
Ground antennas receive the corrected orbital and clock information from the MCS, and
then send the corrected information to the appropriate satellites.
User Segment
The GPS user segment consists of your GPS receiver. Your receiver collects and processes
signals from the GPS satellites that are in view and then uses that information to determine and
display your location, speed, time, and so forth. Your GPS receiver does not transmit any
information back to the satellites.
5.7.3 How Does GPS Technology Work?
The following points provide a summary of the technology at work:
The control segment constantly monitors the GPS constellation and uploads information to
satellites to provide maximum user accuracy
Your GPS receiver collects information from the GPS satellites that are in view.
Your GPS receiver accounts for errors. Refer to the Sources of Errors.
Your GPS receiver determines your current location, velocity, and time.
Your GPS receiver can calculate other information, such as bearing, track, trip distance,
and distance to destination, sunrise and sunset time so forth.
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Aviation
Aircraft pilots use GPS technology for en route navigation and airport approaches. Satellite
navigation provides accurate aircraft location anywhere on or near the earth.
Environment
GPS technology helps survey disaster areas and maps the movement of environmental
phenomena (such as forest fires, oil spills, or hurricanes). It is even possible to find locations that
have been submerged or altered by natural disasters.
Ground Transportation
GPS technology helps with automatic vehicle location and in-vehicle navigation systems.
Many navigation systems show the vehicles location on an electronic street map, allowing drivers
to keep track of where they are and to look up other destinations. Some systems automatically
create a route and give turn-by-turn directions. GPS technology also helps monitor and plan
routes for delivery vans and emergency vehicles.
Marine
GPS technology helps with marine navigation, traffic routing, underwater surveying,
navigational hazard location, and mapping. Commercial fishing fleets use it to navigate to
optimum fishing locations and to track fish migrations.
Military
Military aircraft, ships, submarines, tanks, jeeps, and equipment use GPS technology for many
purposes including basic navigation, target designation, close air support, weapon technology, and
rendezvous.
Public Safety
Emergency and other specialty fleets use satellite navigation for location and status
information.
Rail
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Precise knowledge of train location is essential to prevent collisions, maintain smooth traffic
flow, and minimize costly delays. Digital maps and onboard inertial units allow fully-automated
train control.
Space
GPS technology helps track and control satellites in orbit. Future booster rockets and
reusable launch vehicles will launch, orbit the earth. Return, and land, all under automatic control.
Space shuttles also use GPS navigation.
Surveying
Surveyors use GPS technology for simple tasks (such as defining property lines) or for
complex tasks (such as building infrastructures in urban centers). Locating a precise point of
reference used to be very time consuming. With GPS technology, two people can survey dozens
of control points in an hour. Surveying and mapping roads and rail systems can also be
accomplished from mobile platforms to save time and money.
Features
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Thermal Shutdown
High-Noise-Immunity Inputs
5.8.1Description
The L293 and L293D are quadruple high-current half-H drivers. The L293 is designed to provide
bidirectional drive currents of up to 1 A at voltages from 4.5 V to 36 V. The L293D is designed to
provide bidirectional drive currents of up to 600-mA at voltages from 4.5 V to 36 V. Both
devices are designed to drive inductive loads such as relays, solenoids, dc and bipolar stepping
motors, as well as other high-current/high-voltage loads in positive-supply applications.
All inputs are TTL compatible. Each output is a complete totem-pole drive circuit, with a
Darlington transistor sink and a pseudo- Darlington source. Drivers are enabled in pairs, with
drivers 1 and 2 enabled by 1,2EN and drivers 3 and 4 enabled by 3,4EN.When an enable input is
high, the associated drivers are enabled and their outputs are active and in phase with their
inputs. When the enable input is low, those drivers are disabled and their outputs are off and in
the high-impedance state. With the proper data inputs, each pair of drivers forms a full-H (or
bridge) reversible drive suitable for solenoid or motor applications. On the L293, external highspeed output clamp diodes should be used for inductive transient suppression.
A VCC1 terminal, separate from VCC2, is provided for the logic inputs to minimize device
power dissipation. The L293 and L293D are characterized for operation from 0 to 70 degree
Celsius.
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Motors are used just about everywhere. In our house, there is a motor in the furnace for the
blower, for the intake air, in the sump well, dehumidifier, in the kitchen in the exhaust hood
above the stove, microwave fan, refrigerator compressor and cooling fan, can opener, garbage
disposer, dish washer pump, clocks, computer fans, ceiling fans, and many more items. In
industry, motors are used to move, lift, rotate, accelerate, brake, lower and spin material in order
to coat, paint, punch, plate, make or form steel, film, project, tissue, aluminum, plastic and other
raw materials. They range in power ratings from less than 1/100 hp to over 100,000 hp. The
rotate as slowly as 0.001 rpm to over 100,000 rpm. They range in physical size from as small as
the head of a pin to the size of a locomotive engine.
What happens when a wire carrying current is within a magnetic field?
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Armature or rotor
Commutator
Brushes
Axle
Field magnet
An electric motor is all about magnets and magnetism: A motor uses magnets to create motion.
If you have ever played with magnets you know about the fundamental law of all magnets:
Opposites attract and likes repel. So if you have two bar magnets with their ends marked "north"
and "south," then the north end of one magnet will attract the south end of the other. On the other
hand, the north end of one magnet will repel the north end of the other (and similarly, south will
repel south). Inside an electric motor, these attracting and repelling forces create rotational
motion. The armature (or rotor) is an electromagnet, while the field magnet is a permanent
magnet (the field magnet could be an electromagnet as well, but in most small motors it is not in
order to save power).
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When you put all of these parts together, here is a complete electric motor:Even a small electric
motor contains the same pieces described above: two small permanent magnets, a commutator,
two brushes, and an electromagnet made by winding wire around a piece of metal. Almost
always, however, the rotor will have three poles rather than the two poles as shown in this
article. There are two good reasons for a motor to have three poles:
It causes the motor to have better dynamics. In a two-pole motor, if the electromagnet is
at the balance point, perfectly horizontal between the two poles of the field magnet when
the motor starts, one can imagine the armature getting "stuck" there. This never happens
in a three-pole motor.
Each time the Commutator hits the point where it flips the field in a two-pole motor, the
Commutator shorts out the battery (directly connects the positive and negative terminals)
for a moment. This shorting wastes energy and drains the battery needlessly. A three-pole
motor solves this problem as well.
It is possible to have any number of poles, depending on the size of the motor and the specific
application it is being used in. Motion and controls cover a wide range of components that in
some way are used to generate and/or control motion. Areas within this category include
bearings and bushings, clutches and brakes, controls and drives, drive components, encoders and
resolves, Integrated motion control, limit switches, linear actuators, linear and rotary motion
components, linear position sensing, motors (both AC and DC motors). There are three types of
electrical connections between the stator and rotor possible for DC electric motors: series,
shunt/parallel and compound (various blends of series and shunt/parallel) and each has unique
speed/torque characteristics appropriate for different loading torque profiles/signatures.
5.8.3. Types of Motors
Split Phase
The split phase motor is mostly used for "medium starting" applications. It has start and run
windings, both are energized when the motor is started. When the motor reaches about 75% of its
rated full load speed, the starting winding is disconnected by an automatic switch.
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Uses: This motor is used where stops and starts are somewhat frequent. Common applications of
split phase motors include: fans, blowers, office machines and tools such as small saws or drill
presses where the load is applied after the motor has obtained its operating speed.
Capacitor Start
This motor has a capacitor in series with a starting winding and provides more than double the
starting torque with one third less starting current than the split phase motor. Because of this
improved starting ability, the capacitor start motor is used for loads which are hard to start. It has
good efficiency and requires starting currents of approximately five times full load current. The
capacitor and starting windings are disconnected from the circuit by an automatic switch when
the motor reaches about 75% of its rated full load speed.
Uses: Common uses include: compressors, pumps, machine tools, air conditioners, conveyors,
Horsepower & RPM
Horsepower
Electric motors are rated by horsepower, the home shop will probably utilize motors from 1/4 HP
for small tools and up to 5 HP on air compressors. Not all motors are rated the same, some are
rated under load, others as peak horsepower and hence we have 5 HP compressors with huge
motors and 5 Hp shopvacs with tiny little motors. Unfortunately all 5 HP compressor motors are
not equal in actual power either, to judge the true horsepower the easiest way is to look at the
amperage of the motor. Electric motors are not efficient, most have a rating of about 50% due to
factors such as heat and friction and some may be as high as 70%.
This chart will give a basic idea of the true horse power rating compared to the ampere rating.
Motors with a higher efficiency rating will draw fewer amps, for example a 5 HP motor with a
50% efficiency rating will draw about 32 amps at 230 VAC compared to about 23 amps for a
motor with a 70% rating.
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Table 5.8.3 Basic idea of the true horse power rating compared to the ampere rating
A quick general calculation when looking at a motor is 1 HP = 10 amps on 110 volts and 1 HP =
5 amps on 220 volts.
RPM
The shaft on a typical shop motor will rotate at either 1725 or 3450 RPM (revolutions per
minute).
The speed of the driven machine will be determined by the size of pulleys used, for example a
3450 RPM motor can be replaced by a 1750 RPM motor if the diameter of the pulley on the
motor is doubled. The opposite is true as well but if the pulley on the 1750 RPM motor is small it
is not always possible to replace it with one half the size. It may be possible to double the pulley
size on the driven machine if it uses a standard type of pulley, (not easily done on air
compressors for example).
Electronic speed reducers such as the ones sold for routers will not work on induction type
motors.
Phase, Voltage & Rotation
Whether or not you can use a motor will likely depend on these factors.
Single Phase
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Ordinary household wiring is single phase, alternating current. Each cycle peaks and dips as
shown. To run a three phase motor a phase converter must be used, usually this is not practical, it
is often less expensive to change the motor on a machine to a single phase style.
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Webcams can be used to take video clips and still pictures. Various software tools in wide use
can be employed for this, such as Pic-master (for use with Windows operating systems), Photo
Booth (Mac), or Cheese (with Unix systems).
Input control devices
Special software can use the video stream from a webcam to assist or enhance a user's control of
applications and games. Video features, including faces, shapes, models and colors can be
observed and tracked to produce a corresponding form of control. For example, the position of a
single light source can be tracked and used to emulate a mouse pointer, a head mounted light
would enable hands-free computing and would greatly improve computer accessibility. This can
be applied to games, providing additional control, improved interactivity and immersiveness.
Free Track is a free webcam motion tracking application for Microsoft Windows that can track a
special head mounted model in up to six degrees of freedom and output data to mouse, keyboard,
joystick and Free Track-supported games By removing the IR filter of the webcam, IR LEDs can
be used, which has the advantage of being invisible to the naked eye, removing a distraction
from the user. Track IR is a commercial version of this technology.
The Eye Toy for the PlayStation 2, PlayStation Eye for the PlayStation 3, and the Xbox Live
Vision camera and Kinect motion sensor for the Xbox 360 and are color digital cameras that
have been used as control input devices by some games. Small webcam-based PC games are
available as either standalone executables or inside web browser windows using Adobe Flash.
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Fig 5.10.Equally spaced on either side of the transmitter coil and a receiver coil
The field is generally trapped inside the shielded enclosure of the detector but some field escapes
from the aperture on both sides of the detector. Anything that enters into this field that is either
Magnetic, or Electrically Conductive will cause a disturbance in the field strength around it. All
metals have either one or both of these characteristics and will be detectable if the size of the
signal is large enough. The signals from the receiving coils are connected in opposition to each
other and therefore when no disturbance is occurring there will be a net signal across the coils of
zero they are balanced. This forms the electrical equivalent of a balance weigh scale. As metal
passes through the detector the balance will be offset as the contaminant enters the aperture and
again as it leaves the exit side. This disturbance is amplified and analyzed by the control
electronics and detection will occur if the sensitivity threshold has been exceeded. Ferrous In
Foil The exception to this design occurs when a product is packaged in foil (pure aluminum).
Foil lids and trays are common examples where an alternative system is required. Here the
detector operates using a series of magnets and is referred to as a Ferrous in Foil detector. The
drawback of this type of inspection is that Non Ferrous and Stainless contaminants cannot be
detected.
To achieve these goals we must know advanced detector theory intimately. A sound working
knowledge of electronics, mathematics, and mechanical engineering are essential as is familiarity
with government regulations. We also pride ourselves on our practical knowledge of hands-on
detecting in the field.
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1. Food: Meat, Cheese, Bread and Bakery 1.Food: Cereal, Crackers, Flour and powders,
Products, Fish, Dairy Products, Salads
2. Packaging: Metalized Film.
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1. Transmit signal from the electronics causes transmit electrical current in transmit coil.
2.
Electrical
current
in
the
transmit
coil
causes
transmitted
magnetic
field.
3. Transmitted magnetic field causes electrical currents to flow in metal targets (called eddy
currents.)
4. Eddy currents generate a magnetic field. This is altered compared to the transmitted field.
5. Receive coil detects the magnetic field generated by eddy currents as a very small voltage.
6. Signal from receive coil is amplified by receive electronics, then processed to extract signal
from the target, rather than signals from other environment magnetic sources such as earths
magnetic field.
As with most introductions, the above brief description is over-simplified. The signal induced in
the receive coil, by the magnetic field of the eddy current, can be thought of as made up of two
simultaneous components, not just an altered component:
One component is the same shape as the transmit signal. This is called the reactive signal
(X). Because it is the same shape as the transmit field, the signal, by definition, responds
immediately to whatever the transmit signal is doing.
When this X component is subtracted from the eddy current induced signal in the receive coil,
the shape of the remaining signal depends only upon the history of the transmitted field, and not
the instantaneous value. This signal is called the resistive or loss component (R).
Both the target X and R signals vary depending on the distance of the target from the coil; the
further away, the weaker the transmitted magnetic field at the object, and the weaker the received
signal from the eddy currents; thus the weaker than receive coil R and X signals which, as stated,
may be very weak for deep targets.
1. Products that offer the most useful features and best possible performance
2. Products those are highly reliable
3. Products that exceed expectations every time they are used.
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CHAPTER 6
PROJECT SCHEMATIC
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Fig 6.1(a) Schematic view of ARM7 interfacing with ZIG-BEE and GPS
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CHAPTER 7
SOFT WARE TOOLS
7.1SOFTWARE TOOLS
Software Tools Required
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Keil v3, Proteus are the two software tools used to program microcontroller. The
working of each software tool is explained below in detail.
Keil:-
1.
2.
3.
4.
5.
Save the Project by typing suitable project name with no extension in your own folder
sited in either C:\ or D:\
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6.
7.
8.
9.
10.
Then Click on OK
11.
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12.
13.
14.
Now double click on the Target1, you would get another option Source group 1 as
shown in next page.
15.
Click on the file option from menu bar and select new
16.
The next screen will be as shown in next page, and just maximize it by double
clicking on its blue boarder.
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17.
18.
For a program written in Assembly, then save it with extension . asm and for C
based program save it with extension .C
19.
Now right click on Source group 1 and click on Add files to Group Source
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20.
Now you will get another window, on which by default C files will appear.
21.
Now select as per your file extension given while saving the file
22.
23.
Now Press function key F7 to compile. Any error will appear if so happen.
24.
25.
26.
Then Click OK
27.
Now Click on the Peripherals from menu bar, and check your required port as shown
in fig below
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28.
29.
30.
7.2 Proteus:
Proteus is software which accepts only hex files. Once the machine code is converted into
hex code, that hex code has to be dumped into the microcontroller and this is done by the
Proteus. Proteus is a programmer which itself contains a microcontroller in it other than the one
which is to be programmed. This microcontroller has a program in it written in such a way that it
accepts the hex file from the Keil compiler and dumps this hex file into the microcontroller
which is to be programmed. As the Proteus programmer kit requires power supply to be
operated, this power supply is given from the power supply circuit designed above. It should be
noted that this programmer kit contains a power supply section in the board itself but in order to
switch on that power supply, a source is required. Thus this is accomplished from the power
supply board with an output of 12volts.
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Features:
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CHAPTER 8
RESULT ANALYSIS
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CHAPTER 9
CONCLUSION
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9. CONCLUSION
The design and implementation of unmanned robotic ground vehicle has been depicted in detail
and a minimum realization able to realistically demonstrate capability potential with the given
mission is represented. The project delivers an entirely novel technique for nullifying the terror
activities inside the buildings. Furthermore, the proposed system has the capability of
revolutionizing design of next generation defense weapon system. The test tasks were very much
pertained to surveillance and tactical reconnaissance was satisfactory. The salient part of the
whole system includes system integration and information flow between the control room and the
robotic vehicle. The system level enables the task oriented operations that combines the
autonomous motion of the robotic vehicle and task execution capabilities. The designed vehicle
has the potentialities to up root terrorism instead of facing it and it is dedicated to save brave
hearts to the nation.
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CHAPTER 10
FUTURE SCOPE
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CHAPTER 11
11. References
[1] Jones K, Special Weapons Observation Remote recon Direct Action System (SWORDS),
In proceedings of AVT-SCI Joint Symposium, Neuilly-sur-Seine, France, pp 36-1 36-8, Nov
2012.
[2] Abhinav Kumar Singh, Nilaya Mitash Shanker and Anand Prakash Yadav,
RF Controlled Terrorist fighting robot International Journal of
Computer Science & Communication Vol. 1, No. 1, January-June 2011,pp. 109-112.
[3] T.Iwamoto, H.Yamamoto, Mechanical Design of Variable
Configuration Tracked Vehicle, J. of Mechanical Design, 112, 289-294,1998.
[4] Amalia F. Foka and Panos E. Trahania, Predictive Autonomous Robot
Navigation, Proceedings of 2002 IEEE/RSJ International conference on
intelligent robots and systems EPFL, Laussane, Switzerland, October2010.
[5] Coombs, D.et al., 2000: Driving autonomously off-road up to 35 km/h.
Proc. of the IEEE Intelligent Vehicle Symposium, 186-191
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