MIZAN TEPI UNIVERSITY

COLLEGE OF ENGINEERING & TECHNOLOGY

DEPARTMENT OF ELECTRICAL AND COMPUTER ENGINEERING

COMPUTER ENGINEERING STREAM

TEPI CAMPUS, ETHIOPIA

Proposal Title: Cell phone Controlled Vehicle using DTMF

Submission Date: June 12, 2015

Project Supervisor: Mr. Enrique T.Unina

B.Sc Engg, M.T.U

Certificate of the Advisor

 Acknowledgment

First of all, we would like to thank our supervisor Mr. Enrique T.Unina for supporting
as on our project and also other instructors for their contribution. Our deepest
appreciation also goes out to those who gave as many needed support,
encouragement and help throughout our semester project improvement in
simulation and assembly programming.
Finally, thank you to all those involved directly and indirectly helping as out during our
overall progress which we can’t state out every one of them. A special expression of
gratitude is extended to everyone for their tolerance and patience in doing the project.
We must admit that they had enriched as in many ways and words alone are not
enough to express our gratitude.

Abstract

In this paper a robot car is controlled by cell phone using DTMF. The robot is
controlled by a mobile phone that makes a call to the mobile phone attached to the
robot. In the course of a call, if any button is pressed, a tone corresponding to the
button pressed is heard at the other end of the call. This tone is called "Dual Tone
Multiple-Frequency" (DTMF) tone. The robot perceives this DTMF tone with the help
of the phone stacked on the robot. The received tone is processed by the
microcontroller with the help of DTMF decoder. The microcontroller send appropriate
signal to the motor driver ICs to operate the motors & our robot starts moving.

The cell phone in the Vehicle will be kept in auto answer mode. So, after a ring the
cell phone accepts the call and starts video transmission. Now for the DTMF tones
pressed, the tones are fed to the circuit and the corresponding actions such as move
forward or backward, turn left or right, target identification and locking, missile
launching and parameter monitoring using black box are performed.

Contents
Abstract 4
Acronyms 6
Chapter 1 7
1.1 Introduction 7
1.2 Problem statement 8
1.2 Objective 8
i. General Objective 8
ii. Specific Objective 8
1.4 Scope and Limitation of the project 9
Chapter 2 9
Literature Review 9
Chapter 3 12
3.1 theory 12
3.2 Methodology 17
3.3 Design 19
i. Financial and Support 25
ii. Time schedule 26
3.2 Expected Result 27
3.3 References 27

Acronyms

GSM: Global system for mobile communication

DTMF: Dual tone multiple frequency
IC: Integrated circuit
BCD: Binary Coded Decimal
VF:
MF: Medium frequency
CMOS: Complementary Metal Oxide semiconductor
DIP: Dual inline Package
MIPS: Million instructions per second
EEPROM: Electrically erasable programmable read only Memory
UART: Universal Asynchronous receiver transmitter
PWM: Pulse width modulation
ADC: Analog to digital converter
DC: Direct Current
TTL: Transistor- Transistor Logic

Chapter 1

1.1 Introduction
Mobile phone in today’s world is become very popular and essential entity for one
and all, so for any mobile based application there is great reception. As long as we
are using mobile phone, we are capable of controlling things remotely from
everywhere. Now a day as interest in robotics continues to grow, robots are
increasingly being integrated into everyday life. As an example consider the
application of mobile robots in the health care industry, where the intended end users
are patients themselves. In this case, the need for simplified, reliable, and user-
friendly robot designs is of almost importance.
As interest in robotics continues to grow, robots are increasingly being integrated
into everyday life. The results of this integration are end-users possessing less and
less technical knowledge of the technology. For example, consider the application of
mobile robots in the health care industry, where the intended end users are patients
themselves. In this case, the need for simplified, reliable, and user-friendly robot
designs is of almost importance. Mobile phones today became very popular an
essential entity for one and all and so, for any mobile based application there is great
reception. Wireless controlled robots utilize RF circuits. However, the use of RF
contributes to enhancing the already mysterious nature of robotic technology, which
had limitations like limited range, limited frequency ranges and controls. But a mobile
phone controlled robot can hold up these limitations.

A remote control vehicle (RCV) is defined as any mobile device that is controlled by a
means that does not restrict its motion with an origin external to the device. This is
often a radio control device, cable between control and vehicle, or an infrared
controller. A RCV is always controlled by a human and takes no positive action
autonomously. one of the key technologies which underpin this field is that of remote
vehicle control. It is vital that a vehicle should be capable of proceeding accurately to
a target area maneuvering within that area to fulfill its mission and returning equally
accurately and safely to base. this project includes a robotic car consisting of a cell
phone, DTMF decoder and microcontroller. The transmitter is a handheld mobile
phone.

We present the design and implementation of an unmanned vehicle (i.e. a robotic

vehicle) consisting of a GSM network (a mobile phone), DTMF decoder,
microcontroller and a motor driver. The transmitter is a handheld mobile phone.
Ordinary low cost mobile phones like Nokia 1100 or even older versions of Nokia
phones could be used effectively for this purpose.

Dual Tone Multi-Frequency (DTMF), Touch-Tone or simply tone dialing. As its

acronym suggests, a valid DTMF signal is the sum of two tones, one from a low
group (697-941Hz) and the other from a high group (1209-1633Hz) with each group
containing four individual tones. In this project, the robot is controlled by a mobile
phone that makes a call to the mobile phone attached to the robot. In the course of a
call, if any button is pressed, a tone corresponding to the button pressed is heard at
the other end of the call. This tone is called "Dual Tone Multiple-Frequency" (DTMF)
tone. The robot perceives this DTMF tone with the help of the phone stacked on the
robot. The received tone is processed by the microcontroller with the help of DTMF
decoder. The microcontroller then transmits the signal to the motor driver ICs to
operate the motors & our robot starts moving.

Problem statement
Now days there are lots of industries like metal industries, brewery factories in our
country and cement factories. So in such places it is a difficult task to do a job in
unsuited place and also there are unsafe conditions for researchers to gather
information from dangerous places, so this project can solve this big problem and
support those persons.

Objective

I. General Objective
Specifically the objective of this project is to design a robotic vehicle which can be
controlled easily by using our cell phone. Also to implement a DTMF (dual tone multiple
frequency) technology into the robot to work in the places where we cannot move. So that,
by pressing number keys in the mobile it will send different sound frequency to the other
phone which is interfaced to the circuit. The DTMF decoder will change the frequency to four
bit and give it to the microcontroller. Based on the program inside the microcontroller will
control the tow motors.

II. Specific Objective

This project was aimed at Designing and implementing a system that can be
controlled remotely on our cell phone based on DTMF (Dual Tone Multiple
Frequency). The system, have an interface between the transmitters, the sending
phone and another interface between the receiver phone and the robot.

The system is designed to

 Receive the DTMF tone through the cellphone.

 Decode the received tone using a DTMF decoder into binary coded decimal
 (BCD).

 Interpret the BCD codes into desired motor controls using microcontroller.

Scope and Limitation of the project

The scope of the project is to design a basic circuit and prototype of robotic vehicle
which can be controlled remotely on mobile phone by using DTMF. The vehicle can
be used for application in the dangers area in the factories. By adding different
features it can be used for different applications like, metal industry cement factories.

Currently there are many different robotic options available to modern militaries.
Robots can be run by wire, run by remote control or steered thru tele-robotics. There
are plenty of "fire and forget" weapons, dumb weapons and smart munitions as well,
which can fire thru human command or by way of software rules that include target
identification and firing. But that is just the start as these technologies will save
thousands of lives on our Nation's Highways thru Smart Car Systems and Net-
Centric Automobiles of the future. Motivated from this background, this project will
outline autonomous “ground combat vehicles” which is controlled by simple mobile
phone

The limitation of the project that is going to be design is, it doesn’t have the ability to
visualize the surrounding environment because IP camera is not integrated to the
system.

Chapter 2
Literature Review
The human mind always needs information of interest to control systems of his/her
choice. In the age of electronic systems it is important to be able to control and
acquire information from everywhere. Although many methods to remotely control
systems have been devised, the methods have the problems such as the need for
special devices and software to control the system. The DTMF tone generated when
the user pushes mobile phone keypad buttons or when connected to a remote
mobile system. The remote control technologies have been used in the fields like
factory automation, space exploration, in places where human access is difficult.

DTMF stands for Dual Tone Multiple Frequency; it is used to send information
through phone lines to and from local exchange. Dual Tone Multiple Frequency
(DTMF) is also known as Touch-tone, Tone Dialing, VF Signaling and MF Dialing.
Each DTMF tone consists of two simultaneous tones (one from the high group and
one from the low group), which are used to indicate which number or symbol that is
press on the telephone's keypad. For example if number 5 is pressed in telephone's
keypad, the tones that will hear are 1336 Hz and 770 Hz played simultaneously.

Dual Tone Multiple Frequency is the basis of voice communications control. Modern
telephone circuits use DTMF to dial numbers, configure telephone exchanges
(switchboards) from remote locations, and program certain equipment and so on.
Almost any mobile phone is capable of generating DTMF, providing a connection has
already been established. This is for the use of phone banking; voicemail services
and other DTMF controlled applications. DTMF was designed so that it is possible to
use acoustic transfer. The DTMF tones can be sent from a standard speaker and be
received using a standard microphone (providing it is connected to a decoding circuit
of some type). DTMF tones are simply two frequencies played simultaneously by a
standard home phone/fax or mobile phone. Each key on your telephone's keypad has
a unique frequency assigned to it. When any key is pressed on your telephone's
keypad the circuit plays the corresponding DTMF tone and sends it to your local
exchange for processing. DTMF tones can be imitated by using a White Box or Tone
Dialer. It is also possible to record DTMF tones using a tape recorder or computer
microphone and then played into the mouthpiece of your

Currently there are many different robotic options available to modern militaries.
Robots can be run by wire, run by remote control or steered thru Tele-robotics. There
are plenty of "fire and forget" weapons, dumb weapons and smart munitions as well,
which can fire thru human command or by way of software rules that include target
identification and firing. But that is just the start as these technologies will save
thousands of lives on our Nation's Highways thru Smart Car Systems and Net-
Centric Automobiles of the future.

However if there is a significant amount of background sound behind the recorded

DTMF tones, the tones may not work properly and cause problems when trying to
dial numbers. the use of phone banking; voicemail services and other DTMF
controlled applications. DTMF was designed so that it is possible to use acoustic
transfer. The DTMF tones can be sent from a standard speaker and be received
using a standard microphone (providing it is connected to a decoding circuit of some
type). DTMF tones are simply two frequencies played simultaneously by a standard
home phone/fax or mobile phone. Each key on your telephone's keypad has a unique
frequency assigned to it. When any key is pressed on your telephone's keypad the
circuit plays the corresponding DTMF tone and sends it to your local exchange for
processing. DTMF tones can be imitated by using a White Box or Tone Dialer. It is
also possible to record DTMF tones using a tape recorder or computer microphone
and then played into the mouthpiece of your telephone to dial numbers. However if
there is a significant amount of background sound behind the recorded DTMF tones,
the tones may not work properly and cause problems when trying to dial numbers.

Chapter 3
Theory and Methodology

Hardware
 i. Semiconductors

1. MT8870 DTMF Decoder

2. ATmega16 AVR Microcontroller

3. L293D motor Driver

ii. Resistors(all ¼ watt, ±5% carbon )

1. R1,R2-------------------------100KΩ

2. R3----------------------------- 330KΩ

3. R4 R8-------------------------10KΩ

iii. Capacitors

1. C1--------------0.7 µF ceramic disk

2. C2, C3, C5, C6---------22Pf ceramic disk

3. C4------------------------0.1µF ceramic disk

iv. Miscellaneous

1. XTAL1----------------------3.57MHz crystal

2. XTAL2----------------------12MHz crystal

3. S1-------------------------Push to ON switch

4. M1,M2-----------------6V, 50-rpm geared DC motor

5. Battery--------------------6V, 4.5Ah battery

Software
1. Proteus 8 professional simulation software
2. WinAVR C compiler

MT8870 DTMF Decoder

The MT-8870 is a DTMF Receiver that integrates both band split filter and decoder
functions into a single 18-pin DIP or SOIC package. It is manufactured using CMOS
process technology. The MT-8870 offers low power consumption (35 mW max) and
precise data handling. Its filter section uses switched capacitor technology for both
the high and low group filters and for dial tone rejection. Its decoder uses digital
counting techniques to detect and decode all 16 DTMF tone pairs into a 4-bit code.
Minimal external components required includes a low-cost 3.579545 MHz color burst
crystal, a timing resistor, and a timing capacitor.

The filter section is used for separation of the low-group and high group tones and it
is achieved by applying the DTMF signal to the inputs of two sixth order switched
capacitor band pass filters, the bandwidths of which corresponds to the low and high
group frequencies. The filter section also incorporates notches at 350 and 440 Hz for
exceptional dial tone rejection. Each filter output is followed by a single order
switched capacitor filter section which smoothes the signals prior to limiting.
Limiting is performed by high-gain comparators which are provided with hysteresis
to prevent detection of unwanted low-level signals. The outputs of the comparators
provide full rail logic swings at the frequencies of the incoming DTMF signals.
Following the filter section is a decoder employing digital counting techniques to
determine the frequencies of the incoming tones and to verify that they correspond
to the standard DTMF frequencies.

Fig:2 DTMF decoder pin configuration

ATmega16 AVR Microcontroller futures

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 and
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 ATmega16 microcontroller used in this lab is a 40-pin wide DIP (Dual In Line)
package chip. This chip was selected because it is robust, and the DIP package
interfaces with prototyping

High Performance, Low Power Atmel®AVR® 8-bit Microcontroller

• Advanced RISC Architecture

– 131 Powerful Instructions - Most Single Clock Cycle Execution

– 32 × 8 General Purpose Working Registers

– Fully Static Operation

– Up to 1 MIPS throughput per MHz

– On-chip 2-cycle Multiplier

• Data and Non-Volatile Program Memory

– 16/32/64K Bytes Flash of In-System Programmable Program Memory

– 512B/1K/2K Bytes of In-System Programmable EEPROM

– 1/2/4K Bytes Internal SRAM

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

– Data Retention: 20 years at 85°C/ 100 years at 25°C(1)

– Optional Boot Code Section with Independent Lock Bits In-System Programming
by On-chip Boot Program True Read-While-Write Operation

– Programming Lock for Flash Program and EEPROM Data Security On Chip Debug
Interface (debug WIRE)

• CAN 2.0A/B with 6 Message Objects - ISO 16845 Certified

• LIN 2.1 and 1.3 Controller or 8-Bit UART

• One 12-bit High Speed PSC (Power Stage Controller)

 – Non Overlapping Inverted PWM Output Pins With Flexible Dead-Time

– Variable PWM duty Cycle and Frequency

– Synchronous Update of all PWM Registers

– Auto Stop Function for Emergency Event

• Peripheral Features

– One 8-bit General purpose Timer/Counter with Separate Prescaler,

Compare Mode and Capture Mode

– One 16-bit General purpose Timer/Counter with Separate Prescaler,

Compare Mode and Capture Mode

– One Master/Slave SPI Serial Interface

– 10-bit ADC Up To 11 Single Ended Channels and 3 Fully Differential

ADC Channel Pairs Programmable Gain (5×, 10×, 20×, 40×) on Differential Channels
Internal Reference Voltage direct Power Supply Voltage Measurement

– 10-bit DAC for Variable Voltage Reference (Comparators, ADC)

– Four Analog Comparators with Variable Threshold Detection

– 100μA ±2% Current Source (LIN Node Identification)

– Interrupt and Wake-up on Pin Change

– Programmable Watchdog Timer with Separate On-Chip Oscillator

– On-chip Temperature Sensor

• Special Microcontroller Features

– Low Power Idle, Noise Reduction, and Power Down Modes

– Power On Reset and Programmable Brown Out Detection

– In-System Programmable via SPI Port

– High Precision Crystal Oscillator for CAN Operations (16MHz)

– Internal Calibrated RC Oscillator ( 8MHz)

 – On-chip PLL for fast PWM ( 32MHz, 64MHz) and CPU (16MHz)

• Operating Voltage: 2.7V - 5.5V

• Extended Operating Temperature:

– -40°C to +85°C

• Core Speed Grade:

– 0 - 8MHz @ 2.7 - 4.5V

– 0 - 16MHz @ 4.5 - 5.5V

Fig Atmega16

L293D motor Driver

As the MUCs PORT are not powerful enough to Drive DC motors directly so we need
some kind of drivers. A very easy and safe is to use popular L@(#D chips. It is 16
PIN chip. The pin configuration is as follows.

Figure 1: L293D motor driver.

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 to600-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

On the L293, external high-speed 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°C to 70°C.

This chip is designed to control tow DC motors, there are two input and two output
pins for each motors. The two input pins will connect to the output port of Atmega16
MUC and the two output pins will connect to the two DC motors.
The Device is a monolithic integrated high volt- age, high current four channel driver
designed to accept standard DTL or TTL logic levels and drive inductive loads (such
as relays solenoids, DC and stepping motors) and 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
and internal clamp di- odes are included. This device is suitable for use in switching
applications at frequencies up to 5 kHz. The L293D is assembled in a 16 lead plastic
package which has 4 centre pins connected together and used for heat sinking The
L293DD is assembled in a 20 lead surface mount which has 8 centre pins connected
together and used for heat sinking.
 Table 1: L293D configuration

D0 D1 D2 D3 DISCRIPTION

Both motors stops

Both motors rotate clockwise

Both motors rotate anticlockwise

Right motor rotates clockwise

Left motor rotates clockwise

Methodology
The DTMF technology is associated with digital telephony and provides two selected
o/p frequencies (One high band and one low band). The DTMF technique consist of
16 common alphanumeric characters (0-9, A-D, *, #) on the telephone. Each
characters is uniquely referenced by selecting one of the four low band frequencies
associated with the matrix rows, coupled with selecting one of the four high band
frequencies associated with the matrix columns.
 Figure 2: Dual Tone Multi Frequency (DTMF) map.

However, this is not a standard keypad. This keypad has 4 more keys than a
standard keypad (3X4-matrix). The keys A, B, C and D are not commonly used on
standard home phone/fax, office phone or payphone. Each of the keys A, B, C and D
are system tones/codes and are mainly used to configure telephone exchanges or to
perform other special functions at an exchange. For example, the corresponding
tone/code assigned to the A key is used on some networks to move through various
carriers (this function is prohibited by most carriers).

The contemporary mobile keypad is laid out in a 3x4 grid, although the original DTMF
keypad had an additional column for four menu selector keys. When used to dial a
telephone number, pressing a single key will produce a pitch consisting of two
simultaneous pure tone sinusoidal frequencies. The row in which the key appears
determines the frequency, and the column determines the high frequency. For
example, pressing the key will result in a sound composed of both 697 Hz and 1209
Hz tone [8, 15]. The original keypads had levers inside, so each button activated two
contacts. The multiple tones are the reason for calling the system multi frequency.
These tones are then decoded by the switching center to determine which key was
pressed.

Table 2: DTMF Keypad Frequencies (With Sound Clips).

1209 Hz 1336 Hz 1477 Hz 1633 Hz

697 Hz 1 2 3 A

770 Hz 4 5 6 B

852 Hz 7 8 9 C

941 Hz * 0 # D
 Programming Software

The software is written in ‘C’ language and compiled using WIN AVR ‘C’ compiler. The
source program is converted into hex code by the compiler. We burned this hex code
into ATmega16 AVR microcontroller. Now, we will first describe the algorithm of the
code structure, follow it up a control flow diagram and implement the algorithm in
actual C code.

Algorithm

In this section we are going to discuss the working algorithm which we have used in
the construction of the unmanned vehicle:

Step 1->include the register name defined specifically for ATmega16 and also declare
the variable.

Step 2->set port D as the input and port B as the output.

Step 3->the program will run forever by using ‘while’ loop.

Step 4->under ‘while’ loop, read port D and test the received input using ‘switch’
statement.

1. If 2 is pressed on the keypad, both the left and right motors move forward.

2. If 8 is pressed on the keypad, both the left and right motors moves backward.

3. If 4 is pressed on the keypad, the left motor halts and the right motor moves
forward.

4. If 6 is pressed on the keypad, the right motor halts and the left motor moves
forward.

5. If 5 is pressed on the keypad both the motors stop and the car comes to a stop.

Step 5->the corresponding data will output at port B after testing and conditioning of
the received data.

Circuit Design and working

The design of the DTMF controlled robotic vehicle consists of different circuits, which
are used to take the input signals from the remote cell phone and transmit the signal
to the Microcontroller and also there is a circuit that is designed with the L293D
motor driver to control the motor operation in different direction.

The important components of this car are DTMF decoder, microcontroller and motor
driver. An MT8870 series DTMF decoder is used here. All types of the MT8870 series
use digital counting techniques to detect and decode all the 16 DTMF tone pairs into
a 4-bit code output. The built-in dial tone rejection circuit eliminates the need of pre-
filtering. When the input signal given at pin 2(IN-) in single-ended input configuration
is recognized to be effective, the correct 4-bit decode signal of the DTMF tone is
transferred to enhanced RISC architecture. It provides the following features: 16kb of
in system programmable flash program memory with read-while write capabilities,
512 bytes of EEPROM, 1kb SRAM, and 32 (I\O) lines. Outputs from port pins PD0
through PD3 and PD7 of the microcontroller are fed to the inputsIN1 through IN4 and
enable pins (EN1 and EN2) of motor driver L293D IC, respectively to drive two geared
dc motors. Switch S1 is used for manual reset. The microcontroller output is not
sufficient to drive the dc motors, so Current drivers are required for motor rotation.
The L293D is a quad, high- current, half-h driver designed to provide bidirectional
drive currents of up to 600mA at voltages from 4.5V to 36V. It makes it easier to drive
the dc motors. The L293D consists of four drivers. Pins IN1 through IN4 and OUT1
through OUT4 are the input and output pins respectively, of driver 1 through driver 4.
Drivers 1 and 2, and driver 3 and 4 are enabled by enable pin 1(EN1) and pin 9 (EN2),
respectively. When enable input EN1 (pin1) is high, drivers 1 and 2 are enabled and
the outputs corresponding to their inputs are active. Similarly, enable input EN2 (pin9)
enables drivers 3. (pin11) through (pin14) outputs. The pin11 to pin14 of DTMF
decoder are connected to the pins of microcontroller (pa0 to pa3).The ATmega16 is a
low power, 8- bit CMOS microcontroller based on the AVR

Block Diagram

Below the block diagram shows the basic working principle of the overall system, it
describes the connection between different parts of the project.
 Figure 3: block diagram.

Input circuit
This input circuit consists of RC circuits that are connected to the cell phone headset
wire to transmit the received tone on the receiver cell phone to the DTMF decoder.
the circuit which connects the receiving phone to the DTMF decoder. It transmits
DTMF tone frequency to the decoder IC.

Figure 4: input circut.

Crystal oscillator
The PIC clock frequency can be controlled using different methods, including an
external RC circuit, an external clock source, or a clock crystal. In Figure 22 we show
the use of a clock crystal to provide an accurate and stable clock frequency at
relatively low cost. The clock frequency is set by connecting a 4-MHz crystal across
the OSC1 and OSC2 pins with the 22 pF capacitors grounded as shown in Figure 22

Figure 5: crystal oscillator

Motor Driving IC
The L293D IC (Motor Driver) Device is a monolithic integrated high voltage, high
current four channel driver designed to accept standard DTL or TTL logic levels and
drive inductive loads (such as relays solenoids, DC and stepping motors) and
switching power transistors [14]. 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 and internal clamp diodes are included.
This device is suitable for use in switching application at frequencies up to 5 kHz.
The L293D is assembled in a 16 lead plastic Package which has 4 center pins
connected together and used for heat sinking. The L293DD is assembled in a 20 lead
surface Mount which has 8 centre pins connected together and used for heat sinking.
Figure 6: L293D motor driver.

Control Buttons

Since there is no DTMF Decoder IC in Proteus simulation software, for simulation

and demonstration purpose only we forced to use push battens to replace the binary
digital value which is generated by the decoder after receiving tone signal from the
receiving side mobile phone through microphone.

Figure 7: control and switching circuit.

Construction of circuit

While constructing any robot, one major mechanical constraint is the number of
motors being used. You can have either a two- wheel drive or a four-wheel drive.
Though four-wheel drive is more complex than two-wheel drive, it provides more
torque and good control. Two-wheel drive, on the other hand, is very easy to
construct. Motors are fixed to the bottom of this sheet and the circuit is affixed firmly
on top of the sheet. A cell phone is also mounted on the sheet. In the four-wheel drive
system, the two motors on a side are controlled in parallel. So a single L293D driver
IC can drive the Robotic Car. in order to control the robot, you need to make a call to
the cell phone attached to the robot (through head phone) from any phone, which
sends DTMF tunes on pressing the numeric buttons. The cell phone in the robot is
kept in ‘auto answer’ mode.

So after a ring, the cell phone accepts the call. Now you may press any button on
your mobile to perform actions. The DTMF tones thus produced are received by the
cell phone in the robot. These tones are fed to the circuit by the headset of the cell
phone. The MT8870 decodes the received tone and sends the equivalent binary
number to the microcontroller. According to the program in the microcontroller, the
robot starts moving. When key ‘2’ is pressed on the mobile phone, the microcontroller
outputs for forward motion. When you press key ‘8’ on your mobile phone, the
microcontroller outputs for Reverse motion. When you press key ‘4’ on your mobile
phone, the microcontroller outputs for Left direction motion. When you press key ‘6’
on your mobile phone, the microcontroller outputs for Right direction motion. Four
keys on the keypad are used for motion control of the robotic car. The rest can be
configured to serve various other purposes depending on the area of application of
the vehicle.

The working procedure for this model is very simple. At first, the robot needs to turn
ON by giving power supply of 10v battery. Now dial a mobile number that is
connected with robot at remote location. Then after ringing the remote mobile
connected with robot, it will automatically connected by Auto Answer option in
mobile phone just like an internet connection established between two systems. It
needs to be ensured that DTMF tones sending facility should be active between both
mobiles. After connection establishment the keyboard need to use to operate the
robot car in particular direction. The flow chart of the whole circuit is very helpful for
the complete comprehending of the working principle of this model. For that purpose
the flow chart is shown below.

Chapter 4
Result and discussion

From the project we have been doing, we have got a result that is shown below, with
the two dc motors running in four directions. The two motors, left and right motors
are controlled through the switching circuit designed instead of the DTMF Decoder
and the remote cell phone. In the Schematic capture taken from the simulation
software it is shown that there are four switches designed to control the movement
of the vehicle in four directions which are left, right, forward and backward.

If one of the four switches is pressed at a time, a signal is transferred to the

Microcontroller in a binary form and it is going to be processed in the microcontroller
accordingly with the source code written inside the microcontroller, the processed
data is given to the L293D motor driver to take an action based on the decision made
by the program on to the Motor, finally after the execution of one action the switching
circuit has to be reset to take another action on to the motors. the schematic capture
shown below is indicate the running of the vehicle in forward direction.

Figure 8: Running of the motors in forward direction

Chapter 5

Conclusion and Scope of Future Work

This paper presented a method to control cutting machine using mobile phone and
DTMF decoder. DTMF tone is generated by pressing the keypad buttons of the
mobile which is connected to internet modem through mobile network. The
popularity and availability of the mobile and mobile network makes this kind of
control very useful and powerful. The main advantages of the proposed system are
its reliability, low cost, and wide area coverage.

By developing a cell phone operated robotic car, we have overcome the drawbacks of
the conventionally used RF circuits. This RCV includes advantages such as robust
control, minimal interference and a large working range. The car requires four
commands for motion control. The remaining twelve controls are available to serve
purposes dependant on the area of application of the RCV.

The primary purpose of the mobile phone operated land rover with DTMF decoder is
to know the information in the places where we cannot move. The robot perceives
the DTMF tone with the help of the phone stacked in the robot. It provides the
advantage of robust control, working range as large as coverage area of service
provider.

IR sensors can be used to automatically detect & avoid obstacles if the robot goes
beyond line of sight. This avoids damage to the vehicle if we are maneuvering it from
a distant place. The project can be also modified in order to password protect the
robot so that it can be operated only if correct password is entered. Either

In this project, the toy car is controlled by a mobile phone that makes a call to the
mobile phone attached to the car. In the course of a call, if any button is pressed, a
tone corresponding to the button pressed is heard at the other end of the call. This is
a wireless controller toy car hence the limitation of wired is completely overcome by
using latest technology of mobile phones. However, there are still lots of scopes to
improve the stability and ability of this system. The mobile phone that makes a call to
mobile phone stacked in the car act as a remote. Hence this project does not require
the construction of receiver and transmitter units. It is undoubtedly true that, this
model can be a very significant device in case of the information acquisition from the
remote areas where direct interference of human being is quite impossible hence it
would be a very crucial topic to do further research on it.

References

[1] Malik Sikandar, Hayat Khiyal, Aihab Khan, and Erum Shehzadi. SMS Based
Wireless Home Appliance Control System (HACS) for Automation Appliances and
Security. Journal of Informing Science and Information Technology, Volume 6 ,2009.

[2] T. M. Ladwa, S. M. Ladwa, and R. S. Kaarthik, A. R. Dhara, and N. Dalei, “Control of

Remote Domestic System Using DTMF,” presented at ICICI-BME 2009 Bandung,
Indonesia, 2009.
[3] T. Nguyen and L. G. Bushnell, “Feasibility Study of DTMF Communications for
Robots,” Dept of EE, University of Washington Seattle WA, 98195-2500, April 6, 2004.

[4] Tuljappa M Ladwa, Sanjay M Ladwa, R Sudharshan Kaarthik, Alok Ranjan Dhara
and Nayan Dalei, Control of Remote Domestic System Using DTMF, ICICI-BME 2009
Bandung, Indonesia.

[5] www.dz863.com/datasheet-82174063-ULN2803A_Darlington-Transistor-Array/

[6] http://www.smerobot.org/08_scientific_papers/papers/Calcagno_et-al_ISR-
Robotik06.pdf

[7] http://www.datasheetdir.com/NATIONAL-DM74LS373+Latches

Appendices

The programming codes for this model are done in the programming language C and
are given below.

C Programming Code

#include <avr/io.h>

int main()

{
unsigned int key;// variable key declaration

DDRD=0x00; // port D declerd as input

DDRB=0X0F; // port B declerd as output

while (1) //start of infinity loop

key=PIND;

switch (key)

case 0x01: //if I/P is 0x01

PORTB=0x0A; //move Forward

break;

case 0x02: //if I/P is 0x02

PORTB=0X05; //move Backward

break;

case 0x04: //if I/P is 0x04

PORTB=0X02; // turn Right

break;

}
case 0x08: //if I/P is 0x08

PORTB=0X08; //turn Left

break;

case 0x00: //if I/P is 0x00

PORTB=0x00; //Robot will Stop

break;

return 0;

Financial

Table 2: financial and support.

Biography

Name: Muhamed Ahmed Side_ ETR/0960/03

Studied 1-8: at gendawha 1-8 elementary school and

Studied 9-12: at metema preparatory and high school

Permanent address: metema, gendawha kebela 02

Phone no. : +251918202163

Email: mamilat2014@outlook.com or muhamedsofism@gmail.com

Name: Kirubel G/hiwot_ETR/1030/03

Studied :

Permanent address:

Phone no. : +251

Email:

Name: Mesfin Hurisa_ETR/0416/03

Studied

Studied

Permanent address

Phone no.

Email

Name: Habtework Ayenew_ETR/0288/03

Studied

Studied

Permanent address

Phone no.

Email

Name: Abdela Kema_ETR/0002/03

Studied
Studied

Permanent address

Phone no

Email