VISVESVARAYA TECHNOLOGICAL UNIVERSITY

“JNANASANGAMA”, BELAGAVI-590018,KARNATAKA

INTERNSHIP (18ECI85) REPORT

on

“Obstacle avoidance robot”

S

Submitted in the partial fulfillment of the requirement for the award of degree of
BACHELOR OF ENGINEERING
in
ELECTRONICS AND COMMUNICATION ENGINEERING
Submitted By

G A PAVAN KUMAR USN:1VA18EC031

Internship/Professional Practice carried out

at
Mifratech(OPC)Private Limited
Under the Guidance of

Internal Guide External Guide

Prof.Nayana K Mr.Deepak Sutar
Assistant Professor Embedded Developer
Dept.of ECE,SVIT Mifratech (OPC)Private Limited

DEPARTMENT OF ELECTRONICS & COMMUNICATION ENGINEERING

SAI VIDYA INSTITUTE OF TECHNOLOGY
(Affiliated to Visvesvaraya Technological University,Belagavi |Recognized by Govt.of Karnataka| Approved by AICTE, New
Delhi)
Accredited by NBA, New Delhi (CSE, ISE, ECE,MECH,CIVIL)
RAJANUKUNTE,BENGALURU–560064
2021-2022
 SAI VIDYA INSTITUTE OF TECHNOLOGY
(Affiliated to Visvesvaraya Technological University, Belagavi | Recognized by Govt. of Karnataka | Approved by AICTE, New Delhi)
Accredited by NBA, New Delhi (CSE, ISE, ECE, MECH, CIVIL)
Rajanukunte, Bengaluru- 560 064

DEPARTMENT OF ELECTRONICS AND COMMUNICATION

ENGINEERING

CERTIFICATE

Certified that the Internship(18ECI85) entitled “Obstacle avoidance robot”is carried out at “MIFRATECH
(OPC) PRIVATE LIMITED, Yelahanka” by Mr. G A PAVAN KUMAR (1VA18EC031), a bonafide student
of SAI VIDYA INSTITUTE OF TECHNOLOGY, Bengaluru, in partial fulfillment for the award of
Bachelor of Engineering in Electronics & Communication Engineering of VISVESVARAYA
TECHNOLOGICAL UNIVERSITY, Belagavi during the year 2021-2022. It is certified that all
corrections/suggestions indicated for internal assessment have been incorporated in the report deposited in the
departmental library. The Internship report has been approved as it satisfies the academic requirements in
respect of Internship work prescribed for the said degree.

Prof.Nayana K Internship Prof. Vikramathithan A C Dr. H S Ramesh Babu

Assistant Professor, Coordinators Associate Professor & Head Principal

Dept. of ECE, SVIT Dept. of ECE, SVIT Dept. of ECE, SVIT SVIT

Internship / Professional Practice Marks Allotment

Signature of
Internship work Internship Signature of
Viva Voce (10) Total (40) Internship
Presentation (20) Report (10) Guide
Coordinator

Examiners Name: Signature with Date

1. _____________________ ___________________

2. _____________________ ____________________
INTERNSHIP CERTIFICATE
ATTENDANCE CERTIFICATE
 ACKNOWLEDGEMENT

The completion of Internship brings with and sense of satisfaction, but it is never completed
without thanking the persons who are all responsible for its successful completion. First and
foremost I wish to express my deep sincere feelings of gratitude to my Institution, Sai Vidya
Institute of Technology, for providing mean opportunity to do my education.

I would like to thank the Management and Prof. M R Holla, Director, Sai Vidya
Institute of Technology for providing the facilities.
I would like to thank Prof. A M Padma Reddy, Additional Director, Sai Vidya Institute
of Technology for providing the facilities and support us.
I extend my deep sense of sincere gratitude to Dr. H S Ramesh Babu, Principal, Sai
Vidya Institute of Technology, Bengaluru,for having permitted to carry out the Internship work
on “Obstacle avoidance robot” successfully.

Iam thankful to Prof. Y Jayasimha, Professor and Dean (Academics), Department of

Electronics and Communication Engineering, Sai Vidya Institute of Technology, for his
constant support and motivation.

I express my heartfelt sincere gratitude to Dr. Narayan K, Dean R&D, Professor,

Department of Electronic and Communication Engineering, Sai Vidya Institute of Technology,
Bengaluru, for his valuable suggestions and support.

I express my gratitude to Prof. Vikramathithan A C, HOD, Associate Professor

Department of Electronics and Communication Engineering, Sai Vidya Institute of
Technology, Bengaluru, for his valuable guidance.

I express my sincere gratitude to Mrs. NayanaK, Assistent, Department of Electronic

and Communication Engineering, Sai Vidya Institute of Technology, Bengaluru, for her
constant support.

I would like to thank our internship coordinators Dr. Venkatesha M, Associate

Professor, and Dr. Manoranjan Kumar, Assistant Professor Department of Electronics
and Communication Engineering, SVIT for their valuable guidance during project phases.

I am thankful to “Mifratech(opc) Private Limited” for providing me an opportunity to be

an intern.

I express my sincere gratitude to my External Mr. Deepak Sutar, Embedded

developer, Mifratech (opc) Private Limited, Bengaluru-590064, for his constant support.
Finally, I would like to thank our parents, all the Teaching, Technical faculty and supporting
staff members of Department of Electronics and Communication Engineering Sai Vidya
Institute of Technology, Bengaluru, for their support.

Name: G A Pavan Kumar

USN:1VA18EC031
 EXECUTIVE SUMMARY

This report is about my internship program with Mifratech(OPC) Private Limited. In

this comprehensive report , I have discussed about major aspects of Embedded system
with Robotics ,which I observed and perceived during my internship program.

In this report you will find details about embedded system along with obstacle
avoidance robot project discussed in detail. During my internship program , I mainly
worked on embedded systems , obstacle avoidance robot Project. All information about
the project have been discussed in detail.

As the main purpose of internship is to learn about embedded systems and robotics and
apply the knowledge acquired during the studies in a real world scenario in order to
tackle the problems using the knowledge and skill earned during the academic process.

This internship report covers many important aspects about embedded system and
robotics, Obstacle avoidance robot project. This report also contains my perceptions
about the employee’s satisfaction, motivation level and the working environment of the
organization.
 TABLE OF CONTENTS
CERTIFICATE ....................................................................................................................... ii

INTERNSHIP CERTIFICATE ............................................................................................ iii

INTERNSHIP ATTENDANCE CERTIFICATE ............................................................... iv

ACKNOWLEDGEMENT ...................................................................................................... v

EXECUTIVE SUMMARY ................................................................................................. vii

TABLE OF CONTENTS .................................................................................................... viii

LIST OF FIGURES ................................................................................................................ x

LIST OF TABLES ................................................................................................................. xi

Chapter 1: ABOUT THE ORGANIZATION ...................................................................... 1

1.1: History Of The Company .................................................................................... 1

1.2 : Mission ............................................................................................................. 1

1.3 : Vision .............................................................................................................. 1

1.4 : Management .................................................................................................... 2

1.5 : Process ............................................................................................................ 2

1.6 : Hardware Platforms ............................................................................................ 3

1.7 : Services ............................................................................................................. 4

1.8 : On Job Training ................................................................................................. 4

Chapter 2: ABOUT THE DEPARTMENTS ........................................................................ 5

2.1 : Technical Department ....................................................................................... 5

2.2 : Embedded Firmware Design ............................................................................. 6
2.3 : System Software ................................................................................................ 8
2.4 : Testing, Validation and Code Maintenance services ........................................ 9
Chapter 3 : TASK PERFORMED ........................................................................................ 20

3.1 : Joining for Internship ........................................................................................ 21

3.2 : C Language ........................................................................................................ 21

3.3 : Embedded C ...................................................................................................... 21

3.4 : Project based Practical on Embedded C ............................................................ 24

3.5 : Arduino UNO and Nano .................................................................................... 29

3.6 : Embedded system with Robotics Theory and Project ...................................... 30

3.6.1 : EMBEDDED SYSTEM(ES) 30

3.6.2 : MICROCONTROLLER 31
3.6.3 : ROBOTICS 32
3.6.4 : The Robot 32
3.6.5 : What should a Robot look like 32
3.6.6 : The robot task 33
3.7: Project
3.7.1 : Introduction to the project 34
3.7.2 : Literature review 35
3.7.3 : Existing Work 35
3.7.4 : Hardware and Software 36
3.7.5 : Working 37
3.7.6 : Observations 37
3.7.7 : Advantages and disadvantages 39
3.7.8 : Applications 39
3.7.9 : Conclusion 40

Chapter 4: INTERNSHIP OUTCOME .............................................................................. 41

REFERENCE ........................................................................................................................ 42
 LIST OF FIGURES

Figure 1: Basic structure of Embedded system....................................................................... 22

Figure 2: Architecture of Embedded system .......................................................................... 22
Figure 3: Von Neumann and Harvard Architecture ................................................................ 23
Figure 4: Categories of Embedded system ............................................................................. 23
Figure 5: Applications of Embedded system .......................................................................... 23
Figure 6: Interfacing Arduino with led to blink led ................................................................ 24
Figure 7: output of led blinking .............................................................................................. 24
Figure 8: interfacing of Arduino uno with switches ............................................................... 25
Figure 9: interfacing of Arduino Nano with switches ............................................................. 25
Figure 10: interfacing of Arduino Nano with relay for switching .......................................... 26
Figure 11: output of Arduino Nano with relay and switches .................................................. 26
Figure 12: interfacing of Arduino Nano with lcd display ....................................................... 27
Figure 13: output of lcd display to print helloworld ............................................................... 27
Figure 14: output of lcd display using switches...................................................................... 28
Figure 15: interfacing of ir-sensor with Arduino .................................................................... 28
Figure 16: output of irsensors ................................................................................................. 29
Figure 17: Bock diagram of Embedded System ..................................................................... 30
Figure 18: Layered Architecture of Embedded System .......................................................... 31
Figure 19: What should a robot look like ............................................................................... 33
Figure 20: Final Robot Concept .............................................................................................. 33
Figure 21: Block Diagram of Obstacle Avoidance Robot ...................................................... 36
Figure 22: Working of Obstacle Avoidance Robot ................................................................. 37
Figure 23: Photos of Hardware Implementation ..................................................................... 38
Figure 24: Software Implementation ...................................................................................... 38
Figure 25: Both Hardware and Software Implementation ...................................................... 39
Figure 26: Robots used in military Applications .................................................................... 40
 LIST OF TABLES

Table 1: Overview of Day-wise work 20

 Obstacle avoidance robot

CHAPTER 1

About the Organization

1.1 : History of Company

Mifratech OPC Private Limited, established in 2016, is a pioneer in providing high quality
competitively priced products and services to customers in Embedded Solutions for the Packaged
Products, Product Development and in Technology Solutions covering Embedded Systems and
System Software to its Global Clientele. Mifratech OPC Private Limited was started by
Abdulnabi with an objective of providing an integrated system solution for any organization.
Presently the team consists of software professionals’ experts in Technology Domain and
Functional Knowledge. Quality and timely delivery being the deliverables of Mifratech OPC
Private Limited, we have retained Clients from the start and are continuing in doing so with our
new clients.
Over the years we have plunged into diverse domains acquiring valuable insights into the
business of product engineering. With over 10 employees, the company has development centres
in different regions of Bangalore. As an Organization, our Goal is to contribute to society
through broad-ranging activities in the areas of Software development, Training and Technical
Projects

1.2 : Mission
1. To provide more value per dollar to our clients by providing timely and qualitative
services/solutions and attain utmost client satisfaction through skill building,
innovation and best practiced processes.
2. To offer total, cost-effective, next generation embedded hardware and software solutions
in the shortest possible development time enabling our clients to launch their product
ideas early.
1.3 : Vision
1. To bring best of the human assets by providing environment for grooming, nurturing, and
growing talent to foster human growth and providing services and solutions to the IT
companies globally creating value for our customers.

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2. To lead in embedded hardware and software solutions and be known as an electronic

product development company of repute.
3. To build strategic partnerships globally with all stakeholders - clients, vendors, and
investors.
4. To stay abreast with technology and build our technical competence and domain
expertise.
5. To nurture a winning team that has a passion for excellence.

6. To be the delight of our customers by achieving perfection in our processes and quality
methods.

1.4 : Management
Mifratech OPC Private Limited is led by highly experienced and successful Professionals from
technology Industry With focus on customer and passion to create value management at
Mifratech OPC Private Limited is committed to create an unmatched experience for the
customers.
The composition of our team is a balanced blend of competence leadership, Experience. It
consists of veterans as well young, yet seasoned professionals with a strong vision in steering the
company to greater heights.

1.5 : Process
At Mifratech OPC Private Limited we utilize our resources and expertise to ensure that your
product development project flows smoothly. We will maintain close communication with you
throughout the project to ensure that your project is proceeding consistent with your needs.
To provide you a complete, robust and cost-effective solution we implement our projects in the
following manner.
Stage 1: Inquiry
7. This is an initial discussion between you and our Team to share our general skills and
capabilities to see if we might be a good fit for your project needs.
Stage 2: Requirement Analysis
This is a detailed discussion with our team and you. The purpose of this discussion is for us to get
an in depth understanding of your project needs and for you to get a firm understanding of our
specific technical capabilities in areas needed for your project. Typically, this discussion will

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involve appropriate members of your team, our Business Development Manager, our engineers,
and a Project Manager.
Stage 3: Proposal / Statement of Work
Based on the information we have received in the Requirement Analysis stage, we may mutually
agree to create a detailed project proposal or Statement of Work (SOW) for your project. This
Statement of Work will define project scope, activities, deliverables, schedule, costs, and
proposed business terms. We will work closely with you to create and refine a Statement of
Work that will satisfy your needs.
Stage 4: Project Kick off
Once it has reached agreement on the Statement of Work, Embedded Technology Labs will then
assemble all the people and resources needed to start the project. Typical projects will include a
kick-off meeting with members of your team and members of the Mifratech OPC Private Limited
Project Team. Mifratech OPC Private Limited offer our total commitment to quality at all stages
of the product development cycle. Thorough documentation, quality checks, and a tight control
are put into practice at all stages. Absolute secrecy of design and development work is assured,
and complete technology transfer can be carried out as per the client's request. Since its inception
Mifratech OPC Private Limited has been guided by its core values. These values define character
of our company and act as guiding star in our day-today decision-making process.

8. Customer First - We are a customer focused company committed to create best value for
our customers. In every engagement with our customer we strive to make our customers
successful.
9. Integrity - Integrity is the way of life at Mifratech OPC Private Limited. At Mifratech
OPC Private Limited every single employee understands the value of integrity.
10. Team Spirit - We firmly believe that none of us is as smart as all of us.

11. Respect for all - We value diversity and respect each one associated with Mifratech OPC
Private Limited.

1.6 : Hardware Platforms

• 8051 derivatives from NXP, Atmel, Nuvoton, ST, TI, SST

• ARM: ARM7, ARM9, Cortex M3 from ST, Atmel, NXP, Luminary Micro,

Cirrus Logic,

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• Microchip: PIC 12x, 16x, 18x, 24x DSPIC

• Atmel AVR, AVR32

• Analog Devices: AduCxx, Blackfin

• Xilinx: FPGAs and CPLDs

• Altera: FPGAs and CPLDs.

1.7 : Services
Through our diverse embedded systems expertise and service delivery experience, we provide
rapid quality deliveries that reduce project costs, & risks significantly and accelerate time-to-
market.
1. Partnership with Clients Mifratech OPC Private Limited seamlessly partners with its
clients to achieve an environment of maximum collaboration that enables optimum
utilization of resources, processes and expertise.
2. Technical Expertise: We at Mifratech OPC Private Limited, strive to keep ourselves on
cutting edge of technology through continuous skill building and fostering Research &
Development culture in our organization. Our clients are direct beneficiary of our
technical capabilities and domain expertise.
3. Accelerated Time-to-Market Mifratech OPC Private Limited is well positioned to provide
its customers rapid deployment of solutions and services thus accelerating time-to-
market. Our expertise enables our customers to focus on their core business while we
deliver value added services to them.
4. Unleash the power of technology. Enrich your products with enhanced features, super
performance and pull the market back to you.

1.8 : On Job Training

For fresher’s who wish to learn and groom as excellent Embedded Engineers, we at
provide you with an opportunity to learn as well as earn as a 'Trainee Embedded
Engineer'.

• Duration of training – 12 months

• Designation – Trainee Embedded Engineer

• On Job training for first 6 months

• Stipend for next 6 months

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CHAPTER 2

DEPARTMENT

2.1 : Technical Department

Once upon a time, new product design and development in the field of electronics was hardware
design. Today this isn’t the case. Circuit design – be it analogy or digital circuit design – is only
part of the equation. An electronic system may include an embedded microcontroller or a
microprocessor requiring programming, a field programmable gate array (FPGA) coded in a
hardware description language such as Verilog or VHDL, and lots of software in C, assembly
language, Java, or any of a dozen other popular languages.
If nothing else, for instrumentation, low-noise analogy systems, and high-speed digital design,
electronic design is bound also to encompass PCB layout, since the copper and fiber glass of a
printed circuit board can be very much a part of the circuit itself at extreme frequencies or
extreme low signal levels.
But although electronic hardware is only a part of the total electronic product, it has better not the
weak link in the chain. So, anyone offering electronic product development had best be not only
good at it, but also able to see where it fits in the bigger picture Gone also are the days when
engineering design services could be
“soloed” and electrical engineering companies could operate in comparative vacuums and simply
throw their work over the wall at each other. All parties involved in the endeavour (which should
be, from the start, a top-down design effort) have to be aware of what’s happening on the other
side of the hardware-software boundary, manufacturability question, or applications
programming interface (API).
Mifratech OPC Private Limited provides complete hardware design solutions that encompass:

• Block-level design

• Component selection

• Schematic capture

• Multi-layer PCB layout

Mifratech OPC Private Limited design systems and boards based on analogy circuits, digital
circuits and subsystems, microprocessors, microcontrollers, FPGAs, DSPs and SOCs. Creating

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schematics using Capture tools, simulation of the hardware and design of multi-layer PCBs are
some of the aspects of Embedded Hardware Design. They gather initial technical and functional
requirements, design schematic diagrams and multilayer printed circuit boards, attempt to comply
with the environmental safety requirements and ROHS. All development stages are additionally
analysed by the technical experts, which minimizes error risks.

2.2 : Embedded Firmware Design

Mifratech OPC Private Limited serve customers who develop products that leverage original
work in the deeply embedded space. They are expert on:
How to organize and partition tasks (and hide information) for modularity , code reuse, function.
Mifratech OPC Private Limited serve customers who develop products that leverage original
work in the deeply embedded space. They are expert on: How to organize and partition tasks
(and hide information) for modularity, code reuse, function. Even when we're writing
"assembly," we're frequently thinking "object model." And ease of debugging.
1. What makes a good API, and how to present one to an application programmer so that he
doesn't have to get bogged down in the embedded Space?
2. How to split functionality across hardware and software, aligning the necessities of
engineering and manufacturing "cost of goods sold" with the demands of product
development timelines and the economic realities of market windows.
3. Where device initialization can go wrong and how to avoid the pitfalls.

How semaphores and mailboxes work, and how tasks can be unintentionally blocked or have
their priorities scrambled as a result of not having proper access to resources.

1. How to implement linear time invariant (LTI) systems for critical control feedback loops.

2. How to write "spectrally pure" code for digital signal processing systems so that software
isn't polluting data with high harmonics due to the system jitter that can be inherent to
non-deterministic algorithm timings.
3. Where commercial operating systems can and cannot meet the constraints of a hard real-
time deadline.
4. Interrupt latency, and where it can take a project off track if it's not calculated carefully.

5. How to plan for tools usage so that your system is debug with minimal effort, and how
debugging tools themselves can mask problems in certain circumstances.

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Mifratech OPC Private Limited design both hardware and software, so it has a clear
understanding of how the boundary between them may be moved in one direction for speed, in
another to reduce memory footprint, and in still another to juggle the trade-offs between onetime
non-recurring development costs and per-unit costs (COGS) for new products .Members of
Mifratech OPC Private Limited team collectively have hundreds of years of experience writing
embedded code. Several had started their careers when NACA was rechristened NASA and
computers were just starting to supplant slide rules to crunch the numbers to put Project Mercury
into space. Not every bit of software writing requires venturing into the labyrinth of assembly
code.
In this internship software stimulator were designed. Some of them have even reverse-
engineered "closed" microprocessor architectures – and picked the locks that let us into their
JTAG debugger ports. So, we're intimately familiar with how the world looks from the silicon's
point of view. IT may use somebody else's SDK's when its writing an application and it's
convenient, but when an SDK is unavailable, we can create one from scratch. It is understood
microprocessors at the level of the state machine that is the microcode engine, but we also know
what a good C-callable function looks like. It is known that needs to be presented through an
API to the higher-level code that runs above it and know what's much better when it remains
hidden from the calling function. Even “assembly”, they frequently think about “object model”.
If was written something custom, Mifratech OPC Private Limited writes it to be as modular and
reusable as possible. Or its designing it to have at least an API that's common to other callable
routines so that changes at the embedded level don't percolate up to become major application
rewrites later.
A thorny low-level software problem – a system that must run in real time and fails, an
application that's crashing for reasons you can't understand at application level, or code that just
doesn't fit the target device – may be caused by conflicts at the embedded level. And they're
frequently impossible to find above the device driver's API. Core area of expertise encompasses
single-processor to multi-processor control applications and distributed embedded software
systems. The technology capabilities are well supported by industry-specific experiences in
developing embedded software solutions for test & measurement equipment, industrial
automation, security, home automation and medical equipment industries. Company focus on
delivering feature rich, high-availability and fault tolerant embedded software and system
software solutions provide sustenance engineering services, such as software maintenance and

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technical support services to widen product life cycles. Our Embedded Software Development
expertise includes:
• Design of complex distributed software architectures for multi-processor real time
/embedded systems.
• Development of embedded applications such as GUIs, MMIs, browsers and Protocol
stacks for a variety of embedded systems.
• Development of device drivers and Board Support Packages.

• Capability in working with several proprietary and industry standard embedded operating
systems.
• Working with diverse range of hardware platforms, processors and custom hardware
devices.
• Design and interoperability testing.

• Testing of embedded systems and development of automated test environments.

• Porting applications between different RTOS and processor.

• Feature enhancement, performance tuning, maintenance and support for existing

embedded systems

2.3 : System Software

Mifratech OPC Private Limited aim is always to provide total solutions to our clients. Therefore,
along with embedded solutions we also develop system software for user and instrument
interface to a PC on multiple platforms and interface technologies. They develop custom
application software such as:
1. Device Driver Development

2. Web enabling any product

3. Data base management

4. Interface to wireless modems etc.

Embedded Technology Labs is also proficient in development of device drivers for interfacing
custom hardware to computers with various operating systems. We can assist our clients in
custom protocol stack development as well. They venture into the deeply embedded space and
locate the fault so that you don't have to. (Unless you want to, in which case, we can be your
guide.) If you only want to work in the upper levels of application space, we'll give you the
API's and the measurable milestones in their development that'll keep your overall project on

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track. We're fast and efficient in our coding, and we want to give you the metrics you need to
track the progress of your embedded development.

2.4 : Product Engineering Services

Products define the identity of technology companies, and the present business environment
seeks innovative ways to turn ideas into real products - quickly. Having built expert teams in
board design, FPGA design, embedded software, application software, Embedded Technology
Labs is uniquely placed to offer services in products / total solutions development - from
requirements capture to architecture, design, prototyping, design validation and support during
deployment.
Design experience and domain knowledge garnered over many years help our product design
teams deliver quality, cost effective solutions in the shortest time frame. This expertise coupled
with our collaboration with contract manufacturing houses for prototyping and volume
production and accredited laboratories for agency and compliance certification help us offer end-
to-end design services under one roof that benefit our customers immensely.

2.5 : Testing, Validation and Code Maintenance Services

Mifratech OPC Private Limited verification and validation services are designed to provide
independent hardware and software testing services so that our customers can focus on priority
functions. Outsourced testing services ensure: Exceptional product quality prior to production /
market release Flexible sourcing, wherein peaks and troughs for testing are efficiently managed
testing services expertise includes:
1. Functional testing of electronics and software system components

2. Development of software test cases for verification testing

3. Compliance testing to meet industry standards

4. Development of 'Requirements Trace Matrix' to validate the functioning of all testable

requirements
5. Design and interoperability testing

6. Testing of embedded systems and development of automated test environments

7. Development of comprehensive problem tracking database and complete test summary
reports

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CHAPTER 3

TASKS PERFORMED

Day wise work progress for 4 weeks

Table 1: Overview of Day-wise work

Sr. Day(date) Task Assigned Task Completed

No

3.1 Day 1 Joining for Formalities

(24/09/21) Internship at completed
Mifratech Private OPC
Limited
3.2 Day 2 to Day 6 C Language Basics of C
(25/09/21 to 29/09/21) language

3.3 Day 7 Embedded C Theory

(30/09/21)

3.4 Day 8 to Day 17 Embedded C Project based

(01/10/21 to 10/09/21) Practical on
Embedded C

3.5 Day 18 to Day25 Arduino uno and Applications

(11/10/21 to Arduino Nano of Arduino uno and
ArduinoNano
18/10/21)

3.6 Day 26 to Day31 Embedded system with Obstacle avoiding

(19/10/21 to Robotics Theory and robotusing IR sensors
25/10/21) Project

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3.1 : Day 1
Task Assigned: Joining for Internship

Background Study : Collection of information about Mifratech OPC Private Limited whichis
described in Chapter 1 and Chapter 2 and searched for topics.

Description of Work done : Mifratech OPC Private Limited. For internship and study of the
organization profile described in chapter 1 and chapter 2.

3.2 : Day 2 to Day 6

Task Assigned : C language .
Background Study : Concepts of C language .
• History of C language
• Keywords and Data types
• Modifiers and Qualifiers
• Operators in C
• Loops and Branching Statements
• Storage Classes
• Strings
• Structure and Union
• Functions
• Pointers and Arrays
• Memory Management
• Example Programs

Description of Work done : We were briefed about the concepts of C language as

mentioned above and we had to code the basic C programs .

3.3 : Day 7
Task Assigned : Embedded systems .
Background Study : Topics covered under Embedded System
• History of Embedded C
• Definition

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• Key Elements
• Difference between Controller and Processor
• Basic Structure of Embedded System
• Architecture of Embedded System
• Characteristics of Embedded System
• Categories of Embedded System
• Applications of Embedded System

Description of Work done : Indepth topics of embedded system were taught and realized.

Fig 1: Basic structure of Embedded system

Fig 2: Architecture of Embedded system

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Fig 3: Von Neumann and Harvard Architecture

Fig 4: Categories of Embedded system

Fig 5: Applications of Embedded system

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3.4 : Day 8 to Day 17 Task

Assigned: Arduino .
Background Description: Theory of Arduino and Implementation of basic circuits using
arduino programming.
program of led blinking
Description : LEDs are small, powerful lights that are used in many different applications. It is
as simple as turning a light on and off. In this circuit , led is connected to Ardiuno by using
jumpers and the simple led code is fed and dumped to Arduino, led starts blinking as the output.

Fig 6 : interfacing Arduino with led to blink led

Fig 7 : output of led blinking

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Program of switching(using 4 switches)

Description:In this circuit , you assign each of the pin for each of the switches and set it as
INPUT, The code is fed to arduino and output is checked. serial monitor displays that
theappropriate switch is pressed as long as the button is being pressed .

Fig 8 : interfacing of Arduino uno with switches

Fig 9 : interfacing of Arduino Nano with switches

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Program of switching using 4 channel relay

Description : The 4 Channel Relay Module is a convenient board which can be used to control
high voltage, high current load such as motor, solenoid valves, lamps and AC load. It is designed
to interface with microcontroller such as Arduino, PIC and etc.
The relays terminal (COM, NO and NC) is being brought out with screw terminal. It also comes
with a LED to indicate the status of relay.
Each relay can be individually driven on the board; when one of the input pins is set high it will
trigger a transistor that will trip the corresponding relay and illuminate an indicator light. Each
input can be directly connected to an Arduino (or other microcontroller / single board computer)
without worry of damage.

Fig 10 : interfacing of Arduino Nano with relay for switching

Fig 11 : output of Arduino Nano with relay and switches

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Program of lcd display to print hello world

Description:In this circuit Arduino UNO board is interfaced with a 16*2 LCD using the
jumper wires. Therefore displaying the text mentioned as per the user requirement . Here
potentiometer is used to control the lcd brightness.

Fig 12 : interfacing of Arduino Nano with lcd display

Fig 13 : output of lcd display to print hello world

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Fig 14 : output of lcd display using switches

Program to detect ir-sensors

Description : An object can be detected with an infrared system consisting of an infrared
transmitter and a receiver. More in detail an IR transmitter, also known as IR LED, sends an
infrared signal with a certain frequency compatible with an IR receiver which has the task to
detect it . The sensor will send signal to Arduino board.

Fig 15 : interfacing of ir-sensor with Ardiuno

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Fig 16 : output of ir sensors

3.5 : Day 18 to Day 25

Task assigned : Robotics

Background Study : Concepts of Robotics

• Definition of Robotics
• Types of Robotics
• What should a robot look like ?
• What are tasks done by the robot ?
• Applications of Robotics
• How Industries can benefit from Robotics

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3.6 : Day 26 to Day 31

Task assigned : Embedded system with Robotics Theory and Project

Introduction to embedded systems and robotics :-

3.6.1 EMBEDDED SYSTEM(ES)

The microprocessor-based system is built for controlling a function or range of functions and is
not designed to be programmed by the end user in the same way a PC isdefined as an embed
system. An embedded system is designed to perform one particular task albeit with different
choices andoptions.
Embedded systems contain processing cores that are either microcontrollers or digital signal
processors. Microcontrollers generally known as "chip", which may itself be packaged with other
microcontrollers in a hybrid system of Application- Specific Integrated Circuit (ASIC). In
general, input always comes from a detector or sensors in more specific word and meanwhile the
output goes to the activator which may start or stop theoperation of the machine or the
operatingsystem.
An embedded system is a combination of both hardware and software. Each embedded system is
unique and the hardware is highly specialized in the application domain.
Hardware consists of processors, microcontroller, IR sensors etc. On the other hand, Software are
just like a brain of the whole embedded system as this consists of the programming languages
used which make hardware work. As a result, embedded systems programming can be a widely
varying experience.

Figure 17. Block diagram for Embedded System (ES consists of hardware and software part
whichagain consists of programming language and physical peripherals respectively).

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If the history of ES is observed, it can be figured out that the grace of ES have been enjoyed for
quite a long time since they were designed around the microprocessors than microcontrollers,
which are used mostly today. There has been a huge shift in ES from microprocessors to
microcontrollers because microprocessors do not possess any memory, ports etc.
On the other hand, the microcontroller is a single silicon chip consisting of all input, output and
peripherals on it. A single microcontroller has the following features:
1. Arithmetic and logic unit
2. Memory for storing program

3. EEPROM for non-volatile and special function registers

4. Input / output ports
6. Analog to digital converter
7. Circuits
8. Serial communication ports and many other.

Figure 18.Layered architecture of an Embed System

A microprocessor-based system which is built for controlling a function or range of functions and
is not designed to be programmed by the end user in the same way a PC is defined as an
embedded system. An embedded system is designed to perform one particular task albeit with
different choices and option.

3.6.2 MICROCONTROLLER
A highly integrated chip that contains all the components comprises a controller. Typically this
includes a CPU, RAM, some form of ROM, I/O ports, and timers. Unlike a general- purpose
computer, which also includes all of these components, a microcontroller is designed for a very

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specific task; to control a particular system. As a result, the parts can be simplified and reduced,
which cuts down on production costs. Microcontrollers are sometimes called embedded
microcontrollers. This just means that they are part of an embedded system; that is, one part of a
larger device or system.
Microcontrollers are used in automatically controlled products and devices, such as automobile
engine control systems, implantable medical devices, remote controls, office machines,
appliances, power tools, toys and other embedded systems. The first integrated circuit was
developed by Jack Kilby of Texas Instruments and Robert Noyce of Fairchild Semiconductor in
1950.

3.6.3 ROBOTICS
Robotics is the branch of technology that deals with the design, construction, operation, and
application of robots. A machine capable of carrying out a complex series of actions
automatically, esp. one programmable by a computers is defined as a robot. Robotics must be able
to perform certain tasks assigned, within given limitations, regardless of these limitations being
human-controlled or automatic.

3.6.4 The Robot

An electro-mechanical machine that can do the work of a person and that works automatically or
is controlled by a computer is defined as a Robot. It is a device that can perform automatically or
through some controlling devices. A robot is defined as " a machine capable of carrying out a
complex series of actions automatically, especially one programmable by a computer.” (Oxford
Dictionary, 2013)

3.6.5 What should a Robot look like?

According to the survey conducted by the Swiss Institute of Technology in Lausanne in 2008
among 240 people (Swiss Federal Institute of Technology, 2008), this is the general concept of
what a robot should look like.

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Figure 19. What should a Robot look like? (Swiss Federal Institute of Technology, 2008).

Results show that for the participants in the survey a robot looks like a machine, be it big or
small. In spite of the apparent popularity of Japanese robots such as the Sony Aibo, the Furby and
Asimo, other categories (creature, human, and animal) gathered only a small percentage.

3.6.6 The robot task.

The task of our robot is pretty simple. The robot has to be made in such a way that it will move
forward until it detects an obstacle. On detecting an obstacle, it will turn left or right depending on
the free space available in front of it. On detecting any obstacles through the IR sensors, it moves
towards left or right depending on the amount of IR rays detected by IR sensors (left and right)
respectively. Although the task is simple, this robot is completely autonomous.

Figure 20.Final robot concept.

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3.7 PROJECT
3.7.1 Introduction to the project (Obstacle avoidance with Arduino)

Robotics is the branch of technology that deals with the design, construction, operation, and
application of robots. A machine capable of carrying out a complex series of actions
automatically, esp. one programmable by a computers is defined as a robot. And, Obstacle
avoidance refers to the ability of a robot to detect obstacles in its way if there are any and thus
make its own obstacle free path.
On its initiation in the 1950s, modern robots have come a long way and rooted itself as an
immutable aid in the advancement of humankind. In the course of time, robots took many forms,
based on its application, and its size varied from a giant 51 feet to microscopic level. In the course
of technological developments of robots, one aspect remained instrumental to their function, and
that is mobility. The term “obstacle avoidance” is now used in modern robotics to denote the
capability of robot to navigate over an unknown environment without having any collision with
surrounding objects (Duino-Robotics, 2013). Obstacle avoidance in robots can bring more
flexibility in maneuvering in varying environments and would be much more efficient as
continuous human monitoring is not required.
We proposed a robot that avoids the obstacle which comes in its path this robot is introduced
because in many of the industries we have seen that many heavy components which they have to
move for one place to another place which is not possible without the help of machines. With this
we got idea and we introduce the robot named as Obstacle avoidance robot using Arduino.
Obstacle avoidance robot is design to allow robot to navigate in unknown environment by
avoiding collisions. Obstacle avoiding robot senses obstacles in the path, avoids it and resumes its
running.We have make use of sensors to achieve this objective.
We have used two D.C.MOTORS i.e battery operated motors. The reason behind using BO
motors is it consumes less power supply and can work properly on 9 volt battery. The
construction of the robot circuit is easy and small. The main component behind this robot is
Arduino UNO microcontroller which is a brain of this robot. The idea proposed in this paper is by
using machine vision to guide the robot. The field of machine vision has growing at a fast pace.
Machine vision applications can be divided into four types from a technical point of view. They
can be used to locate, measure, inspect and identify. The robot proposed in this paper is guided
with the help of machine vision. The best part of our project is that if any obstacle is encountered
by the robot the robot.

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3.7.2 Literature review:-

[1] FaizaTabassum, SusmitaLopa, Muhammad MasudTarek&Dr.Bilkis Jamal Ferdosi developed

an obstacle avoiding robot using Arduino microcontroller and ultrasonic sensors.
[2] Mohammed nasucha in 2015 developed an obstacle avoiding robot with proximity sensor and
microcontroller.
[3] KirtiBhagatSayaleeDeshmukhShraddhaDhondeSnehaGhag the engineering students also built
an obstacle avoiding robot with ultrasonic sensor and microcontroller
[4] There is an article elprocus showing obstacle avoiding robot without using microcontroller
using logical gates and ICs.
[5] AkankshaRaghav, Pragati Mishra, PoojaVerma, Kawaljeet Singh Randhawa, Tejaswi Thakur
made an obstacle avoiding robot with ultrasonic sensor, microcontroller and Bluetooth module.
[6] Roland Philippsen made a robot of “Motion Planning and Obstacle Avoidance for Mobile
Robots in Highly Cluttered Dynamic Environments” as his Ph.D Thesis in 2004. He also used
microcontroller for this purpose.

[7] R Ismail made his research on obstacle avoiding robots using IR and PIR sensors.

3.7.3 Existing Work :-

The present working models include robots made with microcontrollers, ultrasonic sensors and
PIR motion sensors . They follow complex algorithms and complex structures.They also involve
programming that may not be understandable or that requires some effort to learn them.
To implement a simple robot one has to go through all the background work in order to
implement it. This project makes it simple for anyone to understand the work easily and to use
basic components in other way around. .
Proposed System This project uses IR sensor, relay module and transistor. It has a simple
structure with two wheels and a base to hold circuitry. It consists of an IR sensor in front of the
robot to detect the presence of any obstacles.
This is connected to transistor which is then connected to relay module for further IR Sensor
Based Obstacle Detection and Avoiding Robot PJAEE, 17 (2020) 3330 communication. Here
relay module act as a switching device and transistor acts as an amplifier that amplifies the output
of IR sensor.

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3.7.4 Hardware and Software

Arduino boards are generally based on microcontrollers from Atmel Corporation like 8, 16 or 32-
bit AVR architecture based microcontrollers.The important feature of the Arduino boards is the
standard connectors. Using these connectors, we can connect the Arduino board to other devices
like LEDs or add-on modules called Shields.The Arduinoboards also consists of on board voltage
regulator and crystal oscillator. They also consist of USB to serial adapter using which the
Arduino board can be programmed using USB connection.In order to program the Arduino board,
we need to use IDE provided by Arduino. The Arduino IDE is based on Processing programming
language and supports C and C++.

Block Diagram and Working of the Obstacle Avoidance Robot

Fig 21:- Block diagram of obstacle avoidance robot

The DC motor both left and right motors is controlled by the 4-channel Relay, and the relay is
connected to the Arduino.

The Arduino initially will be connected to the computer to upload the program to it, once the
uploading is done then we can disconnect from the PC . IR sensors which is connected to the
Arduino detects the objects and sends the data to the Arduino. The arduino which acts as a
controller gives the information the 4 channel which controls the DC motor. In our project the DC
motor is powered by the 5V Adopter to run the motor which is connected to the wheels to move
the Robot

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3.7.5 Working
The working principle of the Obstacle avoidance robot is very simple. As the Robot starts moving
the forward the two IR sensors starts to detect if any of the obstacle ispresent nearby
There are some cases involved while detecting the object by the IR sensors .

Case1) If the left IR sensor detects the object on the path then left DC motor slows down and the
right DC moves on so that the robot tends move on the right side of the path.
Case2) If the right IR sensor detects the object on the path then right DC motor slows down and
the right DC moves on so that the robot tends move on the left side of the path.
Case3) If both the IR sensors detects the object simultaneosly then the Robot will stop moving
forward and starts moving backward.

Fig 22 :- Working of Obstacle Aovoidance Robot

3.7.6 Observations :-

The outcome of this paper is a simple robot that heads towards its destination detecting and
avoiding all the obstacles coming in its path. The robot moves on its path without interruption
until there is no obstacle detected by the sensor. If there is an obstacle detected then the left motor
stops rotating making the bot to move towards right. After moving right since there is no obstacle
in the path the left motor again starts rotating makingthe robot to move straight forward without
collision. In future, we can add some more sensors to make it more efficient. It can also be made
more efficient by adding ultrasonic sensors. The concept of obstacle avoidance can be used to
build complex robots such as humanoid robots with simple modifications

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• Sample Photos :-

Fig 23 :- Photos of Hardware Implemetation.

Fig 24 :- Software Implementation.

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3.7.7 Advantages and Disadvantages of Obstacle Avoidance Robot :-

❖ Advantages :-

• Whenever robot senses any obstacle automatically diverts its to left or right and follows
the path without human guidance.

• The programming with Arduino is easy.

• It is a low cost circuit.

❖ Disadvantages :-

• It is a time consuming project.

• It is used for short distance only.

• It is not recommended to keep the range very long because this would cause the ROBOT
to keep moving forward and backward as it senses any obstacle even far away from it.

• Since it is not human control if something goes wrong we cannot alter it at real time.

Fig 25:-Both Hardware and Software Implementation

3.7.8 Applications :-
➢ The military applications of obstacle avoiding robot are reconnaissance, surveillance,
battle damage assessment and communications.

➢ It is also useful in civilian applications such as disaster management, remote sensing,

traffic monitoring etc.

➢ It can also be used for city wars.

➢ It can be used in mines.

➢ With a programming it can be used as auto parking assistance

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Fig 26:- Robots used in military Applications

3.7.9 Conclusion :-
This is an autonomous robot that does not require any human control. This robot is the first
step in building an autonomous industrial robot. This robot uses IR sensor in front of it to sense
obstaclesand has a relay- transistor control instead of using microcontrollers and other complex
algorithms which makes the newbies comfortable to learn and explore electronics. The intension
of building this project is to make newbies understand the basics of electronic components and
how they can be used in place of microcontrollers. This project also tells that basic electronic
components can replace microcontrollers to achieve the same task with small tradeoffs. This is
simple to understand, analyze and build thus meeting the requirement of this project. In this
project, a design scheme for a single-equipment with multiple-application system for controlling
a robot car based on Arduino has been demonstrated, which can be programmed to react to
events and to cause corresponding actions. The proposed system is presented with principle of
system of mechanism for controlling the robot car based on obstacle avoidance. The proposed
systems have the capability to detect obstacles in front of the car. The hardware implementations
of the introduced systems were provided at a lab-scale prototype to prove the simplicity,
adaptability, dependability, specificity, and real low-cost of the system. We affirm that the
introduced systems could be easily implemented under real requirements at large-scale in the
future, and they can be efficiently implemented in smart cars, personal home robots, articulated
robots, parallel robots, humanoid robots, quadrupedal robots, and hybrid robots etc. Meanwhile,
the proposed single-equipment with a multiple-application system has advantages because it is
user-friendly, low-cost, low-power consumption, simple and easy to use, and the system is
smaller in size. Thus a small space is required for it to.

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CHAPTER -4
INTERNSHIP OUTCOME

Being an intern at Mifratech (OPC) Private Limited was a unique experience where I was
empowered, inspired and learned something new everyday. From walking in on my first day until
leaving 4 weeks later, I gained so much knowledge and experience I didn’t know I would have
before I started. Throughout my internship I was part of embedded Firmware design and robotics ,
The embedded team consisting of my supervisor and me. I didn’t have much experience
embedded design androbotics , but I knew it definitely was an industry that interested me. I had
also heard about the wonders of Robotics and was eager to learn more. I had barely heard of
Mifrahtech before, Therefore I had little to no expectation on the work culture and what people
would be like.
From the beginning, I was met with respect and understanding, I was treated as an employee not
Just an intern. If there was something I didn’t know , there was always someone to ask for help.
As the team was just the two of us , my supervisor would most often share what was going on
with me and we could come up with solutions together. I learned different things and got a very
complete picture of what a embedded developer could be like. All through the process , my
opinions were listened to and ideas were implemented, thereby giving me responsibilities that
made real impacts on the project.
Working on my project, I was given an opportunity to create a obstacle avoidance robot ,I had to
understand about sensors, relays and other hardware and software components, pushing me to
constantly improve my knowledge to built the robot. I had to understand what works and how
does it work to accomplish my project. By receiving feedback from my colleagues on the work i
was performing , I had research and make sure what I was working was correct ,as it was often on
technical topics that was to seen by people who know more about me.
My internship has taught me a lot about my skill set and given me confidence in my own abilities.
It has helped me guide my career aspirations and will definitely help me in my future career
choices. I also gained technical knowledge in both embedded systems and robotics as a whole.
The knowledge I gained will help me to face the real world under-graduation. My experience has
brought me closer to my goals and I am excited for what the future has to bring!

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References :-

• Obstacle Avoiding Robot by FaizaTabassum, SusmitaLopa, Muhammad Masud

Tarek&Dr.Bilkis Jamal Ferdosi Ahasan, M. A., Hossain, S. A., Siddiquee, A. U.,
&Rahman, M. M. (2012).
• Obstacle Avoidance Robot, By Kirti Bhagat Sayalee Deshmukh
ShraddhaDhondeSnehaGhaghttp://www.roboticsbible.com/project-obstacle-avoiding-
robot.html

• Obstacle avoidance robot Akanksha Raghav, Pragathi Mishra, Pooja Verma, Kawalieet
Singh Randhawa, Tejaswi Thakur ET & T & CSVTU, Bhilai Chhattisgarh, India.
• Roland Philippsen, “Motion Planning and Obstacle Avoidance for Mobile Robots in
Highly Cluttered Dynamic Environments”, Ph.D Thesis, Ecole Polytechnique Federale de
Lausanne, 2004.
• Ahasan, M. A., Hossain, S. A., Siddiquee, A. U., &Rahman, M. M. (2012). Obstacles
Invariant Battery (6V UM 3 R-6) Arduino Microcontroller (ARDUINO UNO) Motor
Controller (L293D Dual DC) Ultrasonic Sensor (HC-SR04) DC Servo Motors Power
Input Output Power for DC Motors Power for Controller Power Obstacle Avoiding Robot
Navigation of An Autonomous Robot based on GPS. Khulna University
• Arduino. (2015). Arduino Software (IDE). (Arduino) Retrieved December 27, 2015, from
https://www.arduino.cc/en/Guide/Environment
• Duino-Robotics. (2013). Obstacle Avoidance Tutorial. (Duino-Robotics) Retrieved
November 23, 2015, from http://www.duino-robotics.com/obstacleavoidance.html
• Gray, K. W. (2000). Obstacle Detection and Avoidance for an Autonomous Farm Tractor.
Utah State University.
• Heidarsson, H. K., &Sukhatme, G. S. (2011). Obstacle Detection and Avoidance for an
Autonomous Surface Vehicle using a Profiling Sonar. 2011 IEEE International
Conference on Robotics and Automation. Shanghai.
• Ryther, C. A., & Madsen, O. B. (2009). Obstacle Detection and Avoidance for Mobile
Robots. Technical University of Denmark.

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