MASH -2 :THE SPY ROBOT

M: MULITITASKING
A : ACTIVE AND REMOTE CONTROLLED
S : SENSING
H: HARDWARE
Definition of a Robot
Definition of a Robot According to The Robot
Institute of America (1979) :
"A reprogrammable, multifunctional manipulator
designed to move materials, parts, tools, or
specialized devices through various programmed
motions for the performance of a variety of tasks."
According to the Webster dictionary:
"An automatic device that performs functions
normally ascribed to humans or a machine in the
form of a human (Webster, 1993)."
 Why People Use Robots

Hazardous environment or material

Remote or unreachable location
Beyond human size scale
Power is beyond human capability
Speed is too high or low
Repetitive job or too precise
A Brief History of Robotics
Robotics' history is tied to so
many other technological
advances that today seem so
trivial, we don't even think of
them as robots
How did a remote-controlled
boat lead to autonomous metal
puppies?
 Robot History cont.
Early robot concepts
Extending human capabilities
Automatic machines
Robots in the workplace
Robots for exploring
Robots as companions
Robots of the future
 Slaves of steel

The first person to use the

word robot was a playwright,
Czechoslovakian writer Karel
Capek first used the word robot
in his satirical play, R.U.R. Cover page of the first edition
(Rossum's Universal Robots).
TYPES OF ROBOTIC INTELLIGENCE

Expert systems Neural Systems

 Mobile Robots
 Mobile robots are able to move,
usually they perform tasks such as
searching.
 They are of 2 types: -

1) Rolling robots- Rolling robots have

wheels to move around.  They can
quickly and easily search.  However
they are only useful in flat areas.
2) Walking robots- Robots on legs are
usually brought in when the terrain
is rocky. Most robots have at least 4
legs; usually they have 6 or more. 
Autonomous Robots
Autonomous robots are self-
supporting.
They run a program that gives
them the opportunity to decide on
the action to perform depending on
their surroundings. 
 At times, these robots even learn
new behavior.  They start out with a
short routine and adapt this routine
to be more successful at the task they
perform.  The most successful
routine will be repeated .
 Remote-controlled Robots
In case a robot needs to perform
more complicated yet
undetermined tasks an
autonomous robot is not the right
choice.
 Complicated tasks are still best
performed by human beings with
real brainpower.  A person can
guide a robot by remote control. 
A person can perform difficult
and usually dangerous tasks
without being at the spot where
the tasks are performed Dante 2, a NASA robot designed to
explore volcanoes via remote control.
BREIEF DESCRIPTION OF

MASH -1 : THE LINE

FOLLOWING ROBOT
 LINE FOLLOWER
Line Follower is a robot that can follow a black
line drawn on a white/bright surface or a white
line on black/dark surface without any human
intervention.

It is the simplest autonomous robot.

Human & Robot Anatomy

Function Human Robot

Locomotion Legs Wheels, propeller, legs
Thinking Brain Computer, controller
Sensing Senses Sensors & instruments
Manipulation Hands Gripper, end-effectors
Structure Bones Frame or platform
Energy Food Battery, solar panel, fuel
DESCRIPTION OF
HARDWARES
 Comparison between
microprocessor and microcontroller
Microprocessor
Microcontroller
• uP
• uP
• RAM
• HDD • Flash Memory
• Ports (Serial/USB) • EEPROM
• Ports (Parallel) • SPI / UART Controllers
• Mic/Headphone Jack (ADC/ • Digital I/O Ports
DAC) • ADC
• Power Supply Unit • Power Supply Unit
• Reset • Reset
• Mother-board • IC
FEATURES OF MICROCONTROLLER
• High-performance, Low-power AVR® 8-bit
Microcontroller

• High Endurance Non-volatile Memory segments

– 8K Bytes of In-System Self-programmable Flash
program memory
– 512 Bytes EEPROM
– 1K Byte Internal SRAM
In-System Programming by On-chip Boot Program
True Read-While-Write Operation
FEATURES OF MICROCONTROLLER
Peripheral Features
– Two 8-bit Timer/Counters
– One 16-bit Timer/Counter
Mode
– Real Time Counter with Separate Oscillator
– Three PWM Channels
– 8-channel ADC
Eight Channels 10-bit Accuracy
– Byte-oriented Two-wire Serial Interface
– Programmable Serial USART
– Master/Slave SPI Serial Interface
 Port Architecture
P P P
O O I
uC External
R R N
world
T T A
A B
MOTOR CONTROL
 Types of motors to use
• DC geared motors

• Drive trains
Motor on which a
gear box is mounted.

Set of gears arranged in a pattern

Voltage: 6V - 24V
Torque: double what you think you will need
Kinematics of Locomotion
• Wheeled robots
●
Legged robots
• Most popular form of ●
Most popular form of
locomotion in mobile locomotion in nature.
robotics. ●
Becoming more popular
in robotics.
 Wheeled locomotion
 Pretty good efficiency on flat surfaces.
 Simple mechanical implementation.
 Balance is usually not an issue.
 Less able to cover rough terrain.
 Focus is on: traction and stability,
manoeuvrability and control.
 Wheel types and configurations determine the
dynamics.
 Nature has never invented them.
Different types of wheels

a) standard motorized wheel c) swedish wheel

b) castor wheel d) spherical wheel
 RADIO FREQUENCY DEVICES
These are the devices used for communication
purpose .

These devices uses a transmitters which are

devices used to send the data to the receiver using
radio frequency only.

The receiver on the other hand receives the radio

signals and then send it to the required device.
 WIRELESS VIDEO CAMERA
A wireless camera is a device which acts exactly like
other video camera but only difference is that it is not
directly or physically connected to the display device .

It is very compatible and very easy to use .

It mainly works either using radio frequency ,infra red

or bluetooth range frequency
WIRELESS CAMERA TRANIMITTER
WIRELESS CAMERA RECEVIER
 Wireless Remote control
• Wireless remote control complexes the circuitry
• But you can get rid of that long wired tail dangling out of your remote
control robot
• Easiest solution would be to hack those cheap wireless toy cars, take their
electronic guts out and use them in your robot
• For more flexibility, you can build a custom remote control system

Use RF Tx/Rx modules and

encoder/decoder ICs
HOW RF DEVICES WORK
Tools and some other components

Diodes Transistor

Circuit board

Capacitor
Solder sucker Soldering iron
with stand
Battery clips

Wire Stripper Pliers Variable resistors Switches

Tools and some other components
 THE SCHEMATIC
AND
CIRCUIT DIAGRAM
THE BLOCK DIAGRAM
Clock
Main Power Motor Power
4 MHz
Supply Supply

Left
Motor
DC Motor Control
Microcontroller HEX Inverter
Right
Motor

Priority
Encoder
Analog Threshold
Comparators Voltage

NOR Gate

Signals from rf receiver anntena

CIRCUIT DIAGRAM OF RF
TRANSMITTER
CIRCUIT DIAGRAM OF RF
RECEIVER
 STATE DIAGRAMS OF
SINGLE MOTOR
D7 D6 D5 D4 D3 D2 D1 D0 OPERATION
PERFORMED

STOP
0 0 0 0 0 0 0 0

0 0 0 0 0 1 0 0 FORWARD
MOVEMENT

1 0 0 0 0 0 0 0 BACKWARD
MOVEMENT
 STATE DIAGRAM FOR
MOVEMENT OF ROBOT
RIGHT RIGHT LEFT LEFT OPERATION
MOTOR D7 MOTOR D2 MOTOR D7 MOTOR D2 PERFORMED
STOP
0 0 0 0
MOVE FORWARD
0 1 0 1
1 0 1 0 MOVE BACKWARD

0 0 0 1 TURN LEFT

TURN RIGHT
0 1 0 0
SOFTWARE DESCRIPTION
There are various software for creating hex file from
source code and dumping the hex file

For converting source code to hex file ASM51 software,

which converts the source code to hex code .

For dumping the hex file into the microcontroller

PROLOAD software is used ,it easily dumps all the ATMEL
microcontroller
FLOW CHART OF
PROGRAM USED
SNAP SHOTS OF SCREEN
 APPLICATIONS
Remote controlled robots are used to survey the places
where human reach is impossible

For medical surgery and diagnosis

For study in space research and surveying

Mostly used in defense field specially in wars

 Limitations
The steering mechanism is not easily implemented in
huge vehicles and impossible for non-electric vehicles
(petrol powered).

Lack of a four wheel drive, makes it not suitable for a

rough terrain.

Lack of speed control makes the robot unstable at times.

Attenuation in signal me cause lack of control .

VIDEO DESCRIBING
WORKING PRINCIPLE