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7TH SENSE MULTIPURPOSE ROBOT A PROJECT REPORT

Submitted by

MOHAN KUMAR.K (070107107049)

ASHOK KUMAR.D (080407107101)

DINESH KUMAR.S (080407107103)

DHINESH KUMAR.K (080407107104)

in partial fulfillment for the award of the degree

of

BACHELOR OF ENGINEERING

In

ELECTRONIC AND COMMUNICATION ENGINEERING,

HINDUSTHAN COLLEGE OF ENGINEERING AND TECHNOLOGY,

COIMBATORE - 641032.

ANNA UNVERSITY OF TECHNOLOGY,

COIMBATORE – 641047.

OCTOBER – 2010.

1

7TH SENSE MULTIPURPOSE ROBOT A PROJECT REPORT

Submitted by

MOHAN KUMAR.K (070107107049)

ASHOK KUMAR.D (080407107101)

DINESH KUMAR.S (080407107103)

DHINESH KUMAR.K (080407107104)

in partial fulfillment for the award of the degree

of

BACHELOR OF ENGINEERING

In

ELECTRONIC AND COMMUNICATION ENGINEERING,

HINDUSTHAN COLLEGE OF ENGINEERING AND TECHNOLOGY,

COIMBATORE - 641032.

ANNA UNVERSITY OF TECHNOLOGY,

COIMBATORE - 641047.

OCTOBER – 2010.

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CERTIFICATE

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ANNA UNIVERSITY OF TECHNOLOGY ,

COIMBATORE-641047.

BONAFIDE CERTIFICATE

Certified that this project report “ 7TH SENSE MULTIPURPOSE ROBOT ” is

the bonafide work of “ MOHAN KUMAR.K, ASHOK KUMAR.D, DINESH

KUMAR.S, DHINESH KUMAR.K ” who carried out the project work under my

supervision.

SIGNATURE SIGNATURE

SUPERVISOR HEAD OF THE DEPARTMENT

Miss: B.AMBIKA.M.E., Prof:Mohanasundaram.M.E.,MIME.,F.I.E.T.E

Lecuture of ECE Dept., Proffessor & HOD of ECE Dept.,

Hindusthan College of Engineering & Hindusthan College of Engineering &

Technology., Technology.,

Coimbatore. Coimbatore.

______________________________________________________________________________

Submitted for the Anna University of Technology Project viva-voce conducted on

_____________

-------------------------- -------------------------

Internal Examiner External Examiner

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ACKNOWLEDGEMENT

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ACKNOWLEDGEMENT

We are responsible to submit our true, sincere and respectful thanks to our

department staffs who allowed us to conduct a study on this work and we presented

all these project works by means of seminars.

We would like to express our sincere thanks to Shri.T.S.R. Khannaiyann,

Chairman and Smt.Sarasuwathi Khannaiyann, Secretary Hindusthan Educational

and Charitable Trust for providing the facilities within the college.

We would like to extend our warm thanks to our beloved Principal

Dr. V. Duraisamy, Ph.D. Who has granted permission for immediately starting this

project work. Our grateful and the Head of our department

Prof.N.Mohanasundaram,M.E.,M.I.E.,F.I.E.T.E., who has been a constant source

support for us.

We heart full thanks to our beloved staff and guide Miss B.Ambika ME, for his

consistence guidance and valuable suggestions given by him for the successful

completion of our project work.

We would also like to thank Mr.A.Udayakumar, M.E., Project Coordinator and

all the staff members of ECE department for the timely suggestions and

encouragement.

This entire frame goes to our beloved parents who are really interested and has

high expectations on us to become a successful engineer. We dedicate this remarkable

work to our beloved parents

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ABSTRACT

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Abstract

Nowadays, robots are playing very important role in the automation of the

companies. This is to reduce the human error and also to increase the productivity. This is

one of the projects to design the Robot for the rescuing purpose in the natural disaster or

in bomb blast and also it act as spy robot. We are using the computer in this project to

control the robot and also to visualize the control. For controlling the robot, the signal is

generated by the encoder using the computer. The generated signal is modulated and

transmitted through the transmitter. The signal is given to the microcontroller, which is a

programmable IC, where we can program it to control the motors according to the signal

from the computer. The microcontroller is also programmed to control the camera

position according to the signal from the computer. We are using the wireless transmitter

in the camera to transmit the video signal. Using the moisture sensor, temperature sensor

and metal detector the parameters can be measured in the computer. One of the main

advantages of our system is that the mode switching can be done very fast with out any

delay. Thus our aim is to provide a robotic system that can combat in wars, spy purpose

and other military purposes.

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CONTENTS

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Table of Contents

CHAPTER NO. TITLE PAGE NO.

List of Tables 9

List of Figures 10

1 Introduction

1.1.1 Robot 12

1.1.2 Spy robot 12

1.1.2 Objective 13

2 System Analysis

2.1 Existing System 16

2.2 Proposed System 16

3 System Specification

3.1 Software Requirement 18

4 Software Description

4.1 LabVEIW 20

5 Project Description

5.1 Problem definition 35

5.2 Overview of the project 35

5.3 Block diagram 36

5.3.1 Robo section 36

5.3.2 Control section 37

6 Conclusion & Future enhancement

6.1 Conclusion 43

6.2 Future enhancement 43

7 Appendix

7.1 Connection diagram 45

7.2 Screen Shot 45

8 Reference 48

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List of Figures

Fig.No. Figure Name Page No.

4.1 Front panel 24

4.2 Block panel 25

4.3 Control palette 25

4.4 Function palette 26

4.5 Tools palette 27

4.6 Slope of line 32 & 33

5.1 Robo section 36

5.2 Control & Monitoring section 37

5.3 Power supply Circuit diagram 40

5.4 Power supply Block diagram 40

7.1 LabVIEW Connection diagram 45

7.2 LabVIEW Screen Shot (Automatic) 45

7.3 LabVIEW Screen Shot (Manual) 46

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INTRODUCTION

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CHAPTER 1

PROJECT INTRODUCTION

1.1 Introduction

Nowadays robot has been widely used in various fields like industries, academic,

research and development, militaries and others. This chapter defines the robot, the

project on autonomous spy robot. The project is to build an automatic robot that has

capability to avoid any obstacle detected and there is sound detector that used to stop the

movement of the robot when there are sounds detected at certain frequency. Others the

robot will attach wireless visual system that human able to monitor the robot vision using

computer.

1.1.1 Robot

Robots have increasingly being used in industries, especially in manufacturing and

assembling in major industrialized countries. There are some advantages of using robot,

they are:

Reduce labour cost.

• Improved the work quality.

• Elimination of dangerous or undesirable jobs.

• Controlled and faster inventory.

• Increase precision.

Robot that are capable to perform complicated motion and have external sensor

such as vision, tactile or force sensing are required for a more complicated applications

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such as welding, painting, grinding and assembly. This is because these operations

resulted in the increase of interaction between the robot and its surrounding.

A robot by definition is a machine that looks like a human being and performs

various complex acts, walking and talking of a human being. It is also defined as fictional

machine whose lack of capacity for human emotions is often emphasized. By general

convention a robot is a programmable machine that imitates the actions or appearance of

an intelligent creature such as human.

From the Robot Institute of America, robot is defined:

“A robot is a programmable multifunctional manipulator designed to move

material, part, tools or specialized device through variable programmed motion for the

performance of a variety of tasks.”

1.1.2 The Spy Robot

Spy robot is a robot that can perform a task given such as locomotion, sensing,

localization, and motion planning without a control from the human during the task in

progress. The spy robot is the autonomous robot that consist wireless camera that human

able to monitor via computer as a spy.

Today wireless system have been widely used by many company because wireless

can save cost of wiring, easy to install, occupy lesser space, easy for maintenance and

more reliable.

There are three types of wireless communications, Infrared, Bluetooth and Radio

Frequency. Radio frequency normally is chosen for the wireless spy robot because it has

large connectivity range and it is more reliable that other wireless communication system.

In the market now, wireless spy robot basically works in two ways. One is use as

security purpose like a guard that the robot will control by human at the control room to

observe the security of the organization building. Usually the robot will placed at the

fixed location and the unit of the robot will be high needed to observe at the large

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building. Others, this type of robot is not autonomous and the robot only capable to

observe 360˚ at its range.

The other one is the spy robot is used for the military purpose to survey the enemy

location. Basically it used for the military purpose, the spy robot is use satellite as the

wireless vision system because the range of the connectivity is further and can be

controlled around the world via satellite controller. For the advance spy robot, they have

advance technology like the spy robot have capability to hide itself from detected by

radar using anti-radar detector that the signal transmit by the radar anti-signaled. Others

the mechanical part of the spy robot will be smallest as the developed of nanotechnology.

1.1.3 Objective

There are four main objectives in this project. The first objective of this project is

to build a robot that moves automatically without need any external aids. The robot has

ability to avoid obstacle around it by using infrared sensor. It is the most basic application

of military robot.

The second objective is to build the sound sensor that the robot capable to hide or

stop moving when there are sound detected at certain frequency. The robot will use

microphone as the sound detector to detect the sound and the robot will be stop moving

when there are sound detected. The radio sound leveling can be applied to detect sound at

certain frequency. The sound sensor will detect sound at range of human sound

frequency.

The third objective is to build a robot with wireless vision system. The wireless

visual system is used to human monitor the robot vision via computer. To build the

wireless visual system, the wireless camera will be applied on the robot and the wireless

camera will transmit the visual around the robot to the receiver on the computer.

The last objective of this project is to build a robot that detects automatically

without need any external aids. The robot has ability to detect bomb and diffuse it by

using metal detector sensor. It is the most basic application of military robot.

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SYSTEM ANALYSIS

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CHAPTER 2 2. SYSTEM ANALYSIS

2.1 Existing System

There is much advancement in the field of engineering, robotics in

particular. Many robotic systems have been developed for various purposes. There are

certain systems which are used for automatic motion of vehicles in road and wheel chairs

which can help disabled. There are also robotic systems which can be used for defense

purposes. In addition to these advancements there are also robotic systems which can

combat in war times. This robot is named "Security Warrior" and consists of five systems

including vision, motion; robot sense, power estimation and remote supervise.

2.2 Proposed System

Here in our existing system there are only remote monitoring for robots are

available. Here in our system we are going to control the robot from remote location in

addition to remote monitoring (i.e. User Mode). Our system also has an automatic mode

in which it can take its own decision for combating. In addition to this we are also

including some of the features like bomb detection, bomb diffusion, fire detection,

intruder detection. Thus our system is more reliable to combat the enemy than the

existing system. We are going to control the robot from remote location by using a

computer. Our robot is also capable of detecting and diffusing the bombs more quickly. It

can either be done through automatic mode or by user mode. Our system also contains

fire detection module and intruder detection module which is being carried out by using

facial recognition techniques.

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SOFTWARE REQUIREMENTS

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CHAPTER 3

3. SOFTWARE REQUIREMENT

3.1 SOFTWARE REQUIREMENTS

3.1.1 Lab view

3.1.2 Dataflow Programming

3.1.3 Graphical Programming

3.1.4 Benefits

3.1.5 Icon and Connector Pane

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SOFTWARE DESCRIPTION

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CHAPTER 4 4. SOFTWARE DESCRIPTION

4.1 LabVIEW

LabVIEW (short for Laboratory Virtual Instrumentation Engineering Workbench)

is a platform and development environment for a visual programming language from

National Instruments. The graphical language is named "G". Originally released for the

Apple Macintosh in 1986, LabVIEW is commonly used for data acquisition, instrument

control, and industrial automation on a variety of platforms including Microsoft

Windows, various flavors of UNIX, Linux, and Mac OS. The latest version of LabVIEW

is version 8.6.1, released in February of 2009.

Dataflow Programming

The programming language used in LabVIEW, also referred to as G, is a dataflow

programming language. Execution is determined by the structure of a graphical block

diagram (the LV-source code) on which the programmer connects different function-

nodes by drawing wires. These wires propagate variables and any node can execute as

soon as all its input data become available. Since this might be the case for multiple

nodes simultaneously, G is inherently capable of parallel execution. Multi-processing and

multi-threading hardware is automatically exploited by the built-in scheduler, which

multiplexes multiple OS threads over the nodes ready for execution.

Graphical Programming

LabVIEW ties the creation of user interfaces (called front panels) into the

development cycle. LabVIEW programs/subroutines are called virtual instruments (VIs).

Each VI has three components: a block diagram, a front panel, and a connector panel.

The last is used to represent the VI in the block diagrams of other, calling VIs. Controls

and indicators on the front panel allow an operator to input data into or extract data from

a running virtual instrument. However, the front panel can also serve as a programmatic

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interface. Thus a virtual instrument can either be run as a program, with the front panel

serving as a user interface, or, when dropped as a node onto the block diagram, the front

panel defines the inputs and outputs for the given node through the connector pane. This

implies each VI can be easily tested before being embedded as a subroutine into a larger

program.

The graphical approach also allows non-programmers to build programs simply by

dragging and dropping virtual representations of lab equipment with which they are

already familiar. The LabVIEW programming environment, with the included examples

and the documentation, makes it simple to create small applications. This is a benefit on

one side, but there is also a certain danger of underestimating the expertise needed for

good quality "G" programming. For complex algorithms or large-scale code, it is

important that the programmer possesses an extensive knowledge of the special

LabVIEW syntax and the topology of its memory management. The most advanced

LabVIEW development systems offer the possibility of building stand-alone applications.

Furthermore, it is possible to create distributed applications, which communicate by a

client/server scheme, and are therefore easier to implement due to the inherently parallel

nature of G-code.

Benefits

One benefit of LabVIEW over other development environments is the extensive

support for accessing instrumentation hardware. Drivers and abstraction layers for many

different types of instruments and buses are included or are available for inclusion. These

present themselves as graphical nodes. The abstraction layers offer standard software

interfaces to communicate with hardware devices. The provided driver interfaces save

program development time. The sales pitch of National Instruments is, therefore, that

even people with limited coding experience can write programs and deploy test solutions

in a reduced time frame when compared to more conventional or competing systems. A

new hardware driver topology (DAQmxBase), which consists mainly of G-coded

components with only a few register calls through NI Measurement Hardware DDK

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(Driver Development Kit) functions, provides platform independent hardware access to

numerous data acquisition and instrumentation devices. The DAQmxBase driver is

available for LabVIEW on Windows, Mac OS X and Linux platforms.

In terms of performance, LabVIEW includes a compiler that produces native code

for the CPU platform. The graphical code is translated into executable machine code by

interpreting the syntax and by compilation. The LabVIEW syntax is strictly enforced

during the editing process and compiled into the executable machine code when

requested to run or upon saving. In the latter case, the executable and the source code are

merged into a single file. The executable runs with the help of the LabVIEW run-time

engine, which contains some precompiled code to perform common tasks that are defined

by the G language. The run-time engine reduces compile time and also provides a

consistent interface to various operating systems, graphic systems, hardware components,

etc. The run-time environment makes the code portable across platforms. Generally, LV

code can be slower than equivalent compiled C code, although the differences often lie

more with program optimization than inherent execution speed.

Many libraries with a large number of functions for data acquisition, signal

generation, mathematics, statistics, signal conditioning, analysis, etc., along with

numerous graphical interface elements are provided in several LabVIEW package

options. The number of advanced mathematic blocks for functions such as integration,

filters, and other specialized capabilities usually associated with data capture from

hardware sensors is immense. In addition, LabVIEW includes a text-based programming

component called MathScript with additional functionality for signal processing, analysis

and mathematics. MathScript can be integrated with graphical programming using "script

nodes" and uses .m file script syntax that is generally compatible with Matlab.

The fully object-oriented character of LabVIEW code allows code reuse without

modifications: as long as the data types of input and output are consistent, two sub VIs

are interchangeable.

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The LabVIEW Professional Development System allows creating stand-alone

executables and the resultant executable can be distributed an unlimited number of times.

The run-time engine and its libraries can be provided freely along with the executable.

A benefit of the LabVIEW environment is the platform independent nature of the G code,

which is (with the exception of a few platform-specific functions) portable between the

different LabVIEW systems for different operating systems (Windows, Mac OS X and

Linux). National Instruments is increasingly focusing on the capability of deploying

LabVIEW code onto an increasing number of targets including devices like Phar Lap OS

based LabVIEW real-time controllers, PocketPCs, PDAs, FieldPoint modules and into

FPGAs on special boards.

There is a low cost LabVIEW Student Edition aimed at educational institutions for

learning purposes. There is also an active community of LabVIEW users who

communicate through several e-mail groups and Internet forums.

Front Panel

The front panel is the user interface of the VI. You build the front panel with

controls and indicators, which are the interactive input and output terminals of the VI,

respectively. Controls are knobs, pushbuttons, dials, and other input devices. Indicators

are graphs, LEDs, and other displays. Controls simulate instrument input devices and

supply data to the block diagram of the VI. Indicators simulate instrument output devices

and display data the block diagram acquires or generates.

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Controls = Inputs Indicators = Outputs

Fig: 4.1 front panel

Block Diagram

After you build the front panel, you add code using graphical representations of

functions to control the front panel objects. The block diagram contains this graphical

source code. Front panel objects appear as terminals on the block diagram.

Additionally, the block diagram contains functions and structures from built-in

LabVIEW VI libraries. Wires connect each of the nodes on the block diagram, including

control and indicator terminals, functions, and structures.

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Fig: 4.2 block panel

Lab VIEW Three Palettes

Lab VIEW palettes give you the options you need to create and edit the front panel

and block diagram.

1. The Controls palette is available only on the front panel. The Controls palette

contains the controls and indicators you use to create the front panel. Select

Window»Show Controls Palette or right-click the front panel workspace to display the

Controls palette. You can place the Controls palette anywhere on the screen.

Fig: 4.3 Control Palette

2. The Functions palette is available only on the block diagram. The Functions

palette contains the VIs and functions you use to build the block diagram. Select

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Window»Show Functions Palette or right-click the block diagram workspace to display

the Functions palette. You can place the Functions palette anywhere on the screen.

Fig: 4.4 Function palette

3. The Tools palette is available on the front panel and the block diagram.

A tool is a special operating mode of the mouse cursor. When you select a tool, the cursor

icon changes to the tool icon. Use the tools to operate and modify front panel and block

diagram objects.

Select Window»Show Tools Palette to display the Tools palette. You can place

the Tools palette anywhere on the screen.

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LabVIEW Toolbars:

Fig: 4.5 Tools palette

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Procedure:

1.Launch LabVIEW from Start»Programs»National Instruments LabVIEW

6.1. Click New VI to open a new front panel.

2. (Optional) Select Window»Tile Left and Right to display the front panel and

block diagram side by side.

3. Create a numeric digital control. You will use this control to enter the value for

degrees Centigrade.

a. Select the digital control on the Controls»Numeric palette. If the Controls

palette is not visible, right-click an open area on the front panel to display it.

b. Move the control to the front panel and click to place the control.

c. Type deg C inside the label and click outside the label or click the Enter button

on the toolbar, shown at left. If you do not type the name immediately, LabVIEW uses a

default label. You can edit a label at any time by using the Labeling tool, shown at left.

4. Create a numeric digital indicator. You will use this indicator to display the

value for degrees Fahrenheit.

a. Select the digital indicator on the Controls»Numeric palette.

b. Move the indicator to the front panel and click to place the indicator.

c. Type deg F inside the label and click outside the label or click the Enter

button.

5. Display the block diagram by clicking it or by selecting Window» Show

Diagram.

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6. Select the Multiply and Add functions on the Functions»Numeric palette and

place them on the block diagram. If the Functions palette is not visible, right-click an

open area on the block diagram to display it.

7. Select the numeric constant on the Functions»Numeric palette and place two

of them on the block diagram. When you first place the numeric constant, it is

highlighted so you can type a value.

8. Type 1.8 in one constant and 32.0 in the other.

If you moved the constants before you typed a value, use the Labeling tool to enter the

values.

9. Use the Wiring tool to wire the icons as shown in the block diagram.

• To wire from one terminal to another, use the Wiring tool to click the first

terminal, move the tool to the second terminal, and click the second terminal, as

shown in the following illustration. You can start wiring at either terminal.

• You can bend a wire by clicking to tack the wire down and moving the

cursor in a perpendicular direction. Press the spacebar to toggle the wire direction.

• To identify terminals on the nodes, right-click the Multiply and Add

functions and select Visible Items»Terminals from the shortcut menu to display

the connector pane. Return to the icons after wiring by right-clicking the functions

and selecting Visible Items»Terminals from the shortcut menu to remove the

checkmark.

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• When you move the Wiring tool over a terminal, the terminal area blinks,

indicating that clicking will connect the wire to that terminal and a tip strip

appears, listing the name of the terminal.

• To cancel a wire you started, press the <Esc> key, right-click, or click the

source terminal.

10. Display the front panel by clicking it or by selecting Window»Show Panel.

11. Save the VI because you will use this VI later in the course. Select File»Save.

Type Convert C to F.vi in the dialog box. Click the Save button.

12. Enter a number in the digital control and run the VI.

a. Use the Operating tool or the Labeling tool to double-click the digital

control and type a new number.

b. Click the Run button to run the VI.

c. Try several different numbers and run the VI again.

13. Right-click the icon in the upper right corner of the front panel and select Edit

Icon from the shortcut menu. The Icon Editor dialog box appears.

14. Double-click the Select tool on the left side of the Icon Editor dialog box to

select the default icon.

15. Press the <Delete> key to remove the default icon.

16. Double-click the Rectangle tool to redraw the border.

17. Create the following icon.

a. Use the Text tool to click the editing area.

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b. Type C and F.

c. Double-click the Text tool and change the font to Small Fonts.

d. Use the Pencil tool to create the arrow.

Note To draw horizontal or vertical straight lines, press the <Shift> key while you use

the Pencil tool to drag the cursor.

e. Use the Select tool and the arrow keys to move the text and arrow you

created.

f. Select the B&W icon and select 256 Colors in the Copy from field to

create a black and white icon, which LabVIEW uses for printing unless you

have a color printer.

g. When the icon is complete, click the OK button to close the Icon Editor

dialog box. The icon appears in the upper right corner of the front panel and

block diagram.

18. Right-click the icon on the front panel and select Show Connector from the

shortcut menu to define the connector pane terminal pattern.

LabVIEW selects a connector pane pattern based on the number of controls and

indicators on the front panel. For example, this front panel has two terminals, deg C and

deg F, so LabVIEW selects a connector pane pattern with two terminals.

19. Assign the terminals to the digital control and digital indicator.

a. Select Help»Show Context Help to display the Context Help window.

View each connection in the Context Help window as you make it.

b. Click the left terminal in the connector pane. The tool automatically

changes to the Wiring tool, and the terminal turns black.

c. Click the deg C control. The left terminal turns orange, and a marquee

highlights the control.

d. Click an open area of the front panel. The marquee disappears, and the

terminal changes to the data type color of the control to indicate that you

connected the terminal.

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e. Click the right terminal in the connector pane and click the deg F

indicator. The right terminal turns orange.

f. Click an open area on the front panel. Both terminals are orange.

g. Move the cursor over the connector pane. The Context Help window

shows that both terminals are connected to floating-point values.

20. Select File»Save to save the VI.

21. Select File»Close to close the VI.

Example 2: Add and Subtract two numbers

The formula for the slope of a line is as follows:

Slope = (Y2 – Y1) / (X2 – X1)

where (X1, Y1) and (X2, Y2) are points on the line.

Front Panel

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Block Diagram

Fig : 4.6 Slope of a Line

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PROJECT DESCRIPTION Chapter 5

PROJECT DESCRIPTIONS

5.1 Problem Definition

There are many spy or surveillances camera widely used for home or organization

security system. Some of the design able to control via computer by using XBEE that

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have the wide range of transmit and receive data. With this device the human will able to

control and see the wireless visual system via computer from other location.

In military, the wireless camera has been used as their first line force to survey the

enemy location from their base. By using this robot, they can save their soldier live

because before they move to enemy location they already know the enemy situation and

percentage to they win in the war will be increase.

Some of the spy robots always need the human to control the robot movement and

the human need to focus totally on the robot when it is moves. Other than that the robot is

not capable to hide when the enemy detected because the robot controlled by human and

the human is not able to know when there are enemy or human nearby. 5

Therefore this project will be focus on build the autonomous wireless visual

system robot to the robot has capability to move itself and capable to hide or stop its

movement when there are human or enemy detected.

5.2 OVERVIEW OF THE PROJECT

In our project “7th sense Multipurpose Robot”, we have used two sections of

operation to control. The two sections are Robot section and control-monitoring section.

In the robot section some sensors has fixed to detect or sense such as bomb, temperature

and moisture. In the control-monitoring section used for controlling the robot by manual

or by automatically. The brief operation of the project has given in the block diagram

description. While using this kind of robot we can easily identify the bombs and also

diffuse the bomb. Mostly this kind of robot is used for military purpose and spy robo.

5.3 BLOCK DIAGRAM

5.3.1 ROBO SECTION

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Fig : 5.1 Robo Section

5.3.2 CONTROL-MONITORING SECTION

Temp and Moisture sensor

Metal Detector

Receiver Decoder PIC

16F877 Buffer

Transmitter Encoder Motor Driver

Motor driver

CameraCamera Control Motor

Motor Motor

Battery Robot mechanism

Motor Driver

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Fig: 5.2 Control & Monitoring section

BLOCK DIAGRAM DESCRIPTION

There are two sections are used in this multipurpose robot. They are,

1. Robo section

2. Control & monitoring section

Robo section

In ROBO section, the sensors like temperature, moisture and metal detector. It is

used for sense changes in surface and atmosphere. Temperature sensor and moisture

sensor signal is converted using ADC and sends signal to the microcontroller. There are

three motor drivers are used in the robo section. They are the first two motor drivers are

used to control the movement of the robo motor. The second motor driver is used to

control for the Camera movement in robo. The 12v battery supply is given to the motors

for moving the robot and also the supply is given to camera.

Control and monitoring section

PIC 16F877

RS232

PC

Decoder

Encoder

Tuner card

Power supply

Receiver

Transmitter

Video receiver

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The PIC Microcontroller is the main part of this project. It is programmed to control

the motor driver and camera control motor. The RS232 for interference of pc and PIC

microcontroller. Using softwares can monitor in PC. The softwares are visual basic and

labview. Power supply for microcontroller is 5v

Automatic Mode

Here the user has no control over the robot. The robot takes it own decisions and

performs the required operation using AI.At unavoidable circumstances the control

automatically goes to the user.

User Mode

Here in this mode the user has the full control of the robot. The user can control

the robot from the remote location and perform the required operation.

Bomb Detection

Laser Gun can be used to Detect Roadside Bombs. Trained wasps are used to

detect the bombs .They are contained into a device called as “Wasp Hound” which gives

an alarm or triggers a visual signal. NQR (Nuclear quadruple resonance) is another

technique for detecting the explosives.

ADC:

The Analog-to-Digital (A/D) Converter module has five inputs for the 28-pin

devices and eight for the other devices. The analog input charges a sample and hold

capacitor. The output of the sample and hold capacitor is the input into the converter. The

converter then generates a digital result of this analog level via successive approximation.

The A/D conversion of the analog input signal results in a corresponding 10-bit digital

number. The A/D module has high and low voltage reference input that is software

selectable to some combination of VDD, VSS, RA2, or RA3. The A/D converter has a

unique feature of being able to operate while the device is in SLEEP mode. To operate in

SLEEP, the A/D clock must be derived from the A/D’s internal RC oscillator.

39

The A/D module has four registers. These registers are:

• A/D Result High Register (ADRESH)

• A/D Result Low Register (ADRESL)

• A/D Control Register0 (ADCON0)

• A/D Control Register1 (ADCON1)

The port pins can be configured as analog inputs (RA3 can also be the voltage

reference), or as digital I/O. Additional information on using the A/D module can be

found in the PICmicro™ Mid-Range MCU Family Reference Manual (DS33023).

Circuit Description:

The output from the filter is given to pin 28 of ADC 0809 shown in fig .The

address channels A, B, C are grounded so that channel 1 is enabled. The digitized output

from the converter is given to port 0 of micro controller. The filter capacitors in the

circuit remove the low and high frequency noises. The control signals from the ADC are

given to port 2 of the Microcontroller. This circuit follows the principle of successive

approximation method and when the start of conversion goes high, it marks the beginning

of the process and high end of conversion marks the end of it

With the arrival of START command, the SAR sets the MSB d1=1 with all other

bits to zero so that the trial code is 10000000. The output of the ADC is now compared

with analog input. If input is greater than the DAC output then 10000000 is less than the

correct digital representation. The MSB is left at ‘1’ and the next lower significant bit is

made ‘1’ and further tested. However, if input is less than the DAC output, then

10000000 is greater than the correct digital representation. So reset MSB to ‘0’ and go on

to the next lower significant bit. This procedure is repeated for all subsequent bits, one at

a time, until all bit positions have been tested.

40

POWER SUPPLY UNIT

Circuit Diagram

Fig: 5.3 Power Supply circuit diagram POWER SUPPLY BOCK DIAGRAM

230V 5 V

AC DC

Fig: 5.4 Power Supply block diagram

Transformer:

Transformer is a device used either for stepping-up or stepping-down of the AC

supply voltage with a corresponding decreases or increases in the current. Here, a center-

tapped transformer is used for stepping-down the voltage so as to get a voltage that can

be regulated to get a constant 12V. In this project, to satisfy these requirements, we make

use of 1.0A, 12V-0-12V transformer.

TRANSFORMER DESIGNING:

In the field of electronics and electrical new technology is progressing day by day.

Attempts are being made in the electronic field to replace the coils and transformer with

another substitute. For example some decade back it was not consider proper to use the

resistance as a load in the RF circuit, but now resistance are being made film types. These

Transformer

Rectifier

Filter

Regulator

41

resistances are being used in high frequency and RF current circuit without any fear. Now

computer age has come. Now it is possible to count the copper turns without talking out

the core from the transformer. It has become very easy to calculate the copper turns for a

new transformer.

Now-a–days special integrated circuits are available with special circuit technique

without soils and transformer. This special circuit technique is called phase locked loop

system. This is used in FM Transmitter and Receiver. The transformer and coils ate not

used in phase locked loop system except power supply system.

Rectifier:

A rectifier is a device such as a semiconductor capable of converting sinusoidal

input waveform units into a unidirectional waveform, with a non-zero average

component.

Filters:

Capacitors are used as filters in the power supply unit. Shunting the load with

the capacitor, effects filtering. The action of the system depends upon the fact the

capacitor stores energy during the conduction period and delivers this energy to the load

during the inverse or non-conducting period. In this way, time during which the current

passes through the load is prolonged and ripple is considerably reduced.

Fixed Voltage Regulator:

An IC7805 fixed voltage regulator is used in this circuit. The function of this

regulator is to provide a +5V constant DC supply, even if there are fluctuations to the

regulator input. This regulator helps to maintain a constant voltage throughout the circuit

operation.

42

Conclusion & future enhancement Chapter 6

6. 1 Conclusion

43

The requirement to build autonomous spy robot has been achieved based on the

objective. The specification of spy robot has met where the spy robot has wireless camera

that able to view image by using computer and the robot able to move autonomously.

Others, for the robot spy autonomously, the high intelligent system need to be applied

such as build more sensors, minimize the size of robot and design the robot that cannot be

seen by human easily. With this system, the ability as the spy robot will be useful for the

military department and the enemy will be easily defeated. There are three objective had

successfully applied in this project. There are to build an autonomous spy robot that able

to avoid obstacle if there are obstacle in front of it and the robot able to stop moving if

there are sound at certain range of loudness detected. Last objective is to build the

wireless visual system that able to view surrounding via computer.

6.2 Future Enhancement

Since the PIC microcontroller still has plenty port, for the future development, I

suggest to the autonomous spy robot need to apply more useable sensor for example to

apply the sensor that the robot able to hide itself to the dark place when there are human

sense detected. To achieve this matter the design of the robot is more important because

if we want to build the robot that able to spy underwater, the water proof circuit need to

be applied so that the there are no short circuit will be faced when the project tested.

The dual mode robot operation for the spy robot will be important at certain

condition because not all situations is suitable to the robot move autonomously accept the

robot has more sensor that able function in such situation. In this situation, the manual

control by human is needed.

Wireless camera is important for the spy robot to spying people. To make the

wireless camera able to spy more clearly at the large range of transmit, the application of

radio frequency is suggested because radio frequency has high transmitter range and if

there are obstacle that disturb its signal transmit, the signal still able to receive because

the signal has large wavelength.

44

Appendix Chapter 7

7 Appendix

45

7.1 Connection diagram

Fig: 7.1 Connection diagram

7.2 Screen Shot

Fig: 7.2 Screen Shot(Automatic)

46

Fig: 7.2 Screen Shot(Manual)

47

REFERENCES Chapter 8

48

REFERENCES

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Chandramouli G., Maniprashanna.A.G

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Bachelor of Electrical Engineering (Mechatronics). Universiti Tekonologi Malaysia.

3. Ea Ai Choon(2005),”DC Motor Speed Control Using Microcontroller

P16F877A”, Degree’s thesis, Bachelor of Electrical Engineering (Instrument Control).

Universiti Tekonologi Malaysia.

4. Farah Hayana Desa(2009), “Unmanned Hovercraft”, Degree’s Thesis, Faculty

of Electrical Engineering, Universiti Tekonologi Malaysia, Malaysia.

5. Ruth Devlaeminck (2006), "Human Motion Tracking with Multiple Cameras

Using a Probabilistic Framework for Posture Estimation," Master’s Thesis, School of

Electrical and Computer Engineering, Purdue University.

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7. Thomas L.F(2008), Electronic Device, (8th Edition). New Jersey: Prentice Hall.

62

8. MicroElectronika. “C Compiler for Microchip PIC Microcontrollers” .Micro C

user’s manual.

9. Fairchild Semiconductor, 2N3904 Datasheet.

10. SGS Thomson Microelectronics, L293D Datasheet.

11. Fairchild Semiconductor, Comparator LM324 Datasheet.

12. Microchip, PIC16F87XA Data Sheet.

13. Simon Roughneen, http://www.isn.ethz.ch/isn/Current-Affairs/Security-

Watch/Detail/?ord538=grp1&ots591=EB06339B-2726-928E-0216-

1B3F15392DD8&lng=en&id=106325. International Relations and Security Network

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GMT

49

15. http://www.cooper.edu/~mar/mar.htm. Copyright © 2002 Ericson Mar.

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