defense surveillance robot

8/2/2019 Defense Surveillance Robot

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Defense Surveillance Robot 2008- 09

CHAPTER 1

INTRODUCTION

Surveillance, Espionage or spying involves individual obtaining information that isconsidered secret or confidential without the permission of the holder of the information.

Spying area in military ground where enemy stay can be took before taking any action.

A robot is a virtual ormechanical artificial agent. In practice, it is usually an electro

mechanical system which, by its appearance or movements, conveys a sense that it has

intent oragency of its own.

Our aim in building this project is to create a wireless controlled robotic vehicle

which can be operated through a range of 100 meters using 433 MHz RF transmitter and

receiver. This can also sense the obstacles on its way to maneuvering its path by using

Infrared sensors. This vehicle is equipped with a metal detector can detect any land mine on

its way, and wireless camera which will transmit the live pictures and videos remotely.

This unit is helpful and useful for surveillance of an area in defence grounds forenemy, spying purpose where the human reach is not recommended or avoided. The unit is

small handy portable and can reach places easily.

1.1 MAIN FEATURES OF THE PROJECT

1. Effective in implementation

2. Low power consumption and compact size.

3. Long control range due the usage of RF devices.

4. Robot monitored from a remote area (no need of 'line-of-sight arrangement).

5. Maneuvering its path avoiding obstacles by own

6. Land mine detection

7. Wireless video surveillance

1.2 THE SIMPLIFIED BLOCK DIAGRAM

Dept of E&C CIT, Ponnampet1
http://en.wikipedia.org/wiki/Secrecyhttp://en.wikipedia.org/wiki/Virtualhttp://en.wikipedia.org/wiki/Mechanicalhttp://en.wikipedia.org/wiki/Artificialhttp://en.wikipedia.org/wiki/Electromechanicshttp://en.wikipedia.org/wiki/Electromechanicshttp://en.wikipedia.org/wiki/Intentionhttp://en.wikipedia.org/wiki/Agency_(philosophy)http://en.wikipedia.org/wiki/Secrecyhttp://en.wikipedia.org/wiki/Virtualhttp://en.wikipedia.org/wiki/Mechanicalhttp://en.wikipedia.org/wiki/Artificialhttp://en.wikipedia.org/wiki/Electromechanicshttp://en.wikipedia.org/wiki/Electromechanicshttp://en.wikipedia.org/wiki/Intentionhttp://en.wikipedia.org/wiki/Agency_(philosophy)


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Fig. 1.1ROBOT

Fig. 1.2 REMOTE


MICROCONTROLLER

DCMOTOR

IRSENSORS

RFRECEIVERCIRCUIT

KEYPAD

RFTRANSMITTER

CIRCUIT


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CHAPTER 2

BLOCK DIAGRAM DESCRIPTION

The DEFENCE SURVIELLIANCE ROBOT is better understood by explaining the

block diagram units in two separate sections Viz.

1. Robot end (Receiver)

2. Remote (Transmitter)

2.1 ROBOT END (RECEIVER).

Fig. 2.1 BLOCKS DIAGRAM OF RECEIVER


RELAYS

RIGHT

DCMOTO

R

LEFT

DCMOTOR

IREMITTERS

BATTERY

MINEDETECTOR

MICROCONTROLLERAT89S52

MOT UO LR N

D 2R 8I 0V 3ER

555Triggering

Circuit

RFRECEIVER

HT 648DECODER

WIRELESSCAMERA

IRSENSORS


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In the above block diagram we are used 89S52 microcontrollers which are a 40 Pin

8-bit, 32 I/O lines. This is the brain of the whole circuit. The robot system consists of RF

receiver 433MHZ to receive the commands from the remote. Here the received data

will be in RF signal where it is converted to digital data by RF receiver and input to HT648decoder which decodes(demux) the digital data and input to microcontroller port1.

And astable multivibrator, to generate 38 kHz square wave for the IR transmitter and

monostable multivibrator to receive the signal from the TSOP to sense the obstacle on its

way and IC ULN2803 driver with an electromagnetic relay to control the DC motor .The

port 2 of microcontroller is used to control the direction(CLK/ANTCLK) and ON/OFF

condition of two DC motor. Port 0 is used to receive signal from 555 monostable circuit

which is triggered by TSOP 1738.a brief description of all the blocks explained below.

2.1.1 Microcontroller AT 89S52

The micro controller used here is 89S52 is a low power, high performance CMOS

8-bit micro controller with 8K bytes of programmable flash memory. The 89S52 is the

family of Intel 8051. It is powerful micro controller which provides high flexibility and cost

efficient solutions to many embedded controller application.

This is like brain of the robot which operates the robot according to the user

command. 40 pin Integrated Circuit and 8bit operation which receives the signals from 4

ports. It is programmed so to operate by receiving signal from RF receiver circuit through

port 1.0 to port 1.4, and from 555 monostable circuit which is triggered by TSOP 1738 IR

sensor through port 0.0 to port 0.2.and drives the motor through ULN2803 using port 2.0 to

port 2.3.

2.1.2 ULN 2803

This is the IC with the standard Darlington arrays. The outputs are capable of

sinking 500 mA and will withstand at least 50 V in the off state. Outputs may be paralleled

for higher load current capability. These Darlington arrays are furnished in 18-pin dual in-

line plastic packages. Here this is used to drive the relays.



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2.1.3 Relay

A relay is an electrical switch that opens and closes under the control of another

electrical circuit. In the original form, the switch is operated by an electromagnet to open or

close one or many sets of contacts. Here relay is driven by ULN2803 from microcontroller.

This is used to switch the DC motor to ON/OFF or to rotate in different directions clockwise and anti clockwise.

2.1.4 Gear DC Motor

A DC motor works by converting electric power into mechanical work. This is

accomplished by forcing current through a coil and producing a magnetic field that spins

the motor. Gear DC Motor is used to drive the robot which is connect to wheel of the robot

this motor is called as gear motor because this has a specific number of RPM based on thecombination of gears connected to the shaft of dc motor.

2.1.5 IR Sensors

The sensor used is the TSOP1738. It only senses the signal of frequency 38 kHz. This

sensor is used to avoid the reception of signals from other sources. The 38 kHz signal is

only used by TSOP1738 so, it can be horizontally mounted. It senses the reflected IR rays

from 38 kHz IR source to detect any obstacle on its way.

2.1.6 555 Triggering Circuit

555 timer circuits are constructed in monostable mode, which in turn triggered by

TSOP1738. This in turn produces the high frequency pulse which is input to

microcontroller port 0.

2.1.7 RF Receiver

433 MHz RF receiver is used having 8 pin. This receives the RF signal transmitted

and converts it in to digital data signal.And these have a range of up to 100 meters with no

line of sight.

2.1.8 Decoder HT 648

http://en.wikipedia.org/wiki/Switchhttp://en.wikipedia.org/wiki/Electrical_circuithttp://en.wikipedia.org/wiki/Magnethttp://en.wikipedia.org/wiki/Electric_powerhttp://en.wikipedia.org/wiki/Mechanical_workhttp://en.wikipedia.org/wiki/Magnetic_fieldhttp://en.wikipedia.org/wiki/Switchhttp://en.wikipedia.org/wiki/Electrical_circuithttp://en.wikipedia.org/wiki/Magnethttp://en.wikipedia.org/wiki/Electric_powerhttp://en.wikipedia.org/wiki/Mechanical_workhttp://en.wikipedia.org/wiki/Magnetic_field


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These are 318 series of decoders receives serial address and data from that series of

encoders that are transmitted by a carrier using an RF. It then compares the serial input data

twice continuously with its local address. If no errors or unmatched codes are encountered,

the input data codes are decoded and then transferred to the output pins.

2.1.9 Battery

Rechargeable Lead acid battery is used. This is the main power supply for the whole

robot provides 12 Volts and a max current of up to 1.2A.Which is further regulated to

5volts for digital circuit operation. A charger circuitry is used to charge the battery.

2.1.10 IR Emitters

A 555 timer is used to generate the signal of frequency 38 kHz. The 555 timer isconfigured in astable mode. The output of this timer is given to an IR emitter. This signal is

emitted by the emitter which is mounted horizontally at the front of the robot.

2.1.11 Mine Detector

The mine detector is used to detect the land mines buried beneath the land. It detects

the mine on its way by indicating a buzzer sound.

2.1.12 Wireless Camera

A camera is a device that records images, either as a still photograph or as moving

images known as videos. This is used in the robot to take the video surveillance of the area.

And it is transmitted using a carrier signal. On the receiving end it is converted to video

signal. It has a range of 70-100Mts with no line of sight.



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2.2 REMOTE (TRANSMITTER)

Fig. 2.2 BLOCK DIAGRAM OF TRANSMITTER

2.2.1 Keypad

By using this we are giving command to the robot this is in the remote side this

has 5 keys with different operations

2.2.2 Encoder HT 640

They are capable of encoding 18 bits of information which consists of 10 address

bits and 8 data bits.The programmable address/data is transmitted together with the header

bits via an RF Transmitter.

2.2.3 RF Transmitter

433 MHz RF transmitter is used having 4 pin. This transmits the RF signal

by using ASK. The range is up to 100 meters with no line of sight.


KEYPAD

HT640ENCODER

RFTRANSMITTER

BATTERY


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CHAPTER 3

CIRCUIT DIAGRAM AND DESCRIPTION

Depend upon the circuit diagram this system is divided into following stages:

1. Main board circuit (Microcontroller).

2. RF Receiver.

3. RF Transmitter with keypad.

4. 555 Astable (38 kHz IR emitter).

5. 555 monostable (IR Trigger).

6. Mine Detector.



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3.1 MAIN BOARD CIRCUIT

Fig. 3.1 MAIN BOARD CIRCUIT


1 2 3 4


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Figure 3.1 shows the circuit diagram that Consists of Atmel 89S52 microcontroller

with relay driver. Port1 is connected RF receiver circuit so this port is used as input port.

Port 0 is connected to output pin of 555 monostable circuit, this port is also used as input

port. Port 2 is used as output port which is connected to ULN2803 to drive four relay that

control dc motor.7805 regulator used to give the regulated output to 5 volts. It is a 3 Pin

device.Pin1 is input, Pin2 is GND and PIn3 is output 5volts.The operation range for 7805 is

6volt-7volt, which gives regulated output 5volts. An 11.0592MHZ crystal is connected to

Pin 18 & Pin19 of microcontroller. A pair of 33pf ceramic disk capacitor is connected to

crystal. Another lead of the capacitor is connected to GND. To avoid any harmonics

generated during the time of oscillation and to maintain sustain oscillation for the perfect

operation of microcontroller 10k register is connected to GND, another point is connected

to PIn9 which is a reset pin 10muf capacitor is connected to Pin9 and other lead is

connected to vcc. A high signal on this Pin makes the controller to reset. Pin 31 is

connected to vcc which is an EA/VPP. When high on this Pin makes the controller to

access data from internal memory. Low on this makes the access the data from external

memory. Vpp is voltage pulse for programming used during the down loading HEX file to

the microcontroller.

Also 10K sip is used as pull up resistor, where it will not allows port to enter the

tristate. This is to have constant voltage. Microcontroller controls the relay using driver

circuit Output data of port 2 is given to ULN2803 IC which is of 8 bit. If the active low

input is given relay will ON else it OFF. Then according to the inputs to relay the

corresponding actions takes.

The movements of gear motors can be achieved as follows by switching the relaysthrough ULN 2803.

1. Stop: All four relays OFF

2. Forward direction: when 1st, 4th relay ON; 2nd, 3rd relay OFF.

3. Right direction: when 1st, 3rd relay ON; 2nd, 4th relay OFF.

4. Left direction: when 2nd, 4th relay ON. 1st,3rd relay OFF

5. Reverse direction: when 2nd

, 3rd relay ON. 1st, 4th relay OFF.



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3.1.1 PIN/PORT Connections

Of the four ports of microcontroller, three ports are used for the robot .Port 1 and Port 0

is used as input port while port 2 is the output port. The basic connections like reset, power

supply and crystal oscillator are given to their respective pins. The relay, sensor and RFconnections to the respective ports are listed in the table

PORT NUMBER BIT CONNECTION

P-0

0 IR SENSOR RIGHT

1 IR SENSOR CENTRE2 IR SENSOR LEFT3 NO CONNECTION4 NO CONNECTION5 NO CONNECTION6 NO CONNECTION7 NO CONNECTION

P-1

0 RF DATA OUT 1

1 RF DATA OUT 22 RF DATA OUT 33 RF DATA OUT 44 RF DATA OUT 55 NO CONNECTION6 NO CONNECTION7 NO CONNECTION

Table 3.1

PORT NUMBER BIT CONNECTION



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P-2

0 RELAY 1

1 RELAY 22 RELAY 33 RELAY 4

4 NO CONNECTION5 NO CONNECTION6 NO CONNECTION7 NO CONNECTION

P-3

0 NO CONNECTION

1 NO CONNECTION2 NO CONNECTION3 NO CONNECTION4 NO CONNECTION5 NO CONNECTION6 NO CONNECTION7 NO CONNECTION

Table 3.2



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3.2 RF RECEIVER CIRCUIT

Fig. 3.2 RF RECIEVER CIRCUIT

This is the radio frequency receiver circuit. The circuit contains mainly two

components RF receiver module which is embedded circuit, and decoder IC HT648. Data

output from the RF module is given to pin 9 of HT648 which is data in of decoder. The

decoded data output from the HT6498 is given to port 1 of microcontroller 89S52.



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3.3 RF TRANSMITTER AND KEYPAD CIRCUIT

Fig. 3.3 RF TRANSMITTER CIRCUIT

This is the radio frequency Transmitter circuit. The circuit contains mainly two

components RF transmitter module which is embedded circuit, and encoder IC HT640.

Keypad is connected to 5 data pins of encoder IC when key is pressed data pin gets logic

high signal that is vcc +5v.So this 8 bit data is encoded in to single data and transmitted via

RF Tx module as radio frequency signal.



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3.4 555 ASTABLE (38 KHZ IR EMITTER) CIRCUIT

Fig. 3.4 555 ASTABLE CIRCUIT

A 555 timer is used to generate the signal of frequency 38 kHz. The 555 timer is

configured in astable mode. The output of this timer is given to an IR LED as emitter. This

signal is emitted by the emitter which is mounted horizontally at the front of the robot. Here

we are using three IR LED connected parallel to the output of astable multi vibrator circuit.

They are mounted in left, right and centre of robot front.

The astable multivibrator is a 555 timer 8 pin device. Pin 4 is reset, Pin 5 is

threshold connected to 0.01muf capacitor another 0.01muf capacitor is connected to pin 2

and GND. Pin 6 & 7 is connected to designed value resistor & capacitor to generate the

desired frequency. Here we are used to generate 38 kHz square wave Pin3 of 555 timer is

connected to BC547 transistor base to drive the LED without any loss. BC-547 is a 3Pin

device collector, emitter & base and is a NPN transistor. The collector pin is connected to

IR LED through 3.9k resistor. To avoid the max current flow this can damage the device.

IR LED is a 2 pin device anode and cathode commonly used in remote controls.


BC547


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3.5 555 MONOSTABLE WITH TSOP1738 CIRCUIT

Fig. 3.5 555 MONOSTABLE CIRCUIT

The sensor used is the TSOP1738. It only senses the signal of frequency 38 kHz.

This sensor is used to avoid the reception of signals from other sources. The 38 kHz signal

is only used by TSOP1738 so, it can be horizontally mounted.

Monostable vibrator is an 8 pin 555 timer Ic.Pin1 is GND, Pin2 is trigger, Pin3

output, Pin4 reset, Pin5 threshold, Pin6 & 7 is used to design the ON/OFF time and Pin8 is

vcc. The output pin of TSOP1738 is connected to trigger pin of monostable circuit

whenever TSOP senses the 38 KHz IR signal sensor output pin goes low. This triggers the

555 circuit which in turn generates a high frequency pulse at pin 3. This is the input for

microcontroller port 0.


PORT

0

Of

89S52


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3.6 MINE DETECTOR

Fig.

3.6

MINE

DETECTOR CIRCUIT



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Fig. 3.7 BLOCK DIAGRAM OF MINE DETECTOR

This circuit most useful for safety checking. To check any land mines on its way.

.

The Mine detector can be used to detect the land mines composed of metallic

substance. It uses a sensing coil. This coil should be kept near metallic objects for

detection. Input of circuit is a weak colpitts R.F. range oscillator. Sensing coil forms parts

of tuned oscillator.

When coil is brought near a metallic object magnetic energy is absorbed andoscillator fails to work. Then final transistor conducts and buzzer is activated. Use a 9 volts

battery. After connecting battery, adjust the 4.7K preset till circuit just stops sounding


COILRF

SECTIONRF

AMP

PIEZO

ALARM


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3.7 COMPONENTS USED

SEMICONDUCTORS SPECIFICATION

Microcontroller 89S52 1

Driver ULN 2803 1

Timer 555 4

Encoder HT 640 1

Decoder HT 648 1

Transistors BC 547 5

Diodes IN 4148 4RF Tx Rx Module 433 MHz 1 pair

Regulator 7805 1

IR Sensor TSOP 1738 3

IR LED 3

LED

PASSIVE COMPONENTSResistors

Capacitors

Relay

MISCELLANIOUS

Battery 12V, 1.2A and 9V

Camera video and audioDC Motor

Buzzer

Connectors

Switches SPDT, NO switch

Coil



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CHAPTER 4

HARDWARE DESCRIPTION

4.1

MICROCONTROLLER AT89S52



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Fig. 4.1 PIN DIAGRAM 89S52



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4.1.1 Features of AT 89S52

Compatible with MCS-51 Products

8K Bytes of In-System Programmable (ISP) Flash Memory Endurance: 10,000 Write/Erase Cycles

4.0V to 5.5V Operating Range

Fully Static Operation: 0 Hz to 33 MHz

Three-level Program Memory Lock

256 x 8-bit Internal RAM

32 Programmable I/O Lines

Three 16-bit Timer/Counters Eight Interrupt Sources

Full Duplex UART Serial Channel

Low-power Idle and Power-down Modes

Interrupt Recovery from Power-down Mode

Watchdog Timer

Dual Data Pointer

Power-off Flag

Fast Programming Time

Flexible ISP Programming (Byte and Page Mode)

Green (Pb/Halide-free) Packaging Option

4.1.2 Description

The AT89S52 is a low-power, high-performance CMOS 8-bit microcontroller with

8K bytes of in-system programmable Flash memory. The device is manufactured usingAtmels high-density nonvolatile memory technology and is compatible with the industry-

standard 80C51 instruction set and pin out. The on-chip Flash allows the program memory

to be reprogrammed in-system or by a conventional nonvolatile memory programmer. By

combining a versatile 8-bit CPU with in-system programmable Flash on a monolithic chip,

the Atmel AT89S52 is a powerful microcontroller which provides a highly-flexible and

cost-effective solution to many embedded control applications. The AT89S52 provides the

following standard features: 8K bytes of Flash, 256 bytes of RAM, 32 I/O lines, Watchdog

timer, two data pointers, three 16-bit



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Timer/counters, a six-vector two-level interrupt architecture, a full duplex serial port, on-

chip oscillator, and clock circuitry. In addition, the AT89S52 is designed with static logic

for operation down to zero frequency and supports two software selectable power saving

modes. The Idle Mode stops the CPU while allowing the RAM, timer/counters, serial port,and interrupt system to continue functioning. The Power-down mode saves the RAM

contents but freezes the oscillator, disabling all other chip functions until the next interrupt

or hardware reset.

Vcc

Supplyvoltage.

Gnd

Ground.

Port 0

Port 0 is an 8-bit open drain bidirectional I/O port. As an output port, each pin can

sink eight TTL Inputs. When 1s are written to port 0 pins, the pins can be used as high-

impedance inputs. Port 0 can also be configured to be the multiplexed low-order

address/data bus during accesses to external program and data memory. In this mode, P0

has internal pull-ups. Port 0 also receives the code bytes during Flash programming and

outputs the code bytes during program verification. External pull-ups are required during

program verification.

Port 1

Port 1 is an 8-bit bidirectional I/O port with internal pull-ups. The Port 1 output

buffers can sink/source four TTL inputs. When 1s are written to Port 1 pins, they are pulled

high by the internal pull-ups and can be used as inputs. As inputs, Port 1 pins that are

externally being pulled low will source current (IIL) because of the internal pull-ups. In

addition, P1.0 and P1.1 can be configured to be the timer/counter 2 external count input

(P1.0/T2) and the timer/counter 2 trigger input (P1.1/T2EX), respectively, as shown in the

following table. Port 1 also receives the low-order address bytes during Flash programming

and verification.



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Table 4.1

Port 2




externally being pulled low will source current (IIL) because of the internal pull-ups.

Port 2 emits the high-order address byte during fetches from external program memory and

during accesses to external data memories that use 16-bit addresses (MOVX @ DPTR). In

this application, Port 2 uses strong internal pull-ups when emitting 1s. During accesses to

external data memories that use 8-bit addresses (MOVX @ RI), Port 2 emits the contents of

the P2 Special Function Register. Port 2 also receives the high-order address bits and some

control signals during Flash programming and verification.

Port 3




externally being pulled low will source current (IIL) because of the pull-ups. Port 3 receives

some control signals for Flash programming and verification. Port 3 also serves the

functions of various special features of the AT89S52, as shown in the following table.



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Table 4.2

RST

Reset input. A high on this pin for two machine cycles while the oscillator is

running resets the device. This pin drives high for 98 oscillator periods after the Watchdog

times out. The DISRTO bit in SFR AUXR (address 8EH) can be used to disable this

feature. In the default state of bit DISRTO, the RESET HIGH out feature is enabled.

ALE/PROG

Address Latch Enable (ALE) is an output pulse for latching the low byte of theaddress during accesses to external memory. This pin is also the program pulse input

(PROG) during Flash programming. In normal operation, ALE is emitted at a constant rate

of 1/6 the oscillator frequency and may be used for external timing or clocking purposes.

Note, however, that one ALE pulse is skipped during each access to external data memory.

If desired, ALE operation can be disabled by setting bit 0 of SFR location 8EH. With the

bit set, ALE is active only during a MOVX or MOVC instruction. Otherwise, the pin is

weakly pulled high. Setting the ALE-disable bit has no effect if the microcontroller is inexternal execution mode.



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PSEN

Program Store Enable (PSEN) is the read strobe to external program memory.

When the AT89S52 is executing code from external program memory, PSEN is activated

twice each machine cycle, except that two PSEN activations are skipped during each access

to external data memory.

EA/VPP

External Access Enable. EA must be strapped to GND in order to enable the device

to fetch code from external program memory locations starting at 0000H up to FFFFH.

Note, however, that if lock bit 1 is programmed, EA will be internally latched on reset. EA

should be strapped to VCC for internal program executions. This pin also receives the 12-

volt programming enable voltage (VPP) during Flash programming.

XTAL1

Input to the inverting oscillator amplifier and input to the internal clock operating circuit.

XTAL2

Output from the inverting oscillator amplifier.



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4.2 UNIPOLAR MOTOR DRIVER ULN 2803

Fig. 4.2 PIN DIAGRAM ULN 2803

Here ULN2803 is a unipolar motor driver featuring continuous load current ratings

to 500mA for each of the drivers, the Series ULN2803 High-voltage; High-current

Darlington arrays are ideally suited for interfacing between low-level logic circuitry and

multiple peripheral power loads. Typical power loads totalling over 260 W (350 mA x 8, 95

V) Can be controlled at an appropriate duty cycle depending on ambient Temperature and

number of drivers turned on simultaneously. Typical loads include relays, solenoids,

stepping motors, magnetic print hammers, multiplexed LED and incandescent displays, andheaters.

The device feature open-collector outputs with integral clamp diodes. Have series

input resistors selected for operation directly with 5 V TTL or CMOS. This device will

handle numerous interface needs particularly those beyond the capabilities of standard logic

buffers.



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The ULN2803A are the standard Darlington arrays. The outputs are capable of

sinking 500 mA and will withstand at least 50 V in the off state. Outputs may be paralleled

for higher load current capability.

These Darlington arrays are furnished in 18-pin dual in-line plastic packages (suffixA) or 18-lead small-outline plastic packages (suffix LW). All devices are pinned with

outputs opposite inputs to facilitate ease of circuit board layout. Prefix ULN devices are

rated for operation over the temperature range of -20o C to +85o C

4.2.1 Features

TTL, DTL, PMOS, or CMOS Compatible Inputs.

Output Current to 500 mA.

Output Voltage to 95 V.

Transient-Protected Outputs.

Dual In-Line Package or Wide-Body Small-Outline Package.



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4.3 RELAY

A relay is an electromagnetic switch. In other words it is activated when a current is

applied to it. Normally a relay is used in a circuit as a type of switch (as you will seebelow). There are different types of relays and they operate at different voltages. When you

build your circuit you need to consider the voltage that will trigger it.

Fig 4.3 RELAY

The main part of a relay is the coil at the centre. A small current flowing through the coil inthe relay creates a magnetic field that pulls one switch contact against or away from

another. Putting it simply, when current is applied to the contacts at one side of the relay

the coil allows the contacts at the other side to work. Usually relays are used to turn on a

second circuit. The first circuit activates the relay which then turns on the second circuit.



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There are few advantages The contacts can be either Normally Open (NO),

Normally Close (NC) or change-over (CO) contacts. In my project I used the normally-

open contacts as it will rotate DC motor when the relay is activated; the circuit is

disconnected when the relay is inactive. It is also called Form A contact or make contact.

Form A contact is ideal for applications that require to switch a high current power sourcefrom a remote device. Relays have a lot of useful applications and among the usage are to

control a high-current circuit with a low-current signal, as in the starter solenoid of an

automobile and also to detect and isolate faults on transmission and distribution lines by

opening and closing circuit breakers.

There are few advantages of relays such as the complete electrical isolation safety

by ensuring that high voltages and currents cannot appear where they should not be. Also,

relays come in all shapes and sizes for different applications and they have various switch

contact configurations. Lastly it is easy to tell when a relay is operating as we can hear a

click as the relay switches on and off and we can sometimes see the contacts moving. The

disadvantages of relays are at their parts as it can wear out as the switch contacts become

dirty due to high voltages and currents sparks between the contacts. Also they cannot be

switched on and off at high speed because they have a slow response and the switch

contacts will rapidly wear out due to the sparking.



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4.4 RF TRANSMITTER AND RECEIVER MODULE

4.4.1 Transmitter

1 2 3 4

Fig. 4.4 RF TRANSMITTER

1. GND

2. DATA IN

3. VCC

4. ANTENNA

A transmitter is a circuit with an output sent through the air by light, sound orelectromagnetic waves at a specific frequency. Radio frequency (RF) transmitters are

widely used in radio frequency communication systems. The function of a radio frequency

(RF) transmitter is to modulate, up convert and amplify signals for transmission into free

space. The radio frequency transceiver modules can use a wide range of input voltages; as a

result, transmitter voltage varies by module specification. Higher radio frequency module

voltages usually result in greater transmission distances. In this case, a wireless transmitter

module shown above is used, where the launch frequency for it is at 433MHz. This

transmitter module is stable and reliable, high quality and low cost features.

Particularly suitable for variety of small volume application of wireless remote

control alarm and MCU for short-range wireless data transmission with a wide range of

voltage (3V-12V) and low power characteristic (10mW). Above is the transmitter module.

The transmitter module sends an electromagnetic signal that encodes the information,

whereas the receiver accepts the signal and decodes it.



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Features

Working voltage: 3v-12v

Working current: 10-15ma

Frequency:433mhz Range: 100 mts

Transport speed:4800kbps

Encoder IC: HT 640

4.4.2 Receiver

Fig.4.5 RF RECEIVER

PIN Connections

1- ANT 5-VCC

2- GND 6-DATA

3- GND 7-DATA

4- VCC 8-GND

A receiver is a circuit capable of accepting and processing light, sound or

electromagnetic waves of a specific range. RF receivers are electronic devices that separate

radio signals from one another and convert specific signals into audio, video, or data

formats. RF receivers use an antenna to receive transmitted radio signals and a tuner to

separate a specific signal from all of the other signals that the antenna receives. In this type

of receiver, which is the wireless radio super regeneration receiver module, the

433MHz radio frequency signal sent by the transmitter module is received and the

incoming data extracted from the signal. The extracted data is then sent out in serial format



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to the decoder board. Above is the receiver module that is used in this project. This low

cost RF receiver module can be used to receive RF signal from any 433MHz transmitter.

Super regeneration design ensures the sensitivity to week signal. The key benefits of this

device are the low power consumption easy to integrate (V+, GND and DATA) and also it

is so small in dimension.

Fig. 4.6 RF

RECEIVER MODULE

Features

Working voltage: 5v

Working current: 0.5-0.8ma

Frequency:433mhz

Range: 100 mts

Transport speed:4800kbps

Decoder IC:HT 648

Applications

Burglar alarm system

Smoke and fire alarm system Garage door controllers

Car door controllers

Car alarm system

Security system

Cordless telephones

Other remote control systems



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4.5 ENCODER HT 640

An encoder is a device used to change a signal or data into a code.

The code may serve any of a number of purposes such as compressing

information for transmission or storage, encrypting or adding

redundancies to the input code, or translating from one code to another.

An encoder also a circuit in which a code or signal presented in one

format can be changed to a format compatible with circuitry it interfaces

with. As for my project, the encoder HT 640 is the Holtek 318 encoders

which are series of CMOS LSIs for remote control system applications.

They are capable of encoding 18 bits of information which consists of Naddress bits and 18N data bits. Each address or data input is externally

trinary programmable if bonded out. It is otherwise set floating

internally. Various packages of 318 encoders offer flexible combinations

of programmable address or data to meet various application needs. The

programmable address or data is transmitted together with the header

bits via an RF or an infrared transmission. The capability to select a TE

trigger type or a DATA trigger type further enhances the applicationflexibility of the 318series of encoders.

The best features of using this encoder are because its operating

voltage is in the range of 2.4V to 12V. Besides that, it has a low power

and high noise immunity CMOS technology. Other features that includes

for this encoder are the low standby current, built-in oscillator which

needs only 5% resistor, easy interface with an RF or infraredtransmission media and also minimal external components. Below figure

shows the pin assignment for the encoder HT 640.



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Fig.4.7 PIN DIAGRAM HT 640

Table 4.3 PIN DESCRIPTION FOR ENCODER HT 640



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4.5.1 Features

Operating voltage: 2.4V~12V

Low power and high noise immunity CMOS technology

Low standby current

Capable of decoding 18 bits of information

Pairs with HOLTEKs HT640 encoder

10 address pins

8 data pins

Trinary address setting

Two times of receiving check

Built-in oscillator needs only a 5% resistor

Valid transmission indictor

Easily interface with an RF or an infrared transmission medium

Minimal external components



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4.6 DECODER HT 648

A decoder is a device which does the reverse of an encoder, undoing the encoding

so that the original information can be retrieved. In digital electronics this would mean that

a decoder is a multiple-input, multiple-output logic circuit that converts coded inputs into

coded outputs, where the input and output codes are different. E.g. n-to-2n, BCD decoders.

Enable inputs must be on for the decoder to function, otherwise its outputs assume a single

"disabled" output code word. A decoder is a circuit in which a coded signal of a specific

format (usually that of its compatible encoder) is received and changed to a format

compatible with the circuitry interfaces with (usually the format originally presented to the

encoder is the same format used for the output of the decoder when used in wireless

systems, but not always). Again for this project, Holtek 3 18 decoder is used in which it is a

series of CMOS LSIs for remote control system applications. They are paired with the 318

series of encoders. For proper operation a pair of encoder/decoder pair with the same

number of address and data format should be selected. The 318 series of decoders receives

serial address and data from that series of encoders that are transmitted by a carrier using

and RF or and IR transmission medium. It then compares the serial input data twice

continuously with its local address. If there is no error or unmatched codes are encountered,

the input data codes are decoded and then transferred to the output pins. The VT pin also

goes high to indicate a valid transmission.

The 318 decodes are capable of decoding 18 bits of information that consists of N

bits of address and 18-N bits of data. To meet various applications, they are arranged to

provide a number of data pins whose range is from 0 to 8 and an address pin whose range is

from 8 to 18. In addition, the 318 decoders provide various of address/data number in

different packages. Like the encoder, the decoder also has its own best features. A part fromits operating voltage which is in range from 2.4V to 12V and a low power and high noise

immunity of CMOS technology, this decoder has its trinary address setting. Besides that, it

has two times of receiving check, built-in oscillator which only needs a 5% resistor and

valid transmission indicator. It is so easy to interface with an RF or an infrared transmission

medium and also it needs minimal external components. Below figure shows the pin

assignment for the encoder HT 648.



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Table 4.4 PIN DESCRIPTION FOR HT 648

4.6.1 Features

Operating voltage: 2.4V~12V

Low power and high noise immunity CMOS technology

Low standby current

Capable of decoding 18 bits of information

Pairs with HOLTEKs 318 series of encoders

8~18 address pins

0~8 data pins

Trinary address setting

Two times of receiving check

Built-in oscillator needs only a 5% resistor

Valid transmission indictor

Easily interface with an RF or an infrared transmission medium

Minimal external components



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4.7 IR TRANSMITTER AND RECIEVER

Fig. 4.8 IR MODULE

4.7.1 IR LED

Fig. 4.9 IR LED

This is used as a transmitter. The IR LED or Infra Red Light Emitting Diode is an

electronic device which gives off or emits light when current is passed through it. Like

general diode, this IR LED passes current only in one direction and requires forward

operation voltage of about 2V and forward operation current in 10 to 20 mA range.

Maximum reverse voltage that the IR LED can withstand is typically 3 to 5V, more than

this could damage the component. It does not have any current control function, so, when

the IR LED is used in a circuit, a resistor must be used in series to limit the current flow



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through it. If greater range is required, this resistor may be reduced to a minimum value

with a consequent adverse effect on current consumption. Do not reduce the value of

resistor unless you do require the greater range.

When the IR LED is used in an application such as the remote controlling

transmitter, where the battery is the main source of current, providing continuous high

current to keep the IR LED ON will consume too much of power. So when the power is

applied to the IR LED, the supply is provided as pulses. If the pulse repetition frequency is

rapid enough (more than 50 Hz) then to the receiver eye the IR LED will appear as

continuously ON. For example, instead of supplying 25 mA current continuously, one can

provided 50 mA current as pulse to get brighter light output with the same power

consumption. The Infrared diode used is of plastic pack and is similar in appearance to the

familiar Red LED, except that the plastic encapsulation is deep violet colour.

4.7.2 TSOP 1738

Fig. 4.10 IR SENSOR

The TSOP1738 series are miniaturized receivers for infrared remote control

systems. PIN and preamplifier are assembled on lead frame, the epoxy package is designed

as IR filter. The demodulated output signal can directly be decoded by a microprocessor.

TSOP1738 is the standard IR remote control receiver series, supporting all major

transmission codes.It is design to sense 38 KHz square wave. There are other frequencies

available, but 38 KHz is the most widespread one. As TSOP sense 38 KHz modulated light,

it turns output low. It is because of the output stage, which is transistor



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switch. It will keep output low for some time and then again rise high- it not just sense 38

KHz but also determine if it constant 38 KHz signal, or a burst of finite number of square

waves, i.e. it rejects continuous 38 KHz just like ambient light.

Block Diagram of TSOP 1738

Fig. 4.11 BLOCK DIAGRAM

Features

Photo detector and preamplifier in one package

Internal filter for PCM frequency

Improved shielding against electrical field disturbance

TTL and CMOS compatibility

Output active low

Low power consumption

High immunity against ambient light

Continuous data transmission possible (up to 2400 bps) Suitable burst length 10

cycles/burst



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4.8 555 TIMER

The 555 monolithic timing circuit is a highly stable controller capable of producing

accurate time delays or oscillation. In the time delay mode of operation, the time is

precisely controlled by one external resistor and capacitor. For a stable operation as an

oscillator, the free running frequency and the duty cycle are both accurately controlled with

two external resistors and one capacitor. The circuit may be triggered and reset on falling

waveforms, and the output structure can source or sink up to 200mA.

4.8.1 Features

High Current Drive Capability (200mA)

Adjustable Duty Cycle

Temperature Stability of 0.005%/C

Timing from Sec to Hours

Turn off Time Less than 2Sec

Fig. 4.12 TIMER INTERNAL BLOCK DIAGRAM



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4.8.2 Monostable Operation

Fig.4.14 WAVEFORMS OF MONOSTABLE OPERATION

Figure illustrates a monostable circuit. In this mode, the timer generates a fixed pulsewhenever the trigger voltage falls below Vcc/3. When the trigger pulse voltage applied to

the #2 pin falls below Vcc/3 while the timer output is low, the timer's internal flip-flop

turns the discharging Tr. off and causes the timer output to become high by charging the

external capacitor C1and setting the flip-flop output at the same time. The voltage across

the external capacitor C1, VC1 increases exponentially with the time constant t=RA*C and

reaches 2Vcc/3 at td=1.1RA*C. Hence, capacitor C1 is charged through resistor RA.

The greater the time constant RAC, the longer it takes for the VC1 to reach 2Vcc/3. In


Fig.4.13 MONOSTABLE CIRCUIT


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Other words, the time constant RAC controls the output pulse width. When the applied

voltage to the capacitor C1 reaches 2Vcc/3, the comparator on the trigger terminal resets

the flip-flop, turning the discharging Tr. on. At this time, C1 begins to discharge and the

timer output converts to low. In this way, the timer operating in monostable repeats the

above process. Figure 2 shows the general waveforms during monostable operation.It must be noted that, for normal operation, the trigger pulse voltage needs to maintain a

minimum of Vcc/3 before the timer output turns low. That is, although the output remains

unaffected even if a different trigger pulse is applied while the output is high, it may be

affected and the waveform not operate properly if the trigger pulse voltage at the end of the

output pulse remains at below Vcc/3.

4.8.3 Astable Operation

Fig.4.15 ASTABLE CIRCUIT



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Fig.4.16 WAVEFORMS OF ASTABLE OPERATION

An astable timer operation is achieved by adding resistor RB to Figure 1 and

configuring as shown on Figure 1. In astable operation, the trigger terminal and the

threshold terminal are connected so that a self-trigger is formed, operating as a multi

vibrator. When the timer output is high, its internal discharging Tr. turns off and the VC1

increases by exponential function with the time constant (RA+RB)*C. When the VC1, or

the threshold voltage, reaches 2Vcc/3, the comparator output on the trigger terminal

becomes High, resetting the F/F and causing the timer output to become low. This in turn

turns on the discharging Tr. and the C1 discharges through the discharging channel formed

by RB and the discharging Tr. When the VC1 falls below Vcc/3, the comparator output on

the trigger terminal becomes high and the timer output becomes high again. The

discharging Tr. turns off and the VC1 rises again. In the above process, the section where

the timer output is high is the time it takes for the VC1 to rise from Vcc/3 to 2Vcc/3, and

the section where the timer output is low is the time it takes for the VC1 to drop from

2Vcc/3 to Vcc/3.



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4.9 GEAR DC MOTOR

Whenever a robotics hobbyist talk about making a robot, the first thing comes to his

mind is making the robot move on the ground. And there are always two options in front of

the designer whether to use a DC motor or a stepper motor. When it comes to speed,

weight, size, cost. DC motors are always preferred over stepper motors. There are many

things which you can do with yourDC motorwhen interfaced with a microcontroller. For

example you can control the speed of motor, you can control the direction of rotation, you

can also do encoding of the rotation made by DC motor i.e. keeping track of how many

turns are made by your motors etc. So you can see DC motors are no less than a stepper

motor.

Fig.4.17 INTERNAL STRUCTURE OF DC MOTOR

In this part we are using geared DC motor with combination of gear to get a specific

RPM. The shaft is connected to gear box which in turn connected to shaft of the DC motor.

Below figure shows simple gear combination.

Fig. 4.18 GEAR COMBINATION

http://d/Documents%20and%20Settings/VINAY/Desktop/data%20sheets/dc%20motor/introduction.php.htmhttp://d/Documents%20and%20Settings/VINAY/Desktop/data%20sheets/dc%20motor/introduction.php.htmhttp://d/Documents%20and%20Settings/VINAY/Desktop/data%20sheets/dc%20motor/introduction.php.htmhttp://d/Documents%20and%20Settings/VINAY/Desktop/data%20sheets/dc%20motor/introduction.php.htmhttp://d/Documents%20and%20Settings/VINAY/Desktop/data%20sheets/dc%20motor/introduction.php.htmhttp://d/Documents%20and%20Settings/VINAY/Desktop/data%20sheets/dc%20motor/introduction.php.htm


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4.10 CAMERA AND RF RECEIVER

4.10.1 Camera

A camera is a device that records images, either as a still photograph or as moving

images known as videos or movies.

A majority of cameras have a lens positioned in front of the camera's opening to

gather the incoming light and focus all or part of the image on the recording surface. The

diameter of the aperture is often controlled by a diaphragm mechanism, but some cameras

have a fixed-size aperture.

Colour camera is a CMOS Charging OR Coupling Device (CCD). Here we use

convex (bulge) lens. In convex lens. We see inverse images. For video transmission we use

5.5 MHz .In video signals AM modulation takes places. Then it multiplexed and transmits

signal. At receiver reception takes place. Where demodulation occurs we get pure video of

1 volts peak to peak and display in monitor. Linear Transmission Distance: 50-100m.

Technical parameters of transmitting unit:



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Size: only 38x28x16mm

Video Camera Parts: 1/3CMOS, 1/4 Image Sensors

System: PAL/CCIR NTSC/EIA

Effective Pixel: PAL: 628 x 582, NTSC: 510 x 492

Image Area: PAL: 5.78 x 4.19mm, NTSC: 4.69 x 3.45mm

Horizontal Definition: 380 Lines

Scanning Frequency: PAL/CCIR: 50Hz, NTSC/EIA: 60Hz

Minimum Illumination: 3 LUX

Sensitivity: +18DB-AGL On-Off

Electrical Level Output: 50mW

Frequency Output: 1.2 GHz

Transmission Signal: Audio, Video

Linear Transmission Distance: 50-100m

Voltage: DC+9V

Current: 300mA

Power Dissipation: 640mW

Fig. 4.19 CAMERA AND

RECEIVER

4.10.2 Camera RF Receiver:



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In this section the signals are received and accordingly the action takes place.

We have connected a wireless camera to this unit which will send the audio and

video signals to the computer monitor through a PCI based TV tuner card.

Technical parameters of receiving unit:

Wireless Audio/Video Receiver

Receiving Method: Electronic Frequency Modulation

Reception Sensitivity: +18dB

Receiving Frequency: 1.2 GHz

Receiving Signal: Audio, Video Voltage: DC+12V

Current: 500Ma



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4.11 BATTERY

Batteries are an excellent emergency power source, but require some basicinformation to use properly. They are electrochemical devices. They have plates, usually

metallic, and either a solution or a moist compound between the plates. A chemical reaction

takes place in the battery when it is discharged that produces a flow of electrons out one

plate on the negative side and into another plate on the positive side.

Here we are using dry lead/acid battery. It has plates of lead in sulphuric acid

solution in water. One of the sets of lead plates is coated with lead dioxide. As such abattery discharges it creates two chemical reactions, one at the anode that ends up with an

excess of electrons, and one at the cathode that ends up short electrons. If a wire is

connected between the two, the excess electrons from the anode will travel through the wire

as a current to the cathode where they are needed to complete the electron deficient reaction

there.

Dry lead acid battery of 12V/1.3A is used as source of power for the whole robot

unit. For digital circuitry 5 volts needed is derived from 12v battery using regulator IC7805.


Fig. 4.20 BATTERY


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4.12 REGULATOR:

A discrete voltage regulator fabricated on a single chip, it is called monolithic voltageregulator. These regulators have:

i. High performance (ideal 100% regulation)

ii. Low cost.

iii. Reduced size.

iv. Easier to use.

Usually monolithic voltage regulator is available as 3 terminals IC7805 as shown in

below figure. The 3 terminals are denoted as IN (input), COM (common), OUT (output).

This +5V regulator is useful in power up to 500mw.It must have a heat sink for high

current. A 1mf high quality and tantalum capacitor should be placed from output to ground

for stability. By using this regulator circuit we are deriving 5v from 12v battery.

Fig. 4.21 REGULATOR CIRCUIT



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CHAPTER 5

SYSTEM IMPLEMENTATION

5.1 PCB LAYOUT

5.1.1 Main Board

Fig. 5.1 MAIN BOARD PCB

5.1.2 555 Astable (IR Emitter)

Fig. 5.2 IR EMITTER PCB



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5.1.3 555 Monostable (IR Trigger)

Fig. 5.3 IR TRIGGER PCB

5.2 PCB DESIGN

PCB design starts right from the selection of the laminates .The two main types

of base laminate are epoxy glass and phenolic paper laminates are generally used forsimple circuits. Though it is very cheap and can easily be drilled, phenolic paper has poor

electrical characteristics and it absorbs more moisture than epoxy glass. Epoxy glass has

higher mechanical strength.

The important properties that have to be considered for selecting the PCB substrate

are the dielectric strength, insulation resistance, water absorption property, coefficient of

thermal expansion, shear strength, hardness, dimensional stability etc.

5.2.1 PCB Fabrication

The fabrication of a PCB includes four steps.

a) Preparing the PCB pattern.

b) Transferring the pattern onto the PCB.

c) Developing the PCB.

d) Finishing (i.e.) drilling, cutting, smoothing, turning etc.



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Pattern designing is the primary step in fabricating a PCB. In this step, all

interconnection between the components in the given circuit are converted into PCB tracks.

Several factors such as positioning the diameter of holes, the area that each component

would occupy, the type of end terminal should be considered.

5.2.2 Transferring the PCB Pattern

The copper side of the PCB should be thoroughly cleaned with the help of alcoholic

spirit or petrol. It must be completely free from dust and other contaminants.

The mirror image of the pattern must be carbon copied and to the laminate the

complete pattern may now be made each resistant with the help of paint and thin brush.

5.2.3 Developing

In this developing all excessive copper is removed from the board and only

the printed pattern is left behind. About 100ml of tap water should be heated to 75 C and

30.5 grams of FeCl3 added to it, the mixture should be thoroughly stirred and a few drops of

HCl may be added to speed up the process.

The board with its copper side facing upward should be placed in a flat bottomed

plastic tray and the aqueous solution of FeCl2 poured in the etching process would take 40

to 60 min to complete.

After etching the board it should be washed under running water and

then held against light .the printed pattern should be clearly visible. The paint should be

removed with the help of thinner.



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5.2.4 Finishing Touches

After the etching is completed, hole of suitable diameter should be drilled, then

the PCB may be tin plated using an ordinary 35 Watts soldering rod along with the solder

core, the copper side may be given a coat of varnish to prevent oxidation.

5.2.5 Drilling

Drills for PCB use usually come with either a set of collects of various sizes or a 3-

Jaw chuck. For accuracy however 3-jaw chunks arent brilliant and small drill below 1 mmfrom grooves in the jaws preventing good grips.

5.2.6 Soldering

Begin the construction by soldering the resistors followed by the capacitors and the

LEDs diodes and IC sockets. Dont try soldering an IC directly unless you trust your skill

in soldering. All components should be soldered as shown in the figure. Now connect the

switch and then solder/screw if on the PCB using multiple washers or spaces. Soldering it

directly will only reduce its height above other components and hamper in its easy fixation

in the cabinet. Now connect the battery lead.

5.2.7 Assembling

The circuit can be enclosed in any kind of cabinet. Before fitting the PCB suitable

holes must be drilled in the cabinet for the switch, LED and buzzer. Note that a rotary

switch can be used instead of a slide type.

Switch on the circuit to be desired range. It will automatically start its timing cycles.

To be sure that it is working properly watch the LED flash. The components are selected to

trigger the alarm a few minutes before the set limit.



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CHAPTER 7

APPLICATIONS AND ADVANTAGES

7.1 APPLICATIONS

i. Military surveillance

ii. Space Exploration.

iii. Hazardous Area Maintenance like Nuclear Power Reactors.

iv. Mining.

v. Hospitals - To Maintain Sterile Environment.

vi. Industrial Automated Equipment Carriers.

vii. Tour Guides in Museums and Other Similar Applications.

7.2 ADVANTAGES

i. Circuit is very simple.

ii. Components used are economical.

iii. Compact, Power Efficient.

iv. No Manual Interpretation Required.

v. Accuracy Is Very High.

vi. Can Be Used In All Kinds Of Environment.

vii. Robots never get sick or need to rest, so they can work 24 hours a day, 7 days a

week.



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viii. When the task required would be dangerous for a person, they can do the work

instead.

ix. Robots don't get bored, so work that is repetitive and unrewarding is no problem

for a robot.

CHAPTER 8FUTURE ENHANCEMENTS

i. Distance sensing and position logging & transmission

ii. Use of solar power

iii. Multiple sensors like thermal etc

iv. Radar Implementation.

v. Equipped with Missiles

vi. Night vision



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CONCLUSION

A defence surveillance robot was designed in the project. Using the RF remote

control and sensors to sense the path and obstacles, controller program was designed so as

to enable the microcontroller to control robot, using RF remote and movement of the robot

and move when there is no obstacle in the following path. The program could also read data

from sensors and produce the controlling actions respectively. The motor drivers are used

to drive the motor. Obstacle sensors are used to change the movement of robot when the

robot faces an obstacle on the path.

The project has been accomplished with the help of KEIL C compiler and ATMEL

programmer. The project has been tested successfully and has been approved by the

concerned project guides.



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BIBLIOGRAPHY

REFERENCE BOOKS

[1] Muhammad Ali Mazidi THE 8051 MICROCONTROLLER AND EMBEDDEDSYSTEMS, Pearson education,

[2] Ayala- INTRODUCTION TO 8051 MICROCONTROLLER

SOFTWARES

[1] Keil C51 compiler user guide (Keil Software V3.60)

WEB LINKS

[1] www.8052.com

[2] www.google.com

[3] www.robotroom.com

[4] www.roboticsindia.com



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[5] www.wekipedia.org

[6] www.keil.com

[7] www.datasheetarchive.com

[8] www.atmel.com

[9] www.8051projects.info

[10] www.8051projects.net

[11] www.rentron.com