fyp complete report
TRANSCRIPT
FINAL YEAR PROJECT REPORT
MICRO-CONTROLLER BASED EVOKE QUENCHING SYSTEM
B.S. ELECTRONICS ENGINEERING, BATCH 2005
Internal advisor External AdvisorEngr. Mohammad Asif Asst. Professor, EEDSSUET
Submitted by SYED AALAY MOHAMMAD 2005-EE-335SYED AKMAL MUSTAFA 2005-EE-343SYED HABIB HAIDER 2005-EE-316SHABI-UL-HASNAIN 2005-EE-242MIRZA KAMAL BAIG 2005-EE-595
DEPARTMENT OF ELECTRONICS ENGINEERINGSIR SYED UNIVERSITY OF ENGINEERING AND TECHNOLOGY
UNIVERSITY ROAD, KARACHI - 75300
MICRO-CONTROLLER BASED EVOKE QUENCHING SYSTEM
TABLE OF CONTENTS
PREFACEACKNOLEDGEMENTCERTIFICATESYNOPSISLIST OF FIGURES
I II III IV V
CHAPTER 1INTRODUCTION
1.2 Introduction1.3 EQ System & Fire Fighting Robot1.4 Problem Statement1.5 Project Aim And Motivation1.6 System Block Diagram1.7 Report Organization
CHAPTER 2BACKGROUND
2.1 Introduction2.2 Robotic Arm
2.2.1 Rectangular Robot2.2.2 Cylindrical Robot2.2.3 Spherical Arm Robot2.2.4 Selection Compliance Assembly Robot2.2.5 Articulated Robot
2.3 Mobile Robots 2.4 EQ Robots
CHAPTER 3METHODOLOGY PROCEDURE
1.1 Introduction 3.2 Design Phase 3.3 Implementation Phase 3.4 Testing Phase
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CHAPTER 4HARDWARE DESIGN AND FABRICATION
4.1 Mechanical Design4.2 Structural Division4.3 Mechanical Consideration
4.3.1 Material Selection
CHAPTER 5ELECTRONICS COMPONENTS
5.1 Introduction 5.2 Micro-Controller 5.3 Power Supply 5.4 Motor Driving 5.5 Sensors
5.5.1 Infra Red Sensors 5.5.1.1 Infra Red Regions 5.5.2 Light Dependent Resistors (Ldr)
5.5.2.1 Theory Of Operation5.5.2.2 Applications
5.5.3 Smoke Sensors 5.5.4 Temperature Sensors
5.5.4.1 The Advantages Of Rtds 5.5.4.2 Rtd Error Sources
5.6 Limit Switches 5.7 Solenoid Stopper 5.8 Relays 5.9 Power Transistors 5.10 555-Timer 5.11 Max 232 5.12 Camera CHAPTER 6PROJECT FLOW
6.1 Introduction 6.2 Project flow6.3 Basic Process Flow Diagram
6.3.1 Explanation 6.4 Process flow Diagram
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CHAPTER 7SOFTWARE DISCRIPTION
7.1 Introduction 7.2 EQ System Software 7.3 Operator Console Software
CHAPTER 8RESULTS & DISCUSSION
8.1 Introduction 8.2 Results Of The EQ System 8.2.1 Maximum Reach Of The EQ System 8.2.2 Weight Lifting Capability Of The EQ System 8.2.3 The Work Envelop Of The EQ System 8.2.4 Running Time & Range Of The EQ System
CHAPTER 9CONCLUSION AND FUTURE
RECOMMENDATION
9.1 Conclusion 9.2 Application Of Our Project 9.3 Future Recommendation 9.3.1 Digital Image Processing 9.3.2 Web Based Interface 9.3.3 Solar Charging 9.3.4 Change Bale End Effectors
REFERENCES
APPENDIX A (Time and Cost analysis)
APPENDIX B(Theoretical study)
APENDIX C(Data sheets of all major components)
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PREFACE
Communication has become the fastest growing technology in our society today. One feels that a
text should serve not only for the benefit of the reader but also as a pedagogically sound outline
for a course of instruction. A text should be sufficiently clear to enable the reader to understand
the material well by its reading, with a realism that approaches hand-on experience. We also
think that the text should be more comprehensive than the course for which it is used; thus, the
student and engineer can use some material as both a reference source and a source of further
examples and illustration. Finally, we feel that the text should be able to stand alone, with
minimal need of supplement documentation and references. We hope that each student and
instructor finds that all these objectives have met in this text.
The report, micro controller based evoke quenching system, includes complete knowledge of the
project that describes the devices used in the formation and those associated with it. The text also
elaborates the terminologies and factors related to the project.
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ACKNOWLEDGEMENT
With a deep sense and profound gratitude, we take this opportunity to convey our sincere thanks
to almighty Allah for giving us courage and strength to reach this stage of life. We also thank our
parents who gave us great moral support at every step. We also convey thanks to all those who
gave us valuable support to complete this challenging project.
We are highly indebted to respected Prof. Dr. Bilal Alvi, dean faculty of engineering SSUET for
their sincere help and guidance throughout the work. We would like to present our heartily
thanks to Mr. Engr. Mohammad Asif, internal advisor and assistant professor for their untiring
assistance and perpetual guidance throughout the project. Finally yet importantly, we
acknowledge the efforts of our teachers who have been our source of inspiration throughout the
university years and have shared their knowledge and skills with us.
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CERTIFICATE
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SYNOPSIS
Design perfection is an essential demand in any digital designing environment however, its
importance increases even more in the case of Robotics. In the last few decades, microcontrollers
have become the major conquerors of the digital industry and still are so keeping this in our mind
we decided to choose a project that has been based on microcontroller and as it is obvious from
the name of our project A Microcontroller Based Evoke Quenching System.
The idea to took such a project came in our mind as we observe that in a under developed
country like Pakistan it is important that we start manufacture our own local products, this will
not only help us by saving a lot of money in importing machinery from foreign countries but also
help our country as well to raise its economy as well. Unfortunately from the last decades in
Pakistan Fire Fighting Industry is been neglected as every one is well aware of what happened in
Marriot Hotel, because of lack of proper facilities the loss becomes many a times greater than it
has to be.
Therefore, we have designed a proto type of a system that can be implemented on a fire Brigade
and this system can help to put fire out by the single operator sitting on the fire brigade. The
project is aimed to extinguish fire with a lesser risk of causalities. Basically the system is a
Robotic arm mounted on a firm and stationary support in order to provide strong base to the
elevated arm that can move vertically up and down according to the desired height, after
attaining the desired height the arm the elbow will extend in horizontal direction as a result we
will get the cylindrical effort arm and thus this horizontal movement allows us to move the arm
in the corridor or the room where the fire is been put off. This is the basic target but we did stop
here we also connected the wrist that will rotate up to 2700.
As it is very important to consider as many scenarios as possible and we observe that some times
it is not favorable to use water as we observe on the incident in Marriot Hotel that fire even lit up
more by using water so we are we not only use water as the fire extinguishing substance we have
used two substances in addition with water on is a chemical used to extinguish fire and both the
water and chemical tanks will be mounted on the wrist and will be controlled by the operator
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present at the base not only that we are also using a fire extinguishing foam that is been used
commonly used for this purpose.
The system is also provided with a camera that will show real time picture of all the happenings
and it will help the operator to work more efficiently but there is a possibility that due to smoke
the camera fails or some times the smoke is so thick that it is not possible to see though it and it
will become very difficult for the operator to handle the situation therefore we have implemented
a backup system (an array of smoke and fire sensors) that will help the operator to give a clue
where the fire is present and still he can effectively perform his task respite that he can not see.
The sensors are not only provided to detect fire but also to look for walls so there should not be
any collision with the walls that may be dangerous for our system and also for the building as it
may become the reason of building’s collapse, therefore IR sensors are being used so that there
should be no collision with the walls if camera fails.
Moreover, since we had to generate only the idea so the path to ease was followed. We attached
two buzzers in parallel to the end of the elbow so that once a fire is detected the system should be
able to alert the people in close vicinity.
After that in order to make our system more efficient we have also used to a system to control
the pressure of water or the chemical that is being used to extinguish the fire as a result we can
use water and chemical in a very effect way as we have observed that some times it is not
necessary to just burst water with single pressure and a lot of water can be wasted with out
achieving our desired result so variable pressure can provide a new dimension to fire
extinguishing.
Our project is designed in such a way that we tried to consider as many possibilities as possible
and aimed to make our system as flexible as possible and keeping in mind that a lot of necessary
work is need to be done in the field of Fire Fighting Industry specially in Pakistan.
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LIST OF FIGURES
1.1 (a) Fire Fighters (b) Fire Fighting Robot (c) Fire Fighting System
Mobile Based
1.2 System Block Diagram
2.1 Robotic Arms
2.2 Scout Robots
2.3 Fire Fighting Bug
2.4 Anna Konda (Fire Fighting Snake)
2.5 LEGO fire fighting Robot
2.6 Wiimote Fire Fighting Robot
3.1
4
4
4
4
5.1 EQ System Schematic
5.2 Micro-Controller Schematic
5.3 (a) power supply schematic (b) Operator Console Panel Battery
(c) Components Control Battery
5.4 Motor Driving Schematic
5.5 IR Sensors
5.6 Light Dependent Resistors
5.7 Light Dependent Resistor Schematic
5.8 Ionization Smoke Detector
5.9 Photoelectric Smoke Detector
5.10 Temperature Sensor Schematic
5.11 Temperature Sensor
5.12 (a) Limit Switches Schematic (b ) Limit Switches
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5.13 Solenoid Stopper
5.14 (a) Timer Schematic (b) 555 Timer
5.15 (a) Max 232 Schematic (b) Max232 Connector
5.16 CMOS Camera
6.1
6.2
7
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CHAPTER 1
INTRODUCTION
1.1 INTRODUCTION
Robotics is the science and technology of robots and their designs, manufacture and their
applications. Robotics comprises of not only the mechanical structure but also the electronics and
software in order to function according to the desired input. Now a days Robotics has become a
very vast and broad field and robots are distinguished in various categories according to there
structure and functions they perform. Robot is defined as a mechanical design that is capable of
performing human tasks or behaving in a human-like manner. Building a robot requires expertise
and complex programming. It’s about building systems and putting together motors, solenoids,
and wires, among other important components. There are a number of subsystems that must be
designed to fit together into an appropriate package suitable for carrying out the robot’s task. A
EQ system is one that has a different types of fire extinguishers, the extinguishers are water,
chemical & foam. By attaching a fire extinguishers to the robot, the EQ system put out the fires it
detects can be achieved.
1.2 EQ SYSTEM AND FIRE FIGHTING ROBOT
Firefighting is an important but dangerous occupation. A firefighter must be able to get to a fire
quickly and safely extinguish the fire, preventing further damage and reduce fatalities as shown
in figure 1.1a. Technology has finally bridged the gap between firefighting and machines
allowing for a more efficient and effective method of firefighting. Robots designed to find a fire,
before it rages out of control, could one-day work with firefighters greatly reducing the risk of
injury to victims.
The EQ system is designed to extinguish the fire; it is a robotic arm that is mounted on the fixed
base (fire brigade), it is a manually controlled system requires one or two users to operate it
through Pc. it uses few sensors and the camera, which is fixed at the end effecter of the system,
uses to detect the fire. It consists of three types of extinguishers that are activated according to Sir Syed University Of Engineering And Technology
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(a) (b)
(c)
Figure 1.1 (a) Fire Fighters (b) Fire Fighting Robot (c) Fire Fighting System Mobile Based
MICRO-CONTROLLER BASED EVOKE QUENCHING SYSTEM
the type of fire detected. It can move vertically up and down, after the desired vertical height the
elbow will extends out horizontally and as a result, robot arm will enter the desired area were the
fire to be put off. The wrist of robots arm can rotate up to 2700, which make the system more
flexible.
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1.3 PROBLEM STATEMENT
With the use of modern technology, the risk of human life has been minimized quite
considerably. The threats to human life which arise from working or coming into contact with
hazardous material or hazardous areas are the center of attention for mostly all the robots.
The threats of fire are so common that it can happen anytime or anywhere, from children’s
school to a government building. The fire is significant thereat to a public at a large and
especially to those groups of peoples, which tackles these threats. These groups of people are
known as fire fighters or fire extinguishing squad. The main problem faced by the fire fighters is
to extinguish the fire in those areas where it is impossible to enter, without risking there lives.
1.3 PROJECT AIM AND MOTIVATION
We have seen many documentaries in order to observe the problems faced by the fire fighter
during these difficult conditions and as the prime object of a fire fighter are to minimize the risk
of casualties and to reduce damage that have to be suffered by the building on fire. In this regard
the most difficult part is to enter in the rooms to extinguish fire and save the people being
trapped there so we thought to construct a manually controlled robot that can easily extinguish
the fire from outside the building and when the conditions lesser dangerous the people trapped
can be easily saved and fire can be put off much easily and also risk of casualties and damage to
the building can be minimized as well.
As in resent times we have seen the sorry incident occurred in Marriot Hotel is the latest example
which provoked us to choose such a project as our project’s aim is to construct such a system
that can help and provide aid in fire extinguishing, it was clearly observed that in that particular
incident if there were proper facilities available the lose would have been much lesser as
compared to that actually the building did suffered after the fire broke and therefore keeping that
incident in the mind we have tried to build a controller based Evoke Quenching System that will
not only aid to put the fire out quickly but also it will reduce the risk of casualties. Sir Syed University Of Engineering And Technology
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The objective of this project is to design and implement an EQ system that capable of
extinguishing the fire by minimizing the risk of causalities, the system also extinguishes the fire
in those areas where it is impossible for the human to enter or resists the harsh environments.
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1.5 SYSTEM BLOCK DIAGRAM
Figure shows the complete block diagram of the EQ system. The EQ system is based on
Microcontroller and various sensors and actuator system. The system detects fire using the
sensor and then the different types of EQs are activated according to the fire type.
Figure 1.2 System Block Diagram
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1.6 REPORT ORGANIZATION:
This report is organized as follow,
Chapter 2 provides an overview on background of the system; different types of robotics arms
are discussed.
Chapter 3 describes the proposed steps for object detection in real time. Methodology and
design, testing, implementation phases are then discussed.
Chapter 4 will give an emphasis on the hardware setup used in the vision guided robotic system.
Chapter 5 provides an overview on electric components used in the EQ system. Different types
of sensors, switches, motors, controller are discussed.
Chapter 6 describes the complete process flow of the system.
Chapter 7 provides an over view on the software’s used in the system.
Chapter 8 includes the schematics’ of the complete EQ system.
Chapter 9 gives an over view on the conclusion and the future recommendation of the EQ
system.
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CHAPTER 2
BACKGROUND
2.1 INTRODUCTION:
It can be said that tomorrow will be the era of robots. Many countries are making Human
Controlled Robot or Autonomous Robot by embedding artificial intelligence into them to reduce
workers/labors. The formulation of the automatic robot is an area of interest for various
engineering organizations.
Since every profession has its own importance and so is the importance of fire fighters and every
life is important and element of risk in this profession is much greater than other professions and
since it is important to extinguish fire as soon as possible before damage becomes so great, as we
know that short circuits and especially in industries fire extinguishers are available but some
times it is not possible to extinguish the fire or it increases so rapidly that it can not be controlled
so here we have tried to build a robot that can help to put the fire out with the help of a single
operator.
As it is mentioned earlier that a lot of work is being done on the Fire Fighting Robots but as we
came across all these robots we find that most of these were very limited in use and most of them
were just made for competitions and can not be build to use in practical scenarios and we thought
to build a proto type that may become the future.
2.2 ROBOTIC ARM:
After a brief overview of types of robots we will like to discuss the structure of robots as there
are many different structures of a robot can be made in order to perform a single or a same task
and we are trying to give a concept of how a robotic arm works, the reason is that our project’s
theme is based on it.
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In the early robots the hand and arms were pneumatically powered (air pressure) or hydraulically
powered (fluid pressure). Flexible tubes carried the pressurized substances to the joints. Now,
electrical motors located at the joint give the robot greater precision and control, but slow down
its movements.
There are five types of robot arms that are used today as shown in figure 2.1. Degrees of freedom
are the axes around which it is free to move. The area a robot arm can reach is its work envelope
and on the basses of this work envelop these robots are divided and are as follow.
Figure 2.1 Robotic Arms
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2.2.1 RECTANGULAR ROBOT:
Rectangular arms are sometimes called "Cartesian" because the arm´s axes can be described by
using the X, Y, and Z coordinate system. It is claimed that the Cartesian design will produce the
most accurate movements.
2.2.2 CYLINDRICAL ROBOT:
A cylindrical arm also has three degrees of freedom, but it moves linearly only along the Y and
Z-axes. Its third degree of freedom is the rotation at its base around the two axes. The work
envelope is in the shape of a cylinder.
2.2.3 SPHERICAL ARM ROBOT:
The spherical arm, also known as polar coordinate robot arm, has one sliding motion and two
rotational, around the vertical post and around a shoulder joint. The spherical arm's work
envelope is a partial sphere, which has various length radii.
2.2.4 SELECTION COMPLIANCE ASSEMBLY ROBOT:
The SCARA (Selection Compliance Assembly Robot Arm) is also known as a horizontal
articulated arm robot. Some SCARA robots rotate about all three axes, and some have sliding
motion along one axis in combination with rotation about another.
2.2.5 ARTICULATED ROBOT:
The last and most used design is the jointed-arm., also known as an articulated robot arm. The
arm has a trunk, shoulder, upper arm, forearm, and wrist. All joints in the arm can rotate,
creating six degrees of freedom. Three are the X, Y, and Z-axes. The other three are pitch, yaw,
and roll. Pitch is when you move your wrist up and down. Yaw is when you move your hand left
and right. Rotate your entire forearm, this motion is called roll.
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2.3 MOBILE ROBOT
Mobile robots have the capability to move around their environment and are not fixed to one
physical location. In contrast, industrial robots usually consists of a joined arm and gripper
assembly that is attached to a fixed surface. Mobile robots are the focus of a great deal of current
research. Mobile robots are also found in industry, military and security environments. They also
appear as consumer products for entertainment or to perform certain tasks like vacuum cleaning
or mowing.
One of the most famous robots was named as the scout mobile robot. This was developed to test
the agility and functionality of the suspension system over rough and uneven terrain. The
suspension is the free-floating fully articulated six-wheeled system. This suspension
configuration allows all six-wheels to maintain contact with the ground as it travels over any
type of surface in encounters. The drive motors for this vehicle are located in each individual
wheel, thus allowing for a much more compact vehicle and more space for different payload
packages. The dark area in the vehicle mid section is the design payload bay, which could house
instruments, micro-controller or cameras.
Figure 2.2 Scout Robots
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2.4 EQ ROBOTS
The EQ robots are extensively used by the fire fighting squad, these robots are used by several
others multinational companies or industries such as oil, gas, chemical etc. EQ robots have the
capability to search the fire in various areas and extinguish the fire. There are several types of
EQ robots some of them are discussed below:
The figure shows a german EQ robot named fire-fighting bug. Shifting through the mossy
undergrowth of Germany’s Black Forest, antennae raised and leg joints quietly clicking forward,
OLE (pronounced “oh-luh”) is a St. Bernard–size bug on the prowl.
A robot equipped with tanks of water and powdered fire-extinguishing agents, it would be
autonomous and guided by GPS, intelligent feelers, and infrared and heat sensors. Designed by
professor Ulrich Wohlgemuth, along with biologist and robot-systems manager Oliver Lange.
That armor is fireproof suit. The six legs have a similar protective purpose. The concept behind
is that he’s digging, and he’s near heat. Legs don’t always have contact with heat.” In addition,
from a roboticist’s perspective, six legs is the perfect number, providing stability and making it
easy to calculate movement points.
The designers have suggested two different ways for OLE to do its job. One idea is to place the
robots in potential hotspots near towns and campgrounds, where they would remain balled-up,
waiting for their sensors to pick up fire within a half-mile radius. Another idea is for the ’bot to
patrol the woods, actively searching for blazes, although battery life and forest obstacles would
limit its range.
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Figure 2.3 Fire Fighting Bug
Anna Konda was developed in order to demonstrate the Snake Fighter concept. The robot is to
our knowledge the biggest and strongest snake robot in the world and the first water hydraulic
snake robot ever constructed.
The joints in Anna Konda are moved by a total of 20 water hydraulic cylinders. The cylinders
were custom-built in order to make them as compact as possible. They can handle a system
pressure of 100 bar (1450 PSI). Each joint module in Anna Konda is equipped with two water
hydraulic valves in order to control the pressure applied to the two cylinders in the joint module.
The limited availability of compact water hydraulic valves in the market today forced us to
custom-build these valves. The two valves for each joint module are integrated in a single valve
block in order to save space. Anna Konda has a steel skeleton. The parts were designed based on
strength calculations that were performed to ensure that the hydraulic actuation forces would not
destroy the robot. The robot is covered by skin plates in order to give the robot a smooth exterior
surface and to protect internal components. Contact force sensors are mounted beneath the skin
plates to allow the robot to sense external contact forces along the snake body. Anna Konda is
equipped with nozzles in the front that enable the robot to spray water and thereby demonstrate
the fire fighting application.
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Figure 2.4 Anna Konda (Fire Fighting Snake)
The LEGO firefighting robot, able to identify a candle flame and put the flame out. The medium
of the robot are LEGOS and use the LEGO MINDSTORMS NXT robotics kit to control the
robot. The NXT kit comes with a computer processor specially designed to interface with LEGO
sensors and motors. The robot also includes an I²C Camera provided by Mindsensors.com.
Figure 2.5 LEGO fire fighting Robot
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The Wiimote makes a perfect control system for a fire fighting robot. It has IR sensors which can
detect a candle and a bluetooth transciever to communicate back to a host computer. I use a
boebot as the robot platform, an arduino, wiimote and a Linux computer.
The wiimote uses its IR sensor to find the candle. It transmits the sensor readings back to the
host computer over bluetooth. A C program running on the host computer reads the sensor data
and sends commands back over bluetooth to the wiimote. The wiimote relays those commands to
an arduino board over the wiimote's expansion port. The expansion ports uses the I2C protocol.
The arduino then controls the servos and fan. The fan is controlled by a ULN8023 chip.
This fire fighting robot is still very crude. It lacks the number of sensors that you would be need
to seriously compete. It is mainly a proof of concept that the wiimote can be used in a fire
fighting robot. It basically just circles around until it sees a candle, then turns on the fan and
moves toward the candle. The wiimote seems to loose the flame when it gets withing 4 inches.
Maybe the candle is overloading the sensors or maybe its just bad programming on my part.
Figure 2.6 Wiimote Fire Fighting Robot
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Conclusion
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CHAPTER 3
SYSTEM METHODOLOGY
3.1 INTRODUCTION
Our methodology depends upon the electrical and mechanical setup. Since it has to meet the
requirements of practical implementation and has to be very flexible in order to meet the
different sceneries and conditions. The mechanical part consists of several motors to rotate the
arm the elbow and the wrist in the desired direction and also it has to react and response quickly
since it is of the prime objective. The electronic part composed of sensors and controller in order
to give the right instructions to the bout to act accordingly.
Add picture (Flow chart)
3.1.1 DESIGN PHASE
Our design includes a mechanical setup, It a machine which have to act accordingly in difficult
conditions and a lot of problems may occur so in this situation we have to design a robot with
keeping many possibilities that can happen and our robot to function properly in these
possibilities as best as possible. It can perform tasks which can be controlled through a PC
therefore we require a single operator and this is yet another feature of our project. Our project is
controller based which provides the complete controlling and assessment of our various tasks.
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3.1.2 IMPLEMENTATION PHASE
The mechanical and electrical setup consists of a fixed support in with a motor connected to a
rod to move it vertically and some for the horizontal rod forming the elbow and the wrist as well
that can rotate up to 270 0 along with the water buster that can bust water on the fire in different
ways as most suitable in the given scenario. A camera is mounted on the wrist in order to get real
time pictures to aid the robot and also fire sensors will also be used as it is a possibility that a
there might be a lot of smoke and we might not be able to see through it and a software will be
designed on visual basic so that it helps us to operate our bout properly.
3.1.3 TESTING PHASE
This is the most important phase of our project. It is important for any machine that if it is not
working properly than it can indicate as quickly as possible otherwise it might cause a lot of
damage to not only the machine itself but also a lot of money may be lost and as it is very
important that our robot can function properly because we are going to implement this bout in a
life saving scenario and so it has to be tested for as many conditions as possible and we it will
keep improving as new challenges will be faced by this robots but for the time being if our
camera is not working properly or being damaged by the fire we have used fire and smoke
sensing devices to put the fire off and no time will be wasted and this is yet another feature of
our project as well.
3.2 CONCLUSION
In this chapter, the methodology of the EQ system is presented. The system was implemented and in three
phases and discussed briefly. The hardware and software design of the developed EQ system will be
presented in later chapters.
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CHAPTER 4
SYSTEM MECHANICAL DESIGN
4.1 INTRODUCTION
The main feature in the mechanical design is to construct such a structure, which is capable of
carrying in itself the entire circuitry, driving mechanism, power source. It should be stable at the
same time and should be strong enough to serve our purpose.
4.2 STRUCTURAL DESIGN
The structure of the robot is divided into different sections based on the requirements. The details
of these sections are as follows:
Starting from the base, it is strong and heavy metallic base so that it provides strong
support to the system during the extension of arm.
Next is the arm that is further divided as follow:
o The arm can extend vertically up and down according to the desired height.
o For horizontal extension elbow is provided with 1800 rotation that will add to its
flexibility.
o The wrist is also provided with the rotation of 2700, which makes it more dynamic
and the wrist is provided with the water and chemical busters.
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MICRO-CONTROLLER BASED EVOKE QUENCHING SYSTEM
4.3 MECHANICAL CONSIDERATION
The importance of Mechanical Aspects within a system can never be denied as they so very often
determine the final Outcome and Overall Performance of the system and in our case, it is a very
important aspect because there are a lot of things are to be considered so make our system not
only fusible but also successful.
4.3.1 MATERIAL SELECTION
Perhaps the most important consideration was the type of the material to be chosen for the
system. In order to make our system practically fusible we require such a material that should be
light weight but also strong enough to hold the system together and a very strong base so that it
can provide support to the system, it can work very effectively.
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MICRO-CONTROLLER BASED EVOKE QUENCHING SYSTEM
CHAPTER 5
SYSTEM ELECTRICAL HARDWARE
5.1 INTRODUCTION
The system electrical hardware uses various sensors and actuator to sense the fire and control the
pressure of the extinguishers. The whole system is controlled using the microcontroller. The
whole system is operated through PC. The camera is also connected to the PC. The figure below
is the complete schematic figure of the system. It includes the motor driving schematic, different
sensors schematics, limit switches schematic, timer schematic, max 232 schematic and micro-
controller schematic.
R e la y -1 0
Q 7C 9 4 5
+5 V
R e la y -4
TXD
LIMIT SWITCHES
F ire -1
R e la y -7
I R -1 t o 4
D 9L E D
L L -2
+5 V
L E D
L L -4
+5 V
U 1 6
L M 3 3 1
84
7 5
2
1
3
6
VS
GN
D
I N R / C
R E F
I O U T
F O U T
TH R S
Two Relays ForEach Motor
1 u f
-+
B R I D G E
1
4
3
2
+1 2 V
R e la y -1 6
I K
M A X2 3 2
1
3
4
5
1615
2
6
1 2
9
1 11 0
1 3
8
1 4
7
C 1 +
C 1 -
C 2 +
C 2 -
VC
CG
ND
V+
V -
R 1 O U T
R 2 O U T
T1 I NT2 I N
R 1 I N
R 2 I N
T1 O U T
T2 O U T
LDR
+5 V
I M
1 0 0 K
S W 5
1 2
L S 3
R E L A Y S P D T
35
412
+1 2 V
+1 2 V
F ire -2
+1 2 V
OPTIONAL SENSORS
+5 V
L L -5
R 1 11 0 k / 0 W 2 5
S W 1
1 2
1 0 3
1 0 0 K
S W 2
1 2
LIMIT SWITCHES
+1 2 V
-
+
U 1 4 AL M 3 3 9
7
61
312
L L -2
I R -1
I R -4
U 2
L M 7 8 0 5
1 3
2
I N O U T
GN
D
R e la y -1 2
D 1 0
1 N 4 0 0 7
+1 2 V
R e la y -1
U 7
P C 8 1 7
1
2
4
3
L L -4
TE M P
L S 3
R E L A Y S P D T
35
412
L L -6
+1 2 V
R XD
R 1 5
1 0 0
J 8
123
1 0 u f
F ire -2
1 0 u f
+5 V
R e la y -5
4 K 7
R 1 31 K R / 0 W 2 5
U 6
L M 5 5 5
3
4 81
5
2
6
7
O U T
RS
TV
CC
GN
D C V
TR G
TH R
D S C H G
1 0 3
R 1
V R 5 0 0 K
+5 V
TXD
+1 2 V
C 9 4 5
+1 2 V
TE M P
L L -1
R 1 21 K R / 0 W 2 5
1 0 0 K
P 1
To PC
5
9
4
8
3
7
2
6
1
L L -6
I K
R 1 21 K R / 0 W 2 5
D 1 0
1 N 4 0 0 7
Q 5C 9 4 5
Q 5C 9 4 5
3 0 P F
+5 V
+5 V
2 2 0 R
+1 2 V
+5 V
+1 0 0 0 u f 2 5 V
+5 V
L M 3 51
V S +V O U T
GN
D
S W 4
1 2
L L -3
+5 V
I N P -1
1 0 K
R e la y -2
R e la y 1 t o 1 5
R e la y -1 1
I R -3
4 K 7
R e la y -3
I N P -1
L L -3
J 2
AC 1 2 V
12
4 K 7
+1 2 V
L L -5S W 3
1 2
R e la y -8
D 9L E D
+1 2 V
R e la y -1 4
4K7
1 1 . 0 5 9 2
R XD
+1 2 V
SENSOR-1
+1 2 V
R 1 31 K R / 0 W 2 5
R e la y 1 6
1 0 u f
1 0 u f
-
+
U 1 4 BL M 3 3 9
5
42
312
R e la y -1 5
LDR
I K
A T8 9 C 5 1
91 8
1 9
20
2 9
3 0
3140
12345678
2 12 22 32 42 52 62 72 8
1 01 11 21 31 41 51 61 7
3 93 83 73 63 53 43 33 2
R S TXTA L 2
XTA L 1
GN
D
P S E N
A L E / P R O G
EA
/VP
PV
CC
P 1 . 0 / T2P 1 . 1 / T2 -E XP 1 . 2P 1 . 3P 1 . 4P 1 . 5P 1 . 6P 1 . 7
P 2 . 0 / A 8P 2 . 1 / A 9
P 2 . 2 / A 1 0P 2 . 3 / A 1 1P 2 . 4 / A 1 2P 2 . 5 / A 1 3P 2 . 6 / A 1 4P 2 . 7 / A 1 5
P 3 . 0 / R XDP 3 . 1 / TXD
P 3 . 2 / I N TOP 3 . 3 / I N T1
P 3 . 4 / TOP 3 . 5 / T1
P 3 . 6 / W RP 3 . 7 / R D
P 0 . 0 / A D 0P 0 . 1 / A D 1P 0 . 2 / A D 2P 0 . 3 / A D 3P 0 . 4 / A D 4P 0 . 5 / A D 5P 0 . 6 / A D 6P 0 . 7 / A D 7
I R -T
1 0 K
J 6
123
1 0 K
F ire -2
1 0 u f
S W 6
1 2
+1 2 V
+1 2 VR 1 21 K R / 0 W 2 5
R e la y -9
L L -1
Relays for Motors
R 1 5
1 0 0
I R -T
4 K 7
1 0 0 K
4 K 7
+5 V
1 0 3I K
V R 2 0 K
Q 7C 9 4 5
L M 3 51
V S +V O U T
GN
D
R e la y -1 3
R e la y -6
I R -1
6 K 8
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MICRO-CONTROLLER BASED EVOKE QUENCHING SYSTEM
Figure 5.1 EQ System Schematic
The individual electrical components of the system are briefly discussed below:
5.2 MICROCONTROLLER
A microcontroller is a computer on a chip, or a single-chip computer. MICRO suggests that the
devise is small, and controller tells you that the device might be used to control objects,
processes, or events. Another term to describe a microcontroller is EMBEDDED
CONTROLLER, because the microcontroller and its support circuits are often built into or
embedded in, the devices they control. We have used the AT89S51 microcontroller in our robot.
Microcontroller performs Interfacing & overall control of the system.
L L -6
R XD
F ire -2
I R -1
R e la y -5
+5 V
3 0 P F
+5 V
L L -3
R e la y -2
R e la y -1 1
I R -3R e la y -3
I N P -1
L L -5
R e la y -8
R e la y -1 4
1 1 . 0 5 9 2
4K7
1 0 u f
A T8 9 C 5 1
91 8
1 9
20
2 9
3 0
31
40
12345678
2 12 22 32 42 52 62 72 8
1 01 11 21 31 41 51 61 7
3 93 83 73 63 53 43 33 2
R S TXTA L 2
XTA L 1
GN
D
P S E N
A L E / P R O G
EA
/VP
PV
CC
P 1 . 0 / T2P 1 . 1 / T2 -E XP 1 . 2P 1 . 3P 1 . 4P 1 . 5P 1 . 6P 1 . 7
P 2 . 0 / A 8P 2 . 1 / A 9
P 2 . 2 / A 1 0P 2 . 3 / A 1 1P 2 . 4 / A 1 2P 2 . 5 / A 1 3P 2 . 6 / A 1 4P 2 . 7 / A 1 5
P 3 . 0 / R XDP 3 . 1 / TXD
P 3 . 2 / I N TOP 3 . 3 / I N T1
P 3 . 4 / TOP 3 . 5 / T1
P 3 . 6 / W RP 3 . 7 / R D
P 0 . 0 / A D 0P 0 . 1 / A D 1P 0 . 2 / A D 2P 0 . 3 / A D 3P 0 . 4 / A D 4P 0 . 5 / A D 5P 0 . 6 / A D 6P 0 . 7 / A D 7
R e la y -1 5
1 0 K
L L -1
R e la y -9
R e la y -1 3
R e la y -6
R e la y -1 0
I R -1
R e la y -4
+5 V
TXD
F ire -1
R e la y -7L L -4
R e la y -1 6
L L -2
R e la y -1 2
I R -4
R e la y -1
TE M P
Figure 5.2 Micro-Controller Schematic
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MICRO-CONTROLLER BASED EVOKE QUENCHING SYSTEM
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MICRO-CONTROLLER BASED EVOKE QUENCHING SYSTEM
5.3 POWER SUPPLY
Rechargeable 12v, 5v batteries were the power supply of choice for the EQ system. This gives
the running time of approximately two hours. They are capable of providing 35 ampere and 7
ampere of current per hour each. The rechargeable batteries provide clean, reliable power and
allowed reuse of the batteries when depleted. The selection between different types of batteries
was made based on size and power requirements. Power supply provides biasing to the different
components of the system and activates the sensors, motors.
+1 0 0 0 u f 2 5 V
J 2
AC 1 2 V
12
+1 2 V +5 V-
+
B R I D G E
1
4
3
2U 2
L M 7 8 0 5
1 3
2
I N O U T
GN
D
(a)
(b) (c)
Figure 5.3 (a) power supply schematic (b) Operator Console Panel Battery
(c) Components Control Battery
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MICRO-CONTROLLER BASED EVOKE QUENCHING SYSTEM
5.4 MOTOR DRIVING
Motor is a device that converts electrical energy into mechanical energy. Its principle is because
when a current carrying conductor is placed in a magnetic field, it experiences a mechanical
force whose direction is given by Fleming’s Left Hand Rule and magnitude by F = B I L
Now the motors that we have used in our Robot are six volt DC Motors. Four motors have been
used. Two for driving the Robot and the other two are used in Fire Fighting. The drive motors
are two geared DC motors, with a max speed of 500 RPM at 7.2 volts.Using 5.5 cm diameter
wheels, this translates to a max speed of about 57 cm/s. The robot is operated at less than max
speed.
+1 2 V
L S 3
R E L A Y S P D T
35
412
D 1 0
1 N 4 0 0 7
J 8
123
+5 V
R 1 31 K R / 0 W 2 5
Q 5C 9 4 5
+1 2 V
R e la y 1 t o 1 5
D 9L E D
R 1 21 K R / 0 W 2 5
R 1 5
1 0 0
4 K 7
Q 7C 9 4 5
Figure 5.4 Motor Driving Schematic
5.5 SENSORS
The different types of sensors are used in the project, that are discussed below:
5.5.1 INFRARED SENSORS
Infrared sensor is a device that picks up radiation in the infrared band and is used extensively for
still and video night vision cameras. Infrared (IR) radiation is electromagnetic radiation of a
wavelength longer than that of visible light, but shorter than that of microwaves. The name
means "below red" (from the Latin infra, "below"), red being the color of visible light with the
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MICRO-CONTROLLER BASED EVOKE QUENCHING SYSTEM
longest wavelength. Infrared radiation has wavelengths between about 750 nm and 1 mm,
spanning five orders of magnitude. Humans at normal body temperature can radiate at a
wavelength of 10 microns.
Infrared imaging is used extensively for both military and civilian purposes. Military
applications include target acquisition, surveillance, and night vision, homing and tracking. Non-
military uses include thermal efficiency analysis, remote temperature sensing, short-ranged
wireless communication, spectroscopy, and weather forecasting. Infrared astronomy uses sensor-
equipped telescopes to penetrate dusty regions of space, such as molecular clouds; detect objects
such as planets, and to view highly red-shifted objects from the early days of the universe.
At the atomic level, infrared energy elicits vibration modes in a molecule through a change in the
dipole moment, making it a useful frequency range for study of these energy states. Infrared
spectroscopy examines absorption and transmission of photons in the infrared energy range,
based on their frequency and intensity.
Figure 5.5 IR Sensors
5.5.1.1 INFRARED REGIONS
Objects generally emit infrared radiation across a spectrum of wavelengths, but only a specific
region of the spectrum is of interest because sensors are usually designed only to collect
radiation within a specific bandwidth. As a result, the infrared band is often subdivided into
smaller sections.
The International Commission on Illumination (CIE) recommended the division of optical
radiation into the following three bands:
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MICRO-CONTROLLER BASED EVOKE QUENCHING SYSTEM
IR-A: 700 nm–1400 nm
IR-B: 1400 nm–3000 nm
IR-C: 3000 nm–1 mm
A commonly used sub-division scheme is:
Near infrared: 0.75-1.4 µm in wavelength, defined by the water absorption, and
commonly used in fiber optic telecommunication because of low attenuation losses in the
SiO2 glass silica medium. Image intensifiers are sensitive to this area of the spectrum.
Examples include night vision devices such as night vision goggles.
Short-wavelength infrared: 1.4-3 µm, water absorption increases significantly at
1,450 nm. The 1,530 to 1,560 nm range is the dominant spectral region for long-
Distance telecommunications
Mid-wavelength infrared also called intermediate infrared (IIR): 3-8 µm. In guided
missile technology the 3-5 µm portion of this band is the atmospheric window in which
the homing heads of passive IR 'heat seeking' missiles are designed to work, homing on
to the IR signature of the target aircraft, typically the jet engine exhaust plume.
Long-wavelength infrared: 8–15 µm. This is the "thermal imaging" region, in which
sensors can obtain a completely passive picture of the outside world based on thermal
emissions only and requiring no external light or thermal source such as the sun, moon or
infrared illuminator. Forward-looking infrared systems use this area of the spectrum.
Sometimes also called the "far infrared."
Far infrared (FIR): 15-1,000 µm
5.5.2 LIGHT DEPENDENT RESISTOR (LDR)
A Light Dependent Resistor (LDR) is shown in figure. It is an electronic component whose resistance
decreases with increasing incident light intensity. It can also be referred to as photoconductor.
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MICRO-CONTROLLER BASED EVOKE QUENCHING SYSTEM
Figure 5.6 Light Dependent Resistors
5.5.2.1 THEORY OF OPERATION
LDR is made of a high resistance semiconductor. If light falling on the device is of high enough
frequency, photons absorbed by the semiconductor give bound electrons enough energy to jump
into the conduction band. The resulting free electron conducts electricity, thereby lowering
resistance.
A photoelectric device can be either intrinsic or extrinsic. An intrinsic semiconductor has its own
charge carriers and is not an efficient semiconductor, e.g. Silicon. In intrinsic devices, the only
available electrons are in the valence band, and hence the photon must have enough energy to
excite the electron across the entire band gap. Extrinsic devices have impurities added, which
have a ground state energy closer to the conduction band; since the electrons don't have as far to
jump, lower energy photons (i.e. longer wavelengths and lower frequencies) are sufficient to
trigger.
The device. If a sample of silicon has some of its atoms replaced by phosphorus atoms
(impurities), there will be extra electrons available for conduction. This is an example of an
extrinsic semiconductor.
4 K 7
+1 2 V+1 2 V
+5 V
1 0 K
4 K 7
+1 2 V
-
+
U 1 4 BL M 3 3 9
5
42
31
2
LDR 1 0 K
F ire -2
1 0 0 K
+5 V
+1 2 V
LDR
1 0 0 K
+1 2 V
F ire -2-
+
U 1 4 AL M 3 3 9
7
61
31
2
+ 1 2 V
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MICRO-CONTROLLER BASED EVOKE QUENCHING SYSTEM
Figure 5.7 Light Dependent Resistor Schematic
5.5.2.2 APPLICATIONS
LDR come in many different types. Inexpensive cadmium sulfide cells can be found in many
consumer items such as camera light meters, clock radios, security alarms, streetlights and
outdoor clocks. They are also used in some dynamic compressors together with a small
incandescent lamp or light emitting diode to control gain reduction.
Lead sulfide- and indium antimonite-LDR are used for the mid infrared spectral region.
At the other ends of the scale, Ge: Cu photoconductors are among the best far-infrared detectors
available, and are used for infrared astronomy and infrared spectroscopy. Continues power
dissipation is 80mW and the Maximum voltage, which can be applied to its 100V.
5.5.3 SMOKE SENSORS
There are two types of smoke detectors common to today\’s normal household: ionization and
photoelectric smoke detectors. These smoke detectors are both used to detect fire, but not the
same type of fire. Photoelectric Smoke Detectors are faster in detecting smoldering fires, while
Ionization Smoke Detectors are better at detecting flaming fires due to their ability to detect
smaller particles. There is a slight defect in these methods of detecting fire; high humidity or
steam can also cause an alarm to go off.
Ionization Smoke Detectors An Ionization Smoke Detector has two key parts: the ionization
chamber, and a source of radiation. This source of radiation consists of a very minute
concentration of Americium-241, which produce alpha particles. The Ionization Chamber
contains two plates: one plate is negatively charged, and the other is positively charged. The
alpha particles created by the Americium-241 move at very high speeds and bump into oxygen
and nitrogen molecules within the ionization chamber. The force exerted by this collision causes
electrons to fall off from each molecule, creating an ion. The now positively charged ions are
attracted to the negatively charged plate while the electrons attracted to the positively charged
plate. This attraction causes a consistent electrical current within the chamber itself. When
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MICRO-CONTROLLER BASED EVOKE QUENCHING SYSTEM
smoke travels into the chamber, its particles attach to the ionized molecules to neutralize them
and pull them away from the plate. This disrupts the electrical current and triggers the alarm.
Figure 5.8 Ionization Smoke Detector
Many questions about public safety have arisen due to the radiation content within these
detectors; however, there is not enough alpha radiation within the chambers to cause any serious
damage. In fact, the content within the chambers of this type of radiation is so weak that the
surrounding air particles are able to smother any toxicity secreted. Still one is always cautioned
to never directly inhale this substance.
The Photoelectric Smoke Detector is less common and more expensive than the Ionization
Smoke Detector. It consists of a chamber in the shape of a capital letter "T." The horizontal
portion of this chamber consists of a light source called a Light Emitting Code. This beam of
light travels across this horizontal bar, but never sends light vertically. At the base of the "T," is a
photocell, which senses light from darkness. When smoke enters this "T" chamber, light from the
beam is broken up and is scattered away from its straight beam. When a certain level of light
reaches the photocell, which is usually in darkness, the alarm is initiated.
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MICRO-CONTROLLER BASED EVOKE QUENCHING SYSTEM
Figure 5.9 Photoelectric Smoke Detector
Both ionization and photoelectric detectors are effective smoke sensors. Both types of smoke
detectors must pass the same test to be certified as UL smoke detectors. Ionization detectors
respond more quickly to flaming fires with smaller combustion particles; photoelectric detectors
respond more quickly to smoldering fires. In either type of detector, steam or high humidity can
lead to condensation on the circuit board and sensor, causing the alarm to sound. Ionization
detectors are less expensive than photoelectric detectors, but some users purposely disable them
because they are more likely to sound an alarm from normal cooking due to their sensitivity to
minute smoke particles. However, ionization detectors have a degree of built-in security not
inherent to photoelectric detectors. When the battery starts to fail in an ionization detector, the
ion current falls and the alarm sounds, warning that it is time to change the battery before the
detector becomes ineffective. Back-up batteries may be used for photoelectric detectors.
5.5.4 TEMPERATURE SENSORS
Temperature Detectors or RTDs for short, are wire wound and thin film devices that measure
temperature because of the physical principle of the positive temperature coefficient of electrical
resistance of metals. The hotter they become, the larger or higher the value of their electrical
resistance. They, in the case of Platinum known variously as PRTs and PRT100s, are the most
popular RTD type, nearly linear over a wide range of temperatures and some small enough to
have response times of a fraction of a second. They are among the most precise temperature
sensors available with resolution and measurement uncertainties or ±0.1 °C or better possible in
special designs.
Usually they are provided encapsulated in probes for temperature sensing and measurement with
an external indicator, controller or transmitter, or enclosed inside other devices where they
measure temperature as a part of the device's function, such as a temperature controller or
precision thermostat.
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MICRO-CONTROLLER BASED EVOKE QUENCHING SYSTEM
R 1 5
1 0 0
1 0 3
R 1 21 K R / 0 W 2 5
TE M P
1 0 0 K
Q 5C 9 4 5
D 1 0
1 N 4 0 0 7
+5 V
L M 3 51
V S +V O U T
GND
+ 5 V4 K 7
+1 2 V
R 1 31 K R / 0 W 2 5
R e la y 1 6
+1 2 V
V R 2 0 K
L M 3 51
V S +V O U T
GND
6 K 8
Q 7C 9 4 5
D 9L E D
U 1 6
L M 3 3 1
84
7 5
2
1
3
6
VSGN
D
I N R / C
R E F
I O U T
F O U T
TH R S
1 u f
+5 V
1 0 3
1 0 0 K
+1 2 V
L S 3
R E L A Y S P D T
35
412
Figure 5.10 Temperature Sensor Schematic
5.5.4.1 THE ADVANTAGES OF RTDS
The advantages of RTDs include stable output for long period of time, ease of recalibration and
accurate readings over relatively narrow temperature spans. Their disadvantages, compared to
the thermocouples, are smaller overall temperature range, higher initial cost and less rugged in
high vibration environments.
They are active devices requiring an electrical current to produce a voltage drop across the
sensor that can be then measured by a calibrated read-out device.
5.5.4.2 RTD ERROR SOURCES
The lead wires used to connect the RTD to readout can contribute to their measurement error,
especially when there are long lead lengths involved, as often happens in remote temperature
measurement locations. Those calculations are straightforward and there exist 3-wire and 4-wire
designs to help minimize or limit such errors, when needed.
Often the lead error can be minimized through use of a temperature transmitter mounted close to
the RTD. Transmitters convert the resistance measurement to an analog current or serial digital
signal that can be sent long distances by wire or rf to a data acquisition or control system and/or
indicator. RTDs, as mentioned above, work in a relatively small temperature domain, compared
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MICRO-CONTROLLER BASED EVOKE QUENCHING SYSTEM
to thermocouples, typically from about -200 °C to a practical maximum of about 650 to 700 °C.
Some makers claim wider ranges and some construction designs are limited to only a small
portion of the usual range.
Figure 5.11 Temperature Sensor
5.6 LIMIT SWITCHES
Limit switches provide physical contact between a target object and switch activator to make the
contacts change state.
A mechanical limit switch interlocks a mechanical motion or position with an electrical circuit.
A good starting point for limit-switch selection is contact arrangement. The most common limit
switch is the single-pole contact block with one NO and one NC set of contacts; however, limit
switches are available with up to four poles.
Limit switches also are available with time-delayed contact transfer. This type is useful in
detecting jams that cause the limit switch to remain actuated beyond a predetermined time
interval.
Other limit switch contact arrangements include neutral-position and two-step. Limit switches
feature a neutral-position or center-off type transfers one set of contacts with movement of the
lever in one direction. Lever movement in the opposite direction transfers the other set of
contacts. Limit switches with a two-step arrangement, a small movement of the lever transfers
one set of contacts, and further lever movement in the same direction transfers the other set of
contacts.
Maintained-contact limit switches require a second definite reset motion. These limit switches
are primarily used with reciprocating actuators, or where position memory or manual reset is
required. Spring-return limit switches automatically reset when actuating force is removed.
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MICRO-CONTROLLER BASED EVOKE QUENCHING SYSTEM
L L -4
L L -6
L L -1
S W 4
1 2
L L -3
S W 3
1 2
S W 6
1 2L L -2
S W 5
1 2L L -5
S W 1
1 2
S W 2
1 2
(a) (b)
Figure 5.12 (a) Limit Switches Schematic (b ) Limit Switches
5.7 SOLENOID STOPPER:
It is quite common that special pneumatic cylinders stop work piece holders in production lines.
Often the usage of pneumatic actuators is not feasible because surfaces of work pieces are
sensitive against raised dust or traces of oil mist. On the other hand, a process is running under
vacuum or blanket gas. Sometimes the stopper cylinders are the last remaining consumers of
pressurized air. Therefore, a pneumatic compressor and its ducts have to be maintained just for
them. The mounting of a solenoid and connecting it to its supply are, as a rule, simpler than
mounting a cylinder and connecting its hoses.
Therefore, stopper solenoids are a practical alternative. They can be delivered for all common
DC supply voltages. According to demands and application they can be delivered „stopping with
power on” and „releasing with power off” or vice versa. The return springs can be internal or
given by the application. For not too high masses and velocities of the work pieces, the inner
bearing of the solenoid is sufficient. For higher demands, there are constructive solutions, which
protect the bearings from blows.
Figure 5.13 Solenoid StopperSir Syed University Of Engineering And Technology
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MICRO-CONTROLLER BASED EVOKE QUENCHING SYSTEM
5.8 RELAYS
We are employing relays for switching and controlling the drive motors. The relays used are
Single Pole Double Throw SPDT type relays. The disadvantage of any electric component that
consists of coils is that it fire high back current. These relays are to be placed after the voltage
regulator IC so in order to protect the IC we had to get this back current blocked before it could
reach the IC and damage it.
5.9 POWER TRANSISTOR
For protecting the voltage regulator IC and countering the Back current of the relay, we added
Power Transistor in between the two components. The power transistor does not allow reverse
current to pass and hence protects the circuit.
5.10 TIMER
The 555 timer is one of the most popular and versatile integrated circuits ever produced. It includes 23
transistors, 2 diodes and 16 resistors on a silicon chip installed in an 8-pin mini dual-in-line package.
+1 2 V
U 6
L M 5 5 5
3
4 81
5
2
6
7
O U T
RS
T
VC
CG
ND
C V
TR G
TH R
D S C H G
R 1
V R 5 0 0 K
C 9 4 5
I K
2 2 0 R
+1 2 V
I K
I R -T
+1 2 V
1 0 3
I R -T
4 K 7
+5 V
I K
L E D
I R -1 t o 4
I K
I M
(a) (b)
Figure 5.14 (a) Timer Schematic (b) 555 Timer
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MICRO-CONTROLLER BASED EVOKE QUENCHING SYSTEM
5.11 MAX-232
The communication between two parts of the project i.e. the robot manipulator and the operator
console panel is accomplished by using Max 232 converter. It allows for communication
between the two parts to span to a distance of 4000 feet.
1 0 u f
1 0 u f TXD
P 1
To PC
5
9
4
8
3
7
2
6
1
R XD
1 0 u f
1 0 u f
M A X2 3 2
1
3
4
5
16
15
2
6
1 2
9
1 11 0
1 3
8
1 4
7
C 1 +
C 1 -
C 2 +
C 2 -
VC
C
GN
D
V+
V -
R 1 O U T
R 2 O U T
T1 I NT2 I N
R 1 I N
R 2 I N
T1 O U T
T2 O U T
+5 V
(a) (b)
Figure 5.15 (a) Max 232 Schematic (b) Max232 Connector
5.12 CAMERA
In order to get the visual information about the surroundings of the robot, a camera is placed on
the end effecter. The camera used for this purpose is a standard CMOS camera as shown in
figure
Figure 5.16 CMOS Camera
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CHAPTER 6
PROCESS FLOW
6.1 INTRODUCTION
In this section, we have discussed the overall process of our project step by step. This would
include both the hardware and software part of the system. After going through this section the
user would know how the system is working.
6.2 PROJECT FLOW
The design of our system is composed of both the electrical and mechanical setup working with
proper software to perform tasks according to our desire and in the case of our system we require
a higher level accuracy so that our system not only work better but also we avoid any damage to
our apparatus as well.
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MICRO-CONTROLLER BASED EVOKE QUENCHING SYSTEM
6.3 BASIC PROCESS FLOW:
Figure 6.1 Basic Process Flow
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6.3.1 EXPALNATION OF PROCESS FLOW
From the Basic process flow diagram, we can observe that the continuous process can be divided
into several steps that will help the user to understand the system much comprehensively.
PHASE ”ONE”
The initializing of any process is an important section for its proper working of the system the
power supply used to start or initialize the system and the other equipment that is been used in
the system.
PHASE“TWO”
As the system is initiated first requirement is to attain proper position in order to make get
maximum efficiency and all the instruction that are provided to the system through the PC as
from the detailed flow chart we can see that a microcontroller is been used that is been used to
activate and deactivate motors. We have used rails in order to provider vertical elevation and not
only this but we have introduced a horizontal movement at the execution point so that we can get
as close to our target as possible that will help us to turn out the fire more efficiently.
PHASE“THREE”
As our project is provided wide real camera we may have clear sight of the target but this not the
case every time and it is every possibility that we due to heavy smoke or any other reason our
camera may not work for this reason a back up of temperature and smoke sensors is been
provided that gather information and transmit to the pc via microcontroller.
PHASE”FOUR”
After the presence of fire is been confirmed the next phase includes the extinguishing of the fire
for the purpose we have kept three options first one is to use water, as it is the cheapest, easy to
handle and easily available liquid. The second option is to use a chemical in case if water not
fulfill our desired objective and also we have used a fire extinguishing foam if we require it
therefore the selection can be done and also keep a check if we run out of out water or the
chemical that is been used so that we can refill it manually.
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PHASE”FIVE”
In the end the system is been stopped as the fire is been turned out otherwise the system will
operate until desired results are not been achieved.
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6.4 EQ SYSTEM PROCESS FLOW
Figure 6.2 EQ System Process Flow
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CHAPTER 7
SOFTWARE DISCRIPTION
7.1 INTRODUCTION
The software for the project can be termed as firmware. This means that there is no visual
interface for the user to interact with the system directly; however, the user interacts with the
software through various input devices, which are used to specify the movements of the EQ
system.
The software for the project can be viewed in two different parts. The software at the operator
console and the software at the robotic end (see figure 7.1)
Figure 7.1 Software View
7.2 EQ SYSTEM SOFTWARE
The software starts out by trying to synchronize itself with the operator console software by
exchanging commands. Then after, it has synchronized itself with the operator console panel it
listens for commands from the operator console panel.
If the software hears the command, it is checked whether the command is a valid one or not. If
the received command is not valid then it is simply discarded and the process of listening is
resumed. However if the command received is a valid one then appropriate actions are carried
out.
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Figure 7.2 GUI of EQ System
7.3 OPERATOR CONSOLE PANEL
The software at the operator console panel starts out by synchronizing it self with the EQ
systems software; it is performed in the same manner as stated before i.e. by exchanging
commands. Then the software enters in to a phase, which is responsible for assigning specific
commands to specific inputs. Then the software’s wait for the users input according to that input
a command is transmitted to the EQ system which is then validated at the EQ systems end and
the appropriate action is taken.
Figure 7.3 Operator Console Software
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CHAPTER 8
RESULTS & DISCUSSION
8.1 INTRODUCTION
This chapter discusses the results, which were obtained during the course of the project.
8.2 RESULTS OF EQ SYSTEM
The results of the robotic arm are as follows:
8.2.1 MAXIMUM REACH OF THE EQ SYSTEM
The system has the capability to reach at an object that is approximately at a distance of 20
inches vertically and has the capability of reaching an object of 18 inches vertically.
8.2.2 WEIGHT LIFTING CAPABILITY OF THE EQ SYSTEM
When considering any type of electromechanical lifting structure it is important to know its safe
operating limit, which is how much weight is it capable of lifting. The EQ system is capable of
lifting approximately 2kg.
8.2.3 THE WORK ENVELOP OF THE EQ SYSTEM
The work envelop of the EQ system is actually the area in which it is impossible for the human
to reach the object and interact with its surroundings.
8.2.4 RUNNING TIME & RANGE OF THE EQ SYSTEM
There are always some constraints when operating these types of system, these comes in the
form of power requirements and range to reach the object. The running time of this project is
approximately 2 hours and the range to reach the object is about 2 feet’s.
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CHAPTER 9
CONCLUSION AND FUTURE RECOMMENDATION
9.1 CONCLUSION
The projects enable a group of peoples trained for handling the EQ system, locating and
extinguishing the fire. The EQ system is a combination of extremely powerful mechanical
structure and typical logical electronic circuit setup, which is controlled by micro controller,
which make the hold of each electronic part, involve in the circuitry of the dissolution apparatus.
The project is capable of providing visual information back to the operator. Once the operator
has accessed the information, the operator can decide upon further actions to perform.
The aim of the EQ system was to help people by keeping safe their precious life for a long as it
can & it is safe to say that it has achieved its aim.
9.2 APPLICATION OF OUR PROJECT
It is obvious from the name of our project that its application is in any place where we require
fire extinguishing. It can be made mobile by implementing on a fire brigade and it can be made
stationary provided with high elevation in case if it is been used for private organization such as
chemical industry or any other place where risk of fire exits. We have tried to make it flexible by
using a chemical along with water and the extinguishing foam as well so that our system can
tackle any kind of fire and able to control it as quickly as possible.
9.3 FUTURE RECOMMENDATION
The project has a lot of potential for enhancements, in the perspective of increasing the systems
functionality and usability. Due to the lack of resources and time, we were not able to include the
following units into the system.
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9.3.1 DIGITAL IMAGE PROCESSING
Data received from the camera can be fed into the digital image processor that can selectively
extract important information regarding the extinguishing object.
9.3.2 WEB BASED INTERFACE
The world is moving towards the science of ubiquitous computing the system can configured to
receive commands via internet. All in the form of mobile computing, the operator will be able to
issue command s to the system while viewing the interacting surroundings in the web.
9.3.3 SOLAR CHARGING
Solar charging module can be used for charging the batteries of the robot and of the user control
panel. This would extend the working duration of the system considerably.
9.3.4 CHANGEABLE END EFFECTORS
There are many scenarios, which can to be taken into account when dealing with the fire.
Therefore interchangeable end effectors with different tools attached to them can be made
according to the scenario.
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REFERENCES
[1 ]CMUcam Vision Board User Manual. Anthony Rowe and Carnegie Mellon University. Version 1.15, 2002http://www.seattlerobotics.com/cmucam.htm
[2] HiTec HS-55 MicroLite servo, HS-50 HiTec Feather servos Hitec RCD USA, Inchttp://www.hitecrcd.com
[3] Microchip PIC 16F877. Microchip Corporation, Updated April 2003http://www.microchip.com/1010/pline/picmicro/category/embctrl/14kbytes/devices/16f877/
[4] Hi-tech Compiler Manual. Hi-tech Software, Copyright 2002http://www.htsoft.com/products/piclite/piclite.html
[5] Microchip (boot loader code and schematic). Shane Tolmie, Copyright 2003http://www.microchipc.com/PIC16bootload/
[6] Gear Head Motor Datasheet. Lynx Motion, Copyright 2000http://www.lynxmotion.com/ghm02.htm
[7] IEEE SoutheastCon 2003Hardware Competition website.URL:http://www.ewh.ieee.org/r3/jamaica/southeastcon/robot.html. Retrieved April 11, 2003. J. L. Jones and A. M. Flynn,“Mobile Robots,” Wellesley, MA, 1993, pp. 118.
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APPENDIX A
(TIME AND COST ANALYSIS)
Cost and time of Ownership can be defined as the amount it costs to maintain, fix, and guarantee
a product and the time required for the competition of project. For instance, if a design change
requiring hardware rework must be made to a few prototypes, the cost might be relatively small.
However, as the number of units that must be changed increases, the cost can become enormous.
The ease or difficulty of design changes can also affect opportunity costs. The total cost for the
project is approx 80,000/=. Engineers who spend time fixing old designs could be working on
introducing new products and features ahead of the competition. . In a typical design, many
different types have to be purchased and stocked. The total time duration of the completion of
the project is about one month before the submitting of the project.
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APPENDIX B
(THEORETICAL STUDY)
ROBOTS
MICROCONTROLLER
SENSORS
ROBOTS:
The history of industrial automation is characterized by periods of rapid change in popular
methods. Either as a cause or perhaps an effect, such periods of change in automation techniques
seem closely tight to world economics. Use of the industrial robot, which became identifiable as
a unique device in the 1960 has, along with computer aided design (CAD) systems and computer
aided manufacturing (CAM) systems, and characterizes the latest trends in the automation of the
manufacturing process. These technologies are leading industrial automation through another
transistor, the scope of which is still unknown. Although the growth of the robotics market has
slowed compared to the early 1980’s. Present use of industrial robots is concentrated in rather
simple, repetitive task, which tend not to require high precision.
CLASSIFICATION OF ROBOTS:
We classify robot by their control mechanism. Each of the following definitions is useful for
different purposes. We are providing the general definitions here
TYPE OF CONTROL
1) Point-to-point robots
Point to point robots are able to move from one specified point to another but cannot stop
at arbitrary point not previously designated. They are the simplest and least expensive
type of robots; stopping points are often just mechanical stops that are to be adjusted for
each new operation. Point to point robots driver by servos is often controlled by
potentiometer as set to stop the robot at a specified point
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2) Continuous path robot
Continuous path robot is able to stop at any specified number of points along the path.
However, if there are no stops specified, they may not stay on a straight line or a constant
curved path between specified points. Every point must be stored separately in the
memory of the robot.
3) Controlled path robot
Control equipment on controlled path robots can generate straight line, and circles,
interpolate curves and other paths with high accuracy. In some of robots geometric and
algebraic terms are used to specify the paths, they are accurate at any point along the
path. Only the start and finish coordinates and path definition is required for control.
4) Servo vs. non servo robot
Servo controlled robots have some means of sensing their position and feedback the
sensed. Non-servo robots have no way of determining whether they have reached a
specified location
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MICROCONTROLLER:
A microcontroller (also MCU or µC) is a computer-on-a-chip. It is a type of microprocessor
emphasizing high integration, low power consumption, self-sufficiency and cost-effectiveness, in
contrast to a general-purpose microprocessor (the kind used in a PC). In addition to the usual
arithmetic and logic elements of a general-purpose microprocessor, the microcontroller typically
integrates additional elements such as read-write memory for data storage, read-only memory,
such as flash for code storage, EEPROM for permanent data storage, peripheral devices, and
input/output interfaces. At clock speeds of as little as a few MHz or even lower, microcontrollers
often operate at very low speed compared to modern day microprocessors, but this is adequate
for typical applications. They consume relatively little power (mill watts), and will generally
have the ability to sleep while waiting for an interesting peripheral event such as a button press
to wake them up again to do something. Power consumption while sleeping may be just
nanowatts, making them ideal for low power and long lasting battery applications.
Microcontrollers are frequently used in automatically controlled products and devices, such as
automobile engine control systems, remote controls, office machines, appliances, power tools,
and toys. By reducing the size, cost, and power consumption compared to a design using a
separate microprocessor, memory, and input/output devices, microcontrollers make it
economical to electronically control many more processes.
AT89C51
The important properties of the microcontroller that we have used are
2 KB of flash
128 bytes of ram
15 I/O lines
two 16 bit timers/counters
five vector two-level interrupt architecture
full duplex serial port
on-chip oscillator
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In addition, 89s51 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 ports and interrupt systems to continue functioning.
The power down mode saves the RAM Content but freezes the oscillator disabling all other chip
function, the pin diagram of AT89S51 is as follows
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SENSOR
A sensor is a device that measures a physical quantity and converts it into a signal, which can be read by
an observer or by an instrument. For example, a mercury thermometer converts the measured
temperature into expansion and contraction of a liquid, which can be read on a calibrated glass tube. A
thermocouple converts temperature to an output voltage, which can be read by a voltmeter. For
accuracy, all sensors need to be calibrated against known standards.
Sensors are used in everyday objects such as touch-sensitive elevator buttons and lamps, which dim or
brighten by touching the base. There are also innumerable applications for sensors of which most people
are never aware. Applications include cars, machines, aerospace, medicine, manufacturing and robotics.
A sensor's sensitivity indicates how much the sensor's output changes when the measured quantity
changes. For instance, if the mercury in a thermometer moves 1 cm when the temperature changes by 1
°C, the sensitivity is 1 cm/°C. Sensors that measure very small changes must have very high sensitivities.
Technological progress allows more and more sensors to be manufactured on a microscopic scale as
micro sensors using MEMS technology. In most cases, a micro sensor reaches a significantly higher
speed and sensitivity compared with macroscopic approaches. See also MEMS sensor generations.
Types
Because sensors are a type of transducer, they change one form of energy into another. For this
reason, sensors can be classified according to the type of energy transfer that they detect.
THERMAL
temperature sensors: thermometers, thermocouples, temperature sensitive resistors
(thermistors and resistance temperature detectors), bi-metal thermometers and
thermostats
heat sensors: bolometer, calorimeter, heat flux sensor
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ELECTROMAGNETIC
electrical resistance sensors: ohmmeter, multimeter
electrical current sensors: galvanometer, ammeter
electrical voltage sensors: leaf electroscope, voltmeter
electrical power sensors: watt-hour meters
magnetism sensors: magnetic compass, fluxgate compass, magnetometer, Hall effect
device
metal detectors
RADAR
MECHANICAL
Pressure Sensors: altimeter, barometer, barograph, pressure gauge, air speed indicator,
rate-of-climb indicator, variometer.
Gas And Liquid Flow Sensors: flow sensor, anemometer, flow meter, gas meter, water
meter, mass flow sensor.
Gas and liquid viscosity and density: viscometer, hydrometer, oscillating U-tube.
Mechanical Sensors: acceleration sensor, position sensor, selwyn, switch, strain gauge
Humidity sensors: hygrometer.
CHEMICAL
Chemical proportion sensors: oxygen sensors, ion-selective electrodes, pH glass
electrodes, redox electrodes, and carbon monoxide detectors.
Odour sensors: Tin-oxide gas sensors, and Quartz Microbalance sensors.
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OPTICAL RADIATION
Light time-of-flight. Used in modern surveying equipment, a short pulse of light is
emitted and returned by a retro reflector. The return time of the pulse is proportional to
the distance and is related to atmospheric density in a predictable way - see LIDAR.
Light sensors, or photo detectors, including semiconductor devices such as photocells,
photodiodes, phototransistors, CCDs, and Image sensors; vacuum tube devices like
photo-electric tubes, photomultiplier tubes; and mechanical instruments such as the
Nichols radiometer.
Infra-red sensor, especially used as occupancy sensor for lighting and environmental
controls.
Proximity sensor- A type of distance sensor but less sophisticated. Only detects a specific
proximity. May be optical - combination of a photocell and LED or laser. Applications in
cell phones, paper detector in photocopiers, auto power standby/shutdown mode in
notebooks and other devices. May employ a magnet and a Hall effect device.
Scanning laser- A narrow beam of laser light is scanned over the scene by a mirror. A
photocell sensor located at an offset responds when the beam is reflected from an object
to the sensor, whence the distance is calculated by triangulation.
Focus. A large aperture lens may be focused by a servo system. The distance to an in-
focus scene element may be determined by the lens setting.
Binocular. Two images gathered on a known baseline are brought into coincidence by a
system of mirrors and prisms. The adjustment is used to determine distance. Used in
some cameras (called range-finder cameras) and on a larger scale in early battleship
range-finders
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Interferometry. Interference fringes between transmitted and reflected light waves
produced by a coherent source such as a laser are counted and the distance is calculated.
Capable of extremely high precision.
Scintillometers measure atmospheric optical disturbances.
Fiber optic sensors.
Short path optical interception - detection device consists of a light-emitting diode
illuminating a phototransistor, with the end position of a mechanical device detected by a
moving flag intercepting the optical path, useful for determining an initial position for
mechanisms driven by stepper motors.
OTHER TYPES
motion sensors: radar gun, speedometer, tachometer, odometer, occupancy sensor, turn
coordinator
orientation sensors: gyroscope, artificial horizon, ring laser gyroscope
distance sensor (no contacting) Several technologies can be applied to sense distance:
magnetostriction
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APENDIX D
(DATA SHEETS OF ALL MAJOR COMPONENTS)
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