Project ReportON

DTMF Based Mobile Controlled RobotSubmitted In Partial Fulfillment of the Requirements for the

Diploma of Electronics and Telecommunication Engineering By

Mr. Pankaj Rai

Under the guidance of Ms. Meenal Vatsaraj

DEPARTMENT OF ELECTRONICS AND TELECOMMUNICATION ENGINEERING (DIPLOMA)

ARMIET

Alamuri Ratnamala Institute of Engineering and Technology

(Run by Koti Vidya Charitable Trust)

A.S. Rao Nagar, Sapgaon, Tal Shahapur, Dist Thane-421601

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Alamuri Ratnamala Institute of Engineering and Technology

(Run by Koti Vidya Charitable Trust)

A.S. Rao Nagar, Sapgaon, Tal Shahapur, Dist Thane-421601

Project Report Submitted ByName: Mr. Pankaj Rai.

Title of project: DTMF BASED MOBILE CONTROLLED ROBOT

Guide Name: Ms. Meenal Vatsaraj

Ms. Meenal Vatsaraj Mr. C. Nagababu Mr. C. Nagababu

(Project Guide) (H.O.D.) (Principal)

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CERTIFICATEThis is to certify that Mr. Pankaj Shivchander Rai of PIN

ARMIET/DIP/ET-14 RP 217 has delivered a project report for the Project Topic “DTMF Based Mobile Controlled Robot” and

submitted report in the “Alamuri Ratnamala Institute of Engineering and Technology”, Sapgaon, Tal Shahapur, Dist, Thane, in the partial

fulfillment of the diploma of “Electronics and telecommunication Engineering” from MSBTE for the year 2015-16

Guide H.O.D. Principal

Meenal Vatsaraj Nagababu Chekuri Nagababu Chekuri

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AcknowledgementI would like to acknowledge and extend our heartfelt gratitude to all those people who have been

associated with this project and have helped us with it thus making it a worthwhile experience.

Firstly I extend our thanks to various people which include my project Guide Ms. Meenal Vatsaraj, my

H.O.D. Nagababu Chekuri, who have shared their opinions and experiences through which I received

the required information for my report. I am also thankful to all the staff members of EXTC Dept. for

their highly cooperative and encouraging attitudes, which have always boosted me.

I also take this opportunity with great pleasure to thank our Honorable Founder Trustee A.V. Gupta,

Honorable Alternate Chairman Dr. L.S. Bothra and Principal Prof. Nagababu Chekuri whose timely

support and encouragement has helped us succeeds in our venture.

Pankaj Rai

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INDEX

Sr. No. Topic Name Page No.

1 Abstract 08

2 Introduction 09

3 Block Diagram 11

4 Explanation Of Block Diagram 12

5 Hardware Description 14

a) Power Supply 14

b) Transformer 15

i. Basic Parts Of Transformer 16

ii. Components Of Transformer 17

c) Bridge Rectifier 18

i. Basic Operation 18

ii. Output Smoothing 20

d) Regulator IC 22

e) Diode 23

f) Resistor 24

g) Capacitor 26

h) LED 27

i) DC Motor 28

6 Circuit Diagram 32

7 Explanation of Circuit Diagram 33

8 PCB Layout 35

9 Component List 36

10 Final Testing 37

11 Application 38

12 Future Scope 40

13 Conclusion 42

14 Reference 43

i.

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Table Description

Sr. No. Table No. Table Name Page No.

1 01 Truth Table 30

2 02 DTMF Tone Assignment System 34

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Diagram Description

Sr. No. Diagram No. Diagram Name Page No.

1 01 Basic Block Diagram 01 11

2 02 Basic Block Diagram 02 11

3 03 Circuit Diagram of Power Supply 14

4 04 Transformer 15

5 05 Basic Circuit Diagram of Transform 16

6 06 Basic Circuit Diagram of Bridge Rectifier 18

7 07 Basic Circuit Diagram of Bridge Rectifier 19

8 08 Full Wave Bridge Rectifier 20

9 09 Regulator IC 22

10 10 Diode 23

11 11 Resistor 24

12 12 Carbon Film Resistor 24

13 13 Capacitor 26

14 14 Electronic Capacitor 26

15 15 LED & LED Symbol 27

16 16 Detailed Diagram of LED 27

17 17 DC Motor 28

18 18 Circuit Diagram of H-Bridge 28

19 19 Block Diagram of H-Bridge Using IC L293D 29

20 20 Schematic Diagram of L293D with DC Motor 31

21 21 Circuit Diagram 32

22 22 PCB Layout 35

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Abstract

DTMF Mobile ROBO is a machine that can be controlled with a mobile. The robot is controlled by a

mobile phone that makes a call to the mobile phone attached to the robot. In this course of a call, if any

button is pressed a tone corresponding to the button pressed is heard at the other end of end of the call.

This type of tone is called s “Dual Tone Multiple Frequency” (DTMF) tone.

The received tone is processed by the atmega16 microcontroller with the help of DTMF decoder

MT8870 the decoder decodes the DTMF tone in to its equivalent binary digit and this binary number is

send to the microcontroller, the microcontroller is preprogrammed to take a decision for any give input

and outputs Its decision to motor drivers in order to drive the motors for forward or backward motion or

a turn. The mobile that makes a call to the mobile phone stacked in the robot acts as a remote. So this

simple robotic project does not require the construction of receiver and transmitter units. DTMF

signaling is used for telephone signaling over the line in the voice frequency band to the call switching

center. The version of DTMF used for telephone dialing is known as touch tone. DTMF assigns a

specific frequency (consisting of two separate tones) to each key s that it can easily be identified by the

electronic circuit.

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Introduction

DTMF Mobile ROBO is a machine that can be controlled with a mobile. In this project, the robot is

controlled by a mobile phone that makes a call to the mobile phone attached to the robot. In the course

of a call, if any button is pressed, a tone corresponding to the button pressed is heard at the other end of

the call. This tone is called "Dual Tone Multiple-Frequency" (DTMF) tone. The robot perceives this

DTMF tone with the help of the phone stacked on the robot. The received tone is processed by the

microcontroller with the help of DTMF decoder. The microcontroller then transmits the signal to the

motor driver ICs to operate the motors & our robot starts moving Conventionally, Wireless-controlled

robots use RF circuits, which have the drawbacks of limited working range, limited frequency range and

the limited control. Use of a mobile phone for robotic control can overcome these limitations. It provides

the advantage of robust control, working range as large as the coverage area of the service provider, no

interference with other controllers and up to twelve controls. Although the appearance and the

capabilities of robots vary vastly, all robots share the feature of a mechanical, movable structure under

some form of control. The Control of robot involves three distinct phases: perception, processing and

action. Generally, the preceptors are sensors mounted on the robot, processing is done by the on-board

microcontroller or processor, and the task is performed using motors or with some other actuators. In

this project the robot, is controlled by a mobile phone that makes call to the mobile phone attached to the

robot in the course of the call, if any button is pressed control corresponding to the button pressed is

heard at the other end of the call. This tone is called dual tone multi frequency tome (DTMF) robot

receives this DTMF tone with the help of phone stacked in the robot The received tone is processed by

the atmega16 microcontroller with the help of DTMF decoder MT8870 the decoder decodes the DTMF

tone in to its equivalent binary digit and this binary number is send to the microcontroller, the

microcontroller is preprogrammed to take a decision for any give input and outputs its decision to motor

drivers in order to drive the motors for forward or backward motion or a turn. The mobile that makes a

call to the mobile phone stacked in the robot acts as a remote. So this simple robotic project does not

require the construction of receiver and transmitter units. DTMF signaling is used for telephone

signaling over the line in the voice frequency band to the call switching center. The version of DTMF

used for telephone dialing is known as touch tone. DTMF assigns a specific frequency (consisting of

two separate tones) to each key s that it can easily be identified by the electronic circuit. The signal

generated by the DTMF encoder is the direct algebraic submission, in real time of the amplitudes of two

sine (cosine) waves of different frequencies, i.e., pressing 5 will send a tone made by adding 1336 Hz

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and 770 Hz to the other end of the mobile. The important components of this robot are DTMF decoder,

Microcontroller and motor driver. An MT8870 series DTMF decoder is used here. All types of the

mt8870 series use digital counting techniques to detect and decode all the sixteen DTMF tone pairs in to

a four bit code output. The built -in dial tone rejection circuit eliminated the need for pre- filtering.

When the input signal given at pin2 (IN-) single ended input configuration is recognized to be effective,

the correct four bit decode signal of the DTMF tone is transferred to Q1 (pin11) through Q4(pin14)

outputs

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L293D

POWER SUPPLY

TELEPHONE

DTMF DECODER

MOTOR

8051 MICROCONTR

OLLER MOTOR

Block Diagram

Fig No.01 Basic Block Diagram 01

Fig No.02 Basic Block Diagram 02

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CELL PHONEDTMF DECODERMICROCONTROLLERMOTOR DRIVERRIGHT MOTORLEFT MOTOR

Explanation of Block Diagram

Cellphone

Cellphone is the basic input device of this project. Cellphone is used to give the input to the DTMF decoder. It uses RF signal to communicate with DTMF decoder.

DTMF Decoder

Today, most telephone equipment use a DTMF receiver IC. One common DTMF

receiver IC is the Motorola MT8870 that is widely used in electronic communications circuits.

The MT8870 is an 18-pin IC. It is used in telephones and a variety of other applications. When

a proper output is not obtained in projects using this IC, engineers or technicians need to test

this IC separately. A quick testing of this IC could save a lot of time in re-search labs and

manufacturing industries of communication instruments. Here’s a small and handy tester

circuit for the DTMF IC. It can be assembled on a multipurpose PCB with an 18-pin IC base.

One can also test the IC on a simple breadboard.

For optimum working of telephone equipment, the DTMF receiver must be designed to

recognize a valid tone pair greater than 40 ms in duration and to accept successive digit tone-

pairs that are greater than 40 ms apart. However, for other applications like remote controls and

radio communications, the tone duration may differ due to noise considerations. Therefore, by

adding an extra resistor and steering diode the tone duration can be set to different values. The

circuit is configured in balanced-line mode. To reject common-mode noise signals, a balanced

differential amplifier input is used. The circuit also provides an excellent bridging interface

across a properly terminated telephone line. Transient protection may be achieved by splitting

the input resistors and inserting ZENER diodes (ZD1 and ZD2) to achieve voltage clamping.

This allows the transient energy to be dissipated in the resistors and diodes, and limits the maximum voltage that may appear at the inputs. Whenever you press any key on your local telephone keypad, the delayed steering (Std) output of the IC goes high on receiving the tone-pair, causing LED5 (connected to pin 15 of IC via resistor R15) to glow. It will be high for a duration depending on the values of capacitor and resistors at pins 16 and 17. The optional circuit shown within dot-ted line is used for guard time adjustment. The LEDs connected via resistors R11 to R14 at pins 11 through 14, respectively, indicate the output of the IC. The tone-pair DTMF (dual-tone multi-frequency) generated by pressing the telephone button is

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converted into bi-nary values internally in the IC. The binary values are indicated by glowing of LEDs at the output pins of the IC. LED1 represents the lowest significant bit (LSB) and LED4 represents the most significant bit (MSB). So, when you dial a number, say, 5, LED1 and LED3 will glow, which is equal to 0101. Similarly, for every other number dialed on your telephone, the corresponding LEDs will glow. Thus, a non-defective IC should indicate proper bi-nary values corresponding to the decimal number pressed on your telephone key-pad. To test the DTMF IC 8870/KT3170, proceed as follows:

• Connect local telephone and the circuit in parallel to the same telephone line.

• Switch on S1. (Switch on auxiliary switch S2 only if keys A, B, C, and D are to be used.)

• Now push key ‘*’ to generate DTMF tone.

• Push any decimal key from the telephone keypad. Observe the equivalent binary as shown in the table.

• If the binary number implied by glowing of LED1 to LED4 is equivalent to the pressed key number (decimal/A, B, C, or D), the DTMF IC 8870 is correct.

Keys A, B, C, and D on the telephone keypad are used for special signaling and are not available on standard pushbutton telephone keypads. Pin 5 of the IC is pulled down to ground through resistor R8. Switch on auxiliary switch S2. Now the high logic at pin 5 enables the detection of tones representing characters A, B, C, and D.

Microcontroller The AT89C2051 is a low-voltage, high-performance CMOS 8-bit microcomputer with 2K bytes of Flash programmable and erasable read-only memory (PEROM). The device is manufactured using Atmel’s high-density nonvolatile memory technology and is compatible with the industry-standard MCS-51 instruction set. By combining a versatile 8-bit CPU with Flash on a monolithic chip, the Atmel AT89C2051 is a powerful microcomputer which provides a highly-flexible and cost-effective solution to many embedded control applications.

Motor DriverThe L293D is a quad, high-current, half-H driver designed to provide bidirectional drive currents of up to 600 mA at voltages from 4.5V to 36V. It makes it easier to drive the DC motors. The L293D consists of four drivers. Pins INI through IN4 and OUT1 through OUT4 are input and output pins, respectively, of driver 1 through driver 4. Drivers 1 and 2, and drivers 3 and 4 are enabled by enable pin 1 (EN1) and pin 9 (EN2) respectively. When enable input EN1 (pin 1) is high, drivers 1 and 2 are enabled and the outputs corresponding to their inputs are active. Similarly, enable input EN2 (pin 9) enables drivers 3 and 4.

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Hardware Description

POWER SUPPLY

Power supply is a reference to a source of electrical power. A device or system that supplies electrical or other types of energy to an output load or group of loads is called a power supply unit or PSU. The term is most commonly applied to electrical energy supplies, less often to mechanical ones, and rarely to others. Here in our application we need a 5v DC power supply for all electronics involved in the project. This requires step down transformer, rectifier, voltage regulator, and filter circuit for generation of 5v DC power.

CIRCUIT DIAGRAM OF POWER SUPPLY

Fig No.03 Circuit Diagram of Power Supply

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TRANSFORMER

Transformer is a device that transfers electrical energy from one circuit to another through inductively coupled conductors — the transformer's coils or "windings". Except for air-core transformers, the conductors are commonly wound around a single iron-rich core, or around separate but magnetically coupled cores. A varying current in the first or "primary" winding creates a varying magnetic field in the core (or cores) of the transformer. This varying magnetic field induces a varying electromotive force (EMF) or "voltage" in the "secondary" winding. This effect is called mutual induction.

Fig No.04 Transformer

If a load is connected to the secondary circuit, electric charge will flow in the secondary winding of the transformer and transfer energy from the primary circuit to the load connected in the secondary circuit. The secondary induced voltage VS, of an ideal transformer, is scaled from the primary VP by a factor equal to the ratio of the number of turns of wire in their respective windings:

By appropriate selection of the numbers of turns, a transformer thus allows an alternating voltage to be stepped up — by making NS more than NP — or stepped down, by making it

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BASIC PARTS OF A TRANSFORMER

In its most basic form a transformer consists of:

• A primary coil or winding.

• A secondary coil or winding.

• A core that supports the coils or windings.

Refer to the transformer circuit in figure as you read the following explanation: The primary winding is connected to a 60-hertz ac voltage source. The magnetic field (flux) builds up (expands) and collapses (contracts) about the primary winding. The expanding and contracting magnetic field around the primary winding cuts the secondary winding and induces an alternating voltage into the winding. This voltage causes alternating current to flow through the load. The voltage may be stepped up or down depending on the design of the primary and secondary windings.

Fig No.05 Basic Circuit Diagram of Transformer

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THE COMPONENTS OF A TRANSFORMER

Two coils of wire (called windings) are wound on some type of core material. In some cases the coils of wire are wound on a cylindrical or rectangular cardboard form. In effect, the core material is air and the transformer is called an AIR-CORE TRANSFORMER. Transformers used at low frequencies, such as 60 hertz and 400 hertz, require a core of low-reluctance magnetic material, usually iron. This type of transformer is called an IRON-CORE TRANSFORMER. Most power transformers are of the iron-core type. The principle parts of a transformer and their functions are:

• The CORE, which provides a path for the magnetic lines of flux.

• The PRIMARY WINDING, which receives energy from the ac source.

• The SECONDARY WINDING, which receives energy from the primary winding and delivers it to the load.

• The ENCLOSURE, which protects the above components from dirt, moisture, and mechanical damage.

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BRIDGE RECTIFIER

A bridge rectifier makes use of four diodes in a bridge arrangement to achieve full-wave rectification. This is a widely used configuration, both with individual diodes wired as shown and with single component bridges where the diode bridge is wired internally.

Basic operation

According to the conventional model of current flow originally established by Benjamin Franklin and still followed by most engineers today, current is assumed to flow through electrical conductors from the positive to the negative pole. In actuality, free electrons in a conductor nearly always flow from the negative to the positive pole. In the vast majority of applications, however, the actual direction of current flow is irrelevant. Therefore, in the discussion below the conventional model is retained. In the diagrams below, when the input connected to the left corner of the diamond is positive, and the input connected to the right corner is negative, current flows from the upper supply terminal to the right along the red (positive) path to the output, and returns to the lower supply terminal via the blue (negative) path.

Fig No.06 Basic Circuit Diagram of Bridge Rectifier

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When the input connected to the left corner is negative, and the input connected to the right corner is positive, current flows from the lower supply terminal to the right along the red path to the output, and returns to the upper supply terminal via the blue path.

Fig No.07 Basic Circuit Diagram of Bridge Rectifier

In each case, the upper right output remains positive and lower right output negative. Since this is true whether the input is AC or DC, this circuit not only produces a DC output from an AC input, it can also provide what is sometimes called "reverse polarity protection". That is, it permits normal functioning of DC-powered equipment when batteries have been installed backwards, or when the leads (wires) from a DC power source have been reversed, and protects the equipment from potential damage caused by reverse polarity. Prior to availability of integrated electronics, such a bridge rectifier was always constructed from discrete components. Since about 1950, a single four-terminal component containing the four diodes connected in the bridge configuration became a standard commercial component and is now available with various voltage and current ratings.

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OUTPUT SMOOTHING

For many applications, especially with single phase AC where the full-wave bridge serves to convert an AC input into a DC output, the addition of a capacitor may be desired because the bridge alone supplies an output of fixed polarity but continuously varying or "pulsating" magnitude (see diagram above).

Fig No.08 Full Wave Bridge Rectifier

The function of this capacitor, known as a reservoir capacitor (or smoothing capacitor) is to lessen the variation in (or 'smooth') the rectified AC output voltage waveform from the bridge. One explanation of 'smoothing' is that the capacitor provides a low impedance path to the AC component of the output, reducing the AC voltage across, and AC current through, the resistive load. In less technical terms, any drop in the output voltage and current of the bridge tends to be canceled by loss of charge in the capacitor. This charge flows out as additional current through the load. Thus the change of load current and voltage is reduced relative to what would occur without the capacitor. Increases of voltage correspondingly store excess charge in the capacitor, thus moderating the change in output voltage / current. The simplified circuit shown has a well-deserved reputation for being dangerous, because, in some applications, the capacitor can retain a lethal charge after the AC power source is removed. If supplying a dangerous voltage, a practical circuit should include a reliable way to safely discharge the capacitor. If the normal load cannot be guaranteed to perform this function, perhaps because it can be disconnected, the circuit should include a bleeder resistor connected as close as practical across the capacitor. This resistor should consume a current large enough to discharge the capacitor in a reasonable time, but small enough to minimize unnecessary power waste. Because a bleeder sets a minimum current drain, the regulation of the circuit, defined as percentage voltage change from minimum to maximum load, is improved. However in many cases the improvement is of insignificant magnitude. The capacitor and the load resistance have a typical time constant τ = RC where C and R are the capacitance and load resistance respectively. As long as the load resistor is large enough so that this time constant is much longer than the time of one ripple cycle, the above configuration will produce a smoothed DC voltage across the load. In some designs, a series resistor at the load side of the capacitor is

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added. The smoothing can then be improved by adding additional stages of capacitor–resistor pairs, often done only for sub-supplies to critical high-gain circuits that tend to be sensitive to supply voltage noise.

The idealized waveforms shown above are seen for both voltage and current when the load on the bridge is resistive. When the load includes a smoothing capacitor, both the voltage and the current waveforms will be greatly changed. While the voltage is smoothed, as described above, current will flow through the bridge only during the time when the input voltage is greater than the capacitor voltage. For example, if the load draws an average current of n Amps, and the diodes conduct for 10% of the time, the average diode current during conduction must be 10n Amps. This non-sinusoidal current leads to harmonic distortion and a poor power factor in the AC supply. In a practical circuit, when a capacitor is directly connected to the output of a bridge, the bridge diodes must be sized to withstand the current surge that occurs when the power is turned on at the peak of the AC voltage and the capacitor is fully discharged. Sometimes a small series resistor is included before the capacitor to limit this current, though in most applications the power supply transformer's resistance is already sufficient. Output can also be smoothed using a choke and second capacitor. The choke tends to keep the current (rather than the voltage) more constant. Due to the relatively high cost of an effective choke compared to a resistor and capacitor this is not employed in modern equipment.

Some early console radios created the speaker's constant field with the current from the high voltage ("B +") power supply, which was then routed to the consuming circuits, (permanent magnets were then too weak for good performance) to create the speaker's constant magnetic field. The speaker field coil thus performed 2 jobs in one: it acted as a choke, filtering the power supply, and it produced the magnetic field to operate the speaker.

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REGULATOR IC (78XX)

It is a three pin IC used as a voltage regulator. It converts unregulated DC current into regulated DC current.

Fig No.09 Regulator IC

Normally we get fixed output by connecting the voltage regulator at the output of the filtered DC (see in above diagram). It can also be used in circuits to get a low DC voltage from a high DC voltage (for example we use 7805 to get 5V from 12V). There are two types of voltage regulators 1. Fixed voltage regulators (78xx, 79xx) 2. Variable voltage regulators (LM317) in fixed voltage regulators there is another classification 1. +ve voltage regulators 2. -ve voltage regulators POSITIVE VOLTAGE REGULATORS this include 78xx voltage regulators. The most commonly used ones are 7805 and 7812. 7805 gives fixed 5V DC voltage if input voltage is in (7.5V, 20V).

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DIODE

The diode is a p-n junction device. Diode is the component used to control the flow of the current in any one direction. The diode widely works in forward bias.

Fig No.10 Diode

Diode when the current flows from the P to N direction. Then it is in forward bias. The Zener diode is used in reverse bias function i.e. N to P direction. Visually the identification of the diode`s terminal can be done by identifying he silver/black line. The silver/black line is the negative terminal (cathode) and the other terminal is the positive terminal (cathode).

APPLICATION

Diodes: Rectification, free-wheeling, etc Zener diode: Voltage control, regulator etc. Tunnel diode: Control the current flow, snobbier circuit, etc

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RESISTORS

The flow of charge through any material encounters an opposing force similar in many respects to mechanical friction .this opposing force is called resistance of the material .in some electric circuit resistance is deliberately introduced in form of resistor. Resistor used fall in three categories, only two of which are color coded which are metal film and carbon film resistor .the third category is the wire wound

Fig No.11 Resistor

FUNCTION

Resistor restrict the flow of electric current, for example a resistor is placed in series with a light-emitting diode (LED) to limit the current passing through the LED.

TYPES OF RESISTORS

FIXED VALUE RESISTORS

It includes two types of resistors as carbon film and metal film

.These two types are explained under

CARBON FILM RESISTORS

During manufacture, at in film of carbon is deposited onto a small ceramic rod. The resistive coating is spiraled away in an automatic machine until the resistance between there two ends of the rods is as close as possible to the correct value. Metal leads and end caps are added, the resistors is covered with an insulating coating and finally painted with colored bands to indicate the resistor value

Fig No.12 Carbon Film Resistor

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Another example for a Carbon 22000 Ohms or 22 Kilo-Ohms also known as 22K at 5% tolerance: Band 1 = Red, 1st digit Band 2 = Red, 2nd digit Band 3 = Orange, 3rd digit, multiply with zeros, in this case 3 zero's Band 4 = Gold, Tolerance, 5%

METAL FILM RESISTORS

Metal film and metal oxides resistors are made in a similar way, but can be made more accurately to within ±2% or ±1% of their nominal value there are some difference in performance between these resistor types, but none which affects their use in simple circuit.

WIRE WOUND RESISTOR

A wire wound resistor is made of metal resistance wire, and because of this, they can be manufactured to precise values. Also, high wattage resistors can be made by using a thick wire material. Wire wound resistors cannot be used for high frequency circuits. Coils are used in high frequency circuit. Wire wound resistors in a ceramic case, strengthened with special cement. They have very high power rating, from 1 or 2 watts to dozens of watts. These resistors can become extremely hot when used for high power application, and this must be taken into account when designing the circuit.

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CAPACITORS

In a way, a capacitor is a little like a battery. Although they work in completely different ways, capacitors and batteries both store electrical energy. If you have read How Batteries Work , then you know that a battery has two terminals. Inside the battery, chemical reactions produce electrons on one terminal and absorb electrons at the other terminal.

BASIC

Like a battery, a capacitor has two terminals. Inside the capacitor, the terminals connect to two metal plates separated by a dielectric. The dielectric can be air, paper, plastic or anything else that does not conduct electricity and keeps the plates from touching each other. You can easily make a capacitor from two pieces of aluminum foil and a piece of paper. It won't be a particularly good capacitor in terms of its storage capacity, but it will work.

In an electronic circuit, a capacitor is shown like this:

Fig No.13 Capacitor

When you connect a capacitor to a battery, here’s what happens:

•The plate on the capacitor that attaches to the negative terminal of the battery accepts electrons that the battery is producing.

•The plate on the capacitor that attaches to the positive terminal of the battery loses electrons to the battery.

Fig No.14 Electric Capacitor

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LED

LED falls within the family of P-N junction devices. The light emitting diode (LED) is a diode that will give off visible light when it is energized. In any forward biased P-N junction there is, with in the structure and primarily close to the junction, a recombination of hole and electrons. This recombination requires that the energy possessed by the unbound free electron be transferred to another state. The process of giving off light by applying an electrical source is called electroluminescence.

Fig No.15 LED & LED Symbol

LED is a component used for indication. All the functions being carried out are displayed by led .The LED is diode which glows when the current is being flown through it in forward bias condition. The LEDs are available in the round shell and also in the flat shells. The positive leg is longer than negative leg.

Fig No.16 Detailed Diagram of LED

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DC MOTOR

DC Motor has two leads. It has bidirectional motion

• If we apply +ve to one lead and ground to another motor will rotate in one direction, if we

reverse the connection the motor will rotate in opposite direction.

• If we keep both leads open or both leads ground it will not rotate (but some inertia will be

there).

• If we apply +ve voltage to both leads then braking will occurs.

Fig No.17 DC Motor

H-BRIDGE

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Fig No.18 Circuit Diagram of H-Bridge

This circuit is known as H-Bridge because it looks like ” H” Working principle of H-Bridge.

• If switch (A1 and A2 )are on and switch (B1 and B2) are off then motor rotates in

clockwise direction

• If switch (B1 and B2 )are on and switch (A1 and A2) are off then motor rotates in Anti

clockwise direction

• we can use Transistor, mosfets as a switch ( Study the transistor as a a switch)

H-Bridge I.C (L293D)

Fig No.19 Block Diagram of H-Bridge Using IC L293D

L293D is a H-Bridge I.C. Its contain two H-Bridge pair.

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Truth Table

Input 1 Input 2 Result

0 0 No rotation

0 1 Clockwise rotation

1 0 Anti-clockwise rotation

1 1 break

Table No. 01

31

15 V DC+

L293D

27

1015

19

361114

168

IN1IN2IN3IN4

EN1EN2

OUT1OUT2OUT3OUT4

VSSVS

V DC+5

DUAL H-BRIDGE

5 V DC+

DC MOTOR

12

DC MOTOR

12

SCHEMATIC OF L293D WITH DC MOTOR

Fig No.20 Schematic Diagram of L293D with DC Motor

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Circuit Diagram

Fig No.21 Circuit Diagram

33

Circuit Diagram Explanation

In this project, the robot is controlled by a mobile phone that makes a call to the mobile phone

attached to the robot. In the course of a call, if any button is pressed, a tone corresponding to the

button pressed is heard at the other end of the call. This tone is called 'dual-tone multiple frequency'

(DTMF) tone. The robot perceives this DTMF tone with the help of the phone stacked in the robot.

The received tone is processed by the AT89xxx microcontroller with the help of DTMF decoder

MT8870. The decoder decodes the DTMF tone into its equivalent binary digit and this binary

number is sent to the microcontroller. The microcontroller is preprogrammed to take a decision for

any given input and outputs its decision to motor drivers in order to drive the motors for forward or

backward motion or a turn.

The mobile that makes a call to the mobile phone stacked in the robot acts as a remote. So this

simple robotic project does not require the construction of receiver and transmitter units. DTMF

signaling is used for telephone signaling over the line in the voice-frequency band to the call

switching centre. The version of DTMF used for telephone tone dialing is known as 'Touch-Tone.”

DTMF assigns a specific frequency (consisting of two separate tones) to each key so that it can

easily be identified by the electronic circuit. The signal generated by the DTMF encoder is a direct

algebraic summation, in real time, of the amplitudes of two sine (cosine) waves of different

frequencies, i.e., pressing '5' will send a tone made by adding 1336 Hz and 770 Hz to the other end

of the line. The tones and assignments in a DTMF system are shown in table below

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DTMF TONE ASSIGNMENT SYSTEM

Frequency 1209 Hz 1336 Hz 1477 Hz 1633 Hz

697 Hz 1 2 3 A

770 Hz 4 5 6 B

852 Hz 7 8 9 C

941 Hz * 0 # D

Table No. 02

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PCB Layout

Fig No.22 PCB Layout

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Component List

R1 - 10K [BROWN, BLACK, ORANGE]

R2 - 270K [RED, VIIOLET, YELLOW]

R3 - 220E [RED, RED, BROWN]

R4 - 22K [RED, RED, ORANGE]

R6 - 1K [BROWN, BLACK, RED]

R5

- 500K PRESET

C1 - 10UF / 25V Electrolytic

C2, 6, 9, 10 - 100KPF DISC (0.1UF / 104) (4 NOS)

C3 - 100KPF POLY (0.1UF / 104)

C4, 5 - 33PF Ceramic Disc (2 NOS)

C7 - 1000UF / 16V Electrolytic

C8 - 47UF / 25V Electrolytic

X1 - 3.579545 MHZ Crystal

X2

- 11.0592 MHZ Crystal

D1 - 1N4007 Diode

L1 - 3 mm OR 5 mm RED LED

L2

- 3 mm OR 5 mm GREEN LED

U1 - AT89C2051 - MICROCONTROLLER (Pre Programmed MCU)

U2 - MT8870 - DTMF DECODER

U3 - L293 MOTOR DRIVER

U4 - LM7805 - +5V Voltage Regulator

CN1 ~ 4 - 2 PIN SCREW TERMINALS BLOCK (4 NOS)

1 nos - 20 PIN IC SOCKET FOR U1

1 nos - 18 PIN IC SOCKET FOR U2

1 nos - 16 PIN IC SOCKET FOR U3

1 nos - standard NOKIA Head phone Pin

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Final Testing

In order to control the robot, you need to make a call to the cell phone attached to the robot (through

head phone) from am phone, which send-DTMF tunes on pressing the numeric buttons. The cell

phone in the robot is kept in 'auto answer' mode. (If the mobile does not have the auto answering

facility, receive the call by 'OK' key on the robot connected mobile and then made it in hands-free

mode.) So after a ring, the cell phone accepts the call.

Now you ma)' press any button on your mobile to perform actions as listed in Table 2. The DTMF

tones thus produced are received by the cell phone in the robot. These tones are fed to the circuit by

the headset of the cell phone. The MT8870 decodes the received tone and sends the equivalent

binary number to the microcontroller. According to the program in the microcontroller, the robot

starts moving.

When you press key '2', Port pins P3.2 and P3.4 are high. The high output at P3.2 and P3.4 of the

microcontroller drives the motor driver (L293D). Port pins P3.3 and P3.4 drive motors Ml and M2

in forward direction. Similarly, motors Ml and M2 move for left turn, right turn, backward motion

and stop condition.

Press key '1' = forward

Press key '2' = backward

Press key '3' = Left turn

Press key '4' = Right turn

Press key '5' = Stop

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Application

1) Scientific Remote control vehicles have various scientific uses including hazardous environments,

working in the Deep Ocean, and space exploration. The majority of the probes to the other planets in

our solar system have been remote control vehicles, although some of the more recent ones were

partially autonomous. The sophistication of these devices has fueled greater debate on the need for

manned spaceflight and exploration.

2) Military and Law Enforcement Military usage of remotely controlled military vehicles dates back to the first half of 20th

century. Soviet Red Army used remotely controlled Tele tanks during 1930s in the Winter War and

early stage of World War II.

3) Search and Rescue UAVs will likely play an increased role in search and rescue in the United States. This was

demonstrated by the successful use of UAVs during the 2008 hurricanes that struck Louisiana and

Texas.

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4) Recreation and Hobby   See Radio-controlled model. Small scale remote control vehicles have long been popular

among hobbyists. These remote controlled vehicles span a wide range in terms of price and

sophistication. There are many types of radio controlled vehicles. These include on-road cars, off-

road trucks, boats, airplanes, and even helicopters. The "robots" now popular in television shows

such as Robot Wars, are a recent extension of this hobby (these vehicles do not meet the classical

definition of a robot; they are remotely controlled by a human).

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Future scope

1. IR Sensors

  IR sensors can be used to automatically detect & avoid obstacles if the robot goes beyond line

of sight. This avoids damage to the vehicle if we are maneuvering it from a distant place.

2. Adding a Camera:

  If the current project is interfaced with a camera (e.g. a Webcam) robot can be driven beyond

line-of-sight & range becomes practically unlimited as GSM networks have a very large range.

3. Password Protection

  Project can be modified in order to password protect the robot so that it can be operated only if

correct password is entered. Either cell phone should be password protected or necessary

modification should be made in the assembly language code. This introduces conditioned access &

increases security to a great extent.

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 4. Alarm Phone Dialer

By replacing DTMF Decoder IC CM8870 by a 'DTMF Transceiver IC’ CM8880, DTMF tones can

be generated from the robot. So, a project called 'Alarm Phone Dialer' can be built which will

generate necessary alarms for something that is desired to be monitored (usually by triggering a

relay). For example, a high water alarm, low temperature alarm, opening of back window, garage

door, etc. When the system is activated it will call a number of programmed numbers to let the user

know the alarm has been activated. This would be great to get alerts of alarm conditions from home

when user is at work

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Conclusion

By developing this robotic vehicle with its multi-tasking feature, I have overcome the drawbacks of

RF communication which have a limited range whereas this car can be controlled from anywhere

just using this DTMF technology. The main advantage of this robot is that it is password protected

so that any other person cannot communicate with the robot. It has various sensors and a LCD

screen in which the Humidity and Temperature of the place will be shown. S Considering all the

situations, the robot integrated with different sub modules can be used for redemption and security

purpose. DTMF Based Robot is the device which works on the specified network through a specific

phone.

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References

By Books

Linear Integrated circuits : Ramakant Gaikwad

Electronic Devices and Circuits : Salivahan

Electronic Devices and Circuits : Millman and Halkias

Electronic Devices and Circuits : Boylestad

8051 and embedded system : Mazidi and Mazidi

By Websites

http:// www.datasheetcatalog.com

http:// www.atmel.com

http://www.electroschematics.com

http:// www.triindia.co.in

http://www.electronicsforu.com

http://8085projects.info

http://www.engineersgarage.com

http://www.ancastertouchatruck.com

http://www.instructables.com

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