Full Report

PROJECT REPORT 2017 LIBRARY MANAGEMENT ROBOT
CHAPTER 1
INTRODUCTION
A library is a collection of books; it provides service to members. There is a
need of librarian to pick the book and handover it to the person. This might be easy task
in case the library is small. Also, to search for the books by humans take a lot of time as
many a times the books gets overlooked the human eye. Solution to this problem is a
robot which will help to find out the book with the required tag and then pick it and
place it on the table.
A library is collection of information, resources and services, organised for use,
and maintained by a public body, institution or private individual. In the more
traditional sense, it means a collection of books. Typically, we need a librarian to pick
the books and hand it over to the person, to whom the books are being issued. This
might be an easy task in case the library floor area is small. Also, to search for the
books by humans takes a lot of time as many a time the books get overlooked by the
human eye. To automate the process of book sorting, we suggest a robot, which will
place the books in the respective locations. Here we will be placing the books in a rack,
and all the books will be tagged by RFID tags and an RFID reader will be placed on the
robot. The RFID reader sends the data to PC which in turn passes the corresponding
details. This ensures that the books are placed in their actual locations. In this case, the
proposed robot will make the life of librarian a lot simpler and the books can be tagged
easily.
The library assisting robot improves the dependability on management of books
in library. It also provides high precision work by a librarian. Misplacement of books
are completely avoided with the implementation of this robot. The robot also facilitates
proper sorting and active time management. It save library employees from their time
consuming task of book sorting and arranging and the major task of library employees
can be performed at greater accuracy and reliability. It reduces labour requirements,
time consumption and cost of library management.
PC is used to select required book using database and give command to robot to
pick that particular book. The command to the robot is wireless. A person has to give
command only once from pc then further procedure will be automated. ZIGBEE (IEEE
802.15.4) is used to make communication between the robot and computer wirelessly. It
DEPT.OF ELECTRONICS AND COMMUNICATION 1 AXISCET, AMBANOLY

is half duplex module hence only pc or robot can send or receive data at the time. Pick
books from different pre-defined location and place it on common (pre-defined)
location this work is done by the automated and pre-programmed robotic arm for
picking and placing and to bring that book at predefined position. Here RFID (Active)
transmitter and receiver are used for book identification. This circuit uses the RF
module which is used to drive an output from a distant place. RF module uses radio
frequency to send signals. At particular frequency and baud-rate, these signals are
transmitted (book side). A receiver (robot side) receives these signals only if it is
configured for that frequency.
A robot is a mechanical or virtual agent, usually an electro-mechanical machine
that is guided by a computer program or electronic circuitry. In this project the Barcode
Technology is used .It is mainly focused on the book detection and reducing the human
work. Bar codes are an integral part of most backup and archive procedures but are
often taken for granted and implemented without too much thought. However, bar codes
can play a much more significant role, embedding intelligence into the archiving
process. A RFID code contains the ID number of the product which can be used by the
register to gather information from the server such as its price and name. Robotics is the
branch of technology that deals with the design, construction, operation, and application
of robots, as well as computer systems for their control, sensory feedback, and
information processing.
These technologies deal with automated machines that can take the place of
humans in dangerous environments or manufacturing processes, or resemble humans in
appearance, behaviour, and cognition. Many of today's robots are inspired by nature
contributing to the field of bio-inspired robotics. The concept of creating machines that
can operate autonomously dates back to classical times, but research into the
functionality and potential uses of robots did not grow substantially until the 20th
century. Throughout history, robotics has been often seen to mimic human behaviour,
and often manage tasks in a similar fashion. Today, robotics is a rapidly growing field,
as technological advances continue; research, design, and building new robots serve
various practical purposes, whether domestically, commercially, or militarily. Many
robots do jobs that are hazardous to people such as defusing bombs, mines and
exploring shipwrecks.
The Asimov laws of robotics:

A robot may not injure a human being or, through inaction, allow a human being
to come to harm.
A robot must obey the orders given to it by human beings, except where such
orders would conflict with the First Law.
A robot must protect its own existence as long as such protection does not
conflict with the First or Second Law.
It provides a very powerful and flexible approach to demonstrate a variety of
engineering concept. Robots are used internationally by Police, Army, Navy and Air
force organisations. Robotic technology is used to deal with hazardous situations such
as dealing with suspicious packages, rates and for the collection of foreign intelligence.
Robot any automatically operated machine that replaces human effort, though it may
not resemble human beings in appearance or perform functions in a humanlike manner.
By extension, robotics is the engineering discipline dealing with the design,
construction, and operation of robots.

CHAPTER 2
LITERATURE SURVEY
Soundarya.M et al proposes a robot is designed using sensor operated motors to
keep track the library book shelf arrangements. Robot get the data of book which going
to be search from the pc through Zigbee, The robot carries a barcode reader which
collects the barcode data from the books arranged in a vertical manner and compares the
decoded barcode data with the input. If the particular book which is to be found out by
the robot, then the robot gives location of the book to the librarians system through
Zigbee, in which the robot is used for searching purpose. In case of any difficulty faced
by the robot when it does the searching process, the robot halts and sends an alarm.
Misplaced books can be identified using the pre-programmed data in the robot which
helps to maintain the books in an order. This helps and simplifies the job of monitoring
the arrangement of books and also reduces the manual routine work done by the library
staff.
Dhanalakshmi M et al described Radio Frequency Identification (RFID) is a
new generation of Auto Identification and Data collection technology which helps to
automate business processes and allows identification of large number of tagged objects
like books, using radio waves. RFID based Library Management system (LMS) would
allow fast transaction flow for the library and will prove immediate and long term
benefits to library in traceability and security. The proposed system is based on UHF
RFID readers, supported with antennas at gate and transaction sections, and library
cards containing RFID-transponders which are able to electronically store information
that can be read / written even without the physical contact with the help of radio
medium.
Theresa T Kuriyakose et al analyzed that the robot is designed to be a line
follower. Using the concept of line tracer, tracks are provided which facilitates the
robot to navigate along the book shelf, using the IR sensors, and place the book at
corresponding shelf. This robot can be designed and build to function as a shelf reader
in a library, replacing hundreds of man-hours typically required in library today using
standard manual shelf reading process.
Beom-Sahng Ryuh et al proposed robotic library system is facilitated with
embedded system and ARM. In this library issuance system, the previous potential

readers authentic review reports have been taken into consideration for recommending
suitable books to the deserving new users and the issuance of books or periodicals is
based on the users decision. We have conjectured that the Wi-Fi based robotic library
management system would allow fast transaction of books issuance and it also produces
quality readers.
Anusha Ronanki et al the use of robots in library is becoming more popular in
recent years. The trend seems to continue as long as the robotics technology meets
diverse and challenging needs in educational purpose. The prototype consists of robotic
arm along with grippers capable of moving in the three axes and an ATMEGA 2560
microcontroller. Software such as AVR Studio is used for programming, PROTESUS is
used for simulation and PROGISP is used for dumping the program. RFID is used for
identifying the books and it has two IR Sensors for detecting the path. This robot is
about 4 kg in weight and it is capable of picking and placing a book of weight one kg.

CHAPTER 3
SYSTEM DESIGN AND DEVELOPMENT
3.1 SYSTEM RQUIREMENTS
The complete project specifications are analyzed and the requirements have been
documented as follows. The various hardware and software requirements are shown in
Table 3.1 and Table 3.2
3.1.1 HARDWARE REQUIREMENTS
ARDUINO MEGA 2560 Microcontroller module

EM 18 Reader Module RFID Reader
ZIGBEE 2.4 GHz Wireless Transceiver
L293D Motor driver
DC Motor 12V
Table 3.1 Hardware requirements
3.1.2 SOFTWARE REQUIREMENTS
Arduino programming Arduino 1.6.13 Genuine

Circuit design and stimulation Proteus design suit 8.3
Table 3.2 software requirements
3.2 BLOCK DIAGRAM AND WORKING

The proposed system consists of four main parts;
Robotic arm
Zigbee transceiver
RFID reader
IR sensor
The figure 3.1 shows the block diagram of the proposed system. System elements
consist of various subsystems;

Figure 3.1 Block diagram

ARDUINO MEGA 2560 in the main control unit. RFID sensor and IR sensors
are the input to control unit. Two dc motors for navigation and robotic arm for book
shifting forms the output of the control unit. The book shelf is detected by the IR sensor.
When we enter the book name to the PC the robot will move forward. The IR sensor
detects the corresponding book shelf that given to the control unit. If the IR sensor
detects the book shelf the robotic arm will pick the book. The RFID reader reads the
details of the book from the RFID tag attached to the book. After reading the RFID tag
the robotic vehicle will move to stop pit. On reaching the stop pit, the control unit gives
command to the robotic arm to release the book to the customer. As the book is placed,
control unit gives command to return to the starting pit. If we want to return the book to
the corresponding shelf we have to give the shelf name again and the arm will pick the
book from the source and the vehicle will move to the shelf and place the book in the
corresponding shelf and return back to the stop pit.
The basic working of the 'Library Management Robot' deals with the collecting
and returning of the book to the correct predestined location in the library. The working
of the robot can be divided to different layers:
1) Sensing the correct location of the shelf using IR sensor.

2) Reading RFID tags using RFID reader.

3) Movement of the robot.
The book which has to be picked is given to control PC, then the Zigbee transceiver at
the PC side send the information to the Microcontroller. Then the robot will move
forward as per the given commands. Each shelf location is marked by the low to high
value of the IR sensor. If the IR sensor senses the corresponding shelf the robot will
stop and the robotic hand will pick the book from the shelf. The RFID sensor obtains
the number stored in the RFID tag which is attached to the book. Each book has a
unique RFID tag. Hence by reading the RFID tag, the sensor obtains the details of the
book and stores the destination number in a destination register. After reading the RFID
number the robotic vehicle will move backward to the stop bit and place the book at the
customer side. If we want to return the book, give the shelf number again and the robot
will move to the shelf and place the book.
3.2.1 MICROCONTROLLER BOARD (ARDUINO MEGA 2560)
The Arduino Mega 2560 is a microcontroller board based on the ATmega2560.
It has 54 digital input/output pins (of which 14 can be used as PWM outputs), 16 analog
inputs, 4 UARTs (hardware serial ports), a 16 MHz crystal oscillator, a USB
connection, a power jack, an ICSP header, and a reset button. It contains everything
needed to support the microcontroller; simply connect it to a computer with a USB
cable or power it with a AC-to-DC adapter or battery to get started. The Mega is
compatible with most shields designed for the Arduino Duemilanove or Diecimila.
3.2.2 ROBOTIC ARM
Mobile robots are repeatedly organized in serious conditions that are risky for
humans to handle as part of industrial operations, anti-terror measures or law
enforcement, e.g. to recognize a doubtful object or defuse a bomb. Owing to extreme
situations, these manipulator vehicles have to meet specific requirements. Exact steering
and accurate handling of tools are two vital fundamentals. Devices also should be kept
small in order to allow access through narrow passageways. Drivers used for robots
have to be impressive. Special high performance micro motors have become an
essential component.
3.2.3 RFID RAEDER
Radio-frequency identification (RFID) reader, The ISC. It operates on different
frequency and available in many forms it can be directly connected to the pc

usingRs232 protocol. It gives serial and TTL output along with two RFID cards. It may
have their own processing power and internal storage, and it offer wide range of
functionality Radio frequency identification uses tags, attached to the object used to
identify.
RFID tag has a battery and it transmits ID signal periodically. It has a small
battery on board and it is activated when RFID reader present in the system. A passive
tag is cheaper and smaller because it has no battery. The tag stored in non- volatile
memory.
3.2.4 ZIGBEE TRANSCEIVER (CC2500)
CC2500 is FSK /MSK Transceiver module. It provides hardware support for
data buffering, channel assessment, packet handling and wake on radio, data
transmissions. Data can be Manchester-coded by modulator and decoded by
demodulator. It has high performance and easy to design the product. It is used in
Wireless game controllers, 2400-2483.5 MHz ISM/SRD band systems, Consumer
Electronics, Wireless audio wireless Virtual Key Board/Mouse and wireless systems.
The Modules frequency, Sensitivity, Output power can be programmed.
3.2.5 IR SENSOR
An infrared sensor is an electronic instrument which is used to sense certain
characteristics of its surroundings by either emitting and/or detecting infrared radiation.
Infrared sensors are also capable of measuring the heat being emitted by an object and
detecting motion.
3.2.6 L293D MOTOR DRIVER
Motors require more current then microcontroller pin, switch is needed
(Transistors, MOSFET, Relay etc.,) which can take small current, amplify it and
generate a larger current, which further drives a motor. This complete process is carried
out by a motor driver. L293D allows DC motor to drive on either direction. This is 16-
pin IC can control two DC motors at same time in any direction. The L293D drives
small and big motors.
3.2.7 DC MOTOR
In any electric motor, operation is based on electromagnetism. Current-carrying
conductor creates a magnetic field; when this is then placed in an exterior magnetic
field, it will experience force proportional to current in conductor, and to strength of
external magnetic field. Internal configuration of a DC motor is planned to connect

magnetic interaction between a current-carrying conductor and external magnetic field

to make rotations.
3.3 FLOWCHART
Start
Enter the book name
Robot moves to forward and IR

activates
No If
IR=HIGH
Yes
Yes and drop
Pick book, read RFID
book at place
Stop
Figure 3.2 Flowchart

Flowchart of the program written to the microcontroller is shown in figure 3.2.
In this, all the systems are initialized at the starting, the book name is entering to the
system then the robot will move forward and the IR gets activated. The microcontroller
will check the low to high value of the IR sensor, if the microcontroller detects a low to
high value from the IR sensor then the robotic vehicle will be stopped and the arm will
pick the book. Then the RFID reader will read the RFID tag attached to the book and
send to the control unit .then the robotic vehicle move back to the stop pit.

3.4 CIRCUIT DIAGRAM

Given below the circuit diagram of the proposed system in figure 3.3
Figure 3.3 Circuit diagram

Here the Arduino board need 12V power supply, robotic arm motor need 6V and
other components need 5V power supply. Here we use three L293D motor drivers for
the controlling of DC motor connected to the robotic wheels, robotic arm motor and the
magnet. The 1st L293D (U1) is for the arm motor, the input pins IN1 and IN2 of the
motor driver (2 and 7) is connected to the 9th and 8th pin of the Arduino board and the
motor is connected to the output pins- OUT1 and OUT2 (3 and 6). The 2nd L293D (U2)
is for the driving wheels, one L293D can control two motors at a time. The 1st motor is
connected to the OUT1 and OUT2 (3 and6) and 2nd motor is connected to the OUT3
and OUT4 (11 and 14) the IN1 andIN2 (2 and7) and IN3 andIN4 (9 and 10) are
connected to the 2nd, 3rd, 5th and 4th pins of the Arduino board. The 3rd L293D (U3) is for
the magnetising and demagnetising purpose IN1 and IN2 are connected to the 7th and 6th

pins of the Arduino board. The EN pin is always connected to a high value input. The
Zigbee transceiver is connected to the 0th (TX0) and 1st (RX0) pins of the Arduino board
and it need a 5V supply that given from the Arduino board. The RFID reader is
connected to the 14th (TX3) and 15th (RX3) pins of Arduino board it need a 12V power
supply. The IR sensor input is connected to the 8th pin of the Arduino board and it need
a 5V supply that given from the Arduino board.
3.5 PCB LAYOUT
The PCB is wiring arrangement that is fabricated by means of foil runs on
circuit board. A printed circuit board, or PCB, is used to mechanically support and
electrically connect electronic components using conductive pathways, tracks or signal
traces etched from copper sheets laminated onto non conductive substrate.
Printed circuit boards (PCBs) are by far the most common method of assembling
modern electronic circuits. Comprised of a sandwich of one or more insulating layers
and one or more copper layers which contain the signal traces and the powers and
grounds, the design of the layout of printed circuit boards can be as demanding as the
design of the electrical circuit.
Most modern systems consist of multilayer boards of anywhere up to eight
layers (or sometimes even more). Traditionally, components were mounted on the top
layer in holes which extended through all layers. These are referred as through whole
components. More recently, with the near universal adoption of surface mount
components, you commonly find components mounted on both the top and the bottom
layers.
The design of the printed circuit board can be as important as the circuit design
to the overall performance of the final system. We shall discuss in this chapter the
partitioning of the circuitry, the problem of interconnecting traces, parasitic
components, grounding schemes, and decoupling. All of these are important in the
success of a total design.
PCB effects that are harmful to precision circuit performance include leakage
resistances, IR voltage drops in trace foils, and ground planes, the influence of stray
capacitance, and dielectric absorption (DA). In addition, the tendency of PCBs to absorb
atmospheric moisture means that changes in humidity often cause the contributions of
some parasitic effects to vary from day to day.

In general, PCB effects can be divided into two broad categoriesthose that
most noticeably affect the static or dc operation of the circuit, and those that most
noticeably affect dynamic or ac circuit operation, especially at high frequencies. Here
the PCB layout is constructed Circuit Wizard software

CHAPTER 4
HARDWARE DESCRIPTION
The hardware of the library management robot consist of microcontroller, RFID
reader module, RFID tags ,IR sensor ,Zigbee transceiver(CC2500) ,MAX232 , L293D
motor driver and DC motor.
4.1 MICROCONTROLLER BOARD: ARDUINO MEGA 2560
The Arduino Mega 2560 is a microcontroller board based on the ATmega2560.It
has 54 digital input/output pins (of which 14 can be used as PWM outputs), 16 Analog
inputs, 4 UARTs (hardware serial ports), a 16 MHz crystal oscillator, a USB
connection, a power jack, an ICSP header, and a reset button. It contains everything
needed to support the microcontroller; simply connect it to a computer with a USB
cable or power it with a AC-to-DC adapter or battery to get started. The Mega is
compatible with most shields designed for the Arduino Duemilanove or Diecimila.
Figure 4.1 ARDUINO MEGA 2560

4.1.1 GENERAL FEATURES
Microcontroller ATmega2560
Operating Voltage 5V
Input Voltage (recommended) 7-12V
Input Voltage (limits) 6-20V
Digital I/O Pins 54 (of which 14 provide PWM
output)
Analog Input Pins 16
DC Current per I/O Pin 40 mA
DC Current for 3.3V Pin 50 mA

Flash Memory 256 KB of which 8 KB used by boot

loader
SRAM 8 KB
EEPROM 4 KB
Clock Speed 16 MHz
TABLE 4.1 Features of Arduino Mega 2560
Figure 4.2 Arduino Board

The Arduino Mega2560 can be powered via the USB connection or with an
external power supply. The power source is selected automatically. External (non-USB)
power can come either from an AC-to-DC adapter (wall-wart) or battery. The adapter
can be connected by plugging a 2.1mm centre-positive plug into the board's power jack.
Leads from a battery can be inserted in the GND and VIN pin headers of the POWER
connector. The board can operate on an external supply of 6 to 20 volts. If supplied with
less than 7V, however, the 5V pin may supply less than five volts and the board may be
unstable. If using more than 12V, the voltage regulator may overheat and damage the
board. The recommended range is 7 to 12 volts.

The Mega2560 differs from all preceding boards in that it does not use the FTDI USB-
to-serial driver chip. Instead, it features the Atmega8U2 programmed as a USB-to-serial
converter.
The power pins are as follows:
VIN: - The input voltage to the Arduino board when it's using an external power
source (as opposed to 5 volts from the USB connection or other regulated power
source). You can supply voltage through this pin, or, if supplying voltage via the
power jack, access it through this pin.
5V:- The regulated power supply used to power the microcontroller and other
components on the board. This can come either from VIN via an on-board
regulator, or be supplied by USB or another regulated 5V supply.
3V3:- A 3.3 volt supply generated by the on-board regulator. Maximum current
draw is 50 mA.
GND: - Ground pins.
The ATmega2560 has 256 KB of flash memory for storing code (of which 8 KB
is used for the boot loader), 8 KB of SRAM and 4 KB of EEPROM. Each of the 54
digital pins on the Mega can be used as an input or output, using pinMode(),
digitalWrite(), and digitalRead() functions. They operate at 5 volts. Each pin can
provide or receive a maximum of 40 mA and has an internal pull-up resistor
(disconnected by default) of 20-50 K.
In addition, some pins have specialized functions: Serial: 0 (RX) and 1 (TX);
Serial 1: 19 (RX) and 18 (TX); Serial 2: 17 (RX) and 16 (TX); Serial 3: 15 (RX) and 14
(TX). Used to receive (RX) and transmit (TX) TTL serial data. Pins 0 and 1 are also
connected to the corresponding pins of the ATmega8U2 USB-to-TTL Serial chip
External Interrupts: 2 (interrupt 0), 3 (interrupt 1), 18 (interrupt 5), 19 (interrupt 4), 20
(interrupt 3), and 21 (interrupt 2). These pins can be configured to trigger an interrupt
on a low value, a rising or falling edge, or a change in value. See the attachInterrupt()
function for details. PWM: 0 to 13. Provide 8-bit PWM output with the analogWrite()
function.SPI: 50 (MISO), 51 (MOSI), 52 (SCK), 53 (SS). These pins support SPI
communication, which, although provided by the underlying hardware, is not currently
included in the Arduino language. The SPI pins are also broken out on the ICSP header,
which is physically compatible with the Duemilanove and Diecimila.LED: 13. There is

a built-in LED connected to digital pin 13. When the pin is HIGH value, the LED is on,
when the pin is LOW, it's off. I2C: 20 (SDA) and 21 (SCL). Support I2C (TWI)
communication using the Wire library.
The Mega2560 has 16 analog inputs, each of which provides 10 bits of
resolution (i.e. 1024 different values). By default they measure from ground to 5 volts,
though is it possible to change the upper end of their range using the AREF pin and
analogReference() function. The Arduino Mega2560 has a number of facilities for
communicating with a computer, another Arduino, or other microcontrollers. The
ATmega2560 provides four hardware UARTs for TTL (5V) serial communication. An
ATmega8U2 on the board channels one of these over USB and provides a virtual com
port to software on the computer (Windows machines will need a .inf file, but OSX and
Linux machines will recognize the board as a COM port automatically. The Arduino
software includes a serial monitor which allows simple textual data to be sent to and
from the board.
The RX and TX LEDs on the board will flash when data is being transmitted via
the ATmega8U2 chip and USB connection to the computer (but not for serial
communication on pins 0 and 1). A Software Serial library allows for serial
communication on any of the Mega's digital pins. The ATmega2560 also supports I2C
(TWI) and SPI communication. The Arduino software includes a Wire library to
simplify use of the I2C bus.
4.2 RFID READER MODULE AND RFID TAGS
This is a low frequency (125 KHz) RFID reader with serial output with at range
of 8-12cm. It is a compact unit with built in antenna and can be directly connected to the
PC using RS232 protocol.
Figure 4.3 RFID Reader Module and RFID Tags

4.2.1 FEATURES
Serial and TTL output.
Along with two RFID cards.
Excellent read performance without an external circuit.
Compact size and cost-effective.
4.2.2 SPECIFICATIONS
Operating voltage 5V
Current <50Ma
Read distance 10cm
Operating frequency 125 KHz
Table 4.2 Specifications of RFID Module

RFID Reader Module, are also called as interrogators. They convert radio waves
returned from the RFID tag into a form that can be passed on to Controllers, which can
make use of it. RFID tags and readers have to be tuned to the same frequency in order to
communicate as shown in Fig.4.3.
RFID systems use many different frequencies, but the most common and widely
used & supported by our Reader is 125 KHz. An RFID system consists of two separate
components: a tag and a reader. Tags are analogous to barcode labels and come in
different shapes and sizes. The tag contains an antenna connected to a small microchip
containing up to two kilobytes of data. The reader or scanner functions similarly to a
barcode scanner. However, while a barcode scanner uses a laser beam to scan the
barcode, an RFID scanner uses electromagnetic waves. To transmit these waves, the
scanner uses an antenna that transmits a signal communicating with the tags antenna.
The tags antenna receives data from the scanner and transmits its particular chip
information to the scanner. The data on the chip is usually stored in one of two types of
memory. The most common is Read-Only Memory (ROM), as its name suggests, read-
only memory cannot be altered once programmed onto the chip during the
manufacturing process. The second type of memory is Read/Write Memory, though it is
also programmed during the manufacturing process, it can later be altered by certain
devices. A radio-frequency identification system uses tags, or labels attached to the
objects to be identified. Two-way radio transmitter-receivers called interrogators or

readers send a signal to the tag and read its response. RFID tags can be either passive,
active or battery-assisted passive.
RFID tags contain at least two parts: an integrated circuit for storing and
processing information, modulating and demodulating a radiofrequency (RF) signal,
collecting DC power from the incident reader signal, and other specialized functions;
and an antenna for receiving and transmitting the signal. The tag information is stored in
a non-volatile memory. The RFID t a g includes either a chip-wired logic or a
programmed or programmable data processor for processing the transmission and
sensor data, respectively.
4.3 ZIGBEE TRANSCEIVER (CC 2500)
ZigBee is an IEEE 802.15.4-based specification for a suite of high-level
communication protocols used for wireless networking. It is a wireless technology
developed as an open global standard to address the unique needs of low-cost, low-
power wireless M2M networks. ZigBee (CC2500) is a low cost true single chip 2.4
GHz transceiver designed for very low power wireless applications. The RF transceiver
is integrated with a highly configurable baseband mode.
ZigBee devices are required to conform to the IEEE 802.15.4-2003 Low-Rate
Wireless Personal Area Network (LR-WPAN) standard. The standard specifies the
lower protocol layers are the physical layer (PHY), and the Media Access Control
portion of the data link layer (DLL). The technology defined by the ZigBee
specification is intended to be simpler and less expensive than other wireless personal
area networks (WPANs), such as Bluetooth or Wi-Fi. Its low power consumption limits
transmission distances to 10100 meters line-of-sight, depending on power output and
environmental characteristics.
ZigBee is used in applications that require a low data rate, long battery life, and
secure networking. ZigBee has a defined rate of 250 Kbit/s, best suited for periodic or
intermittent data or a single signal transmission from a sensor or input device.
Applications include wireless light switches, electrical meters with in-home-displays,
traffic management systems, and other consumer and industrial equipment that requires
short-range wireless transfer of data at relatively low rates. The technology defined by
the ZigBee specification is intended to be simpler and less expensive than other
WPANs, such as Bluetooth or Wi-Fi.

Figure 4.4 ZIGBEE 2.4GHZ TI CC2500

ZigBee devices can transmit data over long distances by passing data through a
mesh network of intermediate devices to reach more distant ones. ZigBee is typically
used in low data rate applications that require long battery life and secure networking .
ZigBee has a defined rate 250 kbit/s, best suited for intermittent data transmissions from
a sensor or input device.
4.3.1 FEATURES
Supply voltage: 5v DC
Detection range: (10-30) m
RS232 Output
TTL UART also provided
Frequency: 2.4GHz
Tx and Rx Status LEDs
Low power
4.4 IR SENSOR
Since the sensor module works on INFRARED, for obstacles with reflective
surfaces (white colored), the maximum range will be higher and for non-reflective
surfaces (black colored), and the maximum range will be lower. This can in turn be used
for detecting white/black lines (in line follower ROBOTs) or bright/dark objects (in
object identification ROBOTs) Modes of Operation 1. High Level Mode (AH mode) In
High Level Mode, if there is no obstacle then the output will be LOW (0V) & detecting
an obstacle will change the output to HIGH (5V) Level. This mode can be enabled, if

both the jumpers are connected to AH (Set the jumper A on Pin 1 & 2, Set the jumper B
on Pin 2 & 3). 2. Low Level Mode (AL mode) In Low Level Mode, if there is no
obstacle then the output will be HIGH (5V) & detecting an obstacle will change the
output to LOW (0V) level. This mode can be enabled, if both the jumpers are connected
to AL (Set the jumper A on Pin 2 & 3, Set the jumper B on Pin 1 & 2). Note: If jumper
is connected in any other way the output will be always HIGH or LOW.
Figure 4.5 IR Sensor

The principle of an IR sensor working as an Object Detection Sensor can be
explained using the following figure. An IR sensor consists of an IR LED and an IR
Photodiode; together they are called as Photo Coupler or Opto Coupler.
Figure 4.6 Working of IR Sensor

When the IR transmitter emits radiation, it reaches the object and some of the
radiation reflects back to the IR receiver. Based on the intensity of the reception by the
IR receiver, the output of the sensor is defined.
4.5 ROBOTIC ARM
In this project, we are used Pick and place robotic arm to pick a book and place
on conveyor and it forward towards counter. They are directed in both X and Y
directions to place the book. There are many different types of pick and place systems.
Examples include portable material handling systems, industrial manipulators. This pick

and place robotic arm with wheels can be easily moved from one place to another. A
pick and place robot manipulator can be used to pick an object and place them in an
orderly manner to get a final destination A pick and place requires little operator and
provides maximum output with efficiency. It is widely used in different industry to pick
a different material and place in desire location
Figure 4.7 Robotic Arm

1] Degree of freedom: - Degree of freedom of system can be viewed as the minimum
number of coordinates required to specify a configuration. A single object in a space
requires three coordinates so it has three degree of freedom.
2] Joint specification:-It consist of following parts
Gripper: Gripper is a front end of robotic arm. It is used to pick the object and placed
in desired location.
Axis rotation: It has 3600 of rotation (left, right, up and down)
Mobile robots are repeatedly organized in serious conditions that are risky for
humans to handle as part of industrial operations, anti-terror measures or law
enforcement, e.g. to recognize a doubtful object or defuse a bomb. Owing to extreme
situations, these manipulator vehicles have to meet specific requirements. Exact steering
and accurate handling of tools are two vital fundamentals. Devices also should be kept
small in order to allow access through narrow passageways. Drivers used for robots
have to be impressive. Special high performance micro motors have become an
essential component.

4.6 L293D MOTOR DRIVER

L293D is a dual H-bridge motor driver integrated circuit. Motor drivers act as a
current amplifier since they take a low-current control signal and provide a higher-
current signal. This higher current signal is used to drive the motors.
Figure 4.8 Pin out of L293D

L293D contains two inbuilt H-bridge driver circuits. In its common mode of
operation, two DC motors can be driven simultaneously, both in forward and reverse
direction. The motor operations of two motors can be controlled by input logic at pins 2
& 7 and 10 & 15. Input logic 00 or 11 will stop the corresponding motor. Logic 01 and
10 will rotate it in clockwise and anticlockwise directions, respectively.
Enable pins 1 and 9 (corresponding to the two motors) must be high for motors
to start operating. When an enable input is high, the associated driver gets enabled. As a
result, the outputs become active and work in phase with their inputs. Similarly, when
the enable input is low, that driver is disabled, and their outputs are off and in the high-
impedance state.
Figure 4.9 L293D Board

4.6.1 FEATURES
Wide Supply-Voltage Range: 4.5 V to 36 V
Separate Input-Logic Supply
Internal ESD Protection
High-Noise-Immunity Inputs
Output Current 1 A Per Channel
Peak Output Current 2 A Per Channel
Output Clamp Diodes for Inductive Transient Suppression
INPUT 1 INPUT 2 DESCRIPTION

0 0 Motor stops or breaks
0 1 Motor runs anticlockwise
1 0 Motor runs clockwise
1 1 Motor stops or break
Table 4.3 Working of H-bridge
4.7 DC MOTOR
A DC motor relies on the fact that like magnet poles repels and unlike magnetic
poles attract each other. A coil of wire with a current running through it generates
an electromagnetic field aligned with the center of the coil. By switching the current on
or off in a coil its magnetic field can be switched on or off or by switching the direction
of the current in the coil the direction of the generated magnetic field can be switched
180.
Figure 4.10 DC Motor

A simple DC motor typically has a stationary set of magnets in the stator and
an armature with a series of two or more windings of wire wrapped in insulated stack

slots around iron pole pieces (called stack teeth) with the ends of the wires terminating
on a commutator. The armature includes the mounting bearings that keep it in the center
of the motor and the power shaft of the motor and the commutator connections. The
winding in the armature continues to loop all the way around the armature and uses
either single or parallel conductors (wires), and can circle several times around the stack
teeth. The total amount of current sent to the coil, the coil's size and what it's wrapped
around dictate the strength of the electromagnetic field created.
4.7.1 GENERAL FEATURES
Voltage: 12.0VDC
Output Speed: 200 +/- 10% RPM
No-Load output current: =< 50 mA
Noise: No Gear Noise
Stall output: : Slip Gear, Broken Gear is no allowed
Output shaft of the axial clearance: =< 0.1 ~ 0.3mm, Horizontal clearance
requirement =< 0.05
4.8 MAX 232
The MAX232 is an IC, first created in 1987 by Maxim Integrated Products, that
converts signals from an RS-232 serial port to signals suitable for use
in TTL compatible digital logic circuits. The MAX232 is a dual driver/receiver and
typically converts the RX, TX, CTS and RTS signals.
Figure 4.11 MAX232

The drivers provide RS-232 voltage level outputs (approx. 7.5 V) from a
single + 5 V supply via on-chip charge pumps and external capacitors. This makes it
useful for implementing RS-232 in devices that otherwise do not need any voltages
outside the 0 V to + 5 V range, as power supply design does not need to be made more
complicated just for driving the RS-232 in this case.

The receivers reduce RS-232 inputs (which may be as high as 25 V), to

standard 5 V TTL levels. These receivers have a typical threshold of 1.3 V, and a
typical hysteresis of 0.5 V.

CHAPTER 5
SOFTWARE/TOOLS ENVIORNMENT
5.1 ARDUINO IDE
A program for Arduino may be written in any programming language for a
compiler that produces binary machine code for the target processor. Atmel provides a
development environment for their microcontrollers, AVR Studio and the newer Atmel
Studio.
The Arduino project provides the Arduino integrated development environment
(IDE), which is a cross-platform application written in the programming language Java.
It originated from the IDE for the languages Processing and Wiring. It includes a code
editor with features such as text cutting and pasting, searching and replacing text,
automatic indenting, brace matching, and syntax highlighting, and provides simple one-
click mechanisms to compile and upload programs to an Arduino board. It also contains
a message area, a text console, a toolbar with buttons for common functions and a
hierarchy of operation menus.
Figure 5.1 Arduino Main Page

A program written with the IDE for Arduino is called a sketch. Sketches are
saved on the development computer as text files with the file extension .ino. Arduino
Software (IDE) pre-1.0 saved sketches with the extension .pde.

The Arduino IDE supports the languages C and C++ using special rules of code
structuring. The Arduino IDE supplies a software library from the Wiring project,
which provides many common input and output procedures. User-written code only
requires two basic functions, for starting the sketch and the main program loop, that are
compiled and linked with a program stub main() into an executable cyclic executive
program with the GNU toolchain, also included with the IDE distribution. The Arduino
IDE employs the program avrdude to convert the executable code into a text file in
hexadecimal encoding that is loaded into the Arduino board by a loader program in the
board's firmware
5.2 PROTEUS DESIGN SUIT 8.3
Proteus is one of the most famous simulators. It can be uses to simulate almost
every circuit on electrical fields. It is easy to use because of the GUI interface that is
very similar to the real Prototype board. Moreover, it can be used to design Print Circuit
Board (PCB).Proteus has many features to generate both analogue and digital result.
However, this lab will focus on only tools that will be used in digital schematic designs.
Proteus that will be used in the lab is version 6.9 with service pack 9 can be called from
Start>>Program>>Proteus 6 Professional>>ISIS 6 professional
Proteus 8.3 represents over three years continuous development and includes
improvements to every area of the software suite. Major work on the application
framework together with the introduction of a common database provides a much
smoother workflow for users while the rich new feature set saves time and effort in the
design lifecycle. A demonstration version can be downloaded directly from the Lab
center website and you can then either watch getting started movies from the application
home page or access the tutorial documentation for evaluation.
The 3D Viewer is a top level application module and launches as a new tab
inside Proteus 8.3. Like other application modules you can drag and drop it into a new
window if you want to view is alongside another module (e.g. ARES). The rendering
code for the 3D Viewer has been re- written to support both DirectX and OpenGL and
also to make it multi-threaded. Render times on machines with 4 or more cores can be
more than halved when compared with Proteus 7. These speed gains make possible an
automatic update between ARES and the 3D Viewer such that changes to the PCB are
automatically reflected in the 3D View.

Fig no. 5.2 Schematic capture

5.2.1 OVERVIEW
The main theme of the Proteus 8.3 release is integration. Development has
therefore been focused on taking the various discrete parts of an electronic design and
coupling them together to achieve a better workflow. In order to achieve this, three
major architectural changes were necessary; a unified application framework, a
common database and a live netlist.
5.2.2 APPLICATION FRAMEWORK
Proteus 8.3 consists of a single application with many modules (ISIS, BOM,
ARES, 3D Viewer, etc.). Modules open in tabs within the application window but can
then be dragged and dropped to create additional windows and enable side-by-side
viewing. The Proteus 8.3 application includes a dedicated home page which, along with
easy access to help and project launch, contains a news and information panel.
5.3 PCB ETCHING
The developed PCB is etched with a 220 g/l solution of ammonium
peroxydisulfate (NH4)2S2O8 a.k.a. ammonium persulfate, 220 gram added to 1 liter of
water and mix it until everything is dissolved. Theoretically it should be possible to etch
slightly more than 60 grams of copper with 1 liter etching solution. Assume 50%
efficiency, about 30 grams of copper. With a thickness of 35 m copper on your PCB
this covers a copper area of about 1000 cm2.
Unfortunately the efficiency of the etching solution degrades, dissolved
ammonium peroxydisulfate decomposes slowly. You better make just enough etching

solution you need to etch. For an etching tray of about 20 x 25 cm a minimum practical
amount is 200-250 ml solution. So you dissolve about 44 grams ammonium
peroxydisulfate into 200 ml or 55 grams into 250 ml water
Etching at ambient temperature might take over an hour, it is better to heat up
the etching solvent to about 35-45 degrees Celsius. The etching solution heating up
could be done in a magnetron, this takes about 40 to 60 seconds in a 850W magnetron
depending on the initial temperature of the etching solution (hint: first try this with just
water to determine the timer setting of the magnetron). The etching - rocking the
etching tray - takes about 15-30 minutes at this temperature. If you have a heated, air-
bubble circulated etching fluid tank available, this is probably the fastest way to etch. At
higher temperatures the etching performance decreases. The etching process is an
exothermic reaction, it generates heat. Take care, cool your etching tray when
necessary! You should minimize the amount of copper to etch by creating copper area
in your PCB layout as much as possible. When starting the etching process and little to
etch it is difficult to keep the etching solution at 35-45 degrees Celsius. It helps to fill
for example the kitchen sink with warm water and rock the etching tray in the filled
kitchen sink.

CHAPTER 6
ASSEMBLY AND SOLDERING
6.1 ASSEMBLY
Assembly consists of soldering of components and wires on to the PCB and
mechanical fitting of wired PCB and other assemblies. Testing is carried out even at a
design phase itself in breadboard level to verify the design, so that little or no circuit
changes are required after designing the PCB.
6.2 SOLDERING
Soldering is a delicate manual skill which only comes with practice. Remember
that your ability to solder effectively will determine directly how well the prototype or
product functions during its lifespan. Poor soldering can be an expensive business -
causing product failure and downtime, engineer's maintenance time and customer
dissatisfaction. At hobbyist level, bad soldering technique can be a cause of major
disappointment which damages your confidence.
Turning to the actual techniques of soldering, firstly it's best to secure the work
somehow so that it doesn't move during soldering and affect your accuracy. In the case
of a PCB, various holding frames are fairly popular especially with densely populated
boards: the idea is to insert all the parts on one side ("stuffing the board"), hold them in
place with a special foam pad to prevent them falling out, turn the board over and then
snip off the wires with cutters before making the joints. Once they are heated the solder
can be applied. The solder should flow through and around the component and the
track. Having completed soldering the circuit the extended legs on the components need
to be trimmed using wire clippers. The circuit is now ready for testing.
6.3 TESTING
After soldering the components on to the PCB, the board is thoroughly cleaned
for any residual flux and wire leads. All the components are checked for their value and
for the proper orientation, if applicable. Before ICs are inserted into the sockets, power
applied to the board and voltages are measured at the IC power point. Power is switched
off before the ICs are inserted.

CHAPTER 7
ADVANTAGES AND DISADVANTAGES
7.1 ADVANTAGES
System excludes the use of paper work by managing all the book information
electronically.
Admin can update database by providing new books in library and their
availability thus students need not to go to library for issuing purpose.
System has books well organized and analytically arranged in different
categories in the system so that user can easily search and find the book.
User friendly
Reduce the manual work
Misplacing books can be identified easily
High accuracy and More efficient
Flexible arm and angle can be changed
7.2 DISADVANTAGES
Problems of mechanical functioning may occur
Capability of lifting a book has limitation.

CHAPTER 8
APPLICATIONS AND SCREEN SHOTS
8.1 APPLICATIONS
It can be used in libraries of school and college.
Can be used in big book stalls in malls
News paper printing press for picking bundles of paper.
It may be used in paper mills
Book exhibition and sales
Central libraries.
8.2 SCREEN SHOTS
Figure 8.1 Robotic Vehicle and Robotic Arm
Figure 8.2 RFID Reader, IR Sensor, ZIGBEE Transceiver are connected to Arduino Module

Figure 8.3 Books Arranged in Shelf (RFID Tag attached)
Figure 8.4 Control Center (ZIGBEE connected to the PC)

Figure 8.5 Complete System Arrangements

CHAPTER 9
RESULTS
The experiments were conducted to evaluate the performance of the proposed
method. The results presented in this paper mark the beginning of our efforts to build a
robot for detecting the books. This circuit is designed for book detection. The IR sensor
is used to sense and detect the book. When the librarian types the book name, the robot
will be ready to search the book. As soon as it identifies the book, the arm will pick the
book return back to the stop pit. Book return facility also implemented in this project.

CHAPTER 10
CONCLUSION
In this report, we proposed a Library Management Robot which will save the
library employees from their time consuming task of book sorting and arranging. The
major task of library employee can be performed at a greater accuracy and reliability. It
also helps in reducing labour requirement, time consumption and cost of library
management. To automate the process of book sorting, we use this robot, which will
place the books in the respective locations. Here we will be placing the books in a rack,
and all the books will be tagged by RFID tags and an RFID reader will be placed on the
robot. The RFID reader sends the data to Arduino Mega 2560 which in turn pass the
corresponding location details. In this case; the proposed robot will make the life of
librarian a lot simpler.

CHAPTER 11
FUTURE SCOPE
The project can be extended so as to pick the books too, along with the placing
of books. With more improvisation using a robotic arm along with a conveyor unit. The
system can be made to place the books precisely at the correct location, irrespective of
weight of the book and height of the shelf. Also, the system can be modified to carry
more than one book at a time. With proper design of the path, efficiency of operation
can be increased considerably. Also we can access via internet. Multiple robots can be
used to pick the books to reduce the time.

CHAPTER 12
REFERENCES
1) Bomble Pranit ,G Dipika , Dr. Shaikh Meeravali (IJARIIE) Library
Management Robot (Volume 5 Issue 3 March, 2015 Page No. 6017-6024 )
2) Arumugaraja, GugaPriyaB ,Soundarya.M (IJECS) The Library Management
Robot (Volume 3 Issue 3 March, 2014 Page No. 5008-5012 )
3) Vipulata M. Lande, Shraddha S. Chauhan, Ashwini S. Kalbande (IJARESSE)
Automated Library System Using Robotic Arm(Volume 2 Issue 4 May, 2015
page no.3021-3030)
4) Urvesh Katode ,Prathamesh Mandavkar ,Jai Kudu, Sayali Lad Wireless Pick
and Place Library Management Robot (IJCA) (ISSN: 2278-0181 Vol. 4 Issue
04, April-2015)
5) Mayank Pathak, Manish Pandit, Rohit Sanvaliya Library Management Robot
Design and Fabrication (IJERT) (ISSN: 2278-0181 Vol. 5 Issue 10, October-
2016)
6) Anusha Ronanki , M. Kranthi Design and Fabrication of Pick and Place Robot
to Be Used in Library(Volume 4, Issue 6, June 2015)

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PROJECT REPORT 2017 LIBRARY MANAGEMENT ROBOT

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ARDUINO MEGA 2560 Microcontroller module

Table 3.1 Hardware requirements

3.1.2 SOFTWARE REQUIREMENTS

Arduino programming Arduino 1.6.13 Genuine

Table 3.2 software requirements

3.2 BLOCK DIAGRAM AND WORKING

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Figure 3.1 Block diagram

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2) Reading RFID tags using RFID reader.

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magnetic interaction between a current-carrying conductor and external magnetic field

Enter the book name

Robot moves to forward and IR

Figure 3.2 Flowchart

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3.4 CIRCUIT DIAGRAM

Figure 3.3 Circuit diagram

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Figure 4.1 ARDUINO MEGA 2560

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Flash Memory 256 KB of which 8 KB used by boot

TABLE 4.1 Features of Arduino Mega 2560

Figure 4.2 Arduino Board

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Figure 4.3 RFID Reader Module and RFID Tags

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Table 4.2 Specifications of RFID Module

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Figure 4.4 ZIGBEE 2.4GHZ TI CC2500

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Figure 4.5 IR Sensor

Figure 4.6 Working of IR Sensor

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Figure 4.7 Robotic Arm

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4.6 L293D MOTOR DRIVER

Figure 4.8 Pin out of L293D

Figure 4.9 L293D Board

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INPUT 1 INPUT 2 DESCRIPTION

Table 4.3 Working of H-bridge

Figure 4.10 DC Motor

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Figure 4.11 MAX232

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The receivers reduce RS-232 inputs (which may be as high as 25 V), to

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Figure 5.1 Arduino Main Page

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Fig no. 5.2 Schematic capture

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