A

Proposal
On

Cell Phone Controlled Robot

Submitted
to

Participants Mr Kaushal Singh Kiroula Mr Mohit Sharma Mohd. Shahbaz Khan Mr Kapil Sharma

Guide
Mrs Usha Chaudhry (Lecturer ECE Deptt) Modi Institute of Technology, Kota (Rajasthan)

Form A Form No (for official use only)

1. Title of the Project - CELLPHONE CONTROLLED ROBOT (DTMF)

2. Discipline/ Subject Area (Engineering/ Medical/ Computer/ Life Science/ Biotechnology/ Textile/ Home Science Veterinary, Botany etc.)

3.

Region (Regional Office area of jurisdiction: - Ajmer /Kota /Jodhpur /Bikaner /Udaipur), tick the relevant

4.

Designation & Address of the Person, in whose name, Demand Draft/Bankers Cheque of grant is to e sent. (Head of Institution/ Principal)

Director Modi Institute Of Technology, Kota(Raj.)

5.

Name & Class/Year of the Students (indicate clearly the semester in case of semester system)

Mr. Kaushal Singh Kiroula Mr. Mohit Sharma Mr. Mhd. Shahbaaz Khan Mr. Kapil Sharma

7 th Sem. (4th yr.) 7 th Sem. (4th yr.) 7 th Sem. (4th yr.) 7 th Sem. (4th yr.)

6.

Address of the Students (Institutional & Correspondence Address with E-mail ID & Fax, Mobile No.) 1. Mr. Kaushal Singh Kiroula S/O Sh. Nar Singh Kiroula Address - Correspondence - 2- c- 3, Rajasthan Housing Board , Kunhadi, Kota(Raj.) Institutional - Modi Institute Of Technology , Nayagaon ,Kota E-mail ID singh.koushal92@gmail.com Cell No. - +91 9166464344 2. Mr. Mohit Sharma S/O Sh. Sitaram Sharma Address Correspondence - 267-A , Sanjay Gandhi Nagar , DCM road , Kota (raj.) Institutional- Modi Institute Of Technology , Nayagaon ,Kota E-mail ID mohitsetcul@gmail.com Cell No. - +91 8107772571 3. Mr. Mohd. Shahbaaz Khan S/O Mhd. Ajaz Khan Address Correspondence- 2- d -3 , Shahin House Chattrapura talab , Vigyan Nagar , Kota(Raj.) Institutional - Modi Institute Of Technology , Nayagaon ,Kota E-mail ID Khanshahbaz44@gmail.com Cell No. - +91 9784243995 4. Mr. Kapil Sharma S/O Sh. Dhurav Sharma

Address Correspondence - 7- h- 3, Mahaveer Nagar -3 , Kota (Raj.) Institutional- Modi Institute Of Technology, Nayagaon ,Kota E-mail ID Kapil2010sharma@gmail.com Cell No. - +91 8003535095

Form B (Do not write name of PI, students and Institute any where in this form) Form No (for official use only)

Title of the Project

Cell Phone Controlled Robot

( DTMF ) -

Project Summary
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 HT9170 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 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 I.

Technical details of the Projects

Origin of the Proposal
In most college ragging becomes most popular issue. Various steps are taken by government & college management to stop this cruel activity, but all in vain due to lack of staff members in large space of college campus. Colleges are situated in space of hectares, so it is almost impossible to look after the fresher. Presently, college has made anti ragging squad, but still college campus unable to properly avoid this crucial task. To overcome this problem we get an idea Cellphone-Controlled Robot. It helps to capture culprit candidate who involves in unfair activity. GSM technology provides large range of working areas. Due to this feature we can operate this device over large range of areas in college campus. In Law enforcement and military engagements because of many reasons, Cellphone-Controlled Robot is used. The exposures to hazards are mitigated to the person who operates the vehicle from the location of relative safety. They are used by many police department bomb-squads to defuse or detonate explosives.

Definition of the problem

Our Country power depends on our security system which mostly strengthened by army. In our army Informers are the most important role maker .They are the one which gives hidden information. On the border side, if we send a spy there is a big chance of losing out a information or an important document and some men power .Life of a soldier can be Fall in a danger so there is a big sense of danger involve in it. The other problem posses, is about mines. In mines there some risky areas exist, where danger of explosion and bombarding occurs in frequent seconds. So for checking out those areas we should have a safe option.

Objectives
To improve our militants security at LOC by getting information about opponent. Remote controlled vehicles are used in Law enforcement and military engagements because of many reasons. The exposures to hazards are mitigated to the person who operates the vehicle from the location of relative safety. They are used by many police department bomb-squads to defuse or detonate explosives. Current Unmanned Aerial Vehicles (UAVs) can hover around possible targets until they are positively identified before releasing their pay load of weaponry. Backpack sized UAVs will provide ground troops with over the horizon surveillance capabilities. To achieve ragging free environment in college campus.

Presently, college has made anti ragging squad, but still college campus unable to properly avoid this crucial task.

To insure the safe areas in mines.

With the help of Cellphone-Controlled Robot, we can predict the areas where the explosion can occur, by the application of sound tracking webcam.

Work Plan

PCB Layout PCB Fabrication

(Component mounting, Cleaning etc)

Kapil Sharma & Mhd. Shahbaaz Mohit Sharma & Kaushal Singh Mhd. Shahbaaz & Kaushal Singh Kapil Sharma & Mohit Sharma Mohit Sharma, Mhd. Shahbaaz & Kaushal Singh Kaushal Singh, Mohit Sharma , Mhd. Shahbaaz , Kapil Sharma

PCB Testing Software Programming Hardware Design

Project Testing & Fault Diagnosis

Methodology
PCB design & fabrication
First of all we have to design layout as shown bellow:-

The important components of this rover are a DTMF decoder, microcontroller and motor driver.

An HT9170 series DTMF decoder is used here. All types of the HT9170 series use digital counting techniques to detect and decode all the 16 DTMF tone pairs into a 4-bit code output. The built-in dial tone rejection circuit eliminates the need for pre-filtering. When the input signal given at pin 1 and pin 2 are recognized to be effective, pin 15 becomes high, and the correct 4-bit code of the DTMF tone is transferred to the output pins 11 and 14. Table II shows the DTMF data output table of HT9170. Pins 11 through pin 14 of the DTMF decoder are connected to port pins RC0 through RC3 of respectively. ATMEGA16 is a low power, high speed CMOS FLASH/EEPROM. It provides the following features: 8K x 14 words of FLASH Program Memory, 368 x 8 bytes of Data Memory (RAM), 256 x 8 bytes of EEPROM Data Memory, 33 I/O lines, 8-bit timer/counter with 8-bit prescaler, 16-bit timer/counter with prescaler, 8-bit timer/counter with 8bit period register, Universal Synchronous Asynchronous Receiver Transmitter (USART/SCI) with 9-bit address detection, Parallel Slave Port (PSP) 8 bits wide with external RD, WR and CS controls (40/44pin only). Program memory and data memory have separate buses so that concurrent access can occur. Outputs from port pins RB4 through RB7 and RB3 of the microcontroller are fed to pins 2, 7, 10, 15 and enable pins (1 and 9) of motor driver L293D, respectively, to drive two geared DC motors. Switch SW is used for manual reset. The microcontroller output is not sufficient to drive the DC motors, so current drivers are required for motor rotation. The 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 2,7,10 & 15 and 3,6,11 & 14 are input and output pins,

respectively, of driver 1through driver 4. Drivers 1 and 2, and drivers 3 and 4 are enabled by enable pin 1 and pin 9, respectively. When enable input pin1 is high, drivers 1 and 2 are enabled and the outputs corresponding to their inputs are active. Similarly, enable input pin 9 enables drivers 3 and 4. Here we are also using a sensor section using two IR sensors. These sensors help in automatically detecting and avoiding obstacles when the robot goes out of line of sight. The input from the IR sensor is given to pin 3 of LM358 comparator IC. Output from LM358 is given to pin 33 i.e. interrupt input of the microcontroller.

PCB Testing
Firstly , we check the PCB visually to diagnosis the problem of loose connection of component , then check the PCB to find out its internal resistances ,if we get some internal resistances then PCB is OK if it is not than otherwise we have to recover the problem .

Programming of Microcontroller
Programming or coding has to be done on microcontroller IC ATMEGA16, based on c programming.

SOFTWARE / TOOL ENVIRONMENT The software is written in embedded C language and compiled using MikroC compiler. The source program is converted into hex code by the compiler. Burn this hex code into ATMEGA16 microcontroller. The source program is well commented and easy to understand. First the required register and the variable is declared. Then all the pins of port C are initiated as 1 and all the pins of port B except RB0 are initiated as 0. Microcontroller is also informed that an interrupt function is being used. The program will run forever by using while loop. Under while loop, the input at port C is stored into character cc. Then the character cc is tested for various inputs. The corresponding data will output at port B after testing of the received data. In the interrupt function, initially the robot is stopped for a time of 500ms ie 0.5s. Then the robot moves backwards for a time of 400ms ie 4s. After moving back for 4s, it will then stop for 2000ms ie 2s. If the obstacle persists even after this, again the interrupt function will be executed because of the high input at pin 33.

Hardware Description
BLOCK DIAGRAM

Block diagram description

The following are the main components in block diagram

Phone unit DTMF decoder Microcontroller Motor driver

Phone unit is to give the desired control to the decoder part. DTMF decoder is to decode the input signal to corresponding binary Microcontroller converts the incoming binary to corresponding codes to required to drive the motor driver Motor driver amplify the input signal for driving motor

ADDING A CAMERA
If the current land rover is interfaced with a camera ( e.g. a web cam) robot can be driven beyond line-of-sight and range becomes unlimited as GSM networks have a very large range.

Project Testing & Fault diagnosis

Finally project is checked for required outcome & if any error occurs then check overall system to solve the respective problem.

Organization of work element

COMPONENTS USED
Semiconductors:

IC 74ls04 decoder Atmega16 microcontroller L293D motor driver

Resistors (all -watt, 5% carbon):

100-kilo-ohm 300-kilo-ohm 10-kilo-ohm 100-ohm 220-ohm

Capacitors:

0.1mF ceramic disk 20pF ceramic disk 33pFceramic disk

Miscellaneous:

3.57MHz crystal 12MHz crystal SW - Push-to-on switch M1, M2 - 6V, 50-rpm geared DC motor Batt. - 6V, 4.5Ah battery IR sensor Transmitter & Receiver Web cam Tv transmitter Antenna Voltage regulator

ic1 - HT9170 ic2 - atmega16 ic3 - l293d ic4 - 74ls04 r1,r2 - 100k resistances r3 - 330k resistances r4-r8 - 10k resistances c1- 0.47 micro farat capacitor c2,c3,c5,c6 - 22pfarat capacitor c4 - 0.1micro farat capacitor xtal1 - 3.57 mhz crytal xtal2 - 12mhz crystal s1 - push to on switch m1,m2 - 6v 50rpm motor batt- 6v

Time schedule

Proposed outcome/ findings

Conventionally, wireless-controlled robots use RF circuits, which have the drawbacks of limited working range, limited frequency range and limited control. Use of a mobile phone for robotic control can overcome these limitations. It provides the advantages 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 capabilities of robots vary vastly, all robots share the features of a mechanical, movable structure under some form of control. The control of robot involves three distinct phases: preception, 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 (action) is performed using motors or with some other actuators.

Details of facilities to be provided by the Institution

1) Laboratory for working on the project 2) PCB Fabrication 3) Testing and Debugging 4) Various software needed 5) Some basic components 6) An experienced guide to help us throughout the project

Budget Estimates (with details)

Minor Equipment
Equipment Quantity Cost per unit
$0.10 $0.10 $0.10 $0.10 $0.10 $0.15

Total cost

100k resistances 330k resistances 10k resistances 0.47 micro farad capacitor 22pfarat capacitor 0.1micro farad capacitor
Equipment

4 2 6 4 8 4
Quantity

Rs Rs Rs Rs Rs Rs

20 10 30 20 40 30

Cost per unit

Total cost

ic1 - HT9170 ic2 - atmega16 ic3 - L293d ic4 - 74ls04 3.57mhz crystal osc. 12mhz crystal osc. push to on switch 6v 50rpm motor Battery- 6v
Web cam TV transmitter Antenna Connection Lead Report writing Contingency & other costs TOTAL Cost Estimate -

2 2 2 2 2 2 2 4 3
1 1 1 1

$8.95 $35.95 $10.95 $6.95 $4.95 (Rs. 1000/-) (Rs. 2000/-)

Rs 750 Rs 470 Rs 560 Rs 660 Rs 850 Rs 560 Rs 1700 Rs

Rs 1750 Rs 500 Rs 333 Rs 237

Rs 13,150/-

Utilization of the outcome of project

Scientific
Remote control vehicles have a 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 space flights and exploration. The voyager I spacecraft is the first craft of any kind to leave the solar system. The Martian explorers Spirit and Opportunity have provided continuous data about the surface of Mars since January 3, 2004.

Military and Law Enforcement

Remote controlled vehicles are used in Law enforcement and military engagements because of many reasons. The exposures to hazards are mitigated to the person who operates the vehicle from the location of relative safety. They are used by many police department bomb-squads to defuse or detonate explosives. Current Unmanned Aerial Vehicles (UAVs) can hover around possible targets until they are positively identified before releasing their pay load of weaponry. Backpack sized UAVs will provide ground troops with over the horizon surveillance capabilities.

Search and Rescue

UAVs play an increased role in search and rescue all over the world. This was demonstrated by the successful use of UAVs during the 2008 hurricanes that struck Louisiana and Texas in US.

Recreation and Hobby

Small scale remote control vehicles span a wide range in terms of price and sophistication. There are many types like on-road cars, off-road truck, boats, aero planes and helicopters. Radio-controlled submarine also exist.