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LINE FOLLOWER ROBOT

SHIVENDRA KUMAR | 08DDCS479

A REPORT ON

Line Follower Robot

BY

SHIVENDRA KUMAR

ID. No- 08DDCS479

AT

Robosapiens Technologies Pvt. Ltd Noida An Internship Program-III

Faculty of Science and Technology The ICFAI University, Dehradun

JUNE 2012

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A REPORT ON

Line Follower Robot

BY

SHIVENDRA KUMAR

ID. No- 08DDCS479

AT Robosapiens Technologies Pvt. Ltd Noida An Internship Program-III

Faculty of Science and Technology The ICFAI University, Dehradun

JUNE 2012

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Table of Content

1. ACKNOWLEDGEMENT 2. CERTIFICATE OF PROJECT GUIDE

3. CERTIFICATE OF COMPLITION

4. SELF CERTIFICATE

5. ROBOSAPIENS AT A GLANCE
5.1 Introduction 5.2 Overview 5.3 Organization Structure

6. PROJECT INTRODUCTION

6.1. Introduction 6.2. Objective 6.3. Project overview

7. PRINCIPLE OF OPERATION

8. SOFTWARE REQUIREMENT SPECIFICATION

8.1 Introduction

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8.2 Hardware Requirements 8.3 Software Requirements.

9. BLOCK DIAGRAM OF LINE FOLLOWER ROBOT

10. TECHNOLOGY AND SYSTEM FEASIBILITY

10.1 Project Analysis 10.2 Overview

11. SYATEM ANALYSIS

11.1 Introduction 11.2 Problem Definition 11.3 Requirement Analysis 11.4 Performance Requirement

12. PROJECT SPECIFICATION

12.1 Project Statement

13. SOFTWARE REQUIREMENT

13.1 AVR Tools IDE

14. INSTALLATION OF SOFTWARES

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14.1 Installation of AVR Studio 4 14.2 Installation of WINAVR

15. CREATION OF PROJECT WITH AVR STUDIO

16. BURNING OF .HEX FILE

17. CODING AND DESIGN

18. WORKING MODEL OF LINE FOLLOWER ROBOT

19. VALIDATION
19.1 Checks and Controls

20. TESTING
20.1 Software Testing

21. POST IMPLEMENTATION MAINTENANCE

22. LIMITATION

23. APPLICATIONS AND FUTURE SCOPE

24. CONCLUSION

25. GLOSSARY

26. LIST OF FIGURES

27. REFERENCE
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28. BIBLIOGRAPHY

Acknowledgement

It is high privilege for me to express my deep sense of gratitude to all those members of Robosapiens Technologies Pvt. Ltd. who helped me in the completion of the project, especially my guide Mr. Pavan kumar who was always there at hour of need and for helping me in the completion of my project work. My special thanks to General Manager Mr. Pradeep Kumar Sharma for allowing me to complete my training (colloquium, project) successfully and for given me an opportunity to be a part of Robosapiens Technologies Pvt. Ltd. I also take this opportunity to express my indebtedness to Mr. Rana Mukherjee, IP-III Incharge and to my respected faculty members of ICFAI UNIVERSITY, especially my internal guide Mr. Himanshu Srivastava for their kind consent, expert guidance, valuable suggestion and affectionate encouragement.

SHIVENDRA KUMAR B.tech 8th sem

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Certificate of Completion

This is to certify that the project and the project report entitled Line Follower Robot is done by Mr. Himanshu srivastava under my guidance. He has fulfilled all the requirement for this project. I really appreciate her hard work and efforts.

Mr. Pavan Kumar Sr. Research engineer Robosapiens Technologies Pvt. Ltd. Noida.

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Self Certificate

This is to certify that the project report entitled Line Follower Robot is done by me, an authentic work carried out for the partial fulfilment of the requirements for the award of the degree of B.Tech under the guidance of Mr. Pavan Kumar.

Signature of the student Shivendra kumar ID.No- 08DDCS479 ICFAI UNIVERSITY DEHRADUN

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Robosapiens Technologies Pvt. Ltd. at a glance

5.1 INTRODUCTION:
Robosapiens is Indias most leading company in robotics. The company was founded in 2003 with the goal of providing technologies to promote the widespread adoption of robotics in education. Robosapiens offers a complete line of technology solutions to brand name. Robosapiens solutions represent a low-risk and cost effective way for manufacturers to deliver innovative products quickly. It is Recognized for its innovations, and with a growing portfolio of industry-leading partners, Robosapiens meets the needs of manufacturers by providing embedded software solutions that respect the system and cost constraints required for mass-production. With strong connections to leading R & D and educational institutions, as well as a leading role in several international research projects, Robosapiens Robotics engineers are constantly growing the pool of solutions available to clients. The companys success in the high-growth consumer robotics market has helped transform the company from an ambitious startup to an international leader in its field.

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Founded in 2003 by robotics experts Mr. Pradeep Sharma, Mr. Toshendra

Sharma and their research team & development efforts prior to opening the doors at Robosapiens.Their early work focused on creating the technologies for producing modular and autonomous robots. Robosapiens founders concentrated on building a team of qualified roboticists, engineers, and mechatricians, creating the current product line-up and embedded robotic technologies, and filing the necessary patents to pursue. Robosapiens basically works on Robotics & embedded system and it gives various workshops in different colleges. The basic objective of the

organization is to generate a need for robotics education among engineering Students and schools in India and become a name synonymous with robotics education and related events in the country by providing the most comprehensive and fulfilling services and by creating an ambience of creativity and an approach towards seeking logical solutions to everyday problems.

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5.2 OVERVIEW:

Training first, Education Second

Robosapiens India is a Unit of Robosapiens Technologies Pvt. Ltd. Robosapiens India is Indias leading provider of end to end training and education solutions, covering Robotics Education and allied fields & Research & Development. We are among eminent Robotics Education providers pan India. We are ranked among top training institutions / education centers and graded among India's most trusted service brands. We provide Workshops, Trainings Certifications, DIY Kits to engineering colleges and schools all across India via a good delivery network. We are also pioneer and affluent in (DSM) designing, supplying and maintenance of Robotics Lab equipments with high quality services. We organized Indias Biggest Robotics Championships in Institutions like IIT-Bombay, IIT-Delhi, IIT-Guwahati, IIT-Roorkee etc. We are the only one in India having done an outreach organizer of Technothlon09 IIT-Guwahati. Recently, we are providing training/workshops in collaborations with Technex11 IT- BHU. We are the official partner of IT-BHU2011 and organizing workshops and training programs all across India. We also have developed our own teaching methodology inspired by various top notch training/educational institutions. Let Education Evolve, The companys Robotics Development programs help youths to achieve real-world skills to compete better in todays scenario.

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MISSION:
Our Mission is to promote the Robotics Education among Indian youth by organizing Workshops and Competitions at National Level. The workshop would help youth to enter the real world of Robotics and to create an aptitude in the limitless field of Robotics. The workshop will help them to get the feel of Robotics and how powerful and exciting it can be. Our aim to provide face to face sessions to the candidates which help them to understand the theory as well as practical aspects of the Robotics World. The students will definitely learn the basic concepts and will gain the practical as well as theory experience while working on the Robotics kit.

VISION:
Empowering youth through high quality & endless education. Robosapiens India team has been granted the Patent on 'SSBMC' by Government of India. This achievement entails a long story involving dedicated efforts and hard work. The team Robosapiens India has faced many obstacles and roadblocks on its journey to success but its never ending zeal for success and excellence has made them the best team.

5.3 ORGANISATION STRUCTURE:

The organization set up of ROBOSAPIENS INDIA encompasses its head office at B5/2, C BLOCK, Sector-31, Near Indian Overseas Bank, Noida-201301.

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PROJECT INTRODUCTION

6.1 Introduction:
The term comes from a Czech word, robota, meaning "forced labour". A robot is a machine designed to execute one or more tasks repeatedly, with speed and precision. There are as many different types of robots as there are tasks for them to perform. First-generation robots date from the 1970s and consist of stationary, on programmable , electromechanical devices without sensors. Second-generation and can robots contain were sensors developed and in the 1980s controllers.

programmable

Third-generation

robots

were

developed

Fig: A Pick and Place robot in a factory

between

approximately 1990 and the present. These machines can be stationary or mobile, autonomous or insect type, with sophisticated programming, speech recognition and/or synthesis, and other advanced features. Fourth-generation robots are in the research-and-development phase, and include features such as artificial intelligence, self-replication, self assembly, and nanoscale size. Some advanced robots are called androids because of their superficial resemblance to human beings. Androids are mobile, usually moving around on wheels or a track drive (robots legs are unstable and difficult to engineer). The android is not necessarily the end point of robot evolution. Some of the most esoteric and powerful robots do not look or behave anything like humans. The ultimate in robotic intelligence and sophistication might take on forms yet to be imagined.

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6.2 Objective:
Robots have the potential to change our economy, our health, our standard of living, our knowledge and the world in which we live. As the technology progresses, we are finding new ways to use robots. Each new use brings new hope and possibilities, but also potential dangers and risks. Robots and robotic technologies have an intellectual and emotional appeal that transcends any other type of engineered product, and this appeal is felt no more so than with children and young adults. Robots and robotic technologies represent a practical application of physics, computer science, engineering, and mathematics, and provide a very powerful and flexible approach to demonstrate a variety of engineering concepts. In addition, robotics appeals to a broad range of interests and allows multiple points of access to science, mathematics, and engineering for many types of learners. As a result, robotic technology and robots are being used by an increasing number of educators at the college level to reinforce computer science and engineering theory, and to teach basic software and mechanical engineering at the grammar school, middle school and high school levels. But perhaps most importantly for younger students, robots and robotic technology inculcate an interest in science and increase self-esteem, as well as teach basic life skills such as problem solving, decision making, goal setting and logical thinking. Conventionally Wireless-controlled Robots use RF circuits, which have limited working range, limited frequency range and 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 area of the service provider, no interference with other controllers. Although the appearance and capabilities of robot vary vastly, all robots share 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.

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When did the first robot appear?

In the 1920's, Karl Capek from Czechoslovakia introduced the world's first robot on stage. His play was entitled "Rossum's Universal Robots." The theme of the play was robots controlling humans in society. Although he introduced the idea of robots, Karl Capek was skeptical about how much of an impact robots could have. He rejected all suggestions that a robot could ever replace a human being, or have feelings such as love or rebellion.

Where did the word robot come from?

The word "robot," a Czech term for forced labor or serf, was also introduced by a Capek. Karl was wondering what to call the "artificial workers" in his play, and he thought they should be called "labori." His brother didn't like that idea, and muttered that they should be called "robots." Then, the term "robot" was born.

What is a Robot?
Simply, a robot is any machine that does work on its own, after being programmed by a human. Some examples of common robots are an alarm clock and a photocopier. (Ask the Mission Team members how an alarm clock and a photocopier could be considered robots. Ask them to come up with other examples of robots.) Ninety percent of robots in use today are industrial robots. That means they are used to assemble products; handle dangerous material; spray finishes on products; and even inspect parts, produce, and livestock. Robots can be found in factories, warehouses, laboratories, energy plants, hospitals, and even on the space shuttle. Robots consist of five main parts: controller, arm, drive, end effectors, and sensor

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6.3 Project Overview: A Line Follower Robot is that in which any one can operate the robot with the help of programming. This is not an autonomous machine which will be operated by own, but it is a controlled robot, for which we have to give instruction to the robot for movement.

The name line follower itself clear its meaning that it is a robot which traces or follows a specific path .The principle of the line follower is based on sensing the background surface making use of IR sensor. Basically IR sensor takes input by detecting the reflection of the IR rays from the surface and accordingly gives its output to the motors. The output of the sensors are not directly fed to the motors instead a L293D IC is used in between the sensors output and motors input. The sensors output is given to the input pin of L293D and the output pin of IC is connected to the motors. The L293D IC is having two H-bridges which is capable to rotate motor in bidirectional. For movement of robot we have to give instruction through microcontroller. For turning effect we just put the instructions and regarding that the microcontroller provide output to the motors and motors perform such action. Whenever there is a need of movement in the object,we give the instruction by our own. There is no need to switch the robot parameters manually.

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Fig:- Robot Kit(prototype)

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7. PRINCIPLE OF OPERATION:

Line follower robot is based on the principle of walking on a track through sensing the path using the IR sensors. Power supply is provided to the hardware parts. The conditions for the movement of the robot are:

Left Sensor ON ON OFF OFF

Right Sensor ON OFF ON OFF

Motor Motion FORWARD RIGHT LEFT STOP

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8. SOFTWARE REQUIREMENT SPECIFICATION 8.1 Introduction:

Because we are making a real time embedded system (Robot) so we requires software as well as hardware.

8.2 Hardware Requirements:

Micro- Controller

Transistor BC547

Capacitors

Resistor

LED

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IR LED

Photodiode

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AVR ATMEGA-8 MICRO-CONTROLLER

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8.2.1 Introduction
The ATmega8 is a low-power CMOS 8-bit microcontroller based on the AVR RISC architecture. By executing powerful instructions in a single clock cycle, the ATmega8 achieves throughputs approaching 1 MIPS per MHz.

The ATmega8 provides the following features:

8K bytes of In-System Programmable Flash with Read-While-Write capabilities, 512 bytes of EEPROM, 1K byte of SRAM, 23 general purpose I/O lines, 32 general purpose working registers, three flexible Timer/Counters with compare modes, internal and external interrupts, a serial programmable USART, a byte oriented Two wire Serial Interface, a 6-channel ADC (eight channels in TQFP and QFN/MLF packages) with 10-bit accuracy,

a programmable Watchdog Timer with Internal Oscillator, an SPI serial port, five software selectable power saving modes.

The device is manufactured using Atmels high density non-volatile memory technology. The Flash Program memory can be reprogrammed In-System through an SPI serial interface, by a conventional non-volatile memory programmer, or by an On-chip boot program running on the AVR core. Software in the Boot Flash Section will continue to run while the Application Flash Section is updated, providing true Read-While-Write operation. By combining an 8-bit RISC CPU with In-System Self-Programmable Flash on a monolithic chip, the AtmelATmega8 is a powerful microcontroller that provides a highly-flexible and costeffective solution to many embedded control applications.

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Pin Out of AVR ATMEGA-8:

Fig: Pin out of Atmega8 Micro-controller

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Pin Description:
VCC: GND:
Digital Supply Voltage. Ground.

Port B(PB7..PB0): Port B is an 8-bit bi-directional I/O port with internal pull-up resistors
PB6 can be used as input to the inverting Oscillator amplifier and input to the internal clock operating circuit.

PB7 can be used as output from the inverting Oscillator amplifier.

Port C (PC5..PC0):Port C is an 7-bit bi-directional I/O port with internal pull-up resistors
(selected for each bit). The Port C output buffers have symmetrical drive characteristics with both high sink and source capability. As inputs, Port C pins that are externally pulled low will source current if the pull-up resistors are activated.

PC6/RESET:

PC6 is used as an I/O pin. the electrical characteristics of PC6 differ from those of the other pins of Port C. PC6 is used as a Reset input. A low level on this pin for longer than the minimum pulse length will generate a Reset, even if the clock is not running.

Port D(PD7..PD0): Port D is an 8-bit bi-directional I/O port with internal pull-up resistors.
The Port D pins are tri-stated when a reset condition becomes active, even if the clock is not running.

RESET:

Reset input. A low level on this pin for longer than the minimum pulse length will generate a reset, even if the clock is not running.

AVCC:

AVCC is the supply voltage pin for the A/D Converter, Port C (3..0), and ADC (7..6). It should be externally connected to VCC, even if the
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ADC is not used. If the ADC is used, it should be connected to VCC through a low-pass filter.

ADC7..6:

ADC7..6 serve as analog inputs to the A/D converter. These pins are powered from the analog supply and serve as 10-bit ADC channels.

Fig: Circuit for interfacing Micro-controller Atmega8

Transistor BC547
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8.2.2 Introduction
BC547 is an NPN bi-polar junction transistor.

A transistor, stands for transfer of resistance, is commonly used to amplify current. A small Current at its base controls a larger current at collector & emitter terminals.

BC547 is mainly used for amplification & switching purpose. It has a maximum current gainof800

The transistor terminals require a fixed DC voltage to operate in the desired region of its characteristic curves. This is known as the biasing. For amplification applications, the transistor is biased such that it is partly on for all input conditions. The input signal at base is amplified and taken at the emitter. BC547 is used in common emitter configuration for amplifiers. The voltage divider is the commonly used biasing mode. For switching applications, transistor is biased so that it remains fully on if there is a signal at its base. In the absence of base signal, it gets completely off.

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CAPACITORS

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8.2.3 Introduction
A Capacitor is a two terminal electric component which is used to store charge in form of energy. They are used with resistors in timing circuits because it takes time for a capacitor to fill with charge. They are used to smooth varying DC supplies by acting as a reservoir of charge. They are also used in filter circuits because capacitors easily pass AC (changing) signals but they block DC (constant) signals.

CAPACITANCE
This is a measure of a capacitor's ability to store charge. A large capacitance means that more charge can be stored. Capacitance is measured in farads, symbol F. However 1F is very large, so prefixes are used to show the smaller values. Three prefixes (multipliers) are used, (micro), n (nano) and p (pico):

means 10-6 (millionth), so 1000000F = 1F n means 10-9 (thousand-millionth), so 1000nF = 1F p means 10-12 (million-millionth), so 1000pF = 1nF

POLARISED CAPACITORS:

NON-POLARISED CACITORS:

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RESISTORS

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8.2.4 Introduction
Resistors are two-terminal non-polarized component used to limit current or divide voltage and in some cases generate heat. Resistance is measured in ohms. Notations for resistance are: O- Ohm K- Kilo ohm M- Mega ohm

Physical Appearance:

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Resistance in parallel:
When resistors are connected in parallel their combined resistance is less than any of the individual resistances. There is a special equation for the combined resistance of two resistors R1 and R2:

Combined resistance of two resistors in parallel: R=

R1 R2 R1 + R2

Resistance in Series:
When resistors are connected in series their combined resistance is equal to the individual resistances added together. For example if resistors R1 and R2 are connected in series their combined resistance, R, is given by: Combined resistance in series: R = R1 + R2+ R3 This can be extended for more resistors: R = R1 + R2 + R3 + R4 + ...

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LIGHT EMITTING DIODE (LED)

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8.2.5 Introduction
LEDs emit light when an electric current passes through them.

Light-emitting diodes are used in applications as diverse as replacements for aviation lighting, automotive lightingas well as in traffic signals. The compact size, the possibility of narrow bandwidth, switching speed, and extreme reliability of LEDs has allowed new text and video displays and sensors to be developed, while their high switching rates are also useful in advanced communications technology. Infrared LEDs are also used in the remote control units of many commercial products including televisions, DVD players, and other domestic appliances.

Advantages:
Efficiency: LEDs emit more light per watt than
incandescent light bulb. Color: LEDs can emit light of an intended color without using any color filters as traditional methods.
Fig: LED display at Delhi Metro Station

Size: LEDs can be very small.

Lifetime: LEDs can have a relatively long useful life Of35,000 to 50,000 hours.

Disadvantages:
High initial price: LEDs are currently more expensive
Temperature dependence: LED performance largely depends on the ambient temperature of the operating environment.

Voltage sensitivity: LEDs must be supplied with the voltage above the
threshold and a current below the rating.

Electrical Polarity: LEDs will only light with correct electrical polarity.

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Preset

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8.2.6 Introduction:
A preset is a three legged electronic component which can be made to offer varying resistance in a circuit. The resistance is varied by adjusting the rotary control over it. The adjustment can be done by using a small screw driver or a similar tool. The resistance does not vary linearly but rather varies in exponential or logarithm manner. Such variable resistors are commonly used for adjusting sensitivity along with a sensor.

The variable resistance is obtained across the single terminal at front and one of the two other terminals. The two legs at back offer fixed resistance which is divided by the front leg. So whenever only the back terminals are used, a preset acts as a fixed resistor.

Preset are specified by their value resistance.

Fig: Preset

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INFRARED LIGHT EMITTING DIODE (IR LED) & INFRARED SENSOR (IR SENSOR)

8.2.7 Introduction:

An IR LED, also known as IR transmitter, is a special purpose LED that transmits infrared rays in the range of 760nm wavelength. Such LEDs are usually made of gallium arsenide or aluminum gallium arsenide. They, along with IR receivers, are used as sensors.

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The appearance is same as a common LED. Since the human eye cannot see the infrared radiations, it is not possible for a person to identify whether the IR LED is working or not, unlike a common LED. To overcome this problem, the camera on a cell phone can be used. The camera can show us the IR rays being emanated from the IR LED in a circuit.

IR Sensors:

This sensor can be used for most indoor applications where no important ambient light is present. For simplicity, this sensor doesn't provide ambient light immunity, but a more complicated, ambient light ignoring sensor should be discussed in a coming article. However, this sensor can be used to measure the speed of object moving at a very high speed, like in industry or in tachometers.

It is the same principle in ALL Infra-Red proximity sensors. The basic idea is to send infra red light through IR-LEDs, which is then reflected by any object in front of the sensor.

Then all you have to do is to pick-up the reflected IR light. For detecting the reflected IR light, we are going to use a very original technique: we are going to use another IR-LED, to detect the IR light that was emitted from another led of the exact same type!

This is an electrical property of Light Emitting Diodes (LEDs) which is the fact that a led Produce a voltage difference across its leads when it is subjected to light. As if it was a photo-cell, but with much lower output current. In other words, the voltage generated by the leds can't be - in any way - used to generate electrical power from light, It can barely be detected. that's why as you will notice in the schematic, we are going to use a Op-Amp (operational Amplifier) to accurately detect very small voltage changes.

How IR LEDs are different from normal LEDs?

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There are a couple key differences in the electrical characteristics of infrared LEDs versus visible light LEDs. Infrared LEDs have a lower forward voltage, and a higher rated current compared to visible LEDs. This is due to differences in the material properties of the junction. A typical drive current for an infrared LED can be as high as 50 milliamps, so dropping in a visible LED as a replacement for an infrared LED could be a problem with some circuit designs. IR LEDs arent rated in millicandelas, since their output isnt visible (and candelas measure light in a way weighted to the peak of the visible spectrum). They are usually rated in milliwatts, and conversions to candelas arent especially meaningful.

Applications of IR LEDs:
IR LEDs are suitable to be used in remote controller, such as remote controllers for household appliances. Suitable to be used in medical treatment appliances, space optical communication, infrared illumination and the pumping sources of the solid-state lasers. Suitable to be used in the automated card reader system in freeway. Suitable to be used in video cameras that are applied in digital photography, monitoring system, door phone, theft proof alarm Suitable to be used in video cameras in marketplace and crossroad.

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PHOTODIODES
8.2.8 Introduction: A photodiode is a type of photo detector capable of converting light into either current

or voltage, depending upon the mode of operation.[1] The common, traditional solar cell used to generate electric solar power is a large area photodiode. Photodiodes are similar to regular semiconductor diodes except that they may be either exposed (to detect vacuum UV or X-rays) or packaged with a window or optical fiber connection to allow light to reach the sensitive part of the device. Many diodes designed for use specifically as a photodiode will also use a PIN junction rather than the typical PN junction. A photodiode is a PN junction or PIN structure. When a photon of sufficient energy strikes the diode, it excites an electron, thereby creating a free electron (and a positively charged electron hole). This mechanism is also known as the photoelectric effect. If the absorption occurs in the junction's depletion region, or one diffusion length away from it, these carriers are swept from the junction by the built-in field of the depletion region. Thus holes move toward the anode, and electrons toward the cathode, and a photocurrent is produced. This photocurrent is the sum of both the dark current (without light) and the light current, so the dark current must be minimized to enhance the sensitivity of the device.
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9. Block Diagram For Line Follower Robot:

Clock 1Hz

Main Power Supply

Motor Power Supply Left Motor Right Motor

Atmega 8 Microcontroller

HEX Inverter

H - Bridge DC Motor Control

Priority Encoder NOR Gate

Analog Comparators

Threshold Voltage

Sensor Array

Figure : Block Diagram of the Line Following Robot

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TECHNOLOGY & SYSTEM FEASIBILITY

10.1 PROJECT ANALYSIS

Objective:

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The objective of this project is to implement the basic walking/travelling tendency of human beings into the machines. How a machine can find the path and suppose to follow it. This is the automation system in machines that without wired signals how to instruct a robot to follow a line.

Project Feasibility
In preliminary investigation we got the result that the Line Following Robot is feasible because its a prototype version not a humanoid robot.

Technical Feasibility
Technical feasibility is nothing but implementing the project with existing technology. This system for following a line is feasible rather makes it manually.

Economically Feasibility
Economic feasibility means the cost of under taking project should less than existing system.

10.2 Overview
The line following robot prototype system aims to widen the student's perspective by providing an exposure to real use of technologies as expert. The system is the most
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effective aid in enabling the user/students to relate technical interfacing with the mechanical parts.

System Benefits
Simple, Easy to use No need to carry big machines from their replacement Improved productivity because of effective utilization of human resources

SYSTEM ANALYSIS: 11. Introduction

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System analysis refers to the process of examining a situation with the intent of improving it through better procedures and methods. System design is a process of planning a new system to either replace or complement an existing system. But before any planning is done, the old system must be thoroughly understood and the requirements determined system analysis, is therefore, the process of gathering and interpreting facts, diagnosis problems and using the information to re-comment improvements in the system. Or in other words, system analysis means a detailed explanation or description. Before computerizing a system under consideration, it has to be analyzed. We need to study how it functions currently, what are the problems, and what are the requirements that the proposed system should meet.

System Analysis is conducted with the following objectives in mind: Identify the requirement Evaluate the system concept for feasibility Perform economic and technical analysis Allocate functions to hardware, software people, database and other system

elements Establish cost and schedule constraints Create a system definition that forms the foundation for all the subsequent

engineering work.

11.2 Problem Definition

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The purpose of the system is to enhance the existing manually arranging the machines by adding the feature of frame support to the GUI and add this as a configuration option for the user so that the user uses this feature as per the specifications.

Limitations of Existing System

The proposed system is developed keeping in view, the critics of the manual version therefore new system has to come up with solutions for the existing problems. The main criticism of the earlier system arise of the fact that it was not able to provide an automation. It is not only deprives the user the ease to perform an action directly but on the other hand it also consumes appreciable system resources in processing the additional actions that are not directly the part of desired user action.

11.3 Requirement Analysis Proposed System and Its Advantages

The proposed system is based on the idea the users like to be organized therefore they should be provided a frame which is more friendly to them in sense that it provides a mix of permanent and dynamic information. Since the user because of his very human nature appreciate a predefined way (links) to access the changing information therefore a mix of both makes a good solution.

11.4 Performance Requirements

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The following performance characteristics are taken care of the while developing the system:

Modularity: The system should be modular so as to facilitate changes and Response Time: The response time of all the operations should be as low as Error handling: Response to user errors and the undesired situations should Safety: The system should be able to avoid or tackle with catastrophic Robustness: The system should be able to recover from undesired events

further enhancement, without any difficulty.

possible. This can be made possible by careful programming.

be taken care of to ensure that the system operates without halting.

behavior.

without human intervention.

Exception Handling
To ensure that the system does not halt in the case of undesired situation or events, the exception conditions were taken care by providing exception responses while developing the system.

Proposed System Functionality

The system will be supporting the newly automation based concept without compromising on the existing work area of the user. An important part of initiating a project is justifying it, in other words, determining whether or not it should be built. The main goal of the justify stage is to define the best implementation solution for your project, if any, and justify why it is best.

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Feasibility study is done to find out the likely hood of success of the new system or so that an ill-conceived system is recognized early in definition phase

Determine Implementation Alternatives

The first stage of performing a feasibility study is to identify potential implementation alternatives for your projects. The important thing is to identify several viable alternatives for your project so that you can assess and then compare them to select the best one for your organization.

Assessing Economic Feasibility

When assessing the economic feasibility of an implementation alternative, the basic question is, How well will the application pay for itself? You answer this by performing a cost/benefit analysis, which, as its name suggests, compares the full, real costs of the application to its full, real financial benefits.

Assessing Technical Feasibility

In addition to economic feasibility, you have to determine the technical feasibility of each implementation alternative. Here, the basic question is, Is it possible to build this application? First you must investigate the technologies to be used on the project; the problem with technology is that everything works perfectly on marketing sides, but when you get the technology in-house, it is often a very different story. As a result, alternatives for each technology, if any, should be identified. Prototyping can do at this stage.

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Assessing Operational Feasibility

Not only must an application make economic and technical sense, it must also make sense operationally. The question to be answered here is, Is it possible to maintain and support this application once it is in production? Building an application is decidedly different than operating it; therefore, you have to determine whether or not you can effectively operate and support it.

Assessing Behavioral Feasibility

People are inherently resistant to change and computers mean change is the only certainty. An estimate should be made of how strong a reaction the user staff is going to have towards development of new system.

Choosing an Alternative
An evolution of the alternative approaches to development of the system. Once youve assessed the economic, technical, behavioral and operational feasibility of each implementation alternative, its time to choose one. Remember-the goal of a feasibility study is to compare and contrast the various implementation alternatives and to suggest the best one. The first step in doing this is to remove any alternatives that is not economically, technically, or operationally feasible. Doing nothing might not be feasible either, though, which implies that you have to go back and identify more alternatives.

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Identify Potential Risk

Part of your project justification efforts will include the definition of potential risks, particularly those related to the technical and operational feasibility of your project. It is critical that they are added to your risk assessment document so that may be dealt with appropriately during the project, the topic of a future process tip. The module, under consideration there was no economic or behavioral or feasibility constraint. The only thing to be taken care of was the operational feasibility i.e. whether it will work with the system, thus the concept of modifying the existing system to make it reusable and more flexible was done.

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12. PROJECT SPECIFICATIONS: 12.1 Project Statement:

Design and build a system which will be used to walk/control of robot using the concept of sensing the surface with the help of IR sensor. . IR sensors identify the actual path by sensing the surface through receiving of reflected light of the sensor and as per the situation the robot moves on the surface.

Behavior to be Spotted: AUTONOMOUS:

Need to control manually means this machine is not self-governing and also not selfdirected.

UNDERSTANDING CAPABILITY

The robot can understand the current path; it senses the current section of the path and takes steps.

DECISION MAKING CAPABILITY

Before making decision it understands the current state and uses its own knowledge and then makes the appropriate decision.

SOLVING CAPABILITY

Same as the decision making capability but decision making is applied at current state but this capability is applied at all knowledge secured by it.

PRECISE MOVEMENT

Precise movement is necessary because until it does not find out the structure if should move toward its route & if the structure is founded it should move towards the founded one.

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SOFTWARE REQUIREMENTS

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13.1 AVR TOOLS IDE: Its a freeware IDE (Integrated Development Environment) which provide the GCC compiler for C-language as well as assembler for AVR Micro-controller. It supports many families of AVR and especially Atmega series. This IDE supports only 32-bit Operating System. The main function of this program is to convert .c file into .hex file which is executable code for the Micro-controller. It has no inbuilt library with it, so we have to install the library explicitly.

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INSTALLATION OF SOFTWARES

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14.1 Installation of AVR Studio 4:

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15.2 Installation of WINAVR:

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14.2 Installation of WINAVR:

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CREATION OF PROJECT WITH AVR STUDIO 4

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Fig: Click on the New Project

Fig: Above window will appear on clicking New Project in previous snapshot

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Fig: Click on AVR GCC

Fig: Enter the project name

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Fig: Screen showing debug platforms

Fig: Select the AVR Simulator

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Fig: Select the Atmega8 Micro-controller

Fig: Coding Screen

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HOW TO BURN THE .HEX FILE

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CODING & DESIGNING

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// Project name : Line Follower Robot // Compile Date : 25/05/2011 Time : (14:22) // Designed By : Shalini Shivhare // #define F_CPU 1000000UL // define cpu frequency for delay function #include <avr/io.h> // includes input/output header file #include <util/delay.h> // includes delay header file

//#include"lcd.h" //uncomment it if using LCD Display //#include"lcd.c" //uncomment it if using LCD Display

/* Program for Line follower by Shalini Shivhare using Atmega8 microcontroller*/

//************************************************************************** **** /* Connection of 3 PIN Sensor PORTs with atmega 8 in Mobi-botricks Kit by Robosapiens India

PC4 Port is connected with PIN27 of Atmega 8 PC5 Port is connected with PIN28 of Atmega 8 PC3 Port is connected with PIN26 of Atmega 8(DTMF D3 is also sent to this pin) PC2 Port is connected with PIN25 of Atmega 8(DTMF D2 is also sent to this pin) PC1 Port is connected with PIN24 of Atmega 8(DTMF D1 is also sent to this pin) PC0 Port is connected with PIN23 of Atmega 8(DTMF D0 is also sent to this pin) PC6 Port is connected with PIN 1(Reset Pin) of Atmega 8 *************************************************************************** **** Connection of L293D IC with atmega 8 in Mobi-botricks Kit by Robosapiens India
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Pin 2(A1) of L293D is Connected with PB2(Pin 16 of Atmega8) Pin 7(B1) of L293D is Connected with PB3(MOSI)(Pin 17 of Atmega8) **A1 and B1 are the input pins of Left side H-Bridge of L293D which is driving the Left Motor Pin 15 (A2) of L293D is Connected with PB0(Pin 14of Atmega8) Pin 10 (B2) of L293D is Connected with PB1(Pin 15 of Atmega8)

Pin 1(EN1) and pin 9(EN2) is connected Via motor enable switch. when we switch on Enable Switch Both EN1 and EN2 are given 5 Volt supply to enalbe both H-Bridges of L293D Pin 3 and pin6 of L293D is Connected with Left Motor Connector Pin 14 and Pin 11 of L293D is connected with Right Motor Connector */

//connect the left sensors on CN3 and right one on CN2

// defines the clock speed

int main(void) { DDRB=0b11111111; //PORTB as output Port connected to motors DDRC=0b0000000; //PORTC Input port connected to Sensors

//lcd_init(LCD_DISP_ON); //uncomment it if using LCD Display //lcd_puts("Line Follower\n"); //uncomment it if using LCD Display //lcd_puts("By Robosapiens"); //uncomment it if using LCD Display

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int left_sensor=0, right_sensor=0; while(1) // infinite loop { left_sensor=PINC&0b0010000; // mask PC4 bit of Port C right_sensor=PINC&0b0100000;// mask PC5 bit of Port C if((left_sensor==0b0000000) & (right_sensor==0b0000000)) //if both sensors "off" { PORTB=0b00000000; // stop }

if((left_sensor==0b0010000) & (right_sensor==0b0100000)) //if both sensors "on" { PORTB=0b00001001; // move straight } if((left_sensor==0b0000000)&(right_sensor==0b0100000)) { PORTB=0b00000001; // turn left }

if((left_sensor==0b0010000)&(right_sensor==0b0000000)) { PORTB=0b00001000; // turn right } } }

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18. Working Model of Line Follower Robot:-

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19. VALIDATION: Data fetched by the machine has to be validate so that correct information is stored in the knowledge base. The machine may commit errors while filling the values in the cells. Thus data value entered has to be checked for the correctness according to the face value, as soon as it is entered to the system. By the environment system takes the input and store the node value into the stack memory. Because this machine is an autonomous and dont need any human feedback so machine must be so highly configured that it can fetch data from cell, validate it& store in its knowledge base.

19.1 CHECKS AND CONTROL: System security refers to various validation on data in form of checks and control to avoid the system from falling. It is always important to ensure that only valid data is entered and only valid operations are performed by the system. The various checks and controls allow system to work in extreme condition. This kind of system employs only self validation or automated validation. According to automated validation, the information is to be validated is depends on system to system means the system itself validates the input in the of the information needed and processed. The automated embedded systems are capable to take the inputs and validate it, so they need a smart and expert system programming to automate these things. A programmer must make such algorithms that the system can validate any type of input and perform the operation accordingly.

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20. TESTING

Running the System with the intent of finding errors is called testing. Testing is vital to the success of any system. Testing is done at different stages within the development phase. System testing makes a logical assumption that if all parts of the system are correct, the goals will be achieved successfully. Inadequate testing or no testing at all leads to errors that may come up after a long time when correction would be extremely implementation. The testing of the system was done on both artificial and live data. In order to test data test cases are developed. Following are the various methods that are employed for testing:

20.1 SOFTWARE TESTING: Unit Testing Integration Testing Functional Testing System Testing Unit Testing: In unit testing the module is tested independently. It is done to test that the module does satisfy the functional specification. This is done to check syntax and logical errors in programs. At the time of preparation of technical specifications, unit test data was also prepared. The coding for that program was considered after verifying its output against this test data. Following are the unit testing methods: In Conditional testing, the logical conditions that are given in the module were checked to see whether they satisfy the functionality of the module. This is done by using the test data that was prepared.

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 In loop testing, different loops in the module like nested loops were tested using the data. Attempts to execute the loops to their maximum range are done. Integration Testing: In integration testing whole system was checked when all the individual modules were integrated together in order to test whether the system is performing as according to the requirements specified interface errors if any were corrected. Test data was prepared was fed into the system to check whether the system fails to detect an errors. Functional Testing: This is done for each module/sub-module of the system. Functional testing serve as a means of validating whether the functionality of the system confers the original user requirement i.e. does the module do what it was supposed to do ? Separate schedules were made for functional testing. it involves preparation of test data, writing of test data cases, testing for conformance to test cases and preparation of bugs listing for non-conformities. System Testing: System testing is done when the entire system has been fully integrated. The purpose of the system testing is to test how the different modules interact with each other and whether the entire system provides the functionality that was expected. System testing consists of following steps: Program testing System testing System Documentation User acceptance testing

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21. POST IMPLEMENTATION MAINTENANCE:

Once the system is delivered and deployed it enters into maintenance phase. System maintenance can be defined by identifying four different activities: Corrective maintenance Adaptive maintenance Prefect maintenance Preventive maintenance Maintenance work is based on existing system as compare to development work that creates new system. Understanding the effect of change, make the changes to both the code and documents, testing the new parts and re-testing the old parts that are not changed. Maintenance is one form of change of system rework that typically is done after the system development is completed and the system has been deployed. However, there are other forms of change that lead to rework during the system deployment itself.

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22. LIMITATION:

Our project has certain limitations and a list of such is mentioned below: As IR Sensors is used, we cant use it under the direct sun light or any other household light. Range is very Low. More Power Consuming. Speed cant be controlled since DC motors are used. IR LED and Photodiode should always align in same position.

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23. APPLICATION & FUTURE SCOPE: As a material carrier. Helpful in robot detect its path. Can be used in cars for driving automatically. Can be used in machineries to detect a common path to be followed by all the machineries.

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24. CONCLUSION:

We can make many applications in day-to-day life using GSM Phones. In this report we have seen how to design a system which can be controlled by cell Phone. We have designed a circuit to control the working of electrical appliances using GSM Phone. Also we have designed a security system using IR Sensor which will sense the opening of door and will inform the owner/police about the same. We can use this application to control many things such as electricity of city, security systems, or any other thing which we want to control. Terrorist uses this application for detonating mobile controlled bombs.

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25. GLOSSARY:

AVR: Advance Virtual Risc PDIP: Plastic Dual In-line Package IR: Infrared LED: Light Emitting Diode ATmega8: Microcontroller OpAmp: Operation Amplifier

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26. List of Figures: Screen Shot of Project Pin out of Atmega8 Circuit for interfacing Micro-controller Atmega8 Working of Line Follower Robot IR Sensor Working of IR Sensor Photodiode IR LED

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27. REFERENCES:

www.google.com

www.robosapiensindia.com

www.extremeelectronics.com

www.ehow.com

www.engineersgarage.com

www.atmel.com

www.datasheetarchive.com

www.ecelab.com

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28. BIBLIOGRAPHY:

Mr. Manoj Kumar Sharma Sr. Research Engineer Robosapiens India

Mr. Pavan Kumar Network Administrator Robosapiens India

Mr. Pradeep Sharma Project Manager Robosapiens India

Miss. Megha Sharma Inventory Head Robosapiens India

Toshendra K. Sharma R&D Head Robosapiens India

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