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7TH SENSE MULTIPURPOSE ROBOT

A PROJECT REPORT

Submitted by

MOHAN KUMAR.K ASHOK KUMAR.D DINESH KUMAR.S DHINESH KUMAR.K

(070107107049) (080407107101) (080407107103) (080407107104)

in partial fulfillment for the award of the degree of

BACHELOR OF ENGINEERING
In ELECTRONIC AND COMMUNICATION ENGINEERING, HINDUSTHAN COLLEGE OF ENGINEERING AND TECHNOLOGY, COIMBATORE - 641032.

ANNA UNVERSITY OF TECHNOLOGY, COIMBATORE 641047.

OCTOBER 2010.

7TH SENSE MULTIPURPOSE ROBOT

A PROJECT REPORT

Submitted by

MOHAN KUMAR.K ASHOK KUMAR.D DINESH KUMAR.S DHINESH KUMAR.K

(070107107049) (080407107101) (080407107103) (080407107104)

in partial fulfillment for the award of the degree of

BACHELOR OF ENGINEERING
In ELECTRONIC AND COMMUNICATION ENGINEERING, HINDUSTHAN COLLEGE OF ENGINEERING AND TECHNOLOGY, COIMBATORE - 641032.

ANNA UNVERSITY OF TECHNOLOGY, COIMBATORE - 641047.

OCTOBER 2010.

CERTIFICATE

ANNA UNIVERSITY OF TECHNOLOGY , COIMBATORE-641047.

BONAFIDE CERTIFICATE

Certified that this project report 7TH SENSE MULTIPURPOSE ROBOT is the bonafide work of MOHAN KUMAR.K, ASHOK KUMAR.D, DINESH KUMAR.S, DHINESH KUMAR.K who carried out the project work under my supervision.

SIGNATURE

SIGNATURE

SUPERVISOR
Miss: B.AMBIKA.M.E., Lecuture of ECE Dept., Hindusthan College of Engineering & Technology., Coimbatore.

HEAD OF THE DEPARTMENT

Prof:Mohanasundaram.M.E.,MIME.,F.I.E.T.E Proffessor & HOD of ECE Dept., Hindusthan College of Engineering & Technology., Coimbatore.

______________________________________________________________________________

Submitted for the Anna University of Technology Project viva-voce conducted on _____________

-------------------------Internal Examiner

------------------------External Examiner

ACKNOWLEDGEMENT

ACKNOWLEDGEMENT
We are responsible to submit our true, sincere and respectful thanks to our department staffs who allowed us to conduct a study on this work and we presented all these project works by means of seminars. We would like to express our sincere thanks to Shri.T.S.R. Khannaiyann, Chairman and Smt.Sarasuwathi Khannaiyann, Secretary Hindusthan Educational and Charitable Trust for providing the facilities within the college. We would like to extend our warm thanks to our beloved Principal

Dr. V. Duraisamy, Ph.D. Who has granted permission for immediately starting this project work. Our grateful and the Head of our department

Prof.N.Mohanasundaram,M.E.,M.I.E.,F.I.E.T.E., who has been a constant source support for us. We heart full thanks to our beloved staff and guide Miss B.Ambika ME, for his consistence guidance and valuable suggestions given by him for the successful completion of our project work. We would also like to thank Mr.A.Udayakumar, M.E., Project Coordinator and all the staff members of ECE department for the timely suggestions and encouragement. This entire frame goes to our beloved parents who are really interested and has high expectations on us to become a successful engineer. We dedicate this remarkable work to our beloved parents

ABSTRACT

Abstract
Nowadays, robots are playing very important role in the automation of the companies. This is to reduce the human error and also to increase the productivity. This is one of the projects to design the Robot for the rescuing purpose in the natural disaster or in bomb blast and also it act as spy robot. We are using the computer in this project to control the robot and also to visualize the control. For controlling the robot, the signal is generated by the encoder using the computer. The generated signal is modulated and transmitted through the transmitter. The signal is given to the microcontroller, which is a programmable IC, where we can program it to control the motors according to the signal from the computer. The microcontroller is also programmed to control the camera position according to the signal from the computer. We are using the wireless transmitter in the camera to transmit the video signal. Using the moisture sensor, temperature sensor and metal detector the parameters can be measured in the computer. One of the main advantages of our system is that the mode switching can be done very fast with out any delay. Thus our aim is to provide a robotic system that can combat in wars, spy purpose and other military purposes.

CONTENTS

Table of Contents CHAPTER NO. TITLE

List of Tables List of Figures 1 Introduction 1.1.1 Robot 1.1.2 Spy robot 1.1.2 Objective 2 System Analysis 2.1 Existing System 2.2 Proposed System 3 System Specification 3.1 Software Requirement 4 Software Description 4.1 LabVEIW 5 Project Description 5.1 Problem definition 5.2 Overview of the project 5.3 Block diagram 5.3.1 Robo section 5.3.2 Control section 35 35 36 36 37 20 18 16 16 12 12 13

PAGE NO.
9 10

Conclusion & Future enhancement

6.1 Conclusion 6.2 Future enhancement 43 43

Appendix
7.1 Connection diagram 7.2 Screen Shot 45 45 48

Reference

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List of Figures
Fig.No. 4.1 4.2 4.3 4.4 4.5 4.6 5.1 5.2 5.3 5.4 7.1 7.2 7.3 Figure Name Front panel Block panel Control palette Function palette Tools palette Slope of line Robo section Control & Monitoring section Power supply Circuit diagram Power supply Block diagram LabVIEW Connection diagram LabVIEW Screen Shot (Automatic) LabVIEW Screen Shot (Manual) Page No. 24 25 25 26 27 32 & 33 36 37 40 40 45 45 46

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INTRODUCTION

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CHAPTER 1
PROJECT INTRODUCTION 1.1 Introduction
Nowadays robot has been widely used in various fields like industries, academic, research and development, militaries and others. This chapter defines the robot, the project on autonomous spy robot. The project is to build an automatic robot that has

capability to avoid any obstacle detected and there is sound detector that used to stop the movement of the robot when there are sounds detected at certain frequency. Others the robot will attach wireless visual system that human able to monitor the robot vision using computer.

1.1.1 Robot
Robots have increasingly being used in industries, especially in manufacturing and assembling in major industrialized countries. There are some advantages of using robot, they are: Reduce labour cost. Improved the work quality. Elimination of dangerous or undesirable jobs. Controlled and faster inventory. Increase precision. Robot that are capable to perform complicated motion and have external sensor such as vision, tactile or force sensing are required for a more complicated applications

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such as welding, painting, grinding and assembly. This is because these operations resulted in the increase of interaction between the robot and its surrounding. A robot by definition is a machine that looks like a human being and performs various complex acts, walking and talking of a human being. It is also defined as fictional machine whose lack of capacity for human emotions is often emphasized. By general convention a robot is a programmable machine that imitates the actions or appearance of an intelligent creature such as human.

From the Robot Institute of America, robot is defined:

A robot is a programmable multifunctional manipulator designed to move material, part, tools or specialized device through variable programmed motion for the performance of a variety of tasks.

1.1.2 The Spy Robot

Spy robot is a robot that can perform a task given such as locomotion, sensing, localization, and motion planning without a control from the human during the task in progress. The spy robot is the autonomous robot that consist wireless camera that human able to monitor via computer as a spy. Today wireless system have been widely used by many company because wireless can save cost of wiring, easy to install, occupy lesser space, easy for maintenance and more reliable. There are three types of wireless communications, Infrared, Bluetooth and Radio Frequency. Radio frequency normally is chosen for the wireless spy robot because it has large connectivity range and it is more reliable that other wireless communication system. In the market now, wireless spy robot basically works in two ways. One is use as security purpose like a guard that the robot will control by human at the control room to observe the security of the organization building. Usually the robot will placed at the fixed location and the unit of the robot will be high needed to observe at the large

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building. Others, this type of robot is not autonomous and the robot only capable to observe 360 at its range. The other one is the spy robot is used for the military purpose to survey the enemy location. Basically it used for the military purpose, the spy robot is use satellite as the wireless vision system because the range of the connectivity is further and can be controlled around the world via satellite controller. For the advance spy robot, they have advance technology like the spy robot have capability to hide itself from detected by radar using anti-radar detector that the signal transmit by the radar anti-signaled. Others the mechanical part of the spy robot will be smallest as the developed of nanotechnology.

1.1.3 Objective
There are four main objectives in this project. The first objective of this project is to build a robot that moves automatically without need any external aids. The robot has ability to avoid obstacle around it by using infrared sensor. It is the most basic application of military robot. The second objective is to build the sound sensor that the robot capable to hide or stop moving when there are sound detected at certain frequency. The robot will use microphone as the sound detector to detect the sound and the robot will be stop moving when there are sound detected. The radio sound leveling can be applied to detect sound at certain frequency. The sound sensor will detect sound at range of human sound frequency. The third objective is to build a robot with wireless vision system. The wireless visual system is used to human monitor the robot vision via computer. To build the wireless visual system, the wireless camera will be applied on the robot and the wireless camera will transmit the visual around the robot to the receiver on the computer. The last objective of this project is to build a robot that detects automatically without need any external aids. The robot has ability to detect bomb and diffuse it by using metal detector sensor. It is the most basic application of military robot.

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SYSTEM ANALYSIS

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CHAPTER 2 2. SYSTEM ANALYSIS 2.1 Existing System

There is much advancement in the field of engineering, robotics in particular. Many robotic systems have been developed for various purposes. There are certain systems which are used for automatic motion of vehicles in road and wheel chairs which can help disabled. There are also robotic systems which can be used for defense purposes. In addition to these advancements there are also robotic systems which can combat in war times. This robot is named "Security Warrior" and consists of five systems including vision, motion; robot sense, power estimation and remote supervise.

2.2 Proposed System

Here in our existing system there are only remote monitoring for robots are available. Here in our system we are going to control the robot from remote location in addition to remote monitoring (i.e. User Mode). Our system also has an automatic mode in which it can take its own decision for combating. In addition to this we are also including some of the features like bomb detection, bomb diffusion, fire detection, intruder detection. Thus our system is more reliable to combat the enemy than the existing system. We are going to control the robot from remote location by using a computer. Our robot is also capable of detecting and diffusing the bombs more quickly. It can either be done through automatic mode or by user mode. Our system also contains fire detection module and intruder detection module which is being carried out by using facial recognition techniques.

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SOFTWARE REQUIREMENTS

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CHAPTER 3 3. SOFTWARE REQUIREMENT

3.1 SOFTWARE REQUIREMENTS

3.1.1 Lab view 3.1.2 Dataflow Programming 3.1.3 Graphical Programming 3.1.4 Benefits 3.1.5 Icon and Connector Pane

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SOFTWARE DESCRIPTION

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CHAPTER 4 4. SOFTWARE DESCRIPTION 4.1 LabVIEW

LabVIEW (short for Laboratory Virtual Instrumentation Engineering Workbench) is a platform and development environment for a visual programming language from National Instruments. The graphical language is named "G". Originally released for the Apple Macintosh in 1986, LabVIEW is commonly used for data acquisition, instrument control, and industrial automation on a variety of platforms including Microsoft Windows, various flavors of UNIX, Linux, and Mac OS. The latest version of LabVIEW is version 8.6.1, released in February of 2009.

Dataflow Programming
The programming language used in LabVIEW, also referred to as G, is a dataflow programming language. Execution is determined by the structure of a graphical block diagram (the LV-source code) on which the programmer connects different functionnodes by drawing wires. These wires propagate variables and any node can execute as soon as all its input data become available. Since this might be the case for multiple nodes simultaneously, G is inherently capable of parallel execution. Multi-processing and multi-threading hardware is automatically exploited by the built-in scheduler, which multiplexes multiple OS threads over the nodes ready for execution.

Graphical Programming
LabVIEW ties the creation of user interfaces (called front panels) into the development cycle. LabVIEW programs/subroutines are called virtual instruments (VIs). Each VI has three components: a block diagram, a front panel, and a connector panel. The last is used to represent the VI in the block diagrams of other, calling VIs. Controls and indicators on the front panel allow an operator to input data into or extract data from a running virtual instrument. However, the front panel can also serve as a programmatic

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interface. Thus a virtual instrument can either be run as a program, with the front panel serving as a user interface, or, when dropped as a node onto the block diagram, the front panel defines the inputs and outputs for the given node through the connector pane. This implies each VI can be easily tested before being embedded as a subroutine into a larger program. The graphical approach also allows non-programmers to build programs simply by dragging and dropping virtual representations of lab equipment with which they are already familiar. The LabVIEW programming environment, with the included examples and the documentation, makes it simple to create small applications. This is a benefit on one side, but there is also a certain danger of underestimating the expertise needed for good quality "G" programming. For complex algorithms or large-scale code, it is important that the programmer possesses an extensive knowledge of the special LabVIEW syntax and the topology of its memory management. The most advanced LabVIEW development systems offer the possibility of building stand-alone applications. Furthermore, it is possible to create distributed applications, which communicate by a client/server scheme, and are therefore easier to implement due to the inherently parallel nature of G-code.

Benefits
One benefit of LabVIEW over other development environments is the extensive support for accessing instrumentation hardware. Drivers and abstraction layers for many different types of instruments and buses are included or are available for inclusion. These present themselves as graphical nodes. The abstraction layers offer standard software interfaces to communicate with hardware devices. The provided driver interfaces save program development time. The sales pitch of National Instruments is, therefore, that even people with limited coding experience can write programs and deploy test solutions in a reduced time frame when compared to more conventional or competing systems. A new hardware driver topology (DAQmxBase), which consists mainly of G-coded components with only a few register calls through NI Measurement Hardware DDK

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(Driver Development Kit) functions, provides platform independent hardware access to numerous data acquisition and instrumentation devices. The DAQmxBase driver is available for LabVIEW on Windows, Mac OS X and Linux platforms. In terms of performance, LabVIEW includes a compiler that produces native code for the CPU platform. The graphical code is translated into executable machine code by interpreting the syntax and by compilation. The LabVIEW syntax is strictly enforced during the editing process and compiled into the executable machine code when requested to run or upon saving. In the latter case, the executable and the source code are merged into a single file. The executable runs with the help of the LabVIEW run-time engine, which contains some precompiled code to perform common tasks that are defined by the G language. The run-time engine reduces compile time and also provides a consistent interface to various operating systems, graphic systems, hardware components, etc. The run-time environment makes the code portable across platforms. Generally, LV code can be slower than equivalent compiled C code, although the differences often lie more with program optimization than inherent execution speed. Many libraries with a large number of functions for data acquisition, signal generation, mathematics, statistics, signal conditioning, analysis, etc., along with numerous graphical interface elements are provided in several LabVIEW package options. The number of advanced mathematic blocks for functions such as integration, filters, and other specialized capabilities usually associated with data capture from hardware sensors is immense. In addition, LabVIEW includes a text-based programming component called MathScript with additional functionality for signal processing, analysis and mathematics. MathScript can be integrated with graphical programming using "script nodes" and uses .m file script syntax that is generally compatible with Matlab. The fully object-oriented character of LabVIEW code allows code reuse without modifications: as long as the data types of input and output are consistent, two sub VIs are interchangeable.

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The LabVIEW Professional Development System allows creating stand-alone executables and the resultant executable can be distributed an unlimited number of times. The run-time engine and its libraries can be provided freely along with the executable. A benefit of the LabVIEW environment is the platform independent nature of the G code, which is (with the exception of a few platform-specific functions) portable between the different LabVIEW systems for different operating systems (Windows, Mac OS X and Linux). National Instruments is increasingly focusing on the capability of deploying LabVIEW code onto an increasing number of targets including devices like Phar Lap OS based LabVIEW real-time controllers, PocketPCs, PDAs, FieldPoint modules and into FPGAs on special boards. There is a low cost LabVIEW Student Edition aimed at educational institutions for learning purposes. There is also an active community of LabVIEW users who communicate through several e-mail groups and Internet forums.

Front Panel
The front panel is the user interface of the VI. You build the front panel with controls and indicators, which are the interactive input and output terminals of the VI, respectively. Controls are knobs, pushbuttons, dials, and other input devices. Indicators are graphs, LEDs, and other displays. Controls simulate instrument input devices and supply data to the block diagram of the VI. Indicators simulate instrument output devices and display data the block diagram acquires or generates.

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Controls = Inputs

Indicators = Outputs

Fig: 4.1 front panel

Block Diagram
After you build the front panel, you add code using graphical representations of functions to control the front panel objects. The block diagram contains this graphical source code. Front panel objects appear as terminals on the block diagram.

Additionally, the block diagram contains functions and structures from built-in LabVIEW VI libraries. Wires connect each of the nodes on the block diagram, including control and indicator terminals, functions, and structures.

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Fig: 4.2 block panel

Lab VIEW Three Palettes

Lab VIEW palettes give you the options you need to create and edit the front panel and block diagram. 1. The Controls palette is available only on the front panel. The Controls palette contains the controls and indicators you use to create the front panel. Select WindowShow Controls Palette or right-click the front panel workspace to display the Controls palette. You can place the Controls palette anywhere on the screen.

Fig: 4.3 Control Palette 2. The Functions palette is available only on the block diagram. The Functions palette contains the VIs and functions you use to build the block diagram. Select

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WindowShow Functions Palette or right-click the block diagram workspace to display the Functions palette. You can place the Functions palette anywhere on the screen.

Fig: 4.4 Function palette 3. The Tools palette is available on the front panel and the block diagram. A tool is a special operating mode of the mouse cursor. When you select a tool, the cursor icon changes to the tool icon. Use the tools to operate and modify front panel and block diagram objects.

Select WindowShow Tools Palette to display the Tools palette. You can place the Tools palette anywhere on the screen.

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LabVIEW Toolbars:

Fig: 4.5 Tools palette

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Procedure:
1.Launch LabVIEW from StartProgramsNational Instruments LabVIEW 6.1. Click New VI to open a new front panel.

2. (Optional) Select WindowTile Left and Right to display the front panel and block diagram side by side.

3. Create a numeric digital control. You will use this control to enter the value for degrees Centigrade.

a. Select the digital control on the ControlsNumeric palette. If the Controls palette is not visible, right-click an open area on the front panel to display it. b. Move the control to the front panel and click to place the control. c. Type deg C inside the label and click outside the label or click the Enter button on the toolbar, shown at left. If you do not type the name immediately, LabVIEW uses a default label. You can edit a label at any time by using the Labeling tool, shown at left. 4. Create a numeric digital indicator. You will use this indicator to display the value for degrees Fahrenheit. a. Select the digital indicator on the ControlsNumeric palette. b. Move the indicator to the front panel and click to place the indicator. c. Type deg F inside the label and click outside the label or click the Enter button.

5. Display the block diagram by clicking it or by selecting Window Show Diagram.

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6. Select the Multiply and Add functions on the FunctionsNumeric palette and place them on the block diagram. If the Functions palette is not visible, right-click an open area on the block diagram to display it.

7. Select the numeric constant on the FunctionsNumeric palette and place two of them on the block diagram. When you first place the numeric constant, it is highlighted so you can type a value.

8. Type 1.8 in one constant and 32.0 in the other. If you moved the constants before you typed a value, use the Labeling tool to enter the values.

9. Use the Wiring tool to wire the icons as shown in the block diagram.

To wire from one terminal to another, use the Wiring tool to click the first terminal, move the tool to the second terminal, and click the second terminal, as shown in the following illustration. You can start wiring at either terminal.

You can bend a wire by clicking to tack the wire down and moving the cursor in a perpendicular direction. Press the spacebar to toggle the wire direction.

To identify terminals on the nodes, right-click the Multiply and Add functions and select Visible ItemsTerminals from the shortcut menu to display the connector pane. Return to the icons after wiring by right-clicking the functions and selecting Visible ItemsTerminals from the shortcut menu to remove the checkmark.

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When you move the Wiring tool over a terminal, the terminal area blinks, indicating that clicking will connect the wire to that terminal and a tip strip appears, listing the name of the terminal. To cancel a wire you started, press the <Esc> key, right-click, or click the source terminal. 10. Display the front panel by clicking it or by selecting WindowShow Panel. 11. Save the VI because you will use this VI later in the course. Select FileSave. Type Convert C to F.vi in the dialog box. Click the Save button. 12. Enter a number in the digital control and run the VI. a. Use the Operating tool or the Labeling tool to double-click the digital control and type a new number. b. Click the Run button to run the VI. c. Try several different numbers and run the VI again. 13. Right-click the icon in the upper right corner of the front panel and select Edit Icon from the shortcut menu. The Icon Editor dialog box appears. 14. Double-click the Select tool on the left side of the Icon Editor dialog box to select the default icon. 15. Press the <Delete> key to remove the default icon. 16. Double-click the Rectangle tool to redraw the border. 17. Create the following icon.

a. Use the Text tool to click the editing area.

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b. Type C and F. c. Double-click the Text tool and change the font to Small Fonts. d. Use the Pencil tool to create the arrow. Note To draw horizontal or vertical straight lines, press the <Shift> key while you use the Pencil tool to drag the cursor. e. Use the Select tool and the arrow keys to move the text and arrow you created. f. Select the B&W icon and select 256 Colors in the Copy from field to create a black and white icon, which LabVIEW uses for printing unless you have a color printer. g. When the icon is complete, click the OK button to close the Icon Editor dialog box. The icon appears in the upper right corner of the front panel and block diagram. 18. Right-click the icon on the front panel and select Show Connector from the shortcut menu to define the connector pane terminal pattern. LabVIEW selects a connector pane pattern based on the number of controls and indicators on the front panel. For example, this front panel has two terminals, deg C and deg F, so LabVIEW selects a connector pane pattern with two terminals. 19. Assign the terminals to the digital control and digital indicator. a. Select HelpShow Context Help to display the Context Help window. View each connection in the Context Help window as you make it. b. Click the left terminal in the connector pane. The tool automatically changes to the Wiring tool, and the terminal turns black. c. Click the deg C control. The left terminal turns orange, and a marquee highlights the control.

d. Click an open area of the front panel. The marquee disappears, and the terminal changes to the data type color of the control to indicate that you connected the terminal.

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e. Click the right terminal in the connector pane and click the deg F indicator. The right terminal turns orange. f. Click an open area on the front panel. Both terminals are orange. g. Move the cursor over the connector pane. The Context Help window shows that both terminals are connected to floating-point values. 20. Select FileSave to save the VI. 21. Select FileClose to close the VI.

Example 2: Add and Subtract two numbers

The formula for the slope of a line is as follows: Slope = (Y2 Y1) / (X2 X1) where (X1, Y1) and (X2, Y2) are points on the line.

Front Panel

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Block Diagram

Fig : 4.6 Slope of a Line

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PROJECT DESCRIPTION
Chapter 5 PROJECT DESCRIPTIONS 5.1 Problem Definition
There are many spy or surveillances camera widely used for home or organization security system. Some of the design able to control via computer by using XBEE that

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have the wide range of transmit and receive data. With this device the human will able to control and see the wireless visual system via computer from other location. In military, the wireless camera has been used as their first line force to survey the enemy location from their base. By using this robot, they can save their soldier live because before they move to enemy location they already know the enemy situation and percentage to they win in the war will be increase. Some of the spy robots always need the human to control the robot movement and the human need to focus totally on the robot when it is moves. Other than that the robot is not capable to hide when the enemy detected because the robot controlled by human and the human is not able to know when there are enemy or human nearby. 5 Therefore this project will be focus on build the autonomous wireless visual system robot to the robot has capability to move itself and capable to hide or stop its movement when there are human or enemy detected.

5.2 OVERVIEW OF THE PROJECT

In our project 7th sense Multipurpose Robot, we have used two sections of operation to control. The two sections are Robot section and control-monitoring section. In the robot section some sensors has fixed to detect or sense such as bomb, temperature and moisture. In the control-monitoring section used for controlling the robot by manual or by automatically. The brief operation of the project has given in the block diagram description. While using this kind of robot we can easily identify the bombs and also diffuse the bomb. Mostly this kind of robot is used for military purpose and spy robo.

5.3 BLOCK DIAGRAM 5.3.1 ROBO SECTION

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Temp and Moisture sensor

Metal Detector

Receiver

Decoder

PIC 16F877

Buffer

Transmitter

Encoder Motor Driver

Motor Driver

Motor driver

Camera

Motor Camera Control Motor

Motor

Battery

Robot mechanism

Fig : 5.1 Robo Section

5.3.2 CONTROL-MONITORING SECTION

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Decoder PIC 16F877

Receiver

RS232

Encoder

Transmitter

PC

Tuner card

Video receiver

Power supply

Fig: 5.2 Control & Monitoring section BLOCK DIAGRAM DESCRIPTION

There are two sections are used in this multipurpose robot. They are, 1. Robo section 2. Control & monitoring section

Robo section
In ROBO section, the sensors like temperature, moisture and metal detector. It is used for sense changes in surface and atmosphere. Temperature sensor and moisture sensor signal is converted using ADC and sends signal to the microcontroller. There are three motor drivers are used in the robo section. They are the first two motor drivers are used to control the movement of the robo motor. The second motor driver is used to control for the Camera movement in robo. The 12v battery supply is given to the motors for moving the robot and also the supply is given to camera.

Control and monitoring section

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The PIC Microcontroller is the main part of this project. It is programmed to control the motor driver and camera control motor. The RS232 for interference of pc and PIC microcontroller. Using softwares can monitor in PC. The softwares are visual basic and labview. Power supply for microcontroller is 5v Automatic Mode Here the user has no control over the robot. The robot takes it own decisions and performs the required operation using AI.At unavoidable circumstances the control automatically goes to the user. User Mode Here in this mode the user has the full control of the robot. The user can control the robot from the remote location and perform the required operation. Bomb Detection Laser Gun can be used to Detect Roadside Bombs. Trained wasps are used to detect the bombs .They are contained into a device called as Wasp Hound which gives an alarm or triggers a visual signal. NQR (Nuclear quadruple resonance) is another technique for detecting the explosives.

ADC:
The Analog-to-Digital (A/D) Converter module has five inputs for the 28-pin devices and eight for the other devices. The analog input charges a sample and hold capacitor. The output of the sample and hold capacitor is the input into the converter. The converter then generates a digital result of this analog level via successive approximation. The A/D conversion of the analog input signal results in a corresponding 10-bit digital number. The A/D module has high and low voltage reference input that is software selectable to some combination of VDD, VSS, RA2, or RA3. The A/D converter has a unique feature of being able to operate while the device is in SLEEP mode. To operate in SLEEP, the A/D clock must be derived from the A/Ds internal RC oscillator.

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The A/D module has four registers. These registers are: A/D Result High Register (ADRESH) A/D Result Low Register (ADRESL) A/D Control Register0 (ADCON0) A/D Control Register1 (ADCON1) The port pins can be configured as analog inputs (RA3 can also be the voltage reference), or as digital I/O. Additional information on using the A/D module can be found in the PICmicro Mid-Range MCU Family Reference Manual (DS33023).

Circuit Description:
The output from the filter is given to pin 28 of ADC 0809 shown in fig .The address channels A, B, C are grounded so that channel 1 is enabled. The digitized output from the converter is given to port 0 of micro controller. The filter capacitors in the circuit remove the low and high frequency noises. The control signals from the ADC are given to port 2 of the Microcontroller. This circuit follows the principle of successive approximation method and when the start of conversion goes high, it marks the beginning of the process and high end of conversion marks the end of it With the arrival of START command, the SAR sets the MSB d1=1 with all other bits to zero so that the trial code is 10000000. The output of the ADC is now compared with analog input. If input is greater than the DAC output then 10000000 is less than the correct digital representation. The MSB is left at 1 and the next lower significant bit is made 1 and further tested. However, if input is less than the DAC output, then 10000000 is greater than the correct digital representation. So reset MSB to 0 and go on to the next lower significant bit. This procedure is repeated for all subsequent bits, one at a time, until all bit positions have been tested.

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POWER SUPPLY UNIT Circuit Diagram

Fig: 5.3 Power Supply circuit diagram

POWER SUPPLY BOCK DIAGRAM

230V AC

Transformer

Rectifier

Filter

Regulator

5V DC

Fig: 5.4 Power Supply block diagram Transformer:

Transformer is a device used either for stepping-up or stepping-down of the AC supply voltage with a corresponding decreases or increases in the current. Here, a centertapped transformer is used for stepping-down the voltage so as to get a voltage that can be regulated to get a constant 12V. In this project, to satisfy these requirements, we make use of 1.0A, 12V-0-12V transformer.

TRANSFORMER DESIGNING:
In the field of electronics and electrical new technology is progressing day by day. Attempts are being made in the electronic field to replace the coils and transformer with another substitute. For example some decade back it was not consider proper to use the resistance as a load in the RF circuit, but now resistance are being made film types. These

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resistances are being used in high frequency and RF current circuit without any fear. Now computer age has come. Now it is possible to count the copper turns without talking out the core from the transformer. It has become very easy to calculate the copper turns for a new transformer. Now-adays special integrated circuits are available with special circuit technique without soils and transformer. This special circuit technique is called phase locked loop system. This is used in FM Transmitter and Receiver. The transformer and coils ate not used in phase locked loop system except power supply system.

Rectifier:
A rectifier is a device such as a semiconductor capable of converting sinusoidal input waveform units into a unidirectional waveform, with a non-zero average component.

Filters:
Capacitors are used as filters in the power supply unit. Shunting the load with the capacitor, effects filtering. The action of the system depends upon the fact the capacitor stores energy during the conduction period and delivers this energy to the load during the inverse or non-conducting period. In this way, time during which the current passes through the load is prolonged and ripple is considerably reduced.

Fixed Voltage Regulator:

An IC7805 fixed voltage regulator is used in this circuit. The function of this regulator is to provide a +5V constant DC supply, even if there are fluctuations to the regulator input. This regulator helps to maintain a constant voltage throughout the circuit operation.

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Conclusion & future enhancement

Chapter 6 6. 1 Conclusion

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The requirement to build autonomous spy robot has been achieved based on the objective. The specification of spy robot has met where the spy robot has wireless camera that able to view image by using computer and the robot able to move autonomously. Others, for the robot spy autonomously, the high intelligent system need to be applied such as build more sensors, minimize the size of robot and design the robot that cannot be seen by human easily. With this system, the ability as the spy robot will be useful for the military department and the enemy will be easily defeated. There are three objective had successfully applied in this project. There are to build an autonomous spy robot that able to avoid obstacle if there are obstacle in front of it and the robot able to stop moving if there are sound at certain range of loudness detected. Last objective is to build the wireless visual system that able to view surrounding via computer.

6.2 Future Enhancement

Since the PIC microcontroller still has plenty port, for the future development, I suggest to the autonomous spy robot need to apply more useable sensor for example to apply the sensor that the robot able to hide itself to the dark place when there are human sense detected. To achieve this matter the design of the robot is more important because if we want to build the robot that able to spy underwater, the water proof circuit need to be applied so that the there are no short circuit will be faced when the project tested. The dual mode robot operation for the spy robot will be important at certain condition because not all situations is suitable to the robot move autonomously accept the robot has more sensor that able function in such situation. In this situation, the manual control by human is needed. Wireless camera is important for the spy robot to spying people. To make the wireless camera able to spy more clearly at the large range of transmit, the application of radio frequency is suggested because radio frequency has high transmitter range and if there are obstacle that disturb its signal transmit, the signal still able to receive because the signal has large wavelength.

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Appendix
Chapter 7 7 Appendix

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7.1 Connection diagram

Fig: 7.1 Connection diagram 7.2 Screen Shot

Fig: 7.2 Screen Shot(Automatic)

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Fig: 7.2 Screen Shot(Manual)

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REFERENCES
Chapter 8

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REFERENCES
1. 7TH Sense. A Multipurpose Robot for Military (2009) Srinivasavaradhan L., Chandramouli G., Maniprashanna.A.G

2. Lee Cherng Woei(2009), Lane Following Vehicles, Degrees Thesis. Bachelor of Electrical Engineering (Mechatronics). Universiti Tekonologi Malaysia. 3. Ea Ai Choon(2005),DC Motor Speed Control Using Microcontroller P16F877A, Degrees thesis, Bachelor of Electrical Engineering (Instrument Control). Universiti Tekonologi Malaysia. 4. Farah Hayana Desa(2009), Unmanned Hovercraft, Degrees Thesis, Faculty of Electrical Engineering, Universiti Tekonologi Malaysia, Malaysia. 5. Ruth Devlaeminck (2006), "Human Motion Tracking with Multiple Cameras Using a Probabilistic Framework for Posture Estimation," Masters Thesis, School of Electrical and Computer Engineering, Purdue University. 6. Dr. Johari Halim Shah Osman(2009), Robotics, (4th edition). Faculty of Electrical Engineering, Univesiti Teknologi Malaysia. 7. Thomas L.F(2008), Electronic Device, (8th Edition). New Jersey: Prentice Hall. 62 8. MicroElectronika. C Compiler for Microchip PIC Microcontrollers .Micro C users manual. 9. Fairchild Semiconductor, 2N3904 Datasheet. 10. SGS Thomson Microelectronics, L293D Datasheet. 11. Fairchild Semiconductor, Comparator LM324 Datasheet. 12. Microchip, PIC16F87XA Data Sheet. 13. Simon Roughneen, http://www.isn.ethz.ch/isn/Current-Affairs/SecurityWatch/Detail/?ord538=grp1&ots591=EB06339B-2726-928E-02161B3F15392DD8&lng=en&id=106325. International Relations and Security Network (ISN).Sep 25 2009. 14. http://www.surveyor.com/SRV_info.html. Last Updated -27 April 2009 15:15 GMT

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15. http://www.cooper.edu/~mar/mar.htm. Copyright 2002 Ericson Mar. mar@cooper.edu last Updated: 3/30/99. 16. Robert Birming. http://www.geekalerts.com/rc-snooper-robot/. Gadgets.12/30/2007. 17. http://en.wikipedia.org/wiki/Automobile_layout. 18. Gordon McComb(2002). Technology & Engineering Magazine - Popular Science. Robot builder's sourcebook. 19. http://www.convict.lu/Jeunes/Spielberg/Spielberg.htm. Audio frequency

sensor. Created 10/08/2002, updated 11/08/2002.