SlideShare une entreprise Scribd logo
1  sur  8
Télécharger pour lire hors ligne
IOSR Journal of Electrical and Electronics Engineering (IOSR-JEEE)
e-ISSN: 2278-1676 Volume 4, Issue 4 (Jan. - Feb. 2013), PP 30-37
www.iosrjournals.org

   Solar Energy Based Optimal Battery Charging Mechanism in
       Robotic Vehicle by Using Smart Host Microcontroller
                                   S.Menakambal1, A.Satheesh2
                                           1
                                             PG Scholar, 2Professor
                                    1
                                     M.E (Embedded System Technologies)
                          1,2
                              Department of EEE, Nandha Engineering College, Erode

Abstract: The PENTRON robotic platform-an autonomous unmanned exploration vehicle specialized in
recognition. The robotic vehicle having pack of two rechargeable batteries each performing charging and
discharging operation independently. The two pack of battery charging system can be controlled by means of
tracked single tiltable solar PV panels for improving PENTRON’s power regardless of its mobility. The design
concept of robotic vehicle is based on a PIC16F877 microcontroller and the efficient wireless camera,
temperature sensor, humidity sensor, light sensor, voltage sensors are attached in the robotic vehicle. The Zig-
Bee wireless technology provides adequate information about the environmental conditions in nearby PC. The
aim of this paper is to reduce the weight of the robotic vehicle by means of reducing the usage of
microcontrollers and to increase the power of the robotic vehicle by the help of solar PV Panels. On the other
hand, the switching time taken by two pack of batteries can be reduced.
Keywords: Wireless camera, Li–Po battery, mechatronic system, photovoltaic (PV), robotic vehicle, solar
tracker, Sensors, Zig-Bee transceiver, PIC Microcontroller

                                               I.   Introduction
          SOLAR power systems in autonomous robotic vehicles have been often used for some years. A real
example is the VANTER robotic platform uses huge number of microcontrollers and 3 solar PV Panels. This in
turn improves weight of the vehicle and power consumption [1]. The main drawback behind existing system is
that the robotic vehicle having four-wheel-drive (4WD) and the individual control of each wheel allow different
types of movement; including Ackerman configuration, the crabbing maneuver or the rotation with inner inertial
centre. The DC motor is fixed in all the four wheels, each wheel consumes 12V supply and 60mA from the
battery. This leads to huge power consumption. Solar tracker prototypes built in mobile robots have proven that
orientation of PV systems leads to increased energy efficiency relative to systems with fixed solar panels (20–
50% per collector)[2]. In Proposed model, the PENTRON robotic exploration vehicle aims to improve various
aspects of the aforementioned rovers with scientific and academic purposes. The rover was developed to be
guided and has 2 wheels coupled to a plane chassis that can rotate independently. The 2-wheel-drive (2WD) is
placed at one end and the tracking ball is placed at the other end for the movement of robotic vehicle. The two
wheels in PENTRON are sustained by means of independent passive suspension of double aluminium fork to
absorb terrain vibrations shown in (see Fig.1).

Each wheel consists of two motors, one for rotation and another for driving. The forward movement is produced
by means of dc motors (12 V and 60 mA) that provides 120r/min with a torque of 8.87 kg/cm. On the other
hand, the rotation motor provides a speed of 152r/min. The reduction huge microcontroller to single
microcontroller and four wheels to two wheels in the proposed model improves the rover capacity and reduces
power consumption. The robotic vehicle having single tiltable Solar PV Panels it can be controlled by means of
solar tracked panels. The robotic system programming is divided into three main code levels and its hardware
was designed with a hierarchical control structure based on modular microcontrollers. The top level program,
carried out in LabVIEW it is executed in a remote PC and offers a Zig-Bee technology to monitor and control
the whole robotic vehicle. The second code level, programmed in C language, runs autonomously on a master
PIC16F877 microcontroller aboard PENTRON.




                                           www.iosrjournals.org                                        30 | Page
Solar Energy Based Optimal Battery Charging Mechanism in Robotic Vehicle by Using Smart Host Microcontroller




                            Fig 1: PENTRON: A solar-powered robotic vehicle

                                           II.   Proposed System
         The PENTRON rover series has a single solar panel system coupled to an assisted suspension
mechanism. This prevents the manipulator arm mounted on the middle of the rover to minimize solar panel-
generated power and allows it to dust solar panel surface.

2.1 Robot terminal unit
         The PIC16F877 microcontroller which monitors PENTRON power consumption and decisions in a
complete autonomous way. The microcontroller performs two main functions: 1) detecting environmental light
level and controlling the solar tracking system to obtain the highest power; and 2) interpreting operation data
from batteries and solar panels to control the working mode of the charger accordingly (see Fig. 2).




                                     Fig 2: Block diagram of PENTRON
The robotic vehicle generally uses four different kinds of sensors: They are Temperature sensors, voltage
sensors,Light sensors and Humidity sensors. The sensors that used in a robotic vehicle observes the remote
environmental conditions and the observed data can be measured and simulated by the help of MP LAB
software in nearby PC. The thermistor is the temperature sensitive resistor which is used to measure body
temperature. The thermistor resistor is varied as per the temperature. The varying resistance level is converted
into corresponding voltage signal which is given to ADC through amplifier. The ADC is nothing but analog to

                                           www.iosrjournals.org                                          31 | Page
Solar Energy Based Optimal Battery Charging Mechanism in Robotic Vehicle by Using Smart Host Microcontroller

digital converter which converts the input analog signal to corresponding digital signal. The converted digital
signal is given to microcontroller. The LM 324 thermistor consist of four independent high gains internal
frequency compensated operational amplifier which were designed specifically to operate from a single power
supply over a wide voltage range. The voltage sensors are generally used for observing the voltage level of the
Li-Po batteries placed inside the robotic vehicle. A photo resistor or LDR is an electronic component whose
resistance decreases with increasing incident light intensity. The light sensors generally observes the intensity of
light that coming from sun. The light sensors attached in the robotic vehicle predicts the environmental light
intensity and sends it to microcontroller. The robotic vehicle uses humidity sensors for observing the moisture
content of the atmosphere. The wireless camera fixed infront of the robotic vehicle captures the image of the
environment and the captured image can be monitored in our nearby PC through Zig-Bee wireless technology
(see Fig.3).




                                  Fig 3: Architecture of Robot terminal unit

2.2 System terminal unit
          Zig-Bee is a low-cost, low-power, wireless mesh network standard. The low cost allows the technology
to be widely deployed in wireless control and monitoring applications. The wired serial communication is used
to transfer the data between microcontroller and PC through Zig-Bee communication. PC side is the transmitter
end and Microcontroller is the receiving end. To Interface the micro controller to PC we need level converter
which current TTL compatible voltage level to RS232 voltage level using wireless Zig-Bee. The PC is used to
drive the robot. The robot side captures the image and captured picture is displayed in the PC.




                                 Fig 4: Architecture of System Terminal Unit

The commands send from the PC side is recieved by the Microcontroller as a signals and activates the Driver
Circuit. Driver Circuit consists of Transistor which acts as switch to turn ON and turn OFF the relay. The relay
output is given to motors which are attached in the robot. To drive the robot in the forward direction
corresponding information is transmitted from PC side and received in robot side using Zig-Bee transceiver (see
Fig .4)




                                             www.iosrjournals.org                                         32 | Page
Solar Energy Based Optimal Battery Charging Mechanism in Robotic Vehicle by Using Smart Host Microcontroller




  Fig 5: Mechanical design of the solar tracking system of PENTRON: (a) upper solar panel, (b) mobile
    solar panels,(c) aluminium chassis,(d) methacrylate chassis,(e)methacrylate support,(f)pan and tilt
                             unit,(g)pitch servometer, and(h)yaw servomotor.

Fig. 5. shows the mechanical solar tracking system. This comprises(a) a fixed solar panel mounted horizontally
on PENTRON and (b) Single panels with symmetrical movements. The mechanical structure is mounted on (c)
an aluminium chassis on which the electronics were mounted. On top of this platform (d) a methacrylate panel
with (e) two side supports has been assembled. The solar panel are mounted on (f) pan and tilt units formed
DYS0213MGs metal gear servos. Each pair of digital servomotors allow soft rotations with an amplitude of180◦
in (g) azimuth and (h) elevation, so that the solar panel can be oriented toward any part of the space.

2.3 Li-Po batteries switching operation
         The switching system consists of two MAX1538EVKIT selectors with break-before-make operation
logic. Their function is connecting electrically the charge and discharge paths between the batteries, the charger
module, and the load system (see Fig.6) that is, selector 1 is inserted between the charger and the dual-battery
pack. Its function is routing the current from the PV panels to the input of the charger and, from there, to the
battery selected in each moment. Selector 2 is used to connect the selected battery to the load system. Therefore,
the dynamic connections of the electric circuit are carried out according to the PIC16F877-defined logical
operation mode. This is based on the voltage thresholds programmed into the control algorithm. Now, these two
pack of Li-Po batteries performs their charging and discharging operation independently. In the first row,
selector 1 was programmed to charge battery 1 while selector 2 is preset to discharge battery 2. Charge current
obtained from the PV panels is routed to the charger through selector 1 and, from the charger, to the selected
battery. Likewise, the discharge current of battery 2 is routed to the load system through selector 2. The main
advantage of the dual selector system is that it allows hot swapping of separated power supplies. In addition, in
case both batteries were fully discharged, a working mode was programmed in selector 1 to supply the load
system directly from the PV panels.

                           TABLE I. Logical operation mode of the battery selectors




                             C= Closed, O= Open, X= Not Connected




                                            www.iosrjournals.org                                          33 | Page
Solar Energy Based Optimal Battery Charging Mechanism in Robotic Vehicle by Using Smart Host Microcontroller




                          Fig 6: Overall connection diagram for batteries selectors.

                                          III. Experiment Results
3.1 Measuring parameters
          The three parameters like (Temperature, humidity, Battery voltage) are predicted by the sensors
attached in the robotic vehicle and also plot graph depends on parameters. Parameter value received from
microcontroller kit through RS232 port (serial communication) in 9600 baud rate, parity bit is none and data bit
is 8. Proteus7.2 simulation software is used to run and simulate the total process. The software code is written in
MP LAB software with high tech c compiler. The embedded C language is used for program compilation and it
is converted into hex file.

3.1.1 Input Parameter Measuring




                                      Fig 7: Input Parameter Measuring

3.1.2 Waveform of Input Parameters




                                    Fig 8: Characteristics of Temperature

                                            www.iosrjournals.org                                          34 | Page
Solar Energy Based Optimal Battery Charging Mechanism in Robotic Vehicle by Using Smart Host Microcontroller




                                     Fig 9: Characteristics of Humidity




                                 Fig 10: Characteristics of Battery Voltage

3.1.3 Rotating Direction
         The rotating direction of robotic vehicle depends upon the key press from PC (LabVIEW software)
and also we can send the command from pc to microcontroller through RS232 port Key.

                           TABLE II. Working Principle of Robot Rotating Direction
                                    Key Press      Command send LED
                                                   from PC to UC         Glowing
                                 Forward               F                    1010
                                 Reverse               R                    0101
                                 Left                  L                    0110
                                 Right                 G                    1001
                                 Stop                  S                    0000
If the robotic vehicle needs to move in the forward direction corresponding information is transmitted from PC
to microcontroller in the form of signals using Zig-Bee transceiver. In Receiver section, the microcontroller
drives the robot in forward direction as per the appropriate command given by PC. Likewise, the robotic vehicle
can be moved in reverse, left and right direction. The direction of the robotic vehicle can be indicated by LED.




                                       Fig 11: Robot rotating direction




                                           www.iosrjournals.org                                          35 | Page
Solar Energy Based Optimal Battery Charging Mechanism in Robotic Vehicle by Using Smart Host Microcontroller




                         Fig 12: Characteristics of the charge voltage measured in the cells battery




                       Fig 13: Characteristics of the discharge voltage measured in the cells battery

                                                          IV. Conclusion
         SOLAR power systems in autonomous robotic vehicles have been often used for some years. In real
example most of the supplied energy is generated by a reduced size photovoltaic (PV) panel. It includes the
construction of a robotic vehicle which we designed is to move robot in forward and reverse with right and left
turns using dual battery. The robot controlling is done with the help of microcontroller which brings the robot on
movement. The proposal includes that the monitoring actions of rover are simulated using LabVIEW software.

                                                             References
[1]    Justo E. Gonzalez Ramos.,and Tomas de J. Mateo Sanguino 2012 ―Smart Host Microcontroller for Optimal Battery Charging in a
       Solar-Powered Robotic Vehicle,‖ IEEE/ASME Trans Mechatronics.
[2]    Afarulrazi, A.B., Liew, K.L., Utomo,W.M., and Zafari,M. 2011―Solar tracker Srobot using microcontroller,‖ in Proc. Int. Conf.
       Bus., Eng. Ind. Appl.,pp. 47–50.
[3]    Chiang, C.M., Chou, P.C., Lee, C.Y., and Lin, C.F. 2009 ―Sun tracking systems A review,‖ Sensors, vol. 9, pp. 3875–3890.
[4]    Bajracharya,M., Helmick, D., and Maimone, M.W.,2008 ―Autonomy for mars rovers Past, present, and future,‖ Computer, vol. 41,
       no. 12, pp. 44–50.
[5]    Kubota, T., Kunii, Y., Kuroda, Y., and Otsuki,M.2008 ―Japanese rover test- bed for lunar exploration,‖ in Proc. Int. Symp. Artif.
       Intell., Robot. Automat. Space, no.77.
[6]    Lamon,P. 2008 ―The solero rover. 3D-position tracking &control for all-terrain robots,‖ Adv. Robot., vol. 43, pp. 7–19.
[7]    Arunrungrasmi, S., Jinayim, T., Mungkung, N., Tanitteerapan, T. 2007 ―Highly efficient low power consumption tracking solar
       cells for white-LED based lighting system,‖ World Acad. Sci., Eng. Technol., vol. 28,pp. 291–296.
[8]    Lever, J.H., Price, A.D., Ray, L.E., and Streeter, A.D. 2007 ―Design and power management of a solar-powered cool robot for polar
       instrument networks,‖ J. Field Robot., vol. 24, no. 7, pp. 581–599.
[9]    Smith, N., 2006 ―Dynamic power path management simplifies battery charging from solar panels,‖ Texas Instruments, Dallas, TX,
       Tech. Rep. SLUA394.
[10]    Lever, J. H., Ray, L. R., Streeter, A. and Price, A. 2006 ―Solar power for an antarctic rover,‖ Hydrol. Process, vol. 20, pp. 629–644.
[11]    Pharoah, J. G., Surgenor, B.W and Wilhelm, A. N. 2006, ―Design and Evaluation of a micro-fuel-cell-based power system for a
       mobile robot,‖ IEEE/ASME Trans. Mechatronics, vol. 11, no. 4, pp. 471–476
[12]   Baskaran,V.,     Cabrol,N.,      Calderon,F.,      Heys,S.,   .    Jonak,    D.,    Luders,     A.,Wettergreen,     D.,     Pane,   D.,
       Smith,T.,Teza,J.,Tompkins,P.,Villa,D., Wagner, M., and Williams,C.,. ―Second experiment in the robotic investigation of life in the
       Atacama Desert of Chile,‖ presented at the 8th Int. Symp. Artificial Intelligence, Robotics and Automation in Space, Munich,
       Germany,2005.


                                                      www.iosrjournals.org                                                        36 | Page
Solar Energy Based Optimal Battery Charging Mechanism in Robotic Vehicle by Using Smart Host Microcontroller

[13]   Aiuchi, K., nakamura, M., Yoshida, K., Katayama, Y., nakamura, K. Sun tracking photo-sensor for solar thermal concentrating
       system. In Proceedings of International Solar Energy Conference, Portland, OR, USA, Jul. 11-14, 2004
[14]    Bresina, J. L., Bualat, M. G., Edwards, L. J., Washington, R. J. and Wright, A.R. 2001 ―K9 operation in May’00 dual-rover field
       experiment,‖ presentedat the 6th Int. Symp. Artificial Intelligence, Robotics and Automation in Space, Montreal, QC, Canada.
[15]   Schneider, M.S., Bertrand, A., Lamon, R., Siegwart, P., van Winnendael, R., and Schiele, A. 2002 ―SOLERO Solar powered
       exploration rover,‖ presented at the 7th ESA Workshop Advanced Space Technologies for Robotics and Automation, Noordwijk,
       The Netherlands.
[16]   Yousef, H.A. 1999 ―Design and implementation of a fuzzy logic computer-controlled sun tracking system‖In Proceedings of IEEE
       International Symposium on Industrial Electronics, Bled, Slovenia.
[17]   Arlington, V.A., Popat, P.P.1998―Autonomous, low-cost, automatic window covering system for daylighting applications‖ Renew.
       Energ., 13, 146.
[18]    Braun,D. F., Eisen, H. J., Hickey, G. and Wen, L. C.1998―Sojourner mars rover thermal perfomance,‖ presented at the 28th Int.
       Conf. on Environmental Systems, Danvers, MA.
[19]   Shirley, D. L.,1995―Mars pathfinder microrover flight experiment—A paradigm for very low-cost spacecraft,‖ Acta Astronaut., vol.
       35, pp. 355–365.
[20]   Powers, M., and Sullivan, C.1993―A high efficiency maximum power point tracker for photovoltaic arrays in a solar -powered
       racing vehicle‖,Proceedings of the 24th IEEE Power Electronics Specialists Conference, pp. 574-580.
[21]   Bhat, S.R.,and Bhide, P. 1992,Modular power conditioning unit for photovoltaic applications.‖ Proceedings of the 23rd IEEE Power
       Electronics Specialists Conference, vol 1, pp. 708-713.
[22]   Bairi, A. 1990―Method of quick determination of the angle of slope and the orientation of solar collectors without a sun tracking
       system‖. Solar Wind Technol 7, 327-330.




                                                    www.iosrjournals.org                                                     37 | Page

Contenu connexe

Tendances

Wifi Enabled Smart Farm with Monitoring and Energy Theft Control System
Wifi Enabled Smart Farm with Monitoring and Energy Theft Control SystemWifi Enabled Smart Farm with Monitoring and Energy Theft Control System
Wifi Enabled Smart Farm with Monitoring and Energy Theft Control SystemNeha Noren Parshad
 
IRJET- Smart Digi Train
IRJET- Smart Digi TrainIRJET- Smart Digi Train
IRJET- Smart Digi TrainIRJET Journal
 
Solar tracker using pmdc motor
Solar tracker using pmdc motorSolar tracker using pmdc motor
Solar tracker using pmdc motorsankalp061
 
Design and Structural Analysis for an Autonomous UAV System Consisting of Sla...
Design and Structural Analysis for an Autonomous UAV System Consisting of Sla...Design and Structural Analysis for an Autonomous UAV System Consisting of Sla...
Design and Structural Analysis for an Autonomous UAV System Consisting of Sla...IOSR Journals
 
Implementation of high-voltage kicker system for “ROSTU” middle-size league r...
Implementation of high-voltage kicker system for “ROSTU” middle-size league r...Implementation of high-voltage kicker system for “ROSTU” middle-size league r...
Implementation of high-voltage kicker system for “ROSTU” middle-size league r...journalBEEI
 
Assistive technologies for efficient mid range wireless transmission of elect...
Assistive technologies for efficient mid range wireless transmission of elect...Assistive technologies for efficient mid range wireless transmission of elect...
Assistive technologies for efficient mid range wireless transmission of elect...eSAT Journals
 
IJSETR-VOL-4-ISSUE-5-1231-1236
IJSETR-VOL-4-ISSUE-5-1231-1236IJSETR-VOL-4-ISSUE-5-1231-1236
IJSETR-VOL-4-ISSUE-5-1231-1236ravi kumar
 
automatic irrigation system powered by sun racking solar panel
automatic irrigation system powered  by sun racking solar panelautomatic irrigation system powered  by sun racking solar panel
automatic irrigation system powered by sun racking solar panelprince kumar
 
Design of an autonomous ornithopter with live video
Design of an autonomous ornithopter with live videoDesign of an autonomous ornithopter with live video
Design of an autonomous ornithopter with live videoeSAT Publishing House
 
APPLICATION OF MECHATRONICS IN DEFENCE
APPLICATION OF MECHATRONICS IN DEFENCE APPLICATION OF MECHATRONICS IN DEFENCE
APPLICATION OF MECHATRONICS IN DEFENCE Swapnil Shahade
 
IRJET- Automatic Highway Lighting System
IRJET- Automatic Highway Lighting SystemIRJET- Automatic Highway Lighting System
IRJET- Automatic Highway Lighting SystemIRJET Journal
 
Development of Automated Solar Watering System
Development of Automated Solar Watering SystemDevelopment of Automated Solar Watering System
Development of Automated Solar Watering Systemtheijes
 
Development of a Smart Mechatronic Tracking System to Enhance Solar Cell Pan...
Development of a Smart Mechatronic Tracking System to  Enhance Solar Cell Pan...Development of a Smart Mechatronic Tracking System to  Enhance Solar Cell Pan...
Development of a Smart Mechatronic Tracking System to Enhance Solar Cell Pan...IJMER
 
Solar automatic traffic and street light controller
Solar automatic traffic and street light controllerSolar automatic traffic and street light controller
Solar automatic traffic and street light controllerGopi Be
 
IRJET- Autonomous Adjustable Pesticide Spraying Device for Agricultural Appli...
IRJET- Autonomous Adjustable Pesticide Spraying Device for Agricultural Appli...IRJET- Autonomous Adjustable Pesticide Spraying Device for Agricultural Appli...
IRJET- Autonomous Adjustable Pesticide Spraying Device for Agricultural Appli...IRJET Journal
 
Design of Solar Power LED Lighting System using Horizontal Two-Axis Arduino B...
Design of Solar Power LED Lighting System using Horizontal Two-Axis Arduino B...Design of Solar Power LED Lighting System using Horizontal Two-Axis Arduino B...
Design of Solar Power LED Lighting System using Horizontal Two-Axis Arduino B...Associate Professor in VSB Coimbatore
 

Tendances (19)

Wifi Enabled Smart Farm with Monitoring and Energy Theft Control System
Wifi Enabled Smart Farm with Monitoring and Energy Theft Control SystemWifi Enabled Smart Farm with Monitoring and Energy Theft Control System
Wifi Enabled Smart Farm with Monitoring and Energy Theft Control System
 
IRJET- Smart Digi Train
IRJET- Smart Digi TrainIRJET- Smart Digi Train
IRJET- Smart Digi Train
 
Solar tracker using pmdc motor
Solar tracker using pmdc motorSolar tracker using pmdc motor
Solar tracker using pmdc motor
 
Design and Structural Analysis for an Autonomous UAV System Consisting of Sla...
Design and Structural Analysis for an Autonomous UAV System Consisting of Sla...Design and Structural Analysis for an Autonomous UAV System Consisting of Sla...
Design and Structural Analysis for an Autonomous UAV System Consisting of Sla...
 
Implementation of high-voltage kicker system for “ROSTU” middle-size league r...
Implementation of high-voltage kicker system for “ROSTU” middle-size league r...Implementation of high-voltage kicker system for “ROSTU” middle-size league r...
Implementation of high-voltage kicker system for “ROSTU” middle-size league r...
 
Assistive technologies for efficient mid range wireless transmission of elect...
Assistive technologies for efficient mid range wireless transmission of elect...Assistive technologies for efficient mid range wireless transmission of elect...
Assistive technologies for efficient mid range wireless transmission of elect...
 
IJSETR-VOL-4-ISSUE-5-1231-1236
IJSETR-VOL-4-ISSUE-5-1231-1236IJSETR-VOL-4-ISSUE-5-1231-1236
IJSETR-VOL-4-ISSUE-5-1231-1236
 
Presentation1
Presentation1Presentation1
Presentation1
 
Np2422282232
Np2422282232Np2422282232
Np2422282232
 
automatic irrigation system powered by sun racking solar panel
automatic irrigation system powered  by sun racking solar panelautomatic irrigation system powered  by sun racking solar panel
automatic irrigation system powered by sun racking solar panel
 
Design of an autonomous ornithopter with live video
Design of an autonomous ornithopter with live videoDesign of an autonomous ornithopter with live video
Design of an autonomous ornithopter with live video
 
APPLICATION OF MECHATRONICS IN DEFENCE
APPLICATION OF MECHATRONICS IN DEFENCE APPLICATION OF MECHATRONICS IN DEFENCE
APPLICATION OF MECHATRONICS IN DEFENCE
 
IRJET- Automatic Highway Lighting System
IRJET- Automatic Highway Lighting SystemIRJET- Automatic Highway Lighting System
IRJET- Automatic Highway Lighting System
 
Development of Automated Solar Watering System
Development of Automated Solar Watering SystemDevelopment of Automated Solar Watering System
Development of Automated Solar Watering System
 
Development of a Smart Mechatronic Tracking System to Enhance Solar Cell Pan...
Development of a Smart Mechatronic Tracking System to  Enhance Solar Cell Pan...Development of a Smart Mechatronic Tracking System to  Enhance Solar Cell Pan...
Development of a Smart Mechatronic Tracking System to Enhance Solar Cell Pan...
 
Control and Supervision of a Solar Electric System
Control and Supervision of a Solar Electric SystemControl and Supervision of a Solar Electric System
Control and Supervision of a Solar Electric System
 
Solar automatic traffic and street light controller
Solar automatic traffic and street light controllerSolar automatic traffic and street light controller
Solar automatic traffic and street light controller
 
IRJET- Autonomous Adjustable Pesticide Spraying Device for Agricultural Appli...
IRJET- Autonomous Adjustable Pesticide Spraying Device for Agricultural Appli...IRJET- Autonomous Adjustable Pesticide Spraying Device for Agricultural Appli...
IRJET- Autonomous Adjustable Pesticide Spraying Device for Agricultural Appli...
 
Design of Solar Power LED Lighting System using Horizontal Two-Axis Arduino B...
Design of Solar Power LED Lighting System using Horizontal Two-Axis Arduino B...Design of Solar Power LED Lighting System using Horizontal Two-Axis Arduino B...
Design of Solar Power LED Lighting System using Horizontal Two-Axis Arduino B...
 

En vedette

The Performance Characteristics of Low Voltage Insulators in a Polluted Envir...
The Performance Characteristics of Low Voltage Insulators in a Polluted Envir...The Performance Characteristics of Low Voltage Insulators in a Polluted Envir...
The Performance Characteristics of Low Voltage Insulators in a Polluted Envir...IOSR Journals
 
Use of Search Engines by Postgraduate Students of the University Of Nigeria,...
Use of Search Engines by Postgraduate Students of the University  Of Nigeria,...Use of Search Engines by Postgraduate Students of the University  Of Nigeria,...
Use of Search Engines by Postgraduate Students of the University Of Nigeria,...IOSR Journals
 
Peak- and Average-Power Reduction in Check-Based BIST by using Bit-Swapping ...
Peak- and Average-Power Reduction in Check-Based BIST by  using Bit-Swapping ...Peak- and Average-Power Reduction in Check-Based BIST by  using Bit-Swapping ...
Peak- and Average-Power Reduction in Check-Based BIST by using Bit-Swapping ...IOSR Journals
 
Secure E- Health Care Model
Secure E- Health Care ModelSecure E- Health Care Model
Secure E- Health Care ModelIOSR Journals
 
Two Step Endorsement: Text Password and Graphical Password
Two Step Endorsement: Text Password and Graphical PasswordTwo Step Endorsement: Text Password and Graphical Password
Two Step Endorsement: Text Password and Graphical PasswordIOSR Journals
 
Hide and Seek: Embedding Audio into RGB 24-bit Color Image Sporadically Usin...
Hide and Seek: Embedding Audio into RGB 24-bit Color Image  Sporadically Usin...Hide and Seek: Embedding Audio into RGB 24-bit Color Image  Sporadically Usin...
Hide and Seek: Embedding Audio into RGB 24-bit Color Image Sporadically Usin...IOSR Journals
 
Simulation Based Performance Evaluation of Queueing Disciplines for Multi-Cl...
Simulation Based Performance Evaluation of Queueing  Disciplines for Multi-Cl...Simulation Based Performance Evaluation of Queueing  Disciplines for Multi-Cl...
Simulation Based Performance Evaluation of Queueing Disciplines for Multi-Cl...IOSR Journals
 

En vedette (20)

H0563843
H0563843H0563843
H0563843
 
I0614550
I0614550I0614550
I0614550
 
E0543443
E0543443E0543443
E0543443
 
B0940509
B0940509B0940509
B0940509
 
G0964146
G0964146G0964146
G0964146
 
The Performance Characteristics of Low Voltage Insulators in a Polluted Envir...
The Performance Characteristics of Low Voltage Insulators in a Polluted Envir...The Performance Characteristics of Low Voltage Insulators in a Polluted Envir...
The Performance Characteristics of Low Voltage Insulators in a Polluted Envir...
 
Use of Search Engines by Postgraduate Students of the University Of Nigeria,...
Use of Search Engines by Postgraduate Students of the University  Of Nigeria,...Use of Search Engines by Postgraduate Students of the University  Of Nigeria,...
Use of Search Engines by Postgraduate Students of the University Of Nigeria,...
 
Peak- and Average-Power Reduction in Check-Based BIST by using Bit-Swapping ...
Peak- and Average-Power Reduction in Check-Based BIST by  using Bit-Swapping ...Peak- and Average-Power Reduction in Check-Based BIST by  using Bit-Swapping ...
Peak- and Average-Power Reduction in Check-Based BIST by using Bit-Swapping ...
 
F0433439
F0433439F0433439
F0433439
 
Secure E- Health Care Model
Secure E- Health Care ModelSecure E- Health Care Model
Secure E- Health Care Model
 
Two Step Endorsement: Text Password and Graphical Password
Two Step Endorsement: Text Password and Graphical PasswordTwo Step Endorsement: Text Password and Graphical Password
Two Step Endorsement: Text Password and Graphical Password
 
E0343443
E0343443E0343443
E0343443
 
K0347480
K0347480K0347480
K0347480
 
I0946770
I0946770I0946770
I0946770
 
Hide and Seek: Embedding Audio into RGB 24-bit Color Image Sporadically Usin...
Hide and Seek: Embedding Audio into RGB 24-bit Color Image  Sporadically Usin...Hide and Seek: Embedding Audio into RGB 24-bit Color Image  Sporadically Usin...
Hide and Seek: Embedding Audio into RGB 24-bit Color Image Sporadically Usin...
 
C0151216
C0151216C0151216
C0151216
 
Simulation Based Performance Evaluation of Queueing Disciplines for Multi-Cl...
Simulation Based Performance Evaluation of Queueing  Disciplines for Multi-Cl...Simulation Based Performance Evaluation of Queueing  Disciplines for Multi-Cl...
Simulation Based Performance Evaluation of Queueing Disciplines for Multi-Cl...
 
G0314045
G0314045G0314045
G0314045
 
L0565965
L0565965L0565965
L0565965
 
E0622035
E0622035E0622035
E0622035
 

Similaire à E0443037

Arduino based Dual Axis Smart Solar Tracker
Arduino based Dual Axis Smart Solar TrackerArduino based Dual Axis Smart Solar Tracker
Arduino based Dual Axis Smart Solar TrackerIJAEMSJORNAL
 
Thesis on Solar Based Hecto Robotic Vehicle
Thesis on Solar Based Hecto Robotic VehicleThesis on Solar Based Hecto Robotic Vehicle
Thesis on Solar Based Hecto Robotic VehicleAkhil Reddy Rondla
 
Development of Automatic PV Power Pack Servo Based Single Axis Solar Tracking...
Development of Automatic PV Power Pack Servo Based Single Axis Solar Tracking...Development of Automatic PV Power Pack Servo Based Single Axis Solar Tracking...
Development of Automatic PV Power Pack Servo Based Single Axis Solar Tracking...IOSR Journals
 
Dynamic solar powered robot using dc dc sepic topology
Dynamic solar powered robot using   dc dc sepic topologyDynamic solar powered robot using   dc dc sepic topology
Dynamic solar powered robot using dc dc sepic topologyeSAT Journals
 
A Smart Solar Powered Automated Scarecrow for Agriculture
A Smart Solar Powered Automated Scarecrow for AgricultureA Smart Solar Powered Automated Scarecrow for Agriculture
A Smart Solar Powered Automated Scarecrow for Agricultureijtsrd
 
Design and Implementation of a Self-Balancing Two-Wheeled Robot Driven by a F...
Design and Implementation of a Self-Balancing Two-Wheeled Robot Driven by a F...Design and Implementation of a Self-Balancing Two-Wheeled Robot Driven by a F...
Design and Implementation of a Self-Balancing Two-Wheeled Robot Driven by a F...IRJET Journal
 
IOT BASED ENERGY PREDECTION AND THEFT PROTECTED AUTOMATIC SOLAR TRACKER SYSTEM
IOT BASED ENERGY PREDECTION AND THEFT PROTECTED AUTOMATIC SOLAR TRACKER SYSTEMIOT BASED ENERGY PREDECTION AND THEFT PROTECTED AUTOMATIC SOLAR TRACKER SYSTEM
IOT BASED ENERGY PREDECTION AND THEFT PROTECTED AUTOMATIC SOLAR TRACKER SYSTEMIRJET Journal
 
AN ADAPTIVE EXTREMUM SEEKING CONTROL FOR REAL TIME OPTIMIZATION IN PHOTOVOLTA...
AN ADAPTIVE EXTREMUM SEEKING CONTROL FOR REAL TIME OPTIMIZATION IN PHOTOVOLTA...AN ADAPTIVE EXTREMUM SEEKING CONTROL FOR REAL TIME OPTIMIZATION IN PHOTOVOLTA...
AN ADAPTIVE EXTREMUM SEEKING CONTROL FOR REAL TIME OPTIMIZATION IN PHOTOVOLTA...Editor IJMTER
 
Design of a Low-cost Autonomous Mobile Robot
Design of a Low-cost Autonomous Mobile RobotDesign of a Low-cost Autonomous Mobile Robot
Design of a Low-cost Autonomous Mobile RobotWaqas Tariq
 
Dynamic solar powered robot using dc dc sepic
Dynamic solar powered robot using dc dc sepicDynamic solar powered robot using dc dc sepic
Dynamic solar powered robot using dc dc sepiceSAT Publishing House
 
ENERGY GENERATION FROM PIEZO ELECTRIC MATERIAL FOR AN OPEN TRAFFIC CONTROL MO...
ENERGY GENERATION FROM PIEZO ELECTRIC MATERIAL FOR AN OPEN TRAFFIC CONTROL MO...ENERGY GENERATION FROM PIEZO ELECTRIC MATERIAL FOR AN OPEN TRAFFIC CONTROL MO...
ENERGY GENERATION FROM PIEZO ELECTRIC MATERIAL FOR AN OPEN TRAFFIC CONTROL MO...ijiert bestjournal
 
Balancing a Segway robot using LQR controller based on genetic and bacteria f...
Balancing a Segway robot using LQR controller based on genetic and bacteria f...Balancing a Segway robot using LQR controller based on genetic and bacteria f...
Balancing a Segway robot using LQR controller based on genetic and bacteria f...TELKOMNIKA JOURNAL
 
IRJET- IoT based Solar Power Monitoring System
IRJET- IoT based Solar Power Monitoring SystemIRJET- IoT based Solar Power Monitoring System
IRJET- IoT based Solar Power Monitoring SystemIRJET Journal
 
B. Tech. Minor Project Synopsis
B. Tech. Minor Project Synopsis B. Tech. Minor Project Synopsis
B. Tech. Minor Project Synopsis Shashank Narayan
 

Similaire à E0443037 (20)

Arduino based Dual Axis Smart Solar Tracker
Arduino based Dual Axis Smart Solar TrackerArduino based Dual Axis Smart Solar Tracker
Arduino based Dual Axis Smart Solar Tracker
 
I1103035156
I1103035156I1103035156
I1103035156
 
Thesis on Solar Based Hecto Robotic Vehicle
Thesis on Solar Based Hecto Robotic VehicleThesis on Solar Based Hecto Robotic Vehicle
Thesis on Solar Based Hecto Robotic Vehicle
 
B010110710
B010110710B010110710
B010110710
 
Development of Automatic PV Power Pack Servo Based Single Axis Solar Tracking...
Development of Automatic PV Power Pack Servo Based Single Axis Solar Tracking...Development of Automatic PV Power Pack Servo Based Single Axis Solar Tracking...
Development of Automatic PV Power Pack Servo Based Single Axis Solar Tracking...
 
05994256
0599425605994256
05994256
 
Dynamic solar powered robot using dc dc sepic topology
Dynamic solar powered robot using   dc dc sepic topologyDynamic solar powered robot using   dc dc sepic topology
Dynamic solar powered robot using dc dc sepic topology
 
A Smart Solar Powered Automated Scarecrow for Agriculture
A Smart Solar Powered Automated Scarecrow for AgricultureA Smart Solar Powered Automated Scarecrow for Agriculture
A Smart Solar Powered Automated Scarecrow for Agriculture
 
Design and Implementation of a Self-Balancing Two-Wheeled Robot Driven by a F...
Design and Implementation of a Self-Balancing Two-Wheeled Robot Driven by a F...Design and Implementation of a Self-Balancing Two-Wheeled Robot Driven by a F...
Design and Implementation of a Self-Balancing Two-Wheeled Robot Driven by a F...
 
IOT BASED ENERGY PREDECTION AND THEFT PROTECTED AUTOMATIC SOLAR TRACKER SYSTEM
IOT BASED ENERGY PREDECTION AND THEFT PROTECTED AUTOMATIC SOLAR TRACKER SYSTEMIOT BASED ENERGY PREDECTION AND THEFT PROTECTED AUTOMATIC SOLAR TRACKER SYSTEM
IOT BASED ENERGY PREDECTION AND THEFT PROTECTED AUTOMATIC SOLAR TRACKER SYSTEM
 
AN ADAPTIVE EXTREMUM SEEKING CONTROL FOR REAL TIME OPTIMIZATION IN PHOTOVOLTA...
AN ADAPTIVE EXTREMUM SEEKING CONTROL FOR REAL TIME OPTIMIZATION IN PHOTOVOLTA...AN ADAPTIVE EXTREMUM SEEKING CONTROL FOR REAL TIME OPTIMIZATION IN PHOTOVOLTA...
AN ADAPTIVE EXTREMUM SEEKING CONTROL FOR REAL TIME OPTIMIZATION IN PHOTOVOLTA...
 
F010123841
F010123841F010123841
F010123841
 
Solar eee
Solar eeeSolar eee
Solar eee
 
Solar tracking with mobile
Solar tracking with mobileSolar tracking with mobile
Solar tracking with mobile
 
Design of a Low-cost Autonomous Mobile Robot
Design of a Low-cost Autonomous Mobile RobotDesign of a Low-cost Autonomous Mobile Robot
Design of a Low-cost Autonomous Mobile Robot
 
Dynamic solar powered robot using dc dc sepic
Dynamic solar powered robot using dc dc sepicDynamic solar powered robot using dc dc sepic
Dynamic solar powered robot using dc dc sepic
 
ENERGY GENERATION FROM PIEZO ELECTRIC MATERIAL FOR AN OPEN TRAFFIC CONTROL MO...
ENERGY GENERATION FROM PIEZO ELECTRIC MATERIAL FOR AN OPEN TRAFFIC CONTROL MO...ENERGY GENERATION FROM PIEZO ELECTRIC MATERIAL FOR AN OPEN TRAFFIC CONTROL MO...
ENERGY GENERATION FROM PIEZO ELECTRIC MATERIAL FOR AN OPEN TRAFFIC CONTROL MO...
 
Balancing a Segway robot using LQR controller based on genetic and bacteria f...
Balancing a Segway robot using LQR controller based on genetic and bacteria f...Balancing a Segway robot using LQR controller based on genetic and bacteria f...
Balancing a Segway robot using LQR controller based on genetic and bacteria f...
 
IRJET- IoT based Solar Power Monitoring System
IRJET- IoT based Solar Power Monitoring SystemIRJET- IoT based Solar Power Monitoring System
IRJET- IoT based Solar Power Monitoring System
 
B. Tech. Minor Project Synopsis
B. Tech. Minor Project Synopsis B. Tech. Minor Project Synopsis
B. Tech. Minor Project Synopsis
 

Plus de IOSR Journals (20)

A011140104
A011140104A011140104
A011140104
 
M0111397100
M0111397100M0111397100
M0111397100
 
L011138596
L011138596L011138596
L011138596
 
K011138084
K011138084K011138084
K011138084
 
J011137479
J011137479J011137479
J011137479
 
I011136673
I011136673I011136673
I011136673
 
G011134454
G011134454G011134454
G011134454
 
H011135565
H011135565H011135565
H011135565
 
F011134043
F011134043F011134043
F011134043
 
E011133639
E011133639E011133639
E011133639
 
D011132635
D011132635D011132635
D011132635
 
C011131925
C011131925C011131925
C011131925
 
B011130918
B011130918B011130918
B011130918
 
A011130108
A011130108A011130108
A011130108
 
I011125160
I011125160I011125160
I011125160
 
H011124050
H011124050H011124050
H011124050
 
G011123539
G011123539G011123539
G011123539
 
F011123134
F011123134F011123134
F011123134
 
E011122530
E011122530E011122530
E011122530
 
D011121524
D011121524D011121524
D011121524
 

E0443037

  • 1. IOSR Journal of Electrical and Electronics Engineering (IOSR-JEEE) e-ISSN: 2278-1676 Volume 4, Issue 4 (Jan. - Feb. 2013), PP 30-37 www.iosrjournals.org Solar Energy Based Optimal Battery Charging Mechanism in Robotic Vehicle by Using Smart Host Microcontroller S.Menakambal1, A.Satheesh2 1 PG Scholar, 2Professor 1 M.E (Embedded System Technologies) 1,2 Department of EEE, Nandha Engineering College, Erode Abstract: The PENTRON robotic platform-an autonomous unmanned exploration vehicle specialized in recognition. The robotic vehicle having pack of two rechargeable batteries each performing charging and discharging operation independently. The two pack of battery charging system can be controlled by means of tracked single tiltable solar PV panels for improving PENTRON’s power regardless of its mobility. The design concept of robotic vehicle is based on a PIC16F877 microcontroller and the efficient wireless camera, temperature sensor, humidity sensor, light sensor, voltage sensors are attached in the robotic vehicle. The Zig- Bee wireless technology provides adequate information about the environmental conditions in nearby PC. The aim of this paper is to reduce the weight of the robotic vehicle by means of reducing the usage of microcontrollers and to increase the power of the robotic vehicle by the help of solar PV Panels. On the other hand, the switching time taken by two pack of batteries can be reduced. Keywords: Wireless camera, Li–Po battery, mechatronic system, photovoltaic (PV), robotic vehicle, solar tracker, Sensors, Zig-Bee transceiver, PIC Microcontroller I. Introduction SOLAR power systems in autonomous robotic vehicles have been often used for some years. A real example is the VANTER robotic platform uses huge number of microcontrollers and 3 solar PV Panels. This in turn improves weight of the vehicle and power consumption [1]. The main drawback behind existing system is that the robotic vehicle having four-wheel-drive (4WD) and the individual control of each wheel allow different types of movement; including Ackerman configuration, the crabbing maneuver or the rotation with inner inertial centre. The DC motor is fixed in all the four wheels, each wheel consumes 12V supply and 60mA from the battery. This leads to huge power consumption. Solar tracker prototypes built in mobile robots have proven that orientation of PV systems leads to increased energy efficiency relative to systems with fixed solar panels (20– 50% per collector)[2]. In Proposed model, the PENTRON robotic exploration vehicle aims to improve various aspects of the aforementioned rovers with scientific and academic purposes. The rover was developed to be guided and has 2 wheels coupled to a plane chassis that can rotate independently. The 2-wheel-drive (2WD) is placed at one end and the tracking ball is placed at the other end for the movement of robotic vehicle. The two wheels in PENTRON are sustained by means of independent passive suspension of double aluminium fork to absorb terrain vibrations shown in (see Fig.1). Each wheel consists of two motors, one for rotation and another for driving. The forward movement is produced by means of dc motors (12 V and 60 mA) that provides 120r/min with a torque of 8.87 kg/cm. On the other hand, the rotation motor provides a speed of 152r/min. The reduction huge microcontroller to single microcontroller and four wheels to two wheels in the proposed model improves the rover capacity and reduces power consumption. The robotic vehicle having single tiltable Solar PV Panels it can be controlled by means of solar tracked panels. The robotic system programming is divided into three main code levels and its hardware was designed with a hierarchical control structure based on modular microcontrollers. The top level program, carried out in LabVIEW it is executed in a remote PC and offers a Zig-Bee technology to monitor and control the whole robotic vehicle. The second code level, programmed in C language, runs autonomously on a master PIC16F877 microcontroller aboard PENTRON. www.iosrjournals.org 30 | Page
  • 2. Solar Energy Based Optimal Battery Charging Mechanism in Robotic Vehicle by Using Smart Host Microcontroller Fig 1: PENTRON: A solar-powered robotic vehicle II. Proposed System The PENTRON rover series has a single solar panel system coupled to an assisted suspension mechanism. This prevents the manipulator arm mounted on the middle of the rover to minimize solar panel- generated power and allows it to dust solar panel surface. 2.1 Robot terminal unit The PIC16F877 microcontroller which monitors PENTRON power consumption and decisions in a complete autonomous way. The microcontroller performs two main functions: 1) detecting environmental light level and controlling the solar tracking system to obtain the highest power; and 2) interpreting operation data from batteries and solar panels to control the working mode of the charger accordingly (see Fig. 2). Fig 2: Block diagram of PENTRON The robotic vehicle generally uses four different kinds of sensors: They are Temperature sensors, voltage sensors,Light sensors and Humidity sensors. The sensors that used in a robotic vehicle observes the remote environmental conditions and the observed data can be measured and simulated by the help of MP LAB software in nearby PC. The thermistor is the temperature sensitive resistor which is used to measure body temperature. The thermistor resistor is varied as per the temperature. The varying resistance level is converted into corresponding voltage signal which is given to ADC through amplifier. The ADC is nothing but analog to www.iosrjournals.org 31 | Page
  • 3. Solar Energy Based Optimal Battery Charging Mechanism in Robotic Vehicle by Using Smart Host Microcontroller digital converter which converts the input analog signal to corresponding digital signal. The converted digital signal is given to microcontroller. The LM 324 thermistor consist of four independent high gains internal frequency compensated operational amplifier which were designed specifically to operate from a single power supply over a wide voltage range. The voltage sensors are generally used for observing the voltage level of the Li-Po batteries placed inside the robotic vehicle. A photo resistor or LDR is an electronic component whose resistance decreases with increasing incident light intensity. The light sensors generally observes the intensity of light that coming from sun. The light sensors attached in the robotic vehicle predicts the environmental light intensity and sends it to microcontroller. The robotic vehicle uses humidity sensors for observing the moisture content of the atmosphere. The wireless camera fixed infront of the robotic vehicle captures the image of the environment and the captured image can be monitored in our nearby PC through Zig-Bee wireless technology (see Fig.3). Fig 3: Architecture of Robot terminal unit 2.2 System terminal unit Zig-Bee is a low-cost, low-power, wireless mesh network standard. The low cost allows the technology to be widely deployed in wireless control and monitoring applications. The wired serial communication is used to transfer the data between microcontroller and PC through Zig-Bee communication. PC side is the transmitter end and Microcontroller is the receiving end. To Interface the micro controller to PC we need level converter which current TTL compatible voltage level to RS232 voltage level using wireless Zig-Bee. The PC is used to drive the robot. The robot side captures the image and captured picture is displayed in the PC. Fig 4: Architecture of System Terminal Unit The commands send from the PC side is recieved by the Microcontroller as a signals and activates the Driver Circuit. Driver Circuit consists of Transistor which acts as switch to turn ON and turn OFF the relay. The relay output is given to motors which are attached in the robot. To drive the robot in the forward direction corresponding information is transmitted from PC side and received in robot side using Zig-Bee transceiver (see Fig .4) www.iosrjournals.org 32 | Page
  • 4. Solar Energy Based Optimal Battery Charging Mechanism in Robotic Vehicle by Using Smart Host Microcontroller Fig 5: Mechanical design of the solar tracking system of PENTRON: (a) upper solar panel, (b) mobile solar panels,(c) aluminium chassis,(d) methacrylate chassis,(e)methacrylate support,(f)pan and tilt unit,(g)pitch servometer, and(h)yaw servomotor. Fig. 5. shows the mechanical solar tracking system. This comprises(a) a fixed solar panel mounted horizontally on PENTRON and (b) Single panels with symmetrical movements. The mechanical structure is mounted on (c) an aluminium chassis on which the electronics were mounted. On top of this platform (d) a methacrylate panel with (e) two side supports has been assembled. The solar panel are mounted on (f) pan and tilt units formed DYS0213MGs metal gear servos. Each pair of digital servomotors allow soft rotations with an amplitude of180◦ in (g) azimuth and (h) elevation, so that the solar panel can be oriented toward any part of the space. 2.3 Li-Po batteries switching operation The switching system consists of two MAX1538EVKIT selectors with break-before-make operation logic. Their function is connecting electrically the charge and discharge paths between the batteries, the charger module, and the load system (see Fig.6) that is, selector 1 is inserted between the charger and the dual-battery pack. Its function is routing the current from the PV panels to the input of the charger and, from there, to the battery selected in each moment. Selector 2 is used to connect the selected battery to the load system. Therefore, the dynamic connections of the electric circuit are carried out according to the PIC16F877-defined logical operation mode. This is based on the voltage thresholds programmed into the control algorithm. Now, these two pack of Li-Po batteries performs their charging and discharging operation independently. In the first row, selector 1 was programmed to charge battery 1 while selector 2 is preset to discharge battery 2. Charge current obtained from the PV panels is routed to the charger through selector 1 and, from the charger, to the selected battery. Likewise, the discharge current of battery 2 is routed to the load system through selector 2. The main advantage of the dual selector system is that it allows hot swapping of separated power supplies. In addition, in case both batteries were fully discharged, a working mode was programmed in selector 1 to supply the load system directly from the PV panels. TABLE I. Logical operation mode of the battery selectors C= Closed, O= Open, X= Not Connected www.iosrjournals.org 33 | Page
  • 5. Solar Energy Based Optimal Battery Charging Mechanism in Robotic Vehicle by Using Smart Host Microcontroller Fig 6: Overall connection diagram for batteries selectors. III. Experiment Results 3.1 Measuring parameters The three parameters like (Temperature, humidity, Battery voltage) are predicted by the sensors attached in the robotic vehicle and also plot graph depends on parameters. Parameter value received from microcontroller kit through RS232 port (serial communication) in 9600 baud rate, parity bit is none and data bit is 8. Proteus7.2 simulation software is used to run and simulate the total process. The software code is written in MP LAB software with high tech c compiler. The embedded C language is used for program compilation and it is converted into hex file. 3.1.1 Input Parameter Measuring Fig 7: Input Parameter Measuring 3.1.2 Waveform of Input Parameters Fig 8: Characteristics of Temperature www.iosrjournals.org 34 | Page
  • 6. Solar Energy Based Optimal Battery Charging Mechanism in Robotic Vehicle by Using Smart Host Microcontroller Fig 9: Characteristics of Humidity Fig 10: Characteristics of Battery Voltage 3.1.3 Rotating Direction The rotating direction of robotic vehicle depends upon the key press from PC (LabVIEW software) and also we can send the command from pc to microcontroller through RS232 port Key. TABLE II. Working Principle of Robot Rotating Direction Key Press Command send LED from PC to UC Glowing Forward F 1010 Reverse R 0101 Left L 0110 Right G 1001 Stop S 0000 If the robotic vehicle needs to move in the forward direction corresponding information is transmitted from PC to microcontroller in the form of signals using Zig-Bee transceiver. In Receiver section, the microcontroller drives the robot in forward direction as per the appropriate command given by PC. Likewise, the robotic vehicle can be moved in reverse, left and right direction. The direction of the robotic vehicle can be indicated by LED. Fig 11: Robot rotating direction www.iosrjournals.org 35 | Page
  • 7. Solar Energy Based Optimal Battery Charging Mechanism in Robotic Vehicle by Using Smart Host Microcontroller Fig 12: Characteristics of the charge voltage measured in the cells battery Fig 13: Characteristics of the discharge voltage measured in the cells battery IV. Conclusion SOLAR power systems in autonomous robotic vehicles have been often used for some years. In real example most of the supplied energy is generated by a reduced size photovoltaic (PV) panel. It includes the construction of a robotic vehicle which we designed is to move robot in forward and reverse with right and left turns using dual battery. The robot controlling is done with the help of microcontroller which brings the robot on movement. The proposal includes that the monitoring actions of rover are simulated using LabVIEW software. References [1] Justo E. Gonzalez Ramos.,and Tomas de J. Mateo Sanguino 2012 ―Smart Host Microcontroller for Optimal Battery Charging in a Solar-Powered Robotic Vehicle,‖ IEEE/ASME Trans Mechatronics. [2] Afarulrazi, A.B., Liew, K.L., Utomo,W.M., and Zafari,M. 2011―Solar tracker Srobot using microcontroller,‖ in Proc. Int. Conf. Bus., Eng. Ind. Appl.,pp. 47–50. [3] Chiang, C.M., Chou, P.C., Lee, C.Y., and Lin, C.F. 2009 ―Sun tracking systems A review,‖ Sensors, vol. 9, pp. 3875–3890. [4] Bajracharya,M., Helmick, D., and Maimone, M.W.,2008 ―Autonomy for mars rovers Past, present, and future,‖ Computer, vol. 41, no. 12, pp. 44–50. [5] Kubota, T., Kunii, Y., Kuroda, Y., and Otsuki,M.2008 ―Japanese rover test- bed for lunar exploration,‖ in Proc. Int. Symp. Artif. Intell., Robot. Automat. Space, no.77. [6] Lamon,P. 2008 ―The solero rover. 3D-position tracking &control for all-terrain robots,‖ Adv. Robot., vol. 43, pp. 7–19. [7] Arunrungrasmi, S., Jinayim, T., Mungkung, N., Tanitteerapan, T. 2007 ―Highly efficient low power consumption tracking solar cells for white-LED based lighting system,‖ World Acad. Sci., Eng. Technol., vol. 28,pp. 291–296. [8] Lever, J.H., Price, A.D., Ray, L.E., and Streeter, A.D. 2007 ―Design and power management of a solar-powered cool robot for polar instrument networks,‖ J. Field Robot., vol. 24, no. 7, pp. 581–599. [9] Smith, N., 2006 ―Dynamic power path management simplifies battery charging from solar panels,‖ Texas Instruments, Dallas, TX, Tech. Rep. SLUA394. [10] Lever, J. H., Ray, L. R., Streeter, A. and Price, A. 2006 ―Solar power for an antarctic rover,‖ Hydrol. Process, vol. 20, pp. 629–644. [11] Pharoah, J. G., Surgenor, B.W and Wilhelm, A. N. 2006, ―Design and Evaluation of a micro-fuel-cell-based power system for a mobile robot,‖ IEEE/ASME Trans. Mechatronics, vol. 11, no. 4, pp. 471–476 [12] Baskaran,V., Cabrol,N., Calderon,F., Heys,S., . Jonak, D., Luders, A.,Wettergreen, D., Pane, D., Smith,T.,Teza,J.,Tompkins,P.,Villa,D., Wagner, M., and Williams,C.,. ―Second experiment in the robotic investigation of life in the Atacama Desert of Chile,‖ presented at the 8th Int. Symp. Artificial Intelligence, Robotics and Automation in Space, Munich, Germany,2005. www.iosrjournals.org 36 | Page
  • 8. Solar Energy Based Optimal Battery Charging Mechanism in Robotic Vehicle by Using Smart Host Microcontroller [13] Aiuchi, K., nakamura, M., Yoshida, K., Katayama, Y., nakamura, K. Sun tracking photo-sensor for solar thermal concentrating system. In Proceedings of International Solar Energy Conference, Portland, OR, USA, Jul. 11-14, 2004 [14] Bresina, J. L., Bualat, M. G., Edwards, L. J., Washington, R. J. and Wright, A.R. 2001 ―K9 operation in May’00 dual-rover field experiment,‖ presentedat the 6th Int. Symp. Artificial Intelligence, Robotics and Automation in Space, Montreal, QC, Canada. [15] Schneider, M.S., Bertrand, A., Lamon, R., Siegwart, P., van Winnendael, R., and Schiele, A. 2002 ―SOLERO Solar powered exploration rover,‖ presented at the 7th ESA Workshop Advanced Space Technologies for Robotics and Automation, Noordwijk, The Netherlands. [16] Yousef, H.A. 1999 ―Design and implementation of a fuzzy logic computer-controlled sun tracking system‖In Proceedings of IEEE International Symposium on Industrial Electronics, Bled, Slovenia. [17] Arlington, V.A., Popat, P.P.1998―Autonomous, low-cost, automatic window covering system for daylighting applications‖ Renew. Energ., 13, 146. [18] Braun,D. F., Eisen, H. J., Hickey, G. and Wen, L. C.1998―Sojourner mars rover thermal perfomance,‖ presented at the 28th Int. Conf. on Environmental Systems, Danvers, MA. [19] Shirley, D. L.,1995―Mars pathfinder microrover flight experiment—A paradigm for very low-cost spacecraft,‖ Acta Astronaut., vol. 35, pp. 355–365. [20] Powers, M., and Sullivan, C.1993―A high efficiency maximum power point tracker for photovoltaic arrays in a solar -powered racing vehicle‖,Proceedings of the 24th IEEE Power Electronics Specialists Conference, pp. 574-580. [21] Bhat, S.R.,and Bhide, P. 1992,Modular power conditioning unit for photovoltaic applications.‖ Proceedings of the 23rd IEEE Power Electronics Specialists Conference, vol 1, pp. 708-713. [22] Bairi, A. 1990―Method of quick determination of the angle of slope and the orientation of solar collectors without a sun tracking system‖. Solar Wind Technol 7, 327-330. www.iosrjournals.org 37 | Page