Summer Training Program Report On Embedded system and robot

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Apeejay Stya University
Department of Electronics and Instrumentation Engineering
Summer Training Program Report
On
Embedded system and robot
Under
I3 INDYA TECHNOLOGIES
Submittedby:
Banzadiosalazaku
ASU2013010100016

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Abstract
A system designed to record and report on discrete activities within a
process is called as Tracking System. In the same procedure we have
developed a methodology of robot direction system for robotics to control
and achieve accurate direction for a class of non-linear systems in the
presence of disturbances and parameter variations by using wireless
communication technique.
In this methodology we are using two micro controllers one is for control
section and other is for receiver section, resulting in the state trajectory
'sliding' along path-varying slides on the surface. This idealized control
law achieves perfect direction however. The method is applied to the
control of a two-link manipulator handling variable loads in a flexible
manufacturing system environment and in robotics.
In our projects we track the robot by using wireless communication i.e.
from Control section (acts as transmitter) we are ejecting the control
signals, then the robot receives (acts as receiver) the signals, according to
the signals it will change the direction in different paths like forward,
backward, left, right.
Our robot will be easy to set up, will support the required hardware we
desire and will serve your needs in the future. To design a robot that
supports the newest technology available will be more expensive that
boards that are already close to obsolete.

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Acknowledgement
It gives me immense pleasure in acknowledge the efforts of the staff of
embedded system & robotics of i3indya technologies.
I specially thank Mrs. Kavita singh (training instructor and mentor) for
her constant guidance and encouragement during the course of training.
She was helpful in dealing with the problems in the projects that I have
faced.
I am extremely grateful to trainees of i3indya technologies for providing
us all technical knowledge, support and facilities that proved to be a great
help and lead to completion of this training.
Banzadio salazaku
ASU2013010100016

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Table of contents
Title
Company profile
Department and its role
Chapter 1: INTRODUCTION
1.1 Introduction to robots
1.2 Characteristics of robots
1.3Different types of robot
Chapter 2: Wireless controlled Robot
2.1 Introduction
2.2 Hardware & Circuits
2.3 User input
2.4 List of Components
Chapter 3: Overview of Integrated Circuits
3.1 Atmega16L
3.2 Motor driver IC
3.3 ENCODER-DECODER ICs
Chapter 4: Software Store
4.1 Embedded C
4.2 AVR Studio
4.3USB.asp
 Conclusions
 References

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Listoffigures
Topic Page no.
 Block diagram (TX END) 15
 Circuit Diagram(TX END) 15
 Mobile part (Rx end) 16
 RF module (TX & RX pair) 16
 Controlling keypad 17
 PIN OUT OF Atmega16L 20
 PIN out of L293D 21
 PIN out of HT12D & HT12E 22
 Reception end circuit 23
 Transmission end encoding circuit 24

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COMPANYPROFILE
I3indya Technologies (A unit of I THREE INFOTECH PVT LTD) with its
foundation Innovation, Information and Intelligence is exploring
indefinitely as a Technology service provider and as a Training
Organization was started by a group of entrepreneurs with a sole mission
of establishing a dedicated Research & Development Cell and bringing
the findings to the benefit of budding Engineers. Little did they know that
their efforts will bring an enormous change in the world of technology &
Training, Today in just two years of its existence, i3indya has a pan India
acclaim its unmatched quality services.

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Department
Organizationalstructure
The Multi domains in which i3indya Technologies operate include the
following:
 Research & Development:
With a 24X7 work in a Research & Development Cells, experts at i3indya
have solved some of the most complex Cyber Security cases for
Governments and MNC’s our research efforts have also dwelled into
projects on software Testing Robotics kit Manufacturing, Website
Testing, Circuit Designing and Secure Website Development.
 Technical Workshops & Seminars:
On the journey to share its expertise with budding engineers, i3indya
has come across 15,000+ students from 150+ colleges. The different
themes of these workshops have been Ethical Hacking & Cyber Security,
Robotics, 3D Animation many of its kind in top notch colleges like IIT
Bombay, IIT Roorkee, IIT Kanpur, IIT Delhi, NIT Warangal, NIT Jaipur, BITS
Pilani, Anna University, Sharda University.
 Training Programs:
Vacancies have never been this fun! I3indya Organizes Summer Training
and Internships on Embedded Systems & Ethical Hacking for the students
to get an edge above the others. This is followed by an i3indya

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Certification for training Completion which is highly acknowledged in the
job market.
Role/functionofthe department in the company

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Objective of the problem
To design a robot that supports the newest technology available will be
more expensive that boards that are already close to obsolete.
List of Project/ task projects

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Theoretical background
1.1 Introduction to robots
Robot is a mechanical or virtual artificial agent. In practice, it is usually
an electro-mechanical system which, by its appearance or movements,
conveys a sense that it has intent or agency of its own. The word robot
can refer to both physical robots and virtual software agents, but the
latter are usually referred to as bots. There is no consensus on which
machines qualify as robots, but there is general agreement among
experts and the public that robots tend to do some or all of the following:
move around, operate a mechanical arm, sense and manipulate their
environment, and exhibit intelligent behavior, especially behavior which
mimics humans or animals.
Or
A "Robot" is any automatically operated machine that replaces
human effort, though it may not resemble human beings in

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appearance or perform functions in a humanlike manner. By
extension, robotics is the engineering discipline dealing with the
design, construction, and operation of robots.
1.2 Characteristics of Robot
While there is no single correct definition of "robot," a typical
robot will have several, or possibly all, of the following
characteristics.
It is an electric machine which has some ability to interact with
physical objects and to be given electronic programming to do a
specific task or to do a whole range of tasks or actions. It may also
have some ability to perceive and absorb data on physical objects,
or on its local physical environment, or to process data, or to
respond to various stimuli. This is in contrast to a simple mechanical
device such as a gear or a hydraulic press or any other item which
has no processing ability and which does tasks through purely
mechanical processes and motion.
*The physical appearance of a machine is less important than the
way its actions are controlled also known as mental agency

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*Physical agency, if a machine appears to be able to control its arms
or limbs, and especially if it appears anthropomorphic or
zoomorphic it would be called a robot.
1.3 Different types of robot
 Movable robot
Movable robots have the capability to move around in their
environment and are not fixed to one physical location. An example
of a mobile robot that is in common use today is the automated
guided vehicle.
 Industrial robots (or Manipulating Robots)
Industrial robots usually consist of a jointed arm (multi-linked
manipulator) and end effectors that are attached to a fixed surface.
One of the most common types of end effecter is a gripper assembly.
 Service robot (a pick and Place robot in a factory)
Most commonly industrial robots are fixed robotic arms and
manipulators used primarily for production and distribution of
goods.

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 Military robots
Some experts and academics have questioned the use of robots for
military combat, especially when such robots are given some degree
of autonomous functions.
Approach
2. Wireless controlled Robot
Wireless controlled robot is a robot which can be controlled by user
without using any wired connection. These types of robots are of several
types depending upon the communication technique and the control
feature.
Few of them are:
RF TX and Rx
Using gsm or mobile
Wi-Fi controlled
Bluetooth controlled
RF TX and Rx method to control the robot is most common
method dew to simplicity and cost effectiveness, as Wi-Fi
and Bluetooth require a special protocol to follow also
gsm/mobile increases the cost of system.

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Here, wireless controlled robot is designed using following
components using Atmega16L as processing unit.
The complete system consist of basic two parts
 Receiver End( Mobile part)
 Transmitter End(user operated part)
2.1 HARDWARE & CIRCUITS
Transmitter End
Block diagram (TX END)

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Circuit Diagram (TX END)
Receivers end
Mobile part (Rx end)

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RF module (TX & RX pair)
Receivers end consists of 4 RF reception ports and motor driving IC
(L239D) as per the output received by receiver RF module part (TG-
11B) we receive 4-bit data, that data is sufficient for control of 2
motors as per our need.
2.2 USER INPUT METHOD
Controlling keypad:

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A 4x4 keypad is used to input the device. Keyboard is specially
designed to reduce the controlling lines i.e. to entertain 16 input
features using 8 control lines.
This keyboard is further programmed as the remote control of robot.
2.3 LIST OF COMPONENTS
Integrated circuits
 Atmega16L -Microcontroller

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Atmega16L is used as the control unit or processing
unit of the whole system. The user selected input is
converted into certain set of instruction and
transmitted through the RF module.
 HT12E -Encoder
 HT12D -Decoder
 7805 -voltage regulator
Atmega16L is one of the most sensitive voltage device
in context of power rating hence voltage regulator IC
is used to give constant supply.
Other Elements
 Capacitor-220 uF (filter for 7805 power supply)
 Resistor-220 ohm (current barrier)
 LCD (to read and understand every movement)
 DC Motors(9v 600mA)
 XTAL(8MHz) Quartz crystal oscillator for clock
 TG-11A(TX) (transmitter)
 TG-11B(RX) (Receiver)
 4x4 push button keypad
Data collection and analysis
3. OVERVEIW OF INTEGRATED CIRCUITS

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3.1 Atmega16L
The ATmega16 is a low-power CMOS 8-bit microcontroller based
on the AVR enhanced RISC architecture. By executing powerful
instructions in a single clock cycle, the ATmega16 achieves
throughputs approaching 1 MIPS per MHz allowing the system
designed to optimize power consumption versus processing speed.
The AVR core combines a rich instruction set with 32 general
purpose working registers.
All the 32 registers are directly connected to the Arithmetic Logic
Unit (ALU), allowing two independent registers to be accessed inone
single instruction executed in one clock cycle. The resulting
architecture is more code efficient while achieving through puts up
to ten times faster than conventional CISC microcontrollers.
PIN OUT OF Atmega16L

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Special Pin Description
I/O ports [PA(0-7),PB(0-7),PC(0-7),PD(0-7)]
XTAL(1,2) oscillator input
Reset –hardware interrupt
Vcc, GND – Provide power to IC
3.2 MOTOR DRIVER IC (L293D)

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Motor driver IC is fictional name of L293D as in this application this
IC is responsible to drive the two DC motors attached in this system.
Basically it’s a dual H-bridge IC use to amplify the output of
microcontroller
PIN OUT:
3.3 ENCODER-DECODER ICs
(HT12D & HT12E)

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This is set of two ICs, Generally used in pair to complete the
communication.
Encoder
PIN OUT:
There are 7 address lines and 4 data lines for transmission. This IC
encodes the signal into serial transmission format and then
transmits it over DOUT pin with help of these pins.
DECODER
PIN OUT:

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Encoder IC of same pair also consists of
7 Address pins 4 data pins
Because of 4 data pins these can receive the serially transmitted
data as in parallel output.
The use of address line is to bind the reception of the signal over the
specific ICs only if both IC have same address pins high, transmission
would be possible.
Reception end circuit

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Transmission end encoding circuit

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4.SOFTWARESTORE
There are several platforms for programming the uC one of the most
common method is assembly language programming, but due to lengthy
codes and mnemonics embedded C is preferable.
4.1 EMBEDDED C
Difference between C and Embedded C: Though C and embedded C
appear different and are used in different contexts; they have more
similarities than the differences. Most of the constructs are same;
the difference lies in their applications. Such as
Features like Heap, recursion
In-line Assembly Code
I/O Registers
Use of embedded C in embedded systems is small and reasonably
simpler to learn, understand, program and debug.
 Embedded C has advantage of processor-independence. This
makes it convenient for a user to develop programs.
 Embedded C combines functionality of assembly language and
features of high level languages.
 It is fairly efficient

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4.2 AVR Studio
AVR studio is an Integrated Development Environment (IDE) by ATMEL
for developing applications based on 8-bit AVR microcontroller. Prior to
installation of AVR Studio you have to install the compiler WinAVR. This
will allow AVR Studio to detect the compiler.
Step 1: install and open the AVR Studio
Step 2: Click on new project
Step3: Click on AVR GCC, Write the project name, Select your project
location, Click on Next>>
Step 4: Click on AVR Simulator in left block and then select your
controller (e.g.: Atmega16). Click on finish button
Step5: Write the code in main body area. Save the project file.
Step6: Go to PROJECT -> Configuration Options
Step 7: Write the crystal frequency if you are using external
crystal. Check the checkbox corresponding to Create Hex File and
then click on OK. Save the project again.

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4.3 USBasp
USBasp is a USB in-circuit programmer for Atmel AVR controllers. It
simply consists of an ATMega88 or an ATMega8 and a couple of
passive components. The programmer uses a firmware-only USB
driver, no special USB controller is needed.
Features
Works under multiple platforms. Linux, Mac OS X and Windows are
tested.
No special controllers or smd components are needed.
Programming speed is up to 5kBytes/sec.
SCK option to support targets with low clock speed (< 1,5MHz).
Planned: serial interface to target (e.g. for debugging).

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Conclusion
The concept to design a robot is to reduce the man lab our and
overcome the limitations. There are certain fields where human
cannot stand to work there comes the picture of robot for example
furnace, boilers, transmission lines (on). But we can design robot
which can work on certain conditions.
Wireless controls to them provide us to control them over a distance
and operate them. For example may be if we make Spyroboat with
camera inbuilt hence it would be oppose the idea to make robot a
spy if there are wires for communication. Wireless control method
gives many advantages over that.
Several wireless future areas
Nuclear science
Remote operated medical surgeries
Defence systems

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References
 ATmega16L-
http://www.atmel.com/products/microcontrollers/avr/defaul
t.aspx?tab=documents&Asset_Type=010%20Datasheet
 L293D-
http://content.solarbotics.com/products/documentation/kit10.pdf
 HT12(D,E)
http://www.ipic.co.jp/Pdffiles/ht12e.pdf
 USBasp
www.fischl.de/usbasp/
http://electronicsprojectsandparts.blogspot.in/2013/06/pc-
controlled-wireless-robot-used-for.html
extremeelectronics.co.in/