CHAPTER 1 1.

1 Introduction
The word robot originates from the Czech word for forced labor, or serf. Playwright Karel Capek, whose fictional robotic inventions was much like Dr. Frankensteins monster creatures created by chemical and biological, rather than mechanical, methods, introduced it. But the current mechanical robots of popular culture are not much different from these fictional biological creations. Basically a robots consists of: A mechanical device, such as a wheeled platform, arm, or other construction, capable of interacting with its environment. Sensors on or around the device that is able to sense the environment and give useful feedback to the device. Systems that process sensory input in the context of the devices current situation and instruct the device to perform actions in response to the situation In the manufacturing field, robot development has focused on engineering robotic arms that perform manufacturing processes. In the space industry, robotics focuses on highly specialized, one-of-kind planetary rovers. Unlike a highly automated manufacturing plant, a planetary rover operating on the dark side of the moonwithout radio communicationmight run into unexpected situations. At a minimum, a planetary rover must have some source of sensory input, some way of interpreting that input, and a way of modifying its actions to respond to a changing world. Furthermore, the need to sense and adapt to a partially unknown environment requires intelligence (in other words, artificial intelligence). Robotics is a design and manufacture of intelligent machines that are programmed to perform specific tasks. Robots are generally designed to be a helping hand. They help us in difficult, unsafe or boring tasks. Simply put robots are machines that can perform variety of jobs and they can range from simple machines to highly complex computer-controlled intelligent systems. The majority of robots today are used in factories, warehouses and labs. In future they might show up in the schools, homes or even in our bodies. The possibilities are endless.
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Industrial automation gives Robotics a considerable momentum to explore newer avenues of applications. Robotics is being used for industrial automation to extent that the terms robotics and industrial automation have became synonyms in the industrial world .the advance made in the field of mechatronics has virtually made sign of robotic system much easier. The need is only to identify right product for application. The project -ROBOT deals with control and gathering information about the different aspects without manpower except a man is required to control the robot. The micro controller unit along with the transmitter part unit work as brain of the robot. They are generally preprogrammed and only works for particular application. As in our project it is programmed to work for weapon controling and defence purpose..

1.2 WORKING PRINCIPLE:WEAPON CONTROL-ROBOT works on the following principle it uses the ASK modulation technique using RF module operating frequency of 433.95Mhz. The module is used to transmit the data from transmitter module accepted from switch pad at the transmitting end. The receiver module kept on the weapon control-robot receives this transmitted data; this data received is helpful for driving the motor as per the requirement and performing various operations based on the address used for encoder and decoder and data received. So at a particular time any of the following things can be performed. Movement of the vehicle Image capturing. Video recording Deep movement LCD Display. Direction recognition.

Basically weapon control-robot deals with capturing of videos and gathering secret information about the enemies or the respected object that we want to receive. Weapon control-Robot will provide various kinds of datas that the user required and will track all the movements and inform the user about the receiver. It will directly track the movements and will allow the user to emit poisonous gases if required to harm the enemies and to distract the object that the user want to. The detailed functioning can be directly understood from the programming of the micro controller IC and the related functioning of the switch pad to operate the weapon controlrobot and to do intended task at the particular time and not to juggle between the different task to be performed. The man heart of the weapon control-robot is the micro controller unit and the key encoder IC as per the requirement the switch at the transmitter end will be pressed and the operation will be performed

CHAPTER 2 BLOCK DIAGRAM:2.1 Transmitter block diagram:

POWER SUPPLY

KEY PAD

MICROCONTROLLER

ENCODER

RFTRASNMITTER

DIP SWITCH

BLOCK EXPLANATION :TRANSMITTER

Transfer of code:

DIAGRAM

The 16 various combinations provided by the use of switch pad enable the user with variety of options. The 16 various combination is transmitted to 4-bit data microcontroller which is in turn connected to the encoder IC HT12E this IC will provide 4-bit data.

Encoding:
The 4-bit data received from the processor given to the encoder. Four bits (D0- D3) are given as data at the data pins. This 4 bit parallel data is converted into serial form internally by the encoder and the serial 4 data is obtained at pin no 17. This serial data is further given to the transmitter module. data is fed to the transmitter module at the same frequency.

Transmission:
The main transmitter is an ASK transmitter module, based on OOK modulation (ON OFF keying). Its carrier frequency is 433.92Mhz. At the data pin of the module, the serial data from the 14th pin of the encoder is connected. This data is transmitted at 433.92Mhz frequency. The transmitting range of the transmitter is 25 to 30m (radius) without antenna. For transmission over this distance an antenna should be connected. Once the data reaches the data pin i.e. pin no 2 of the RF Module then the data is transmitted through it, the transmission of data is through a very high frequency carrier, the data is further transformed into a suitable type and then it is transmitted out through antenna connected to the RF Module pin no 4.

2.2 RECEIVER BLOCK DIAGRAM

RFRECEIVER

DECODER

MICROCONTROLLER

RELAY UNIT TO DRIVE 4 MOTORS LCD DISPLAY

TO DC MOTOR MOTOR

MOTORS TO DIRECT THE POSITION OF VEHICLE

TO INDICATE THE DIRECTION OF VEHICLE

TO ROTATE CAMERA FOR DIFFERENT AREA IMAGE CAPTURING

BLOCK EXPLANATION: RECEIVER

DIAGRAM

Antenna:
The receiver antenna picks up the serial 4 bit data sent by the transmitter. Antenna is connected to one of the pins of the receiver. And this data is further processed through the receiver module.

Receiver module:
The serial 4 bit data received from the antenna is further processed and fed to the data pin of the decoder IC HT12E.

Decoding:
The serial data received at data in pin i.e. pin no 14 is internally converted in parallel form and the 4 bit data available at the 4 data out pins of the decoder is similar to the status of data at data in pins of the encoder. The decoding part is also dependent on the position or the conditioning of the 8-pin DIP SWITCH. The complete operation will depend on the switch position. As the switch is conditioned the receiver will respond to that signal and will not operate if the transmitter and the receiver switch position is not similar or same.

 DECODING:
When the particular switch is pressed IC74922 the matrix connected to the encoder ICHT12E will enable to transmit the particular data associated to it through the RF Module The signal transmitted by the transmitter unit reaches the receiver unit where the data is collected by the RF Module and provide it to the decoder ICHT12D. The decoder IC will provide 4-bit data to the micro controller unit and the micro controller unit will recognize the signal and will provide appropriate data to that particular IC (ULN2804), this IC will drive respected motors connected to it for particular application. There are several applications that are to be carried out such as image capturing, emission of poisonous gas, etc.

Motor driver:
The input from the motor driver circuitry comes from IC (ULN2804). The motor driver circuit consists of the Relay Driver. Using this circuit one motor can be driven in one direction at a time. Connecting it in parallel can also drive more than one motor so as per the data provided to the motor driver circuit, the motors direction can be controlled, and the robotic vehicle can be moved as per requirement. The main part of the motor driver unit is the relay driver unit which consist of two relays to drive a single motor in both clockwise and anticlockwise and to momentarily control the movement of the vehicle.

BRIEF OPERATION
The user/operator will press a particular switch from the switch pad, the switches on the switch pad will be assigned with different functions. As soon as the x switch is pressed the data associated with that switch will be recognized by the PROCESSOR that is directly connected to the switch pad. The data will be further given to the encoder IC HT12E; the encoder IC is one of the most important and the varied part of the Weapon control-Robot, the data transmitted from the switch-pad reaches the address/data-multiplexed pin of the encoder IC HT12E. As soon as the data is received, then through the output pin of the encoder IC the data is given to the RF Module transmitter unit from where the data is transmitted in open air and at the receiving end the data is collected by the receiver unit and the intended task is performed and the need is full filled In the complete circuitry encoder IC HT12E plays an very important role of encoding the data that is required for the intended task. Once the switch is pressed the data is given to the key encoder IC74922 from where the data is again recollected by the HT12E and from there the data in digital format is serial format is transmitted, the two encoder IC have great deal of work in the whole project and are therefore treated as one of the most important part of the project. At the receiver end the most important and the biggest operation is performed by the micro controller. The data is received by the RF Module and is provided to the decoder IC HT12D, the decoder IC further provides that data to the micro controller unit and the pre programmed function associated with the switch is executed and the operation is performed. Here the address pins of the decoder IC plays an very important role, the address pin combination of the encoder and decoder must be same for the proper function and operation. Various advancements are also provided in the receiver unit, there is an facility of different angle image capturing and video recording as per the choice, the camera can be rotated 360 degrees by the stepper motor connected to it that is controlled by the micro controller unit. There is a provision of direction recognition with the help of the limit switch. If the robot collides with the obstacle then the limit switch will be closed and the micro controller unit connected to it will recognize and will deactivate that control.One very important operation is the emission of the poisonous gases. In case of some heinous acts such as terrorist acts and the hostage cases the enemies can be harmed by the emission of the poisonous gases, the micro controller unit also controls this function.
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Software Programming Tools Keil (Vision 2):Introduction to C51 Cross Compiler:The Keil C51 Cross Compiler is an ANSI C Compiler that is written specifically to generate fast, compact code for the 8051 microcontroller family. The C51 Compiler generates object code that matches the efficiency and speed of assembly programming.Knowledge of the processor instruction set is not required. Rudimentary knowledge of the memory structure of the 8051 CPU is desirable (but not necessary).

Details like register allocation and addressing of the various memory types and data types is managed by the compiler. The ability to combine variable selection with specific operations improves program readability. Keywords and operational functions that more nearly resemble the human thought process may be used. Programming and program test time is drastically reduced. The C run-time library contains many standard routines such as: formatted output, numeric conversions, and floating-point arithmetic. Existing program parts can be more easily included into new programs because of modular program construction techniques. The language C is a very portable language (based on the ANSI standard) that enjoys wide popular support and is easily obtained for `most systems. Existing program investments can be quickly adapted to other processors as needed.

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ENCODER:GENERAL DESCRIPTION The 212 encoders are a series of CMOS LSIs for remote control system applications. They are capable of encoding information which consists of N address bits and 12_N data bits. Each ad-dress/ data input can be set to one of the two logic states. The programmed addresses/data are transmitted together with the header bits via an RF or an infrared transmission medium upon receipt of a trigger signal. The capability to select a TE trigger on the HT12E or a DATA trigger on the HT12A further enhances the application flexibility of the 2 12 series of encoders. The HT12A additionally provides a 38kHz car-rier for infrared systems.

Features
Operating voltage 2.4V~5V for the HT12A 2.4V~12V for the HT12E Low power and high noise immunity CMOS technology Low standby current: 0.1_A (typ.) at VDD=5V HT12A with a 38kHz carrier for infrared transmission medium Minimum transmission word Four words for the HT12E One word for the HT12A Built-in oscillator needs only 5% resistor Data code has positive polarity Minimal external components HT12A/E: 18-pin DIP/20-pin SOP package

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DECODER:GENERAL DESCRIPTION The 212 decoders are a series of CMOS LSIs for remote control system applications. They are paired with Holtek _ s 212 series of encoders (re-fer to the encoder/decoder cross reference table). For proper operation, a pair of encoder/decoder with the same number of ad-dresses and data format should be chosen. The decoders receive serial addresses and data from a programmed 2 12 series of encoders that are transmitted by a carrier using an RF or an IR transmission medium. They compare the se-rial input data three times continuously with their local addresses. If no error or unmatched codes are found, the input data codes are de-coded and then transferred to the output pins. The VT pin also goes high to indicate a valid transmission. The 2 12 series of decoders are capable of decod-ing informations that consist of N bits of ad-dressand 12 _ N bits of data. Of this series, the HT12D is arranged to provide 8 address bits and 4 data bits, and HT12F is used to decode 12 bits of address information.

FEATURES
Operating voltage: 2.4V~12V Low power and high noise immunity CMOS technology Low standby current Capable of decoding 12 bits of information Pair with Holtek_s 212 series of encoders Binary address setting Received codes are checked 3 times Address/Data number combination HT12D: 8 address bits and 4 data bits HT12F: 12 address bits only Built-in oscillator needs only 5% resistor Valid transmission indicator Easy interface with an RF or an infrared transmission medium

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MOTOR DRIVER (ULN2804)

The eight NPN Darlington connected transistors in this family of arrays are ideally suited for interfacing between low logic level digital circuitry (such as TTL, CMOS or PMOS/NMOS) and the higher current/voltage requirements of lamps, relays, printer hammers or other similar loads for a broad range of computer, industrial, and consumer applications. All devices feature opencollector outputs and free wheeling clamp diodes for transient suppression. The ULN2803 is designed to be compatible with standard TTL families while the ULN2804 is optimized for 6 to 15 volt high level CMOS or PMOS.

FEATURES
1. Eight darlingtons with common emitters

2. Output current to 500 Ma 3. Output voltage to 50 V 4. Integral suppression diodes

5. Versions for all popular logic families

6. Output can be paralleled 7. Inputs pinned opposite outputs to simplify board layout

MICROPROCESSOR 89S52 FEATURES

8K Bytes of In-System Programmable (ISP) Flash Memory 4.0V to 5.5V Operating Range Fully Static Operation: 0 Hz to 33 MHz Three-level Program Memory Lock 256 x 8-bit Internal RAM 32 Programmable I/O Lines

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 Three 16-bit Timer/Counters Eight Interrupt Sources Full Duplex UART Serial Channel Low-power Idle and Power-down Modes Interrupt Recovery from Power-down Mode Watchdog Timer Dual Data Pointer Power-off Flag Fast Programming Time Flexible ISP Programming (Byte and Page Mode) Green (Pb/Halide-free) Packaging Option

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POWER SUPPLY
BLOCK DIAGRAM
Power supply design
Power supply is the first and the most important part of our project. For our project we require current rating 500Ma. Following basic building blocks are required to generate regulated power supply. +5V regulated power supply with maximum

Three
Mains 230 V A.C.

Regulated O/P Voltage

Stepdown

Rectifi er

Filter

Terminal

Step down Transformer:Step down transformer is the first part of regulated power supply. To step down the mains 230V A.C. we require step down transformer. Following are the main characteristic of electronic transformer. 1) Power transformers are usually designed to operate from source of low impedance at a single freq. 2) It is required to construct with sufficient insulation of necessary dielectric strength. 3) Transformer ratings are expressed in voltamp. The volt-amp of each secondary winding or windings are added for the total secondary VA. To this are added the load losses.
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4) Temperature rise of a transformer is decided on two well-known factors i.e. losses on transformer and heat dissipating or cooling facility provided unit.

Rectifier Unit:Rectifier unit is a ckt. which converts A.C. into pulsating D.C. Generally semi-conducting diode is used as rectifying element due to its property of conducting current in one direction only. Generally there are two types of rectifier. 1) Half wave rectifier 2) Full wave rectifier. In half wave rectifier only half cycle of mains A.C. is rectified so its efficiency is very poor. So we use full wave bridge type rectifier, in which four diodes are used. In each half cycle, two diodes conduct at a time and we get maximum efficiency at o/p. Following are the main advantages and disadvantages of a full-wave bridge type rectifier ckt.

Advantages
1) The need of center tapped transformer is eliminated. 2) The o/p is twice that of center tap circuit for the same secondary voltage. 3) The PIV rating of diode is half of the center tap circuit.

Disadvantages
1) It requires four diodes. 2) As during each half cycle of A.C. input, two diodes are conducting therefore voltage drop in internal resistance of rectifying unit will be twice as compared to center tap circuit.

Filter Circuit

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Generally a rectifier is required to produce pure D.C. supply for using at various places in the electronic circuit. However, the o/p of rectifier has pulsating character i.e. if such a D.C. is applied to electronic circuit it will produce a hum i.e. it will contain A.C. and D.C. components. The A.C. components are undesirable and must be kept away from the load. To do so a filter circuit is used which removes (or filters out) the A.C. components reaching the load. Obviously a filter circuit is installed between rectifier and voltage regulator. In our project we use capacitor filter because of its low cost, small size and little weight and good characteristic. Capacitors are connected in parallel to the rectifier o/p because it passes A.C. but does not pass D.C. at all.

Three terminal voltage regulator

A voltage regulator is a ckt. that supplies constant voltage regardless of change in load current. IC voltage regulators are versatile and relatively cheaper. The 7800 series consists of three terminal positive voltage regulator. These ICs are designed as fixed voltage regulator and with adequate heat sink, can deliver o/p current in excess of 1A. These devices do not require external component. This IC also has internal thermal overload protection and internal short circuit and current limiting protection. For our project we use 7805 voltage regulator IC.

POWER SUPPLY CIRCUIT

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TESTING AND RESULTS

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ADVANTAGES
The range of transmission of data is high due to the use of RF MODULE. (30 meters without antenna & with antenna it goes up to 500meters) It is provided with wide range of changeable program with the use of software programming using computer. User friendly as it uses Micro controller based program for the operation of system. The autonomous control system makes the system lighter than pure mechanical system.

APPLICATIONS
INDUSTRIAL AUTOMATION:
The weapon control robot can we widely applicable in the industrial sectors .as the vehicle can be operated remotely by the person sitting in the room. Can be used for tracking with capturing & its movement by placing video cameras at different place in the industries. Thus whole system is automated.

DEFENCE AREAS:
The robots can be used in military applications were they are required to find the secret informations, hence the wireless robots can be used as weapon control.

INDUSTRIAL SECTORS:
1. Mine detector. 2. Airport cargo 3. Automatic feeder-lines. 4. Inclinators
5. AS/RS warehouses

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FUTURE SCOPE
The project WEAPON CONTROL-ROBOT can be further modified applications by clubbing together the knowledge of advanced technology. CRANE SYSTEM The crane system can also be applied by using one more decoder IC5172. The address of the encoder can be such that decoder should be selected.. SENSORS The sensor provides limited feedback to robot and aids it performing job. These send information in form of electronic signals back to the computer, letting it know about state of world around it for the better

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REFERENCES BOOKS
Robotics demystified ----by Edwin Wise. Hardware hacking projects for geeks. Parallel port complete ----by Jan Axelson. Electric drives ----by Vedam Subhramanyam. ----by Nel Jerka

The complete reference VB6

WEBSITES
www.epanorama.com www.robotbooks.com www.robothaven.com www.discoverprojects.com

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