Part 3

SEA ANTI-TERRORIST PATROLLING SYSTEM
CHAPTER - 1 INTRODUCTION
SHIVAJIRAO S. JONDHLE POLYTECHNIC, ASANGAON
INTRODUCTION
Robotics is a fascinating subject more so, if you have to fabricate a robot yourself. The field of robotics encompasses a mini her of engineering disciplines such as electronics (including electrical), structural, pneumatics and mechanical. The structural part involves use of frames, beams, linkages, axles, etc. The mechanical parts/accessories comprise various types of gears (spurs, crowns, bevels, worms and differential gear systems), pulleys and belts, drive systems (differentials, castors, wheels and steering), etc. Pneumatics plays a vital role in generating specific pushing and pulling movements such as those simulating arms or leg movements. Pneumatic grippers are also used with advantage in robotics because of their simplicity and cost-effectiveness. The electrical items include DC and step per motors, actuators, electrical grips, clutches and their control. The electronics part involves remote control, sensors (touch sensor, light sensor, collision sensor, etc), their interface circuitry and a microcontroller for over all control function. What we present here is an elementary robotic land rover that can be controlled remotely using primarily the RF mode. The RE remote control has the advantage of adequate range (up to 200 meters with proper antenna) besides being omni directional. On the other hand, an ER remote would function over a limited range of about 5metres and the remote transmitter has to be oriented towards the receiver module quite precisely. However, the cost involved in using RE modules is much higher than of IR components and as such, we have included the re placement alternative of RF modules with their IR counterparts for using the IR remote control. The proposed land rover can move in forward, and reverse directions. You would also be able to steer it towards left and right directions. While being turned to left or right, the corresponding blinking LEDs would blink to indicate the direction of its turning. Similarly, during reverse movement, reversing LEDs would be lit. Front and rear bumpers are provided using long operating lever of micro switches to switch off the drive motors during any collision
1.1PROJECT OVERVIEW What we present here is an elementary robotic land rover that can be controlled remotely using primarily the RF mode. The RE remote control has the advantage of adequate range (up to 200 meters with proper antenna) besides being omni directional. On the other hand, an ER remote would function over a limited range of about 5metres and the remote transmitter has to be oriented towards the receiver module quite precisely. However, the cost involved in using RE modules is much higher than of IR components and as such, we have included the re placement alternative of RF modules with their IR counterparts for using the IR remote control.
Fig.No.1 Project Overview
The proposed land rover can move in forward, and reverse directions. You would also be able to steer it towards left and right directions. While being turned to left or right, the corresponding blinking LEDs would blink to indicate the direction of its turning. Similarly, during reverse movement, reversing LEDs would be lit. Front and rear bumpers are provided using long operating lever of micro switches to switch off the drive motors during any collision. The decoder being used for the project has latched outputs and as such you do not have to keep the buttons on remote control pressed for more than a few milliseconds. This helps prolong the battery life for remote.
1.1.1 Forward and reverse movement To keep our design as simple as possible, we have coupled a 30-rpm geared 6V DC motor to the left front wheel and another identical motor to the right front wheel. Both these front motors are mounted side-by-side facing in opposite directions. Wheel rims (5cm diameter) along with rubber wheels are directly coupled to each of the motor shafts, This arrangement does not require separate axles. During forward (or reverse) movement of the vehicle, the two wheel shafts, as viewed from the motor ends, would move in opposite directions (one clockwise and the other anticlockwise). For reversing the direction (forward and backward), you simply have to reverse the DC supply polarity of the two motors driving the respective wheels.
1.1.2 Steering control There are different methods available for steering a robotic vehicle. The commonly used ones are: 1. Front wheels are used for steering, while rear wheels are used for driving; e.g. in tractors. 2. Front wheels are used for steering as well as driving; e.g., in most light vehicles. In these vehicles (such as cars), the front wheels are coupled using a differential gear arrangement. It comes into play only when one wheel needs to rotate differentially with respect to its counterpart. When the car is moving in a straight line, the differential gears do not rotate with respect to their axes. However, when the car negotiates a turn, the differential allows the two wheels to rotate differentially with respect to each other. 3. All the four wheels are used for driving as well as steering. Examples are Kyosho (USA) 4-wheel drive/4- wheel steering elect powered monster truck chassis. 4. Single front wheel is used for driving as well as steering; e.g., in a tricycle. 5. Two driving wheels that are in dependently controlled to turn; e.g., in a tank.
In our project, to keep the things simple, we have used Method-5 with some modification. For the rear wheels, we have made use of a single. plastic castor wheel, identical to the ones used in revolving chairs. Such a wheel turns by 180 0 when you try to reverse the direction of the vehicles motion. This way the movement of the rover become stable in both the forward and reverse directions. The steering (clockwise or anticlockwise) motion is achieved by driving only one wheel at a time. To turn the vehicle towards left (as perceived by the driver) we energies only the right- hand-side motor, and to turn it towards right we energies only the left- hand-side motor during turning. The movement is controlled with the help if the tilt sensor which generates the different bit patterns as discussed in Tilt Sensor Topic.
CHAPTER - 2 LITERATURE SURVEY
LITERATURE SURVEY
According to the National Safety Councils (2004) InjuryFactsreport, motor vehicle crashes account for more deaths and disabling injuries than any other type of unintentional injury. In addition, while deaths attributed to other types of injuries decreased by 3 percent from 2002 to 2003, deaths attributed to motor vehicle crashes increased by 2 percent. Of the motor vehicle related deaths, 44 percent were attributed to collisions between vehicles, and 29 percent were attributed to collisions between vehicles and a fixed object. Approximately 28 percent of all motor vehicle crashes were the result of rear-end collisions. Driver impairment due to drowsiness is known to be a major contributing factor in many of these crashes. For example, several sources indicate driver fatigue was the probable cause of approximately 30 percent of crashes (Folkard, 1997; National Transportation Safety Board, 1990), mainly during nighttime driving conditions or when the driver had not obtained adequate sleep during the previous 24 hours (Horne and Reyner, 1995; Kecklund and kerstedt, 1993; Lenne et al., 1997; Lynznicki et al., 1998). Fatigue1 is known to decrease a drivers attention level and reaction time (Chatterjee, Cadotte, Stamatiadis, Sink, Venigalla, and Gaides, 1994; Mitler, Miller, Lipsitz, Walsh, and Wylie, 1997; Williamson, Feyer, and Friswell, 1996). Fatigued drivers pay less attention to the driving environment than alert drivers and are less concerned with making errors, circumstances which decrease the likelihood that they will perceive potential conflict situations (Dinges, 1995). Even if he or she recognizes a potential conflict situation, a fatigued driver may not respond in a proper or timely manner to avoid a crash. Dinges (1995) states that fatigue increases errors (of omission and commission) and the compensatory effort needed to avoid them. He found that the reaction time of fatigued drivers worsens by 5 percent to 25 percent, interfering with their ability to avoid a crash situation with a timely evasive maneuver (e.g., steering to avoid a crash or allowing proper braking distance).
Given the impact of driver drowsiness on driving safety, there has been keen interest in developing a system that can monitor and quantify driver drowsiness and provide a real-time warning to the driver and/or a control output to the vehicle or other systems as warranted. Numerous drowsy driver monitoring systems are available on the
market; however, nearly all of these technologies rely on a single predictor of driver drowsiness (e.g., eye closures, lane position, or steering). A negative aspect to using only one predictor of drowsiness is that such monitoring systems are susceptible to periodic intervals in which data are unavailable due to failures of the single sensor or operation outside of the sensors capabilities. When the single sensor does not work optimally, the system is less effective than it could be. One measure seen in some drowsiness monitors is slow eye closures (i.e., percent closure [PERCLOS]). However, tests with some specific technologies have found periodic intervals of According to the National Safety Councils (2004) Injury Factsreport, motor vehicle crashes account for more deaths and disabling injuries than any other type of unintentional injury. In addition, while deaths attributed to other types of injuries decreased by 3 percent from 2002 to 2003, deaths attributed to motor vehicle crashes increased by 2 percent. Of the motor vehicle related deaths, 44 percent were attributed to collisions between vehicles, and 29 percent were attributed to collisions between vehicles and a fixed object. Approximately 28 percent of all motor vehicle crashes were the result of rear-end collisions. Driver impairment due to drowsiness is known to be a major contributing factor in many of these crashes. For example, several sources indicate driver fatigue was the probable cause of approximately 30 percent of crashes (Folkard, 1997; National Transportation Safety Board, 1990), mainly during nighttime driving conditions or when the driver had not obtained adequate sleep during the previous 24 hours (Horne and Reyner, 1995; Kecklund and kerstedt, 1993; Lenne et al., 1997; Lynznicki et al., 1998). Fatigue1 is known to decrease a drivers attention level and reaction time (Chatterjee, Cadotte, Stamatiadis, Sink, Venigalla, and Gaides, 1994; Mitler, Miller, Lipsitz, Walsh, and Wylie, 1997; Williamson, Feyer, and Friswell, 1996). Fatigued drivers pay less attention to the driving environment than alert drivers and are less concerned with making errors, circumstances which decrease the likelihood that they will perceive potential conflict situations (Dinges, 1995). Even if he or she recognizes a potential conflict situation, a fatigued driver may not respond in a proper or timely manner to avoid a crash. Dinges (1995) states that fatigue increases errors (of
omission and commission) and the compensatory effort needed to avoid them. He found that the reaction time of fatigued drivers worsens by 5 percent to 25 percent, interfering with their ability to avoid a crash situation with a timely evasive maneuver (e.g., steering to avoid a crash or allowing proper braking distance). Given the impact of driver drowsiness on driving safety, there has been keen interest in developing a system that can monitor and quantify driver drowsiness and provide a real-time warning to the driver and/or a control output to the vehicle or other systems as warranted. Numerous drowsy driver monitoring systems are available on the market; however, nearly all of these technologies rely on a single predictor of driver drowsiness (e.g., eye closures, lane position, or steering). A negative aspect to using only one predictor of drowsiness is that such monitoring systems are susceptible to periodic intervals in which data are unavailable due to failures of the single sensor or operation outside of the sensors capabilities. When the single sensor does not work optimally, the system is less effective than it could be. One measure seen in some drowsiness monitors is slow eye closures (i.e., percent closure [PERCLOS]). However, tests with some specific technologies have found periodic intervals of In 2003, the first in a series of Transportation Research Board (TRB) reports on commercial truck and bus safety was published. In this report (Knipling, Hickman, and Bergoffen, 2003), surveyed CMV fleet managers and experts in motor vehicle safety on the importance of 20 perceived safety problem areas in the trucking industry. The top nine issues that were found are listed below: 1. At-risk driving behaviors (e.g., speeding, tailgating) 2. Individual high-risk drivers (all causes combined) 3. Lifestyle or general health issues (e.g., poor diet, smoking) 4. Lack of defensive driving skills (poor space management) 5. Delays associated with loading and unloading cargo 6. Driver fatigue/drowsiness 7. Aggressive driving 8. Heart disease 9. Poor attitude, morale, or emotional state Of these nine issues, at-risk driving behaviors, defensive driving skills, fatigue, and aggressive driving are all potential candidates for using an onboard monitoring
SHIVAJIRAO S. JONDHLE POLYTECHNIC, ASANGAON 9
system. Although aggressive driving could not be specifically defined, the report went on to define the following as at-risk driving behaviors (many based upon prior studies and crash data): Speeding Excessive speed on curves or in relation to weather conditions Improper following distance Lateral encroachment (e.g., during lane changes, due to improper mirror adjustment) Failure to yield at intersection General disobedience of the rules-of-the-road The specifics of space management and defensive driving skills were left somewhat undefined. The general concept of space management refers to the fact that large trucks have large blind spots and limited maneuverability when reacting to actions taken by automobile drivers. In effect, space management refers to the need for truck drivers to preventively compensate for any poor decisions being made in their presence because many crashes between trucks and automobiles tend to be primarily attributed to the actions of the automobile driver.
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CHAPTER - 3 SYSTEM DEVELOPMENT
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3.1 BLOCK DIAGRAM OF RF TRANSMITTER SECTION
Fig. No.2 Block Diagram of RF Transmitter Section
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3.2 BLOCK DIAGRAM OF RF RECEIVING SECTION
Fig.No.3 Block Diagram of RF Receiving Section
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3.3 CIRCUIT DIAGRAM OF RF TRANSMITTER
Direction Switches
Fig.No.3.3Circuit Diagram of RF transmitter
Fig. No.4 Circuit Diagram of RF Transmitter
3.3.1 RF TRANSMITTER The RF transmitter arid receiver modules marketed by A plus India, Mumbai have been employed for RF remote control. The RF transmitter TX-433 is an AM/ASIC transmitter. Its features include: 1. 5V-12V single supply operation
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2. On-off-keying (OOK)/amplitude shift keying (ASK) data format 3. Up to 9.6kbps data rate 4. +9dBm output power (about 200m range) 5. SAW-based architecture 6. For antenna, a 45cm wire is adequate.
Fig.No.5 Pin Configuration of RF TX & RX Module
The output power and current drain of the HF transmitter for Vcc of 5V and 12V are tabulated in Table IV. IR based alternative. The RF modulator used in the remote can be easily replaced with the IR modulator circuit built around IC2 and transistor T1. The RF/IR selection can be affected by moving the shorting link of Con-1 connector. Similarly, the RF receiver module in the RF receiverdecoder can be replaced with them receiver module shown in Fig. For using the IR-based encoder, the DOUT signal pin (pin 17) of HT12E is to be connected to DIN pin 5 of a stable oscillator IC CD4047 for modulating its output. The frequency of the a stable at output pin 10 is determined by the timing components as follows:
Frequency
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This frequency is adjusted for 38 kHz with pin 5 held at logic 1. The modulated 38 kHz, after amplification by Darlington pair of transistors T1 and T2, drives IRLED LD271 (or equivalent).
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3.4 CIRCUIT DIAGRAM OF RF RECEIVER
Fig. No. 6 Circuit Diagram of RF Receiver
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3.4.1RF Receiver Decoder The complete RF receiver-decoder circuit employing HT12D is shown in Fig. 7. Assuming that identical address is selected on the encoder and the decoder, when any of the switches on the transmitter (marked as FWD, REV, RIGHT, LEFT) is depressed, the corresponding data pin of the demodulator will go low. The data outputs of HT12I) are fed to 8-bit priority encoder CD4532 via inverters to generate appropriate logic outputs in conformity with Table III to control the left-/right motors for required motion of the land rover as explained earlier. However, when STOP button is pressed on the remote transmitter, all data pins (D8 through D11 on the decoder will latch to the high output state. After inversion by NAND gates N1 through N4, all the outputs will be low and hence EI (pin 5) of CD4532 will go low to force all its outputs to go low. As a result, both the motors will stop running. You may like to verify the code generated at the outputs of CD4532 with the help of truth table (refer Table VI). The following is the exact sequence of operation at the receiver (Fig.) and the motor driver (Fig.) when a specific push switch is momentarily pressed on the transmitter: 3.4.2 Forward The D8 output (pin 10) of IC3 goes low which after in version by inverter N1 goes high to switch on the front LEDs (LED2 and LED3) via driver transistor T6 and take D3 input (pin 13) of IC5 high. This causes Q2, Q1 and Q0 going to logic states 0,l and 1, respectively (as per Table VI), and as a result, both the motors will run in such directions as to move the rover in forward direction. 3.4.3 Left The D1 output (pin 12) of 1C3 goes low, which after inversion by inverter N3 goes high to switch on the left blinking LED7 after a second inversion by inverter/driver gate N6 and makes D2 input (pin 12) of IC5 high. This results in Q2, Q1 and Q0 going to logic states 0, 1 and 0, respectively (as per Table V and as a result, only the right-hand-side motor will run and the left-hand-side motor will be static, This causes the rover to perform a left turn.
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3.4.4 Right The D11 output (pin 13) of IC3 goes low, which after inversion by inverter N3 goes high to switch on the right blinking LED6 after a second inversion by inverter/driver gate N5 and makes Dl input (pin 11) of IC5high. This results in Q2, Q1 and Q0 going to logic states 0,0 and 1/ respectively (as per Table VI) and as a result, only the left -hand-side motor will run and the right-hand-side motor will be static. This causes the rover to perform a right turn. 5. Stop. The D8 through D11 out puts of IC3 go high and, after inversion by inverters N1 through N4, cause blocking of diodes D5 through D8. As a result, ground is extended to EI pin 5 through resistor R17 and all the out puts (Q2, Q1 and Q0) of CD4532 go low to stop both the motors. All the LEDs also stop glowing. 3.5 DRIVE CIRCUIT FOR THE MOTORS Here is a typical circuit for driving one of the motors, in forward or reverse direction, coupled to, say, the left-hand front wheel. Simultaneously, the tight- hand motor has to rotate in the reverse direction (w.r.t the left-hand motor) for moving the vehicle in the same direction. it means that input terminals of the motor drive circuit for the right- hand motor have to be fed with reverse-polarity control signals compared to those of the left-hand motor drive circuit.
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Fig. No.7 Circuit For The Driver Motor
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In the H-bridge motor drive circuit when Al input is made high and A2 is made low, transistor T1 (npn) is forward biased and driven into saturation, while transistor T2 (pnp), being reverse- biased, is cut-off. This extends the batterys positive rail to terminal-1 of the motor. Simultaneously, with input A2 at ground potential, transistor T3 (npn) is cut-off, while T4 (pnp) is forward biased and driven into saturation. This results in ground being extended to terminal-2 of the motor. Thus the motor rotates in one direction. Now, if the two inputs are logically complemented, the motor will run in the opposite direction. When both the inputs are at the same logic level (Gnd or Vcc), the motor is at rest. Thus we can control the movement (forward, reverse and stop) as well as the direction of rotation of the motor with the help of logic level of the two control input signals to the motor. 3.5.1 Motor Control Logic As per the preceding explanation, the input logic levels required at terminals Al and A2 of the left-hand motor drive circuit and at input terminals Bi of B2 of the right hand motor drive circuit are shown in Table I.
CONTROL LOGIC TERMINALS MOTION FORWARD LEFT RIGHT STOP A1 1 0 1 0 A2 0 0 0 0 B1 0 0 0 0 B2 1 1 0 0
Table No.1 Motor Control Logic
It can be re-arranged as Table II, which can be further simplified as Table III. The equivalent hex values of the binary control signals are indicated in Table III. It transpires that if we connect (short) input terminals A2 and B1 of the two motor control circuits together, we can control both the motors for forward, reverse, left and right movement of the vehicle using the
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3- bit binary number shown in Table III This fact will be used while arriving at the integrated circuit for controlling the motors for appropriate movement of the land rover. 3.5.2 Remote control For remote control, we have used Holtek encoder- Decoder pair of HT12E and HT12D employing RF as well as IR principles. Both of these are 18-pin DII ICs. Their pin con figurations are shown in the test circuit of Fig 3.5.3 Operation of Holtek HTl2E and HTI2D. HT12E and HT12D are CMOS ICs with working voltage ranging from 2.4V to 12V. Encoder HT12E has eight address and another four address/data lines. The data set on these twelve lines (address and address/data lines) is Serially transmitted when the transmit enable pin TE is taken low. The data output appears serially on the D out pin. The data is transmitted four times in succession. It consists of differing- length of positive-going pulses for 1 and 0, the pulse-width for 0 being twice the pulse-width for 1. The frequency of these pulses may lie between 1.5 and 7kHz depending on the resistor value between OSC1 and OSC2 pins. The internal oscillator frequency of decoder HT12D is 50 times the oscillator frequency of encoder HT12E. The values of timing resistors connected between OSC1 and OSC2 pins of HT12B and HT12D, for given supply voltages, can be found out from the graphs given in the datasheet of the respective chips. The resistor values used in the circuits here are chosen for approximately 3KHz frequency for the encoder (HT12E) and 150 kHz for de coder HT12D at VCC of 5V.
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Fig. No.8 Circuit Diagram of Operation of Holtek
The HT12D receives the data from the HT12E on its Din pin serially. If the address part of the data received matches the levels on A0 through A7 pins four times in succession, the valid transmission (VT) pin is taken high. The data on pins AD8 through AD11 of the HT12E appears on pins D8 through D11 of the HT12D. Thus the device acts a receiver of 4-bit data (16 possible codes) with 8-bit addressing (256 possible channels). The test circuit given in Fig. 3 will help you in checking the functional serviceability and synchronization of the frequency of operation. Once the frequency of the pair is aligned, on pressing of push switch S1 on the en coder, LED on the decoder should glow. You can also check the transfer of data on pins AD8 through AD11(the data pins of the encoder can be set as high or low using switches S2 through S5), which is latched on pins D8 through D11 of the decoder once TE pin is taken low momentarily using push switch S1. This completes the testing of encoder decoder pair of HT12E and HT12D. 3.6 INFRA-RED RECEIVER The RF receiver module can be easily replaced with the IR circuitry by moving the shorting link of Con-2 connector appropriately. For the receiver to work in IR mode, it is to be ensured that the transmitter is also working in IR mode. The output of the IR circuit is to be connected to Din pin 14 of decoder HT12D. The IR detector comprises IR receiver module
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TSOP1738, whose output is amplified by Darlington pair of pnp transistors T4 and T5 before connection to HT12D The rest of the circuit remains unchanged for IR operation. Drive circuit For controlling the two drive motors, we have used the quad half-H driver circuits contained inside IC L293D to configure them as two H-Bridge driver circuits (as explained with reference to Fig. 2). L293does not require external free-wheeling diodes as the same are built into the IC. The control output from CD4532 of the receiver/decoder circuit
is connected to the inputs of L293D in accordance with the logic explained earlier in Table III. The battery supply for the motor drive circuit is routed via the normally made contacts of micro switches S8 and S9, whose operating levers serve as part of the front and back bumpers of the land rover. In case these micro switches are not used short the switch terminal points using jumpers.
3.7CONSTRUCTION
Combined actual-size, single-side PCB for the remote transmitter and the receiver-decoderdriver and its component- side layout. The remote transmitter part can be easily cutout from the integrated PCB, A suitable FRC connector arrangement has been made on the receiverdecoder-driver PCB for extending connections to the drive motors, LEDs and battery mounted on the chassis of the land rover. 3.8 MECHANICAL ASSEMBLY The working prototype, as shown in Fig., has been fabricated using readymade sheet metal parts, wheels, geared motors, axles, brass collars (with grub screws), brackets, etc. The overall dimensions (length x width x height) of the rover, before mounting the battery and the PC, are approximately 14 x 9 x 7.5 cm. The mechanical parts used are shown under the Mechanical Parts List. There is much scope for improving the aesthetics of this prototype. Hopefully, the enthusiasts/hobbyists would devote extra time and energy to give it a more professional appearance. The mechanical assembly of the rover is followed by proper placement of the battery (6V, 4Ah), mounting of the PCB (over the battery) and finally plugging the connectors from the battery, motors and various LEDs (mounted on the rover) into the corresponding connectors on the PCB before being able to control various motions of the land rover
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remotely using either RF or IR principlesby simply shifting the jumpers in the remote transmitter and receiver PCBs towards appropriate positions. Here are some useful hints and sequence for successful assembly of the land rover. 1. The geared motors that we have used in the prototype have a 125mm plastic flange with threads and a metal nut for securing it in position. The shaft (4mm dia.) protrudes from the centre of the flange. The two flat plates (part No. 926) used by us had only 4mm holes (perforations). Thus for securing the motors onto these plates, the 4mm holes at 2.5cm position (from the front and bottom edges) were increased to 13mm and motors (with shafts facing in opposite directions) were secured to the two plates. With 2cm dia. wheels pushed onto the motor shafts, we had adequate clearance from ground. Giving slight clearance from the plate, the wheel pulleys were secured on the motor shafts by tightening the grub screws on boss of the pulleys. 2. After securing the motors and wheels, we attached two angled brackets part No. 102 (at front and rear- middle positions) of the two flat plates (part No. 926) for mounting LEDs (using Fevi quick) for front and rear directions. Also using reverse-angle brackets (part No. 105), we suitably mounted the direction-indicating LEDs on the two flat plates. 3. The next step is to mount 5cm dia. Castor wheel (plastic) at the rear of the flanged plate in middle position, roughly 2 cm from the edge. (The flange is to face up.) Again we had to enlarge a 4mm hole in the required position to 10mm dia. as the diameter of the threaded bolt of the castor wheel is around 9 mm. Use two nuts (one before passing the bolt through the hole on the flanged plate and the other after the flanged plate). This provides for adjusting the height of castor wheel, so that all the three wheels on the rover are at the same level when fully assembled. The castor wheel should have clearance for 360 movement, when assembled. 4. Join the flanged plate (refer step 3) to the two flat plates (refer steps 1 and 2) so as to form two sides of the rover. The width of the flanged plate needs to be increased by 2.54 mm so that the motor ends do not fowl against each other and the castor wheel has 360 free movement. This is achieved by securing four bent strips (part 108)two on each side of the flange plate using 12mm
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bolts and nuts. Also use two axles (part No.610) along with collars (part No. 760) to maintain parallelism of the two side plates. 5. Fix directional LEDs on the ships using Feviquick and wire/terminate them on the connectors as per the circuit diagram of the receiver. Similarly, terminate connections from the battery and motors (A and B) onto the connectors, which would mate with their respective connectors on the receiver PCB. Make a provision for reversing the polarity to one of the two motors, in case you find one of them rotating in wrong direction due to the wiring error. 6. Use some thermocole sheet on the flanged sheet to ensure that the battery sits over it, maintaining proper balance. Use four 10cm long screws and nuts through the flanged plate for mounting the receiver PCB through its four corner holes. The screws should secure the battery and the PCB in position. 7. Now insert the connectors from the battery, LEDs and motors into their corresponding connectors on the receiver PCB. This completes the mechanical assembly of your rover. 00K is the modulation method of choice for remote control applications where power consumption and cost are the primary factors. Because 00K transmitters draw no power when they transmit a 0, .These exhibit significantly lower power consumption than FSK transmitters. 00K modulation is a binary term of amplitude modulation. When logic 0 (low data line) is being sent, the transmitter is off, fully suppressing the earner. In this state, the transmitter current is very low (less than 1 mA) When logic l is being sent, the carrier is fully on. In this state, the current consumption of the module is at its highestabout 4.5 mA with a 3V power supply.
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3.9 RF MODULE Radio Transmitter - TLP434A
Fig.No.9 Radio Transmitter
Our new Ultra Small Wireless Transmitter is ideal for remote control projects or data transfers to a remote object. Applications include mobile robots, burglar alarms, remote control and wireless data transfers. This compact unit operates from only 2V up to 12V. A range of up to 200mis possible with an antenna fitted. The unit can connect directly to a HT12E IC or similar encoder. Features

Operating voltage 4.75-26 Volts Efficient SPI interface Operating temperature range 4085 Frequency Range 433.92 MHz Programmable output power and High sensitivity Programmable data rate up to 500kbps Frequency - 433.92MHz Operating Voltage - 3 - 12 Vcc Data Rate - Up to 8K bps Works with HT12E or other Encoder Low current consumption. Easy for application development
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Applications 433 ISM/SRD band systems Consumer Electronics Industrial monitoring and control Wireless alarm and security systems Home and building automation AMR Automatic Meter Reading RKE Two-way Remote Keyless Entry
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CHAPTER - 4 PCB MANUFACTURING PROCESS
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PCB MANUFACTURING PROCESS
4.1 PCB FABRICATION Printed circuit boards, or PCBs, form the core of electronic equipment domestic and industrial. Some of the areas where PCBs are intensively used are computers, process control, telecommunications and instrumentation. 4.2 MANUFATCURING The manufacturing process consists of two methods; print and etch, and print, plate and etch. The single sided PCBs are usually made using the print and etch method. The double sided plate through hole (PTH) boards are made by the print plate and etch method. The production of multi layer boards uses both the methods. The inner layers are printed and etch while the outer layers are produced by print, plate and etch after pressing the inner layers. 4.3 PANELISATION Here the schematic transformed in to the working positive/negative films. The circuit is repeated conveniently to accommodate economically as many circuits as possible in a panel, which can be operated in every sequence of subsequent steps in the PCB process. This is called penalization. For the PTH boards, the next operation is drilling. 4.4 DRILLING PCB drilling is a state of the art operation. Very small holes are drilled with high speed CNC drilling machines, giving a wall finish with less or no smear or epoxy, required for void free through hole plating. 4.5 ETCHING Once a multiplayer board is drilled and electro less copper deposited, the image available in the form of a film is transferred on to the outside by photo printing using a dry film printing process. The boards are then electrolytic plated on to the circuit pattern with copper and tin. The tin-plated deposit serves an etch resist when copper in the unwanted area is removed by the conveyors spray etching machines with chemical etch ants. The etching machines are attached to an automatic dosing equipment, which analyses and controls etch ants concentrations
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4.6 DESIGN RULE Rules followed while selecting artwork symbol are, 1. Minimum spacing between conductor and pad should be 0 .35 mm in 1:1 scale. 2. Minimum spacing between parallel conductors should be 0.4 mm in 1:1 scale. 3. The area of non-PTH solder pad should not be less than (5 sq.mm.). 4. The width of current carrying conductors should be determined for maximum temperature, rise of 20 C. 4.7 GENERAL ARTWORK RULES 1. When there is higher conductor density assumes the conductors parallel to any one of the edge of the board 2. When conductors have to be placed in other direction preference should be given to the 45 direction or to the 30 / 60 direction. 3. Whenever there is sufficient space available the conductors can be run in any direction so as to achieve sorted possible interconnection. 4. As far as possible, design and the conductor on the solder pad. Conductor forming sharp internal angles must be avoided. 5. When a member of conductor has to run between two pads the conductor lines are run perpendicular w.r.to the center-to-center line of pair of pads. 6. Equally distributed spacing is to be provided when three or more conductors run along a direction and / or between two pads. 7. Minimum spacing is provided when three or more lines run along a direction and / or between two pads. 8. The diameter of solder pad should be approximately 8 times the drilled hole diameter.
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Fig.No.10 Diagram of PCB Layout
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CHAPTER-5 SOFTWARE DECRIPTION
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5.1 WIRELESS TECHNOLOGY When viewed as a method of data transport, wireless technology appears very similar to wired technology. You have a piece of hardware, a method of transmission, and connections on both ends that transform data from human-intelligible to transportable and back. For both wired and wireless technology, the range of transmission is an issue. You can't move your laptop 15 feet from the wall jack when depending on a 10foot cable. Similarly, you can't go out for a jog and expect your in-home cordless phone to keep a connection five miles away from its receiver. But if you get either a 20-foot cable or a wireless connector of sufficient power, you can move your laptop 15 feet away from the wall jack; and if you get a cellular phone, you can go jogging five miles away from your house and still take calls (as long as your service provider has a reasonable antenna set up). The methods of connection and ranges of service available vary in wireless technology just as they do in wired technology. Home telephones with a wireless handset have a more limited range than cellular phones; infrared transmissions have a more limited range than radio-wave (including microwave) transmissions. Different types of wireless solutions can communicate ten feet, ten miles, or with a satellite in orbit.
Wireless communication may be via:
Radio frequency communication, Microwave communication, for example long-range line-of-sight via highly directional antennas, or short-range communication, or Infrared (IR) short-range communication, for example from remote controls or via IRDA, Applications may involve point-to-point communication, point-to-multipoint communication, broadcasting , cellular networks and other wireless networks. The term "wireless" should not be confused with the term "cordless", which is generally used to refer to powered electrical or electronic devices that are able to operate from a portable
33
power source (e.g., a battery pack) without any cable or cord to limit the mobility of the cordless device through a connection to the mains power supply. Some cordless devices, such as cordless telephones, are also wireless in the sense that information is transferred from the cordless telephone to the telephone's base unit via some type of wireless communications link. This has caused some disparity in the usage of the term "cordless", for example in Digital Enhanced Cordless Telecommunications. In the last 50 years, wireless communications industry experienced drastic changes driven by many technology innovations.
34
CHAPTER-6 CODING
35
CODING
#include <Intel\8051.h>
BIT Sens0 P1.0 BIT Sens1 P1.1 BIT Sens2 P1.2 BIT Sens3 P1.3
;Wireless Recevier Input
BIT Motor BIT RED BIT
P2.0 P2.1
Green P2.2 P2.3
BIT Yellow
BIT Motor0 BIT Motor1 BIT Motor2 BIT Motor3
P0.0 P0.1 P0.2 P0.3
;Drive Motor 01--Forward 11-- Stop ;Drive Motor 01--Forward 11-- Stop ;Direction motor ;Direction motor 01 -- Left 10 -- Right 11 --Stop 11 - Stop
void main () { Green=1; RED = 1; Yellow=1;
36
delay_ms(2000); Motor = 0; Green=0; RED = 1; Yellow=0; //Motor Stop
while(1) { if (!Sens0) { Motor0 = 1 ; Motor1 = 0 ; Motor2 = 1 ; Motor3 = 1 ; Motor = 1; Green=1; RED = 0; Yellow=0; // Ship Movement Signal ON // Thurst FAN
if (!Sens1) {
// Left Movement
37
Motor0 = 1 ; Motor1 = 0 ; Motor2 = 1 ; Motor3 = 0 ; Motor = 1; Green=1; RED = 0; Yellow=1; //turn oN Turning LED // Ship Movement Signal On
delay_ms(100); Motor0 = 1 ; Motor1 = 0 ; Motor2 = 1 ; Motor3 = 1 ; Motor = 1; Green=1; RED = 0; Yellow=0; //turn off Turning LED // Ship Movement Signal On
if (!Sens2) {
// Right Movement
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Motor0 = 1 ; Motor1 = 0 ; Motor2 = 0 ; Motor3 = 1 ; Motor = 1; Green=1; RED = 0; Yellow=1; delay_ms(100); Motor0 = 1 ; Motor1 = 0 ; Motor2 = 1 ; Motor3 = 1 ; Motor = 1; Green=1; RED = 0; Yellow=0; } //turn off Turning LED //turn ON Turning LED
if (!Sens3) { Motor0 = 1 ; Motor1 = 1 ;
// Halt State
39
Motor2 = 1 ; Motor3 = 1 ; Motor = 0; Green=0; RED = 1; Yellow=0; } // Turn On Stop Signal // Stop Fan Motor
} }
40
CHAPTER - 7 TESTING & TROUBLESHOOTING
41
TESTING & TROUBLESHOOTING 7.1 TESTING

7.1.1 Cold Test 1. The first step was to carry out the visual inspection of the PCB. This means to check any short or cut in the tracks on PCB. Find any missing pads if any where found on it. We did mechanical repair of the same. 2. The second step involved the continuity testing. This means to check that the current is flowing through all the tracks. 3. Thirdly testing solder of socket crystal & reset circuitry. 7.1.2 Test Result 1. Give VCC and GND to microcontroller. 2. Check voltage between 18 & 19 pins (XTAL 1, XTAL 2). It should be 2.5. 3. Check available voltage pin 3.0-1.4. If all these voltage are coming then the microcontroller is working properly. 4. Check VCC and GND of LCD & write a RTN for display any message on LCD if the message does not come check the supply again also check the data lines for any opens or short. 7.1.3 C Testing 1. Initially the C is given the power supply. All the respective ports and port pins were checked when the signals were proper, it means that all the C signal were correct. If these signals are not proper, we can check the signals from VCC ground, reset, circuit respectively. 2. Even after the above test if the signals are not proper it means that the purchased CPU is not functioning properly & must be thrown. 3. We can put latch and memory in their respective sockets we wrote a small program for the same then checked for numbers on port pin.
42
For the transmission of data stored in memory of C. Various parameters of communication port such as parity, data type baud rate were checked before the transmission. Accepting the data next step was to check that all the devices that are connected and the program that was written to accept the data from the C is successful or not then the further modifications were done in the program. 7.2 TROUBLESHOOTING 7.2.1 System not getting switched ON. 1. Check whether the battery input is connected properly 2. Check the power supply section 3. Check the input and output voltages of the regulator 4. Check whether the power indicator is ON.
7.2.2 The Motor is not working 1. Check the motor connections whether it connected to the driving pin of the L293D driver IC 2. Check whether the microcontroller is providing the control signals to the driver IC
3. Check whether there is continuity in the motor windings
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CHAPTER - 8 ADVANTAGES
44
ADVANTAGES
1. Two Type of interface a. RF interface b. Infrared Interface 2. No interference of the surrounding RFI 3. Can work up to longer distance if transmitter power is increased 4. Cheaper as compared to other technology 5. Modifications can be easily 6. Low Power system 7. Mechanical assembly can lift load up to 2Kg 8. Number of boats can be controlled from a single control room.
45
CHAPTER - 9 DISADVANTAGES
46
DISADVANTAGES
1. To increase the operating distance the cost and weight will increase. 2. It is complicated to operate in foggy atmosphere it cannot give clear picture
47
CHAPTER 10 APPLICATIONS
48
APPLICATIONS
1. In Malls for Spying 2. In theaters to Detect threat creating objects under seat 3. In Lawns , play grounds for Security purpose 4. In College premises for Tracking student.
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CHAPTER - 11 CONCLUSION AND FUTURE SCOPE
50
CONCLUSION
Our Project will help in patrolling from the remote place due to which risk to the human life is less and also it can be controlled from remote system. Also we get the report of all 360 degree zone in terms of the video on the screen. Hence our project is used full for sea patrolling, it can called as unmanned ship.
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FUTURE SCOPE
1. Infrared communication can be possible 2. By adding gas sensor poisonous gas can be detected 3. GSM modem can be used for messaging in emergency condition 4. Using Waterproof RF camera under water detection can be done 5. Using Ultrasound sensor object below ship can be detected.
52
CHAPTER - 12 REFERENCES
53
REFERENCES
Website: 1. http://www.robotelettronica.altervista.org/howto_guide/moduli_rf.html 2. http://www.ustudy.in/ece/mpmc/u2 3. http://www.engineersgarage.com/microcontroller/8051projects 4. http://www.mikroe.com 5. http://www.edsim51.com/book.html 6. www.vishaworld.com
Books: 1. Applied Electronics R. S. Seddha 2. Electronics Communication Kennedy 3. Basic Electronics Bhargava Gupta 4. Modern Digital Electronics R. P. jain 5. Digital Electronics Malvino Leech 6. Up Data Hand Book 7. TTL handbook 8. The 8051 Microcontroller - Kenneth J. Ayala 9. Programming and Customizing the 8051 Microcontroller / Edition 1 By MykePredko, M. Predko
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CHAPTER - 13 BILL OF MATERIAL
55
BILL OF MATERIAL
Sr.No IC1 IC2 IC3 IC4 IC5 IC6 TX1 TX2 Rx1 Rx2 T2 T4 T5 T1,T3 T6,T7 Led1-5 LED6,7 R1 R2-5,R9,R22 R6,R16,R17
Component Ht12E Cd4047 HT12D CD 4049 Cd4532 L293D Tx-433RF(ASK) LD271 Rx-433 RF(Ask) Tsop1738 2N2222 BC 557 2N2907 BC 548 BC 548 5m LED Blinking RED 1Mohm 10Kohm 4.7Kohm
Quantity 1 1 1 1 1 1 1 1 1 1 1 1 1 2 2 5 2 1 5 3
Rate 50 40 50 50 50 250 550 250 550 40 10 5 25 10 10 20 40 5 5 5
56
R7 R8 R10,R25-27 R11-R15,R21
2.2Kohm 22ohm 1Kohm 470ohm
1 1 3 3
1 1 5 5
R18 R19 R20 R23 R24 Vr1 C1,5,6 C2 C3 C4
47Kohm 3.9kohm 22kohm 330ohm 100ohm 10kpreset 10uF/16v 0.1uf disc 390pf 100uf/16v Total
1 1 1 1 1 1 3 1 1 1
1 1 1 1 1 10 30 5 2 10 Rs.2089/-
Table No.2 Bill of Material
57
CHAPETR-14 COLOUR PHOTOGRAPH OF PROJECT MODEL
58
Fig.No.11 Colour Photograph of Project Model
59
CHAPTER - 15 DATASHEET
60

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SEA ANTI-TERRORIST PATROLLING SYSTEM

SHIVAJIRAO S. JONDHLE POLYTECHNIC, ASANGAON

SEA ANTI-TERRORIST PATROLLING SYSTEM

SHIVAJIRAO S. JONDHLE POLYTECHNIC, ASANGAON

SEA ANTI-TERRORIST PATROLLING SYSTEM

Fig.No.1 Project Overview

SHIVAJIRAO S. JONDHLE POLYTECHNIC, ASANGAON

SEA ANTI-TERRORIST PATROLLING SYSTEM

SHIVAJIRAO S. JONDHLE POLYTECHNIC, ASANGAON

SEA ANTI-TERRORIST PATROLLING SYSTEM

SHIVAJIRAO S. JONDHLE POLYTECHNIC, ASANGAON

SEA ANTI-TERRORIST PATROLLING SYSTEM

CHAPTER - 2 LITERATURE SURVEY

SHIVAJIRAO S. JONDHLE POLYTECHNIC, ASANGAON

SEA ANTI-TERRORIST PATROLLING SYSTEM

SHIVAJIRAO S. JONDHLE POLYTECHNIC, ASANGAON

SEA ANTI-TERRORIST PATROLLING SYSTEM

SHIVAJIRAO S. JONDHLE POLYTECHNIC, ASANGAON

SEA ANTI-TERRORIST PATROLLING SYSTEM

SEA ANTI-TERRORIST PATROLLING SYSTEM

SHIVAJIRAO S. JONDHLE POLYTECHNIC, ASANGAON

SEA ANTI-TERRORIST PATROLLING SYSTEM

CHAPTER - 3 SYSTEM DEVELOPMENT

SHIVAJIRAO S. JONDHLE POLYTECHNIC, ASANGAON

SEA ANTI-TERRORIST PATROLLING SYSTEM

3.1 BLOCK DIAGRAM OF RF TRANSMITTER SECTION

Fig. No.2 Block Diagram of RF Transmitter Section

SHIVAJIRAO S. JONDHLE POLYTECHNIC, ASANGAON

SEA ANTI-TERRORIST PATROLLING SYSTEM

3.2 BLOCK DIAGRAM OF RF RECEIVING SECTION

Fig.No.3 Block Diagram of RF Receiving Section

SHIVAJIRAO S. JONDHLE POLYTECHNIC, ASANGAON

SEA ANTI-TERRORIST PATROLLING SYSTEM

3.3 CIRCUIT DIAGRAM OF RF TRANSMITTER

Fig.No.3.3Circuit Diagram of RF transmitter

Fig. No.4 Circuit Diagram of RF Transmitter

SHIVAJIRAO S. JONDHLE POLYTECHNIC, ASANGAON

SEA ANTI-TERRORIST PATROLLING SYSTEM

Fig.No.5 Pin Configuration of RF TX & RX Module

SHIVAJIRAO S. JONDHLE POLYTECHNIC, ASANGAON

SEA ANTI-TERRORIST PATROLLING SYSTEM

SHIVAJIRAO S. JONDHLE POLYTECHNIC, ASANGAON

SEA ANTI-TERRORIST PATROLLING SYSTEM

3.4 CIRCUIT DIAGRAM OF RF RECEIVER

Fig. No. 6 Circuit Diagram of RF Receiver

SHIVAJIRAO S. JONDHLE POLYTECHNIC, ASANGAON

SEA ANTI-TERRORIST PATROLLING SYSTEM

SHIVAJIRAO S. JONDHLE POLYTECHNIC, ASANGAON

SEA ANTI-TERRORIST PATROLLING SYSTEM

SHIVAJIRAO S. JONDHLE POLYTECHNIC, ASANGAON

SEA ANTI-TERRORIST PATROLLING SYSTEM

CONTROL LOGIC TERMINALS MOTION FORWARD LEFT RIGHT STOP A1 1 0 1 0 A2 0 0 0 0 B1 0 0 0 0 B2 1 1 0 0

Table No.1 Motor Control Logic

SHIVAJIRAO S. JONDHLE POLYTECHNIC, ASANGAON

SEA ANTI-TERRORIST PATROLLING SYSTEM

SHIVAJIRAO S. JONDHLE POLYTECHNIC, ASANGAON

SEA ANTI-TERRORIST PATROLLING SYSTEM

Fig. No.8 Circuit Diagram of Operation of Holtek

SHIVAJIRAO S. JONDHLE POLYTECHNIC, ASANGAON

SEA ANTI-TERRORIST PATROLLING SYSTEM

SHIVAJIRAO S. JONDHLE POLYTECHNIC, ASANGAON

SEA ANTI-TERRORIST PATROLLING SYSTEM

SHIVAJIRAO S. JONDHLE POLYTECHNIC, ASANGAON

SEA ANTI-TERRORIST PATROLLING SYSTEM