Smart Tanker Robot For Security Operations in The Protected Area With Wireless Secured Communication

SMART TANKER ROBOT FOR SEC URITY OPERATIONS IN THE
PROTEC TED AREA WITH WIRELESS SECURED COMMUNICATION
CHAP TER 1
INTRODUCTION
1.1 OVERVIEW
Robotics is the branch of technology that deals with the design, construction, operation,
and application of robots, as well as computer systems for their control, sensory feedback, and
information processing. These technologies deal with automated machines that can take the place
of humans in dangerous environments or manufacturing processes, or resemble humans in
appearance, behaviour, and/or cognition. Many of today's robots are inspired by nature
contributing to the field of bio- inspired robotics.
The concept of creating machines that can operate autonomously dates back to classical
times, but research into the functionality and potential uses of robots did not grow substantially
until the 20th century. Throughout history, robotics has been often seen to mimic human
behaviour, and often manage tasks in a similar fashion. Today, robotics is a rapidly growing
field, as technological advances continue; research, design, and building new robots serve
various practical purposes, whether domestically, commercially, or militarily. Many robots do
jobs that are hazardous to people such as defusing bombs, mines and exploring shipwrecks.
1.2 BRIEF HISTORY OF ROBOTS

In 1927 the Maschinenmensch ("machine-human") gynoidhumanoid robot (also called
"Parody", "Futura", "Robotrix", or the "Maria impersonator") was the first depiction of a robot
ever to appear on film was played by German actress Brigitte Helm in Fritz Lang's film
Metropolis. In 1942 the science fiction writer Isaac Asimov formulated his Robotics. In 1948
Norbert Wiener formulated the principles of cybernetics, the basis of practical robotics.
Fullyautonomous robots only appeared in the second half of the 20th century. The first digitally
operated and programmable robot, the Unimate, was installed in 1961 to lift hot pieces of metal
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JAWAHARLA L COLLEGE OF ENGINEERING A ND TECHNOLOGY

from a die casting machine and stack them. Commercial and industrial robots are widespread
today and used to perform jobs more cheaply, or more accurately and reliably, than humans.
They are also employed in jobs which are too dirty, dangerous, or dull to be suitable for
humans. Robots are widely used in manufacturing, assembly, packing and packaging, transport,
earth and space exploration, surgery, weaponry, laboratory research, safety, and the mass
production of consumer and industrial goods.
1.3 BASIC BUILDING BLOCKS OF A ROBOT
1.3.1 POWER SOURCE
At present mostly (lead-acid) batteries are used as a power source. Many different types
of batteries can be used as a power source for robots. They range from lead acid batteries which
are safe and have relatively long shelf lives but are rather heavy to silver cadmium batteries that
are much smaller in volume and are currently much more expensive. Designing a battery
powered robot needs to take into account factors such as safety, cycle lifetime and weight.
Generators, often some type of internal combustion engine, can also be used. However, such
designs are often mechanically complex and need fuel, require heat dissipation and are relatively
heavy. A tether connecting the robot to a power supply would remove the power supply from the
robot entirely. This has the advantage of saving weight and space by moving all power
generation and storage components elsewhere. However, this design does come with the
drawback of constantly having a cable connected to the robot, which can be difficult to manage.
Potential power sources could be pneumatic (compressed gases), hydraulics (liquids), flywheel
energy storage, organic garbage (through anaerobic digestion).
1.3.2 ACTUATORS
Actuators are like the "muscles" of a robot, the parts which convert stored energy into
movement. By far the most popular actuators are electric motors that spin a wheel or gear, and
linear actuators that control industrial robots in factories. But there are some recent advances in
alternative types of actuators, powered by electricity, chemicals, or compressed air. The majority
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of robots use electric motors, often brushed and brushless DC motors in portable robots, or AC
motors in industrial robots and CNC machines. These motors are often preferred in systems with
lighter loads, and where the predominant form of motion is rotational. Various types of linear
actuators move in and out instead of rotating, and often have quicker direction changes,
particularly when very large forces are needed such as with industrial robotics. They are
typically powered by compressed air (pneumatic actuator) or oil (hydraulic actuator).
1.3.3 SENSORS
Sensors allow robots to receive information about a certain measurement of the

environment, or internal components. This is essential for robots to per form their tasks, and act
upon any changes in the environment to calculate the appropriate response. They are used for
various forms of measurements, to give the robots warnings about safety or malfunctions, and to
provide real time information of the task it is performing. Current robotic and prosthetic hands
receive far less tactile information than the human hand. Recent research has developed a tactile
sensor array that mimics the mechanical properties and touch receptors of human fingertips. The
sensor array is constructed as a rigid core surrounded by conductive fluid contained by an
elastomeric skin. Electrodes are mounted on the surface of the rigid core and are connected to an
impedance- measuring device within the core. When the artificial skin touches an object the fluid
path around the electrodes is deformed, producing impedance changes that map the forces
received from the object. The researchers expect that an important function of such artificial
fingertips will be adjusting robotic grip on held objects. Computer is the science and technology
of machines that see. As a scientific discipline, computer vision is concerned with the theory
behind artificial systems that extract information from images. The image data can take many
forms, such as video sequences and views from cameras.
1.3.4 MANIPULATOR
Robots need to manipulate objects; pick up, modify, destroy, or otherwise have an effect.
Thus the "hands" of a robot are often referred to as end effectors, while the "arm" is referred to
as a manipulator. Most robot arms have replaceable effectors, each allowing them to perform
some small range of tasks. Some have a fixed manipulator which cannot be replaced, while a few
have one very general purpose manipulator, for example a humanoid hand.
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CHAP TER 2
PROJECT DEFINITION
Aim of the project is to design embedded system to create a wireless spy robot for secret
monitoring purpose, which can be used for safety and security purpose where the security
threads are high and to find the human body inside the building blocks that are destroyed by
earthquake or building crashes and focuses. An embedded system is a combination of computer
circuitry and software that is built into a product for purposes such as control, monitoring and
communication without human intervention. Embedded systems are at the core of every modern
electronic product, ranging from toys to medical equipment to aircraft control systems.
Embedded systems span all aspects of modern life and there are many examples of their use. The
uses of embedded systems are virtually limitless, because every day new products are introduced
to the market that utilizes embedded system in novel ways. An embedded system contains at
least one microprocessor which performs the logic operations for the system. Many embedded
systems use one or more microcontrollers, which are a type of microprocessor that emphasizes
self-sufficiency and cost-effectiveness, instead of a general purpose microprocessor. A typical
microcontroller contains sufficient memory and interfaces for simple applications, whereas
general-purpose microprocessors require additional chips to provide these functions, including at
least one ROM (read-only memory) chip to store the software. Project uses Microchips
microcontroller IC named Peripheral Interface Controller (PIC) and Microchips Integrated
Development Environment, MPLAB, to simulate and assemble the written code.
In this project the robot consist of wireless camera, PIR sensor and motor drivers. The
robot is an all-terrain vehicle, it can move anywhere like a spy. It is a belted vehicle as military
tanker. The wireless camera captures all traveled areas of the robot. The PIR sensor detects the
human intrusion in protected areas or person trapped inside building blocks destroyed by earth
quake. These values are fed to the microcontroller and transmitted to PC through Bluetooth. At
that time RF transmitter also transmit the signals to the PC via RF receiver and tuner card.
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CHAP TER 3
LITERATURE SURVEY
3.1 INTRUDER TRACKING USING WIRELESS SENSOR NETWORK

Nowadays, almost all the countries are facing threats from terrorists and intruders from
their border areas, challenging the internal security of the country in those areas. So many
civilian and military applications require locating an intruder in a secured area. Target tracking,
data processing and analysis play a major role in this type of applications. The proposed system
is to develop a centralized computer application that needs to identify moving objects in a
specific area using sensors. The system will be basically designed to detect human intruders. The
objective is to design and implement an object tracking system using a wireless sensor network.
The human intruder is detected using a passive infrared (PIR) sensor. The PIR sensor is able to
detect the humans and provide information about the direction of the movement.
Published in: Computational 28-29 Dec. 2010
3.2 URBAN SEARCH AND RESCUE (USAR) ROBOTS

There are many different kind of catastrophe in natural and manmade disaster:
earthquake, flooding, hurricane and they cause different disaster area like collapsed building,
landslide or crater. During these emergency situations, and especially in urban d isaster, many
different people are deployed (policeman, fire fighters and medical assistance). They need to
cooperate to save lives, protect structural infrastructure, and evacuate victims to safety. In these
situations, human rescuers must make quick decisions under stress, and try to get victims to
safety often at their own risk. They must gather determine the location and status of victims and
the stability of the structures as quickly as possible so that medics and fire fighters can enter the
disaster area and save victims. All of these tasks are performed mostly by human and trained
dogs, often in very dangerous and risky situations. This is why since some years; mobile robots
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have been proposed to help them and to perform tasks that neither humans dogs nor existing
tools can do. For this project, we will focus only on robots which will work in a disaster
environment of manmade structure, like collapsed buildings. They are called Urban Search and
Rescue (USAR) robots.
Published in: IEEE transactions-2012
3.3 AVATAR III SECURITY ROBOT
Avatar III Security Robots can significantly augment your existing security capabilities.
Robots stationed around an area can be activated at a moments notice to inspect a situation of
interest significantly reducing incident response times in the process. It can be used hundreds
of miles away from a central Security Operations Centre they run through your existing Wi-Fi
network and recharge at remote docking stations that plug into existing power outlets. Control
software installs on a PC or Mac and uses a handheld controller to provide on-site, ad-hoc robot
control over existing Wi-Fi networks. Just unpack the robot and start patrolling through your
existing security infrastructure. Wireless, real-time video and two-way audio feeds allow the
robot to act as a mobile camera platform, public announcement system, and remote
communication tool. Groups of Avatar III Security Robots can provide coverage for cents-onthe-dollar when compared to traditional security deployments.
Each Avatar III Security Robot comes with 100% flipper-to-flipper hardware coverage
and free technical support. We also make customization and integration simple. We work with a
network of integrators to make sure each Avatar III Security Robot deployment meets your
unique security needs and works with your existing infrastructure. Stair climbing ability, built- in
IR night vision, and dock-connector charging work to ensure full range of movement for robot
security patrols. The robots rugged track system also works almost anywhere carpets, wet
floors, rugged outdoor terrain, and slick concrete.
Published in: Elsevier-2011
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CHAP TER 4
SYSTEM DESCRIP TION
4.1 BLOCK DIAGRAM

The block diagram consists of the robot and receiver section. They can be represented as
the following block diagrams.
Fig 4.1 Block Diagram of Robot
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Fig. 4.2 Block Diagram of Receiver Section
4.2 HARDWARE DETAILS
The details of hardware components used in the system are given below.
4.2.1 16F877A PIC

PIC is a family of modified Harvard architecture microcontrollers made by Microchip
Technology, derived from the PIC1650 originally developed by General Instrument's
Microelectronics Division. The name PIC initially referred to "Peripheral Interface Controller".
PICs are popular with both industrial developers and hobbyists alike due to their low
cost, wide availability, large user base, extensive collection of application notes, availability of
low cost or free development tools, and serial programming (and re-programming with flash
memory) capability. They are also commonly used in educational programming as they often
come with the easy to use 'PIC logicator' software. System consists of a PIC microcontroller unit
of pic-16F family. The PIC processor used in this category is 877A.
The PIC16F877A features 256 bytes of EEPROM data memory, self programming, an
ICD,
2Comparators,
channels
of
10-bit
Analog-to-Digital
(A/D)
converter,
capture/compare/PWM functions, the synchronous serial port can be configured as either 3- wire
Serial Peripheral Interface (SPI) or the 2-wire Inter-Integrated Circuit (IC) bus and a Universal
Asynchronous Receiver Transmitter (USART).
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High-Performance RISC CPU:

Only 35 single-word instructions to learn
All single-cycle instructions except for program branches, which are two-cycle
Operating speed: DC 20 MHz clock input, DC 200 ns instruction cycle
Up to 8K x 14 words of Flash Program Memory,
Up to 368 x 8 bytes of Data Memory (RAM),
Up to 256 x 8 bytes of EEPROM Data Memory
Pinout compatible to other 28-pin or 40/44-pin
PIC16CXXX and PIC16FXXX microcontrollers
Peripheral Features:
Timer0: 8-bit timer/counter with 8-bit prescaler
Timer1: 16-bit timer/counter with prescaler, can be incremented during Sleep via external
crystal/clock
Timer2: 8-bit timer/counter with 8-bit period register, prescaler and postscaler
Two Capture, Compare, PWM modules
- Capture is 16-bit, max. resolution is 12.5 ns
- Compare is 16-bit, max. resolution is 200 ns
- PWM max. resolution is 10-bit
Synchronous Serial Port (SSP) with SPI (Master mode) and I2C (Master/Slave)
Universal Synchronous Asynchronous Receiver Transmitter (USART/SCI) with 9-bit address
detection
Parallel Slave Port (PSP) 8 bits wide with external RD, WR and CS controls (40/44-pin only)
Brown-out detection circuitry for Brown-out Reset (BOR)
Analog Features:
10-bit, up to 8-channel Analog-to-Digital Converter (A/D)
Brown-out Reset (BOR)
Analog Comparator module with:
- Two analog comparators
- Programmable on-chip voltage reference (VREF) module
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- Programmable input multiplexing from device inputs and internal voltage reference
- Comparator outputs are externally accessible
4.2.1.1 PINOUT DIAGRAM
Fig 4.3.Pin out diagram of PIC16F877A
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Table 4.1: PIC16F877A device features
4.2.1.2 INPUT/OUTPUT PORTS
One of the most important features of the microcontroller is a number of input/output

pins used for connection with peripherals. In this case, there are in total of thirty-five general
purpose I/O pins available, which is quite enough for the most applications. In order pins
operation can match internal 8-bit organization, all of them are, similar to registers, grouped into
five so called ports denoted by A, B, C, D and E. They all have several features in common:
For practical reasons, many I/O pins have two or three functions. If a pin is used as any
other function, it may not be used as a general purpose input/output pin and every port has its
satellite, i.e. the corresponding TRIS register: TRISA, TRISB, TRISC etc. which determines
performance, but not the contents of the port bits.
By clearing some bit of the TRIS register (bit=0), the corresponding port pin is
configured as output. Similarly, by setting some bit of the TRIS register (bit=1), the
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corresponding port pin is configured as input. This rule is easy to remember 0 = Output, 1 =
Input.
Port A and TRISA Register
Port A is an 8-bit wide, bidirectional port. Bits of the TRISA and ANSEL control the
PORTA pins. All Port A pins act as digital inputs/outputs. Five of them can also be analog inputs
(denoted as AN):
Port A and TRISA Register
Fig 4.4. Port A
Similar to bits of the TRISA register which determine which of the pins will be
configured as input and which as output, the appropriate bits of the ANSEL register determine
whether the pins will act as analog inputs or digital inputs/outputs.
RA0 = AN0 (determined by bit ANS0 of the ANSEL register);

RA3 = AN3 (determined by bit ANS3 of the ANSEL register); and
RA5 = AN4 (determined by bit ANS4 of the ANSEL register).
Each bit of this port has an additional function related to some of built- in peripheral units.
These additional functions will be described in later chapters. This chapter covers only the RA0
pins additional function since it is related to Port A only.
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Port B and TRISB Register
Port B is an 8-bit wide, bidirectional port. Bits of the TRISB register determine the
function of its pins.
Fig 4.5. Port B
Similar to Port A, a logic one (1) in the TRISB register configures the appropriate port
pin as input and vice versa. Six pins on this port can act as analog inputs (AN). The bits of the
ANSELH register determine whether these pins act as analog inputs or digital inputs/outputs:
RB0 = AN12 (determined by bit ANS12 of the ANSELH register);

RB4 = AN11 (determined by bit ANS11 of the ANSELH register); and
RB5 = AN13 (determined by bit ANS13 of the ANSELH register).
Each Port B pin has an additional function related to some of the built- in peripheral units,
which will be explained in later chapters. All the port pins have built in pull- up resistor, which
make them ideal for connection to push-buttons, switches and couplers. In order to connect these
resistors to the microcontroller ports, the appropriate bit of the WPUB register should be set.
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Port C and TRISC Register
Port C is an 8-bit wide, bidirectional port. Bits of the TRISC Register determine the
function of its pins. Similar to other ports, a logic one (1) in the TRISC Register configures the
appropriate port pin as an input.
Fig 4.6. Port C
Port D and TRISD Register
Port D is an 8-bit wide, bidirectional port. Bits of the TRISD register determine the
function of its pins. A logic one (1) in the TRISD register configures the appropriate port pin as
input.
Fig 4.7. Port D
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Port E and TRISE Register

Port E is a 4-bit wide, bidirectional port. The TRISE registers bits determine the function
of its pins. Similar to other ports, a logic one (1) in the TRISE register configures the appropriate
port pin as input. The exception is RE3 which is input only and its TRIS bit is always read as 1.
Similar to Ports A and B, three pins can be configured as analog inputs in this case. The
ANSELH register bits determine whether a pin will act as analog input (AN) or digital
input/output:
RE0 = AN5 (determined by bit ANS5 of the ANSELregister);

RE1 = AN6 (determined by bit ANS6 of the ANSELregister); and
RE2 = AN7 (determined by bit ANS7 of the ANSELregister).
Fig 4.8. Port E
4.2.2 MOTOR CONTROL CIRCUITRY
Fig 4.9. L293D
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The L293 and L293D are quadruple high-current half-H drivers. The L293 is designed to
provide bidirectional drive currents of up to 1 A at voltages from 4.5 V to 36 V. The L293D is
designed to provide bidirectional drive currents of up to600- mA at voltages from 4.5 V to 36 V.
Both devices are designed to drive inductive loads such as relays, solenoids, dc and bipolar
stepping motors, as well as other high-current/high- voltage loads in positive-supply applications.
All inputs are TTL compatible. Each output is complete totem-pole drive circuit, with a
Darlington transistor sink and a pseudo-Darlington source.
Drivers are enabled in pairs, with drivers 1 and 2 enabled by 1,2EN and drivers 3 and
4enabled by 3,4EN. When an enable input is high, the associated drivers are enabled, and their
outputs are active and in phase with their inputs. When the enable input is low, those drivers are
disabled, and their outputs are off and in the high- impedance state. With the proper data inputs,
each pair of drivers forms a full- H (or bridge) reversible drive suitable for solenoid or motor
applications
_ Wide Supply-Voltage Range: 4.5 V to 36 V
_ Separate Input-Logic Supply
_ Internal ESD Protection
_ Thermal Shutdown
_ High-Noise-Immunity Inputs
_ Functionally Similar to SGS L293 and SGS L293D
_ Output Current 1 A Per Channel (600 mA for L293D)
_ Peak Output Current 2 A Per Channel (1.2 A for L293D)
_ Output Clamp Diodes for Inductive Transient Suppression (L293D)
Fig 4.10.Enable diagram
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Fig 4.11. logic diagram of L293D
4.2.3 DC GEARED MOTOR

Geared DC motors can be defined as an extension of DC motor which already had its
Insight details demystified here. A geared DC Motor has a gear assembly attached to the motor.
The speed of motor is counted in terms of rotations of the shaft per minute and is termed as RPM
.The gear assembly helps in increasing the torque and reducing the speed. Using the correct
combination of gears in a gear motor, its speed can be reduced to any desirab le figure. This
concept where gears reduce the speed of the vehicle but increase its torque is known as gear
reduction. This Insight will explore all the minor and major details that make the gear head and
hence the working of geared DC motor.
Fig 4.12 DC Geared Motor
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WORKING
The working of the gears is very interesting to know. It can be explained by the principle
of conservation of angular momentum. The gear having smaller radius will cover more RPM
than the one with larger radius. However, the larger gear will give more torque to the smaller
gear than vice versa. The comparison of angular velocity between input gear (the one that
transfers energy) to output gear gives the gear ratio. When multiple gears are connected together,
conservation of energy is also followed. The direction in which the other gear rotates is always
the opposite of the gear adjacent to it.
In any DC motor, RPM and torque are inversely proportional. Hence the gear having
more torque will provide a lesser RPM and converse. In a geared DC motor, the concept of pulse
width modulation is applied.In a geared DC motor, the gear connecting the motor and the gear
head is quite small, hence it transfers more speed to the larger teeth part of the gear head and
makes it rotate. The larger part of the gear further turns the smaller duplex part. The small duplex
part receives the torque but not the speed from its predecessor which it transfers to larger part of
other gear and so on. The third gears duplex part has more teeth than others and hence it
transfers more torque to the gear that is connected to the shaft.
The DC motor works over a fair range of voltage. The higher the input voltage more is
the RPM (rotations per minute) of the motor. For example, if the motor works in the range of 612V, it will have the least RPM at 6V and maximum at 12 V.
In terms of voltage, we can put the equation as:
RPM= K1 * V, where,
K1= induced voltage constant
V=voltage applied
Fig 4.13 Gear Structure
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INTERNAL STRUCTURE
On opening the outer plastic casing of the gear head, gear assemblies on the top as well
as on bottom part of the gear head are visible. These gear assemblies are highly lubricated with
grease so as to avoid any sort of wear and tear due to frictional forces.
Shown below is the top part of the gear head. It is connected to rotating shaft and has one
gear that allows the rotation. A strong circular imprint shows the presence of the gear that rotates
the gear at the upper portion.
Fig 4.14 Internal Structure
4.2.4 PIR SENSORS
Fig 4.15 Pin Diagram of PIR sensor
PIR sensors are motion detectors, which can be installed outside your home to detect
human intrusion. This sensor detects changes in infrared heat, caused by human movement and
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immune to pets Passive infrared (PIR) sensors react to the infrared heat energy emitted by
people. PIR sensors are passive devices in that they only detect radiation; they do not emit. They
are designed to be maximally sensitive to objects that emit heat energy at a wavelength of around
10microns (the peak wavelength of the heat energy emitted by humans.
4.2.5 BLUETOOTH
This module enables you to wireless transmit & receive serial data. It is a drop in
replacement for wired serial connections allowing transparent two way data communication. Its
key features are
5V power operation
UART interface
10 meters range
Easy to use
Minimum External Components
Status LED
Fig 4.16 Bluetooth Module
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4.2.6 WIRELESS CAMERA

The wireless camera kit includes 1 mini camera and 1 receiver, which provides a
complete wireless security system, perfect for monitoring around your home or small businesses
with great convenience. Powered by the included adapter and an extra battery clip.It is a
Wireless Colour Camera Set with Audio and Video set. The physical size of camera is really
small and it is easy to hide in different locations and hard to be discovery. This system can be
applied to various areas, such as Surveillance for Shops, Factories, Warehouses, HOME Monitoring Children, Elders, and Visitors etc. The setup procedure is simple, just using a AV
cable linking with above mentioned devices.
Specifications:
Imaging pickup: 1/3, 1/4
TV system: NTSC/ELA
Definition: 380TV Lines
Scan frequency: NTSC/ELA 60Hz
Min. Illumination: 2Lux
Output power: 200mW
Output frequency: 900MHz/ 1200MHz/ 2400MHz
Camera power: DC +8V 200mAh
Receiver power: DC +12V 500mAh
Fig 4.17 Wireless Camera set
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4.2.7 TUNER CARD

A TV tuner card is a kind of television tuner that allows television signals to be received by a
computer. Most TV tuners also function as video capture cards, allowing them to record
television programs onto a hard disk much like the digital video recorder (DVR) does. The
interfaces for TV tuner cards are most commonly either PCI bus expansion card or the newer
PCI Express (PCIe) bus for many modern cards, but PCMCIA, Express Card, or USB devices
also exist. In addition, some video cards double as TV tuners, notably the ATI All-In-Wonder
series. The card contains a tuner and an analog-to-digital converter (collectively known as the
analog front end) along with demodulation and interface logic.
Fig 4.18 Tuner Card
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CHAP TER 5
HARDWARE IMPLEMENTTION
5.1 DESIGN OF THE SYSTEM

REGULATOR
Fig 5.1 LM7805 Voltage Regulator
Transformer used here is a step down transformer. This Voltage is given to LM7805
voltage regulator IC. The input voltage to the LM7805 IC should be at least 2V greater than the
required output voltage.
The Output Voltage

VO= 4.75V to 5.25V
The Output Current
Io = 5mA to 1.5A
For Load Regulation
Load Re g
vO / VO
iO / I O
= ((4.75-5.25)/5.75)/ ((5 X 10-3 -1.5)/5 X 10-3 )

= 3.522 X 10-4 V
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Line regulation (source regulation SR) is the change in the line voltage. It depends on the
line voltage (230V10V)
Line Regulation=vo/V0
v1/V1
= ((4.75-5.75)/5.75)/ ((8-12/12))
=0.286V
Ripple factor of the power supply () =0.48
= 1/4*3fRC
Take R=330
C=1.8*10-5
=0.1F
MICROCONTROLLER
Fig 5.2 Design of PIC16F877A
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PIC microcontroller has 2 VDD pins (11 & 32) for 3.3v supply and 2 VSS pins (12 &
31) for ground. First pin of PIC IC is
pin , when this pin is grounded or active low PIC
get reset. So for making IC in working mode,

switch sw1 is given to ground
pin is pulled up through resister R2. A
pin and to reset the program.
The value of resistor R2,

R2=
V=5V
I=0.5mA
R2=5V / .5mA
=10K
For working in 1 micro second clock, a 4MHz crystal oscillator is used. The capacitors
C4 & C5 connected to the crystal oscillator. These are the stabilizing capacitors which stabilizes
oscillations from the crystal, without these capacitors the oscillations produced by the crystal
oscillator will die out and the crystal oscillator will not be able to produce the clock frequency of
4MHz
The value of capacitors,

C4 & C5=
0.7
5
f= 4MHZ
I= 0.5mA
C4 & C5 = (0.7*0.5mA) / (5*4MHz)

=17.5*10-11 F
=22 PF std.
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5.2 CIRCUIT DESCRIPTION
Fig. 5.3 Circuit Diagram
The above figure shows the circuit diagram of the proposed system. It consists of a PIC
16F877a microcontroller, two PIR sensors, two motor driver ICs, a Bluetooth module & a7805
voltage regulator. A constant voltage of 5V is applied to the 11 th & 32nd pin of microcontroller,
4th pin of Bluetooth module, 3rd pin of PIR sensors & various pins of the motor driver ICs
through voltage regulator LM7805. The output of the PIR sensor is obtained from pin 2. The
output of the 1st PIR sensor is connected to the RB0 (pin 33) of the microcontroller. RB0 acts as
the external interrupt. The output from the 2 nd sensor is given to the RB1 (Pin 34) of
microcontroller. The operating frequency of the microcontroller is determined by the 13 th & 14th
pin. The operating frequency of the proposed system is 4Mhz. for the efficient working of the
motors; it should get a voltage of 12V & 1A current. The motor driver L293D increases the
voltage from 5V to 12V & current to 1A. The data from the microcontroller is sent to the
receiver through the Bluetooth module. The 2nd & 3rd pin of the module is connected to
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microcontroller for this purpose. The motor driver L293D have 4 output pins. So two motors can
be connected using a motor driver IC. The direction of motors is determined by the o utput pins.
5.3 PCB LAYOUT
Fig 5.4 Top Layout
Fig 5.5 Bottom Layout
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5.4 WORKING PRINCIPLE

All objects with a temperature above absolute zero emit heat energy in the form of
radiation. Usually this radiation is invisible to the human eye because it radiates at infrared
wavelengths, but it can be detected by electronic devices designed for such a purpose. Here a
PIR-based motion detector is used to sense movement of people, animals, or other objects. They
are commonly used in burglar alarms and automatically-activated lighting systems. They are
commonly called simply "PIR", or sometimes "PID", for "passive infrared detector". What is
actually detected is the broken field for a normal temperature. The sensor detects the change in
the infrared radiation and triggers an alarm if the gradient of the change is higher than a
predefined value. Thus the field does not have to be broken by an object with a different
temperature in order to register change, as sensors will activate from the configuration change of
the environment. The PIR sensor senses temperature ranging from 35-40 degrees Celsius. Thus
any presence of intruders may be human or animal are detected.
The sensed signal is then passed to the microprocessor as an external interrupt. A 5v

power supply is provided for the operation of the microprocessor. The microcontroller is used to
control the motion of the tanker robot. A motor driver acts as a voltage and current amplifier.
12v power supply is required for the mechanical operation of the wheels. Whenever an interrupt
is sensed, the signal is transmitted to PC using Bluetooth.
A wireless camera with a video receiver is connected to the robot which is independent to
theworking of microprocessor. The video signals are also transmitted to PC using RF.
The receiver section consists of two transceiver antennas and a PC. One antenna is used
to receive Bluetooth signals from the microcontroller. The motion of robot can be also controlled
through this section. The other antenna receives RF signals from the video camera and is given
to the PC through tuner card.
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CHAP TER 6
SOFTWARE IMPLEMENTATION
The software system mainly includes the implementation of Smart Tanker Robot. Here
the program is used to control the movement of the robot as well as to detect human presence.
This is done using PIC 16F877A. The interfacing of the entire system is done as per the port
available with the PIC 16F877A. The program for the PIC microcontroller is done using MP lab
software and simulation of the program is done on Proteus Software.
The main steps of the program from which the system works is explained here.
6.1 ALGORITHM
Step 1: Start
Step 2: Turn on the system, initialize the PIR sensors, motor driver and Bluetooth module and
wireless camera
Step 3: Sense the command given by the user and move according to it.
Step 4: If PIR sensor detects human presence, stop the robot
Step 5: Turn the camera to the desired direction where the PIR sensor detected Human presence
Step 6: Send a message to the user saying that Human presence is detected
Step 5: Check of command from user, if a command is not received continue with Step 5
Step 6: If a command is received, turn camera to forward direction and more according to the
given command
Step 6: Stop.
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6.2 FLOW CHART

6.2.1 Movement
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6.2.2 Human Detection
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6.3 SOFTWARE TOOLS

6.3.1 PROTEUS
Proteus is software for microcontroller simulation, schematic capture, and printed circuit
board (PCB) design .Proteus Professional - software for automated design of electronic circuits.
The package is a system of circuit simulation, based on the models o f electronic components in
Spice. A distinctive feature of the package Proteus Professional is the possibility of modelling of
the programmable devices: microcontrollers, microprocessors, DSP and others.
Additionally, the package of Proteus Professional is a system design of printed circuit

boards. Proteus Professional can simulate the following microcontrollers: 8051, ARM7, AVR,
Motorola, PIC, Basic Stamp. The library contains the components of reference data Cosimulation of microprocessor software within a mixed mode SPICE simulator .Proteus 7.1 issued
to design good microcontroller circuit. Proteus 7.1 SP2 is also good to learn basic electronics
such as electronics to the application microcontroller.
Fig 6.1 Main window of Proteus 7.1
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6.3.2 MP LAB IDE

MPLAB IDE is a software program that runs on a PC to develop applications for
Microchip microcontrollers. It is called an Integrated Development Environment, or IDE,
because it provides a single integrated environment to develop code for embedded
microcontrollers.
IMPLEMENTING AN EMBEDDED SYSTEM DESIGN WITH MPLAB IDE
A development system for embedded controllers is a system of programs running on

desktop PC to help write, edit, debug and program code. The intelligence of embedded systems
applications. Into a microcontroller. MPLAB IDE runs on a PC and contains all the components
needed to design and deploy embedded systems applications. The typical tasks for developing an
embedded controller application are:
1. Create the high level design. From the features and performance desired, decide which PIC
micro MCU or dsPIC DSC device is best suited to the application, and then design the associated
hardware circuitry. After determining which peripherals and pins control the hardware, write the
firmware. The software that will control the hardware aspects of the embedded application.
A language tool such as an assembler, which is directly translatable into machine code, or
a compiler that allows a more natural language for creating programs, should be used to write
and edit code. Assemblers and compilers help make the code understandable, allowing function
labels to identify code routines with variables that have names associated with their use, and with
constructs that help organize the code in maintainable structure.
2. Compile, assemble and link the software using the assembler and/or compiler and linker to
convert your code into ones and zeroes machine code for the PIC micro MCUs. This machine
code will eventually become the firmware (the code programmed into the microcontroller).
3. Test your code. Usually a complex program does not work exactly the way imagined, and
.bugs. Need to be removed from the design to get proper results. The debugger allows you to see
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the .ones and zeroes. Execute, related to the source code you wrote, with the symbols and
function names from your program. Debugging allows you to experiment with your code to see
the value of variables at various points in the program, and to do .what if. Checks, changing
variable values and stepping through routines.
4. .Burn the code into a microcontroller and verify that it executes correctly in the finished
application
COMPONENTS OF MPLAB IDE
The MPLAB IDE has both built- in components and plug- in modules to configure the
System for a variety of software and hardware tools.
MPLAB IDE BUILT-IN COMPONENTS
The built- in components consist of
PROJECT MANAGER
The project manager provides integration and communication between the IDE and the
language tools.
EDITOR
The editor is a full- featured programmers text editor that also serves as a window into
the debugger.
ASSEMBLER/LINKER AND LANGUAGE TOOLS
The assembler can be used stand-alone to assemble a single file, or can be used with the
linker to build a project from separate source files, libraries and recompiled objects. The linker is
responsible for positioning the compiled code into memory areas of the target microcontroller.
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DEBUGGER
The Microchip debugger allows breakpoints, single stepping, watch windows and all t he features
of a modern debugger for the MPLAB IDE. It works in conjunction with the editor to reference
information from the target being debugged back to the source code.
EXECUTION ENGINES
There are software simulators in MPLAB IDE for all PIC micro MCU and dsPIC DSC
devices. These simulators use the PC to simulate the instructions and some peripheral functions
of the PIC micro MCU and ds PIC DSC devices. Optional in-circuit emulator sand in-circuit
debuggers are also available to test code as it runs in the applications hardware.
ADDITIONAL OPTIONAL COMPONENTS FOR MPLAB IDE
Optional components can be purchased and added to the MPLAB IDE:
COMPILER LANGUAGE TOOLS
MPLAB C18 and MPLAB C30 C compilers from Microchip provide fully integrated,
optimized code. Along with compilers from HI- TECH, IAR, micro Engineering Labs, CCS and
Byte Craft, they are invoked by the MPLAB IDE project manager to compile code that is
automatically loaded into the target debugger for instant testing and verification.
PROGRAMMERS
PICSTART Plus, Pick kit 1 and 2, PRO MATE II, MPLAB PM3 as well as MPLAB ICD
2 can program code into target devices. MPLAB IDE offers full control over programming both
code and data, as well as the Configuration bits to set the various operating modes of the target
microcontrollers or digital signal controllers.
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IN-CIRCUIT EMULATORS
MPLAB ICE 2000 and MPLAB ICE 4000 are full- featured emulators for the PIC micro
MCU and dsPIC DSC devices. They connect to the PC via I/O ports and allow full control over
the operation of microcontroller in the target applications.
IN-CIRCUIT DEBUGGER
MPLAB ICD 2 provides an economic alternative to an emulator. By using some of the

on-chip resources, MPLAB ICD 2 can download code into a target microcontroller inserted in
the application, set breakpoints, single step and monitor registers and variables.
The main steps in creating a project in MP lab includes
Running MPLAB IDE
To start MPLAB IDE, double click on the icon installed on the desktop after installation
or select Start>Programs>Microchip>MPLAB IDE vx.xx>MPLAB IDE. A screen will display
the MPLAB IDE logo followed by the MPLAB IDE desktop
Fig 6.2 Main window of MP lab
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SELECTING THE DEVICE
To show menu selections in this document, the menu item from the top row in MPLAB
IDE will be shown after the menu name like this Menu Name>Menu Item. To choose the Select
Device entry in the Configure menu, it would be written as Configure>Select Device. Choose
Configure>Select Device. In the Device dialog, select the PIC18F877Afrom the list if its not
already selected
Fig 6.3 Indication of supporting components
The lights indicate which MPLAB IDE components support this device. A green light
indicates full support. A yellow light indicates preliminary support for an upcoming part by the
particular MPLAB IDE tool component. Components with a yellow light instead of a green light
are often intended for early adopters of new parts who need quick support and understand that
some operations or functions may not be available.. A red light indicates no support for this
device. Support may be forthcoming or inappropriate for the tool, e.g., ds PIC DSC devices
cannot be supported on MPLAB ICE 2000.
6.3.3 ORCAD
Orcad is a suite of tools from Cadence for the design and layout of printed circuit boards
(PCBs). We are currently using version 9.2 of the Orcad suite. This document will give you a
crash course in designing an entire circuit board from start to finish. This will be a very small
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and simple circuit, but it will demonstrate the major concepts and introduce the tools behind
completing a PCB design. After you have completed this tutorial, you will know all the steps
needed to make PCBs using Orcad.
STEPS
1. STARTING A NEW SCHEMATIC PROJECT
Fig 6.4 window of new project in Orcad

To create a new project, first start orcad capture c is then click file newproject. you
will see the following dialog box. browse to the power supply\schematic directory that you
created and name the project psu (short for power supply unit). the project name is more
important than the name of your project folder. it is used as the name of all the files in your
project. so give the project a meaningful and short name. select the pc board wizard radio button
and click ok. in the next dialog box uncheck enable project simulation. click next and then
remove all libraries from rhs then click Finish. You should see an empty schematic page and a
project window like the following.
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Fig 6.5 Window of Orcad capture
ABOUT LIBRARIES AND PARTS
Orcad allows you to have libraries of part symbols for use in schematic entry. These
libraries are kept in separate files that are included in the project workspace. This allows you to
reuse libraries in other designs. Enormous parts are already in existing Orcad libraries. You can
use these parts directly from these libraries. Open your schematic page from the Project window
if it is not open. Your schematic is located in psu.dsnSCHEMATIC1PAGE1 in the project
window. Now click on the Place Part tool from the right toolbar. The following dialog box
appears.
Fig 6.6 Window of Dialog Box
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CREATING A SCHEMATIC PARTS LIBRARY
Orcad allows you to create your own libraries of part symbols. You can create symbols
for those parts, which you are unable to find in Orcad libraries, or you want to draw a part
symbol according to your own standard and convenience. We will now create symbols for some
of the parts in our design and use the rest from the Orcad built- in libraries. For this we have to
add a new library to our design. To do this, highlight the psu.dsn in the project window and click
File New Library. Right-click thelibrary1.olb file in the project window and select Save As...
Name the file psu symbols and place it in the libraries directory w that you created earlier. Your
project window will now look like the figure below. You are now ready to add parts to your
library.
Fig 6.7 Window of library creation
CREATING SCHEMATIC SYMBOLS
To add a new part to your library, right-click the library file and select New Part. This
will bring up a dialog box for New Part Properties. Make the entries in the dialog box so that it
looks like the following.
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Fig 6.8 window of new part creation
Click OK to bring up the workspace for part creation. It should look like the picture
below. Tools for working with the part are located on the toolbar on the right-hand side of the
screen
SCHEMATIC ENTRY
You are now ready to start placing the electrical components for your design. The circuit
that we will be drawing is shown in the beginning of this tutorial in the hand drawn form. We
will need all the parts that are included in that circuit diagram. Open up the schematic page and
click the Place Part tool on the toolbar on the right side of the screen.
Here you will have to add those libraries, which contain your desired parts. As a novice
designer, you might experience difficulties in finding a particular part because there are so many
libraries and thousands of parts in each of them. But you can always do away with this difficulty
if you carefully read the library name. The Part Search feature will certainly be very helpful in
these circumstances.
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2. PREPARING FOR LAYOUT
CREATING FOOTPRINT LIBRARIES
A footprint is the representation of the physical area that a component occupies on a

PCB. Your next step will be to design footprints for all the parts in your circuit. Like Capture,
Layout has also several built- in libraries of footprints. But unlike Capture libraries, I suggest you
not to use the Layout libraries as an ovice designer. The reason is that the names of Layout
libraries and the footprints contained within them are very cumbersome and confusing to
understand. There is also no option of searching these libraries.
It is better that you yourself design footprints of your components. This will ensure you
that the footprints you are using are correct. Once you will get enough knowledge and
experience about the packaging of electronic components, so that you will be able to locate the
desired footprint in these libraries then you can, of course, use them.
PCBs consist of a number of electrical and non-electrical layers. 2 to 4 electrical layers

are fairly common for simple circuit boards. 8 to 20 layers can often be seen in many industry
applications. In our lab, we have the facility to fabricate two layers boards i.e. double sided
PCBs. The diagram below shows the layer stack up for a 2- layer board like the one you are
making now. The layers are defined below
Top and Bottom Laye rs are sheets of copper and used for routing nets between parts.
Solder Mask is a coating on the top and bottom of the PCB to prevent solder from flowing
freely on the board. It also protects copper tracks from oxidation and provides insulation. This is
what gives most circuit boards their green or brown color.
Substrate is made up of Bakelite, fiberglass or epoxy resin dielectric material. It separates the
two layers and also gives stiffness to the board.
Drill Layer This layer defines finished drill sizes and drill locations for parts that have pins
that go through the board.
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Start Orcad Layout. Layout has a separate tool for working with footprint libraries. To
start this tool, select Tools Library Manager. In the new window that opens, you will notice that
there are already several libraries available for use. These are the built- in libraries. For designing
a footprint, you can use either of the two approaches:
1. Use the mechanical information contained in the component datasheet.

2. Manually measure the size of the component, distance between its pins and their dia meter.
This is only possible if you have the component at your disposal at this step .Footprints
are composed of one or more pad stacks. These pad stacks define how a pin on a part looks on
each of the electrical and non-electrical layers. Each of your footprints will need at least one pad
stack defined. Lets take a look at a pad stack definition for an existing part. In the Library
Manager, select the library DIP100T and highlight the first part DIP.100/14/W.300/L.700. You
will see the part footprint in the Library Manager.
Fig 6.9 Window of layout
We will now set each layer individually. You can also select multiple layers at a time by
holding down the CTRL key when you click the layer name. First lets define the size of the drill
used for this part. The datasheet tells us that the pin dia can vary from 0.027 to 0.037 in. So we
should use a drill of dia greater than 37 mils.
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Let us use a drill of 40 mils. Select the layers DRLDWG and DRILL. When you have
multiple layers selected, you will need to right click and choose Properties or press CTRL+E to
bring up the Edit Pad stack dialog. Choose the Round radio button and give the width and height
a value of 40. Click OK when done.
The changes you made should now be reflected in the spreadsheet. Now we will define
the amount of metal on the routing layers beyond the size of the drill. This is called the annular
ring. Each board shop will have requirements on the minimum annular ring size based on the
drill diameter. In most cases 20 mils is a safe bet. Select the TOP, BOTTOM layers and bring up
the Edit Pad stack dialog. Make the pads round and put the value of 60 (40+20 mils) in t he
height and width fields. The last thing we need to define is the solder mask. This is usually
defined as slightly larger (about 5 mils) that then annular rings on the top and bottom layers.
Select SMTOP and SMBOT and make them round pads with height and width of 65 (60+5
mils).
Fig 6.10 Window of pad stacks

CREATING THE NETLIST
To export your design to Layout, you must first create a netlist. A netlist is a file that has
all the parts, footprints and nets for your design in a format that can be read by the layout
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program. To start net list generation, highlight your dsn file and select Tools Create Netlist to
bring up the Create
Fig 6.11 Window of creation of netlist
CREATING A BOARD TEMPLATE FILE
Fig 6.12 Window of system settings

You are almost ready to export your schematic design to Layout. Before doing this, we
must create a board template file because you will be asked for it when you will be exporting
your design to Layout. This file defines some default properties for the board that will be used
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throughout layout. To create a template, start Layout and select File New. When you see the
dialog, press Cancel. You should now see a blank workspace. You can use the same shortcut
keys that you used in Capture to zoom and center the design (I, O, and C).
Fig 6.13 Board template file
3. STARTING LAYOUT
CREATING A NEW BOARD
Now we have everything that we need to import our design into Layout so we can start
moving on to the third phase of our project. Start Orcad Layout or Layout Plus but not Layout
Engineers Edition and select FileNew. You will first be prompted for the template file you
created. It should be located in your libraries directory. Second, you will be asked for your
netlist. This should be located in your schematic directory. Third, you will be asked to give your
board file a name. Name this file psu and place it in the board directory. If all the footprint names
in your design match those in your library, then you should get no errors and you will see a
screen in layout like the one below.
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Fig 6.14 Window of layout with no errors
GETTING AROUND & PLACING PARTS
All of your parts from schematics should be line up on the left side of the board. Learn a
few things about the Layout environment before you start placing these parts. First turn off DRC
(Design Rule Check) by clicking the button to vanish the dotted rectangle. We will use it later
when routing, but not now. Again you can use the same shortcut keys that you used in Capture to
zoom in, out and center the design (I, O, and C) and SHIFT+Hometo zoom all. You will
also notice that the workspace often gets too messy while working in Layout, so you will need to
refresh the screen very often. Use the Refresh All button or press Home key. Also on the toolbar,
there is a drop-down box of layers. You can select any layer and turn it visible or invisible. To
toggle a layer visible/ invisible, select the layer and hit the (minus) key on your keyboard.
You will also notice that there are a bunch of lines connecting your parts. These are
connections that are still un routed, and this is usually referred to as the Ratsnest. When placing
parts, it is sometimes useful to turn this off. So click the View Spreadsheet icon and select Nets.
Remember when you used this spreadsheet before? It had just one net called DEFAULT. Now,
every net in your design should appear in this spreadsheet. This spreadsheet can be a useful way
to see if you have misnamed nets in your schematics. Highlight every net by clicking the cell
labeled Net Name. Right-click and choose Properties. Uncheck the Routing Enabled box and
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click OK. The ratsnest should have disappeared. You are now ready to place parts on your
design. To get into parts placement mode, make sure that the Component Tool is selected.
In addition to placing the components that are in your schematics, you can also place
non-electrical components right in Layout. You will do that now to place some mounting holes
on your board. While using the Component Tool, right-click and select New to bring up the Add
Component dialog box.
Fig 6.15 Window of component editing
Give this component a reference designator of mh1. then click the footprint button and
select the board mounting hole footprint from psu _footprints library. check the non-electric
checkbox so that it becomes checked with a dark tick and uncheck the route enabled check box
since this is a non-electrical part. click ok when finished. the part will now be attached to your
cursor and you can place it on the board. place it at the edge of the board in the lower left corner.
AUTOROUTING
To let the Layout automatically route the board for you, select Auto Autoroute Board.
In a second or two, Layout will route the whole board. Click OK at the message. Then press
SHIFT+Home and your board should look like this.
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Fig 6.16 Window of Auto routing
6.3.4 VISUAL BASIC
Visual Basic is a third-generation event-driven programming language and integrated

development environment (IDE) from Microsoft for its COM programming model first released
in 1991. Microsoft intends Visual Basic to be relatively easy to learn and use. Visual Basic was
derived from BASIC and enables the rapid application development (RAD) of graphical user
interface (GUI) applications, access to databases using Data Access Objects, Remote Data
Objects, or ActiveX Data Objects, and creation of ActiveX controls and objects. A programmer
can create an application using the components provided by the Visual Basic program itself.
Programs written in Visual Basic can also use the Windows API, but doing so requires external
function declarations. Though the program has received criticism for its perceived faults, version
3 of Visual Basic was a commercial success, and many companies offered third party controls
greatly extending its functionality.
Like the BASIC programming language, Visual Basic was designed to accommodate
beginner programmers. Programmers can not only create simple GUI applications, but to also
develop complex applications. Programming in VB is a combination of visually arranging
components or controls on a form, specifying attributes and actions for those components, and
writing additional lines of code for more functionality. Since VB defines default attributes and
actions for the components, a programmer can develop a simple program without writing much
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code. Programs built with earlier versions suffered performance problems, but faster computers
and native code compilation has made this less of an issue. Though VB programs can be
compiled into native code executablefrom version 5 on, they still require the presence of around
1 MB of runtime libraries. Runtime libraries are included by default in Windows 2000 and later.
Earlier versions of Windows (95/98/NT), require that the runtime libraries be distributed with the
executable.
Forms are created using drag-and-drop techniques. A tool is used to place controls (e.g.,
text boxes, buttons, etc.) on the form (window). Controls have attributes and event handlers
associated with them. Default values are provided when the control is created, but may be
changed by the programmer. Many attribute values can be modified during run time based on
user actions or changes in the environment, providing a dynamic application. For example, code
can be inserted into the form resize event handler to reposition a control so that it remains
centered on the form, expands to fill up the form, etc. By inserting code into the event handler
for a keypress in a text box, the program can automatically translate the case of the text being
entered, or even prevent certain characters from being inserted.
Fig 6.17 An empty form in VB
Visual Basic can create executable (EXE files), ActiveX controls, or DLL files, but is
primarily used to develop Windows applications and to interface database systems. Dialog boxes
with less functionality can be used to provide pop- up capabilities. Controls provide the basic
functionality of the application, while programmers can insert additional logic within the
appropriate event handlers. For example, a drop-down combination box automatically displays a
list. When the user selects an element, an event handler is called that executes code that the
programmer created to perform the action for that list item. Alternatively, a Visual Basic
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component can have no user interface, and instead provide ActiveX objects to other programs
via Component Object Model (COM). This allows for server-side processing or an add- in
module. The runtime recovers unused memory using reference counting, which depends on
variables passing out of scope or being set to nothing, avoiding the problem of memory leaks
common to other languages. There is a large library of utility objects, and the language provides
basic object oriented support. Unlike many other programming languages, Visual Basic is
generally not case sensitivethough it transforms keywords into a standard case configuration
and forces the case of variable names to conform to the case of the entry in the symbol table.
String comparisons are case sensitive by default.
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CHAP TER 7
RESULT
The simulations below show the movement of the robot.
Fig 7.1 Forward
Fig 7.2 Backward
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Fig 7.3 Right
Fig 7.4 Left
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The PIR sensor senses temperature ranging from 35-40 degrees Celsius. Thus any
presence of intruders may be human or animal are detected.
The sensed signal is then passed to the microprocessor as an external interrupt. Whenever
an interrupt is sensed, the robot stops its motion and the signal HUMAN DETECTED is
transmitted to PC using Bluetooth. The wireless camera automatically turns to the direction
where the signal is sensed simultaneously.
The simulations are given below.
Fig 7.5 Simulation output when PIR sensor detects human presence at right side
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Fig 7.6 Simulation output when PIR sensor detects human presence at left side
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CHAP TER 8
CONCLUSION
The system presented here is for security operations in the protected area with wireless
secured communication. Security system available today is just a video camera or a burglar
alarm system. This system used a wireless communication system along with a wireless camera.
Thus this system becomes much more effective than the present system. The main attractive
feature of this system is that it is cost effective and reduces the human efforts take n in protected
area.
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CHAP TER 9
FUTURE SCOPE
The application of this proposed system can be extended further to be used in military
purposes to find human intruders. This system can be used in those areas which are destroyed by
natural or manmade calamities such as earth quakes, fire hazards etc. Human presence under
destroyed building blocks can be detected where it is difficult for a man to reach and find the
affected people.
Using additional sensors such as gas sensors, metal detectors this system can be used for
gas leakage detection, bomb detection etc.
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REFERENCES
[1] Microprocessors &MicrocontrollersD.A.Godse A.P.Godse-2008

[2] Antenna and Wave Propagation R. L Yadava 2011
[3] ZigBee Wireless Networks and Transceivers ShahinFarahani 2011
[4] A versatile gas/vision tracking robot for security system applications Cheng-Ta
ChiangControl, Systems & Industrial Informatics (ICCSII), 2012
[5] Distributed computing in sensor systems V.K. Prasannakumar, ieee
[6] Electronic security Systems Philip Walker -1998
[7] Networking and Internetworking with Microcontrollers Fred Eady-2004
[8] Programming and Circuits for RS232 Jan Axelson-1998
[9] Embedded Systems Circuits and Programming Julio Sanchez, Maria.P.Canton-2012
[10] Embedded Systems with PIC microcontrollers Tim Wilmshurst-2009
[11] MikroC PIC 16F877 HikmetSahin K Serkan Dedeoglu-2012
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APPENDIX
A1.7805 DATA SHEET
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61
A2.PIC MICROCONTROLLER DATASHEET
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64
A3. PIR SENSOR DATASHEET
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66
A4. MICROCONTROLLER PROGRAM
#include<pic.h>
#include<htc.h>
#define _XTAL_FREQ 4000000
void transmit(char i);
void string(char *s);
int i;
void forward()
{
RD0=1;
RD1=0;
RD2=1;
RD3=0;
}
void backward()
{
RD0=0;
RD1=1;
RD2=0;
RD3=1;
}
void left()
{
RD0=0;
RD1=0;
RD2=1;
RD3=0;
}
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void right()
{
RD0=1;
RD1=0;
RD2=0;
RD3=0;
}
void stop()
{
RD0=0;
RD1=0;
RD2=0;
RD3=0;
}
void main()
{
GIE=1;
PEIE=1;
INTE=1;
RCIE=1;
TRISB0=1;
TRISB1=1;
TRISD=0;
PORTD=0X00;
CREN=1;
TXEN=1;
BRGH=1;
SPBRG=25;
SPEN=1;
SYNC=0;
DEPT OF ECE

68
while(1)
{
i=0;
if(RB1==1)
{
string("HUMAN DETECTED!!!");
stop();
RD4=1;
RD5=0;
__delay_ms(600);
RD4=0;
RD5=0;
while(i!=1);
RD4=0;
RD5=1;
__delay_ms(600);
RD4=0;
RD5=0;
while(RB1==1);
}
}
}
void static interrupt isr()

{
if(INTF==1)
{
RB0=1;
string("HUMAN DETECTED!!!");
INTF=0;
stop();
RD4=0;
RD5=1;
DEPT OF ECE

69
__delay_ms(600);
RD4=0;
RD5=0;
while(RCIF!=1);
RD4=1;
RD5=0;
__delay_ms(600);
RD4=0;
RD5=0;
}
if(RCIF==1)
{
i=1;
if(RCREG=='F'||RCREG=='f')
forward();
else if(RCREG=='B'||RCREG=='b')
backward();
else if(RCREG=='L'||RCREG=='l')
left();
else if(RCREG=='R'||RCREG=='r')
right();
else
stop();
}
}
void transmit(char i)
{
TXREG=i;
while(TRMT==0);
}
void string(char *s)
{
DEPT OF ECE

70
while(*s)
transmit(*s++);
}
DEPT OF ECE

Smart Tanker Robot For Security Operations in The Protected Area With Wireless Secured Communication

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Copyright:

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Smart Tanker Robot For Security Operations in The Protected Area With Wireless Secured Communication

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Copyright:

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SMART TANKER ROBOT FOR SEC URITY OPERATIONS IN THE

PROTEC TED AREA WITH WIRELESS SECURED COMMUNICATION

1.2 BRIEF HISTORY OF ROBOTS

JAWAHARLA L COLLEGE OF ENGINEERING A ND TECHNOLOGY