CHAPTER 1

INTRODUCTION
GSM controlled robot or SMS controlled robot is a wireless robot which performs
the necessary actions by receiving a set of instructions in the form a Short Message
Service (SMS). In this project we can control the robot directions like forward, backward,
left and right by sending SMS from the mobile. Earlier, we have already seen the working
of a DTMF Controlled Robot without using Microcontroller.
This project mainly consists of 2 sections, one is mobile unit and the other one is
robot unit. The GSM modem which is fixed at the robot receives the messages sent by the
obstacle sensor and gives the instructions to the microcontroller to control the robot
directions. In this project, we interface LPC2148 microcontroller with GSM SIM 900.
The protocol used for the communication between controller and GSM modem is UART
(Universal Asynchronous Receiver-Transmitter). This system continuously checks for
message to take the decision for controlling the robot.
SMS Controlled Robot Circuit Design:
The major components used in the above circuit are microcontroller, motor driver,
level converter, GSM module and robot. Here LPC2148 microcontroller is used and it
requires a power supply of positive 12V DC. In order to provide regulated 12V DC
voltage to the controller, use 7812 power supply circuit. Here one 12V batteries are used,
it is for giving the supply to the circuit and to run the DC motors.
GSM modem Tx and Rx pins are connected to the 13 and 14 pins of max232.
Microcontroller TXD and RXD pins are connected to the 11 and 12 pins of level
converter. Here max232 is a mediator between controller and GSM module and it is used
to convert the voltage levels. To know more details about max232 refer Max232
Datasheet.

GSM module requires 5V power supply. In order to communicate with this GSM
we need to send AT commands using serial communication (UART protocol). Use a baud
rate of 9600 to communicate with GSM.
P2.0, P2.1, P2.2 and P2.3 pins of controller are connected to the l293d input pins
and these pins are used to control the two DC motors. The operating voltage of this IC is
5V. Using this IC we can operate the 2 DC motors with a voltage ranging from 4.5 to
36V. We need to apply the motors supply at 8th pin of l293d.

CHAPTER 2
EMBEDDED SYSTEMS
2.1 Description of embedded systems:
Embedded computers or embedded systems, and actually account for more than
90% of all the worlds manufactured processors. In general, users of embedded systems
see a specialized function (such as a High-Definition TV) and do not directly think of the
computer embedded within the system. Such embedded computers are gaining
importance as an increasing number of systems use embedded processors, RAM, disk
drives, and networks. Embedded systems range in size from simple toasters and minirobots to large-scale systems deployed in process control, manufacturing, power
generation, defense systems, telecommunication systems, automotive systems, air traffic
control, avionics, video-on-demand and video-conferencing systems. Embedded systems
also differ from their conventional PC or workstation cousins in several ways. Embedded
systems are typically used over long periods of time, will not (or cannot) be programmed
or maintained by its end-users, and often face significantly different design constraints
such as limited memory, low cost, strict performance guarantees, fail-safe operation, low
power, reliability and guaranteed real-time behavior. These embedded systems often use
simple executives (OS kernels) or real-time operating systems with typically small
footprints, support for real-time scheduling and no hard drives. Many embedded systems
also interact with their physical environment using a variety of sensors and/or actuators.
An embedded system is a special computer system designed to perform one or a
few dedicated functions often with real-time computing constraints. It is embedded as
part of a complete device often including hardware and mechanical parts. By contrast, a
general-purpose computer, such as a personal computer (PC), is designed to be flexible
and to meet a wide range of end-user needs. Embedded systems control many devices in
common use today.
Embedded systems are controlled by one or more main processing cores that are
typically either microcontrollers or digital signal processors (DSP). The key
3

characteristic, however, is being dedicated to handle a particular task, which may require
very powerful processors. For example, air traffic control systems may usefully be
viewed as embedded, even though they involve mainframe computers and dedicated
regional and national networks between airports and radar sites. Since the embedded
system is dedicated to specific tasks, design engineers can optimize it to reduce the size
and cost of the product and increase the reliability and performance. Some embedded
systems are mass-produced, benefiting from economies of scale.
In general, "embedded system" is not a strictly definable term, as most systems
have some element of extensibility or programmability. For example, handheld
computers share some elements with embedded systems such as the operating systems
and microprocessors which power them, but they allow different applications to be
loaded and peripherals to be connected. Moreover, even systems which don't expose
programmability as a primary feature generally need to support software updates. On a
continuum from "general purpose" to "embedded", large application systems will have
subcomponents at most points even if the system as a whole is "designed to perform one
or a few dedicated functions", and is thus appropriate to call "embedded".
Embedded systems programming is not like normal PC programming. In many
ways, programming for an embedded system is like programming PC 15 years ago. The
hardware for the system is usually chosen to make the device as cheap as possible.
Spending an extra dollar a unit in order to make things easier to program can cost
millions. Hiring a programmer for an extra month is cheap in comparison. This means the
programmer must make do with slow processors and low memory, while at the same time
battling a need for efficiency not seen in most PC applications. Below is a list of issues
specific to the embedded field.

2.1.1 Tools:
Embedded development makes up a small fraction of total programming. There's
also a large number of embedded architectures, unlike the PC world where 1 instruction
set rules, and the UNIX world where there's only 3 or 4 major ones. This means that the
tools are more expensive. It also means that they're lower featured, and less developed.
4

On a major embedded project, at some point you will almost always find a compiler bug
of some sort.

2.1.2 Resources:
To save costs, embedded systems frequently have the cheapest processors that can
do the job. This means your programs need to be written as efficiently as possible. When
dealing with large data sets, issues like memory cache misses that never matter in PC
programming can hurt you. Luckily, this won't happen too often- use reasonably efficient
algorithms to start, and optimize only when necessary. Of course, normal profilers won't
work well, due to the same reason debuggers don't work well. So more intuition and an
understanding of your software and hardware architecture is necessary to optimize
effectively.

2.2 Need for embedded systems:

The uses of embedded systems are virtually limitless, because every day new
products are introduced to the market that utilizes embedded computers in novel ways. In
recent years, hardware such as microprocessors, microcontrollers, and FPGA chips have
become much cheaper. So when implementing a new form of control, it's wiser to just
buy the generic chip and write your own custom software for it. Producing a custommade chip to handle a particular task or set of tasks costs far more time and money. Many
embedded computers even come with extensive libraries, so that "writing your own
software" becomes a very trivial task indeed. From an implementation viewpoint, there is
a major difference between a computer and an embedded system. Embedded systems are
often required to provide Real-Time response.

2.2.1 Reliability:
Embedded systems often reside in machines that are expected to run continuously
for years without errors and in some cases recover by them if an error occurs. Therefore
the software is usually developed and tested more carefully than that for personal

computers, and unreliable mechanical moving parts such as disk drives, switches or
buttons are avoided.

2.3Operating System:
They often have no operating system, or a specialized embedded operating
system (often a real-time operating system), or the programmer is assigned to port one of
these to the new system.

2.4Debugging:
Debugging is usually performed with an in-circuit emulator, or some type
of debugger that can interrupt the micro controllers internal microcode. The microcode
interrupt lets the debugger operate in hardware in which only the CPU works. The CPUbased debugger can be used to test and debug the electronics of the computer from the
viewpoint of the CPU.
Developers should insist on debugging which shows the high-level
language, with breakpoints and single stepping, because these features are widely
available. Also, developers should write and use simple logging facilities to debug
sequences of real-time events. PC or mainframe programmers first encountering this sort
of programming often become confused about design priorities and acceptable methods.
Mentoring, code-reviews and ego less programming are recommended.

2.5Design of Embedded Systems:

The electronics usually uses either a microprocessor or a microcontroller.
Some large or old systems use general-purpose mainframes computers or minicomputers.

2.6 Applications of embedded systems:

Embedded systems span all aspects of modern life.

2.7 Telecommunication systems:

It employs numerous embedded systems from telephone switches for the network
to mobile phones at the end-user. Computer networking uses dedicated routers and
network bridges to route data.

2.7.1 Consumer electronics:

It includes personal digital assistants (PDAs), embedded systems which include
microwave oven, remote control, VCD players, DVD players, digital camera, mp3
players, videogame consoles, GPS receivers and printers etc.

2.7.2 Household appliances:

Home appliances as microwave ovens, washing machines and dishwashers, are
including embedded systems to provide flexibility, efficiency and features. Advanced
HVAC systems use networked thermostats to more accurately and efficiently control
temperature that can change by time of day and season.

2.7.3 Office/home automation system:

It uses wired- and wireless-networking that can be used to control lights, climate,
security, audio/visual, surveillance, etc., all of which use embedded devices for sensing
and controlling.

CHAPTER-3
HARDWARE DESCRIPTION
3.1 Introduction:
In this chapter the block diagram of the project and design aspect of independent
modules are described. The block diagram is as shown below in fig 3.1.

Block diagram:

Obstacle sensor
Micro controllerMotor Driver
GSM Modem

Right
Motor

Figure 3.1: Block diagram

Micro
The main components of this project
are:controller

Left
Motor

LPC2148 Microcontroller
GSM
Motor Driver
Motors
IP Camera
Obstacle sensor

3.1.1. LPC2148
8

FEATURES:
High-performance, Low-power Consumption 32-bit Microcontroller
RISC Architecture
64-pin High-Performance ARM Microcontroller
Flash Program Memory: 512 K Bytes
SRAM Data Memory: 32 K Bytes
I/O Pins: 45
Timers: Two 32-bit
A/D Converter: 10-bit Fourteen Channels
DAC: 10-bit
Real-Time Clock (RTC): Independent Power and Dedicated 32kHz Input
IC: Two Modules with Master or Slave Operation
SPI: Full Duplex Serial Operation
UART: Two Modules
USB: 2.0B Fully Compliant Controller with RAM
External Oscillator: up to 25MHz with integrated PLL for 60MHz Operation

Pin Configurations:

Figure 3.1.1: LPC2148 CHIP

9

Figure 3.1.1.2: LPC2148 PIN CONFIGURATION

OVERVIEW:
The LPC2148 is a general purpose 32-bit microprocessor, which offers
high performance and very low power consumption. The architecture is based on RISC
Principles, and the instruction set and related decode mechanism are much simpler than
those of micro programmed CISC. This simplicity results in a high instruction throughput
and impressive real-time interrupt response from a small and cost-effective processor
core.
Pipeline techniques are employed so that all parts of the processing and
memory systems can operate continuously. Typically, while one instruction is being
executed, its successor is being decoded, and a third instruction is being fetched from
memory.

10

The key idea behind Thumb is that of a super-reduced instruction set. Essentially,
the LPC2148 processor has two instruction sets: The standard 32-bit ARM set.
LPC2148 combines microcontroller with embedded high speed flash
memory ranging from 32 kb to 512 kb. A 128-bit wide memory interface and a unique
accelerator architecture enable 32-bit code execution at the maximum clock rate. For
critical code size applications, the alternative 16-bit Thumb mode reduces code by more
than 30 % with minimal performance penalty.
Due to its tiny size and low power consumption, LPC2148 is ideal for
applications where miniaturization is a key requirement. Serial communications
interfaces ranging from a USB 2.0 Full-speed device, multiple UARTs, SPI, SSP to I2Cbus and on-chip SRAM of 8 KB up to 40 KB, make these devices very well suited for
communication gateways and protocol converters, providing both large buffer size and
high processing power.

11

Block diagram of LPC2148:

12

Figure: 3.1.2 Block diagram of LPC2148

PIN DESCRIPTION:
LPC2148 has two I/0 ports namely PORT0 and PORT1. Each PORT has 32 IO
pins. In PORT0 pins P0.24, P0.26 and P0.27 are not available. In PORT1 pins 0 to 15 are
not available. Each port pin has multiple functions. These functions can be selected by
using pin Connect Block. Pin Connect Block contains three 32-bit registers namely
PINSEL0, PINSEL1 and PINSEL2.
IOPIN (IOPIN0 for PORT0 and IOPIN0 for PORT1):
GPIO Port pin value register. The current state of the GPIO configured port pins
can always be read from this register, regardless of pin direction. This register has the
current status of the corresponding port.
IODIR (IODIR0 for PORT0 and IODIR0 for PORT1):
GPIO Port Direction control register. This register individually controls the
direction of each port pin. This register is used to set each port pin as either input or
output. If 0, the port pin is considered as input and if 1, then the port pin is considered
as output.
IOSET (IOSET0 for PORT0 and IOSET0 for PORT1):
GPIO Port Output Set register. This register controls the state of output pins in
conjunction with the IOCLR register. Writing ones produces highs at the corresponding
port pins. Writing zeroes has no effect.
IOCLR (IOCLR0 for PORT0 and IOCLR0 for PORT1):
GPIO Port Output Set register. This register controls the state of output pins in
conjunction with the IOSET register. Writing ones produces lows at the corresponding
port pins. Writing zeroes has no effect.
PINSEL0 Register:

13

PINSEL0 register serves to select any function from the pins P0.0 to P0.15

PINSEL1 Register:
PINSEL1 register serves to select any function from the pins P0.16 to P0.31

The PINSEL0 and PINSEL1 register control the function of device pins as show below.
Pairs of bits in these registers correspond to specific device pins.
Value

Function

00

Primary (default) function, typically GPIO port

01

First alternate function

10

Second alternative function

11

Reserved

PINSEL2 Register:
14

PINSEL2 register serves to select any function from the pins P1.16 to P1.31.
Bit
0,1

Symbol

Function

If 0 then pins P1.36-26 are used as GPIO

GPIO/DEBUG pins if 1 then, PinsP1.36-26 are used as DEBUG
Port

GPIO/TRACE

4to31

if 0 then pins p1.25-16 are used as GPIO pins if

1 then, pins P1.25-16 are used as a Trace port.
Reserved

3.1.2. UARTs (Universal Asynchronous Receiver and Transmitter):

Figure: 3.1.3 UART pins

The LPC2148 contains two UARTs, UART0 and UART1. In addition to standard
transmit and receive data lines, the LPC2148 UART1 also provide a full modem
control handshake interface. Compared to previous LPC2000 microcontrollers, Arts
in LPC2148 introduce a fractional baud rate generator for both UARTs, enabling

15

these microcontrollers to achieve standard baud rates such as 115200 with any crystal
frequency above 2 MHz
16 byte Receive and Transmit FIFOs (First In First Out).
Register locations conform to 550 industry standard.
Receiver FIFO trigger points at 1, 4, 8, and 14 bytes
Built-in fractional baud rate generator covering wide range of baud rates without
a need for external crystals of particular values.
Transmission FIFO control enables implementation of software (ON/OFF) flow
control on both UARTs.
LPC2148 UART1 equipped with standard modem interface signals. This module
also provides full support for hardware flow control
3.1.3. I2C-Bus serial I/O Controller:
The LPC2148 contains two I2C-bus controllers. The I2C-bus is bidirectional, for
inter-IC control using only two wires: A serial clock line (SCL), A serial data line
(SDL).
Each device is recognized by a unique address and can operate as either a receiveronly device. Transmitters and/or receivers can operate in either master or slave mode,
depending on whether the chip has to initiate a data transfer or is only addressed. The
I2C-bus is a multi-master bus, it can be controlled by more than one bus master
connected to it. The I2C-bus implemented in LP2148 supports bit rates up to 400
Kbit/s (Fast I2C-bus).
Compliant with standard I2C-bus interface.
Easy to configure as master, slave, or master/slave.
Programmable clocks allow versatile rate control.
Bidirectional data transfer between masters and slaves.
Multi-master bus (no central master).
16

 Arbitration between simultaneously transmitting masters without corruption of

serial data on the bus.
Serial clock synchronization allows devices with different bit rates to communicate
via one serial bus.
Serial clock synchronization can be used as a handshake mechanism to suspend
and resume serial transfer.
The I2C-bus can be used for test and diagnostic purposes.
3.1.4.SPI (Serial Peripheral Interface) I/O Controller:
The LPC2148 contains one SPI controller. The SPI is a full duplex serial
interface, designed to handle multiple masters and slaves connected to a given bus.
Only a single master and a single slave can communicate on the interface during a
given data transfer. During a data transfer the master always sends a byte of data to
the slave, and the slave always sends a byte of data to the master.
Compliant with Serial Peripheral Interface (SPI) specification.
Synchronous, Serial, Full Duplex, Communication.
Combined SPI master and slave.
Maximum data bit rate of one eighth of the input clock rate.
Synchronous serial communication.
Master or slave operation.
8-frame FIFOs for both transmit and receive.
3.1.5.Crystal Oscillator:
On-chip integrated oscillator operates with external crystal in range of 1 MHz to
25 MHz The oscillator output frequency, fosc and the ARM processor clock frequency is
referred to as CCLK for purposes of rate equations, etc. fosc and CCLK are the same
value unless the PLL (Phase Locked Loop) is running and connected.
17

Power Control:
The LPC2148 supports two reduced power modes:

Idle mode

Power down mode.

In Idle mode, execution of instructions is suspended until either a reset or interrupt

occurs. Peripheral functions continue operation during idle mode and may generate
interrupts to cause the processor to resume execution. Idle mode eliminates power
used by the processor itself, memory systems and related controllers, and internal
buses.
In Power-down mode, the oscillator is shut down and the chip receives no
internal clocks. The processor state and registers, peripheral registers, and internal
SRAM values are preserved throughout Power-down mode and the logic levels of
chip output pins remain static. The Power-down mode can be terminated and normal
operation resumed by either a reset or certain specific interrupts that are able to
function without clocks. Since all dynamic operation of the chip is suspended, Powerdown mode reduces chip power consumption to nearly zero.
Reset Circuit:
Reset button is essential in a system to avoid programming pitfalls and sometimes to
manually bring back the system to the initialization mode.

18

3.2 GLOBAL SYSTEM FOR MOBILE (GSM)

Introduction:
GSM (Global System for Mobile) is SIM900 Quad-band GSM / GPRS device,
works on frequencies 850 MHZ, 900 MHZ, 1800 MHZ and 1900 MHZ. It is very
compact in size and easy to use as plug in GSM Modem. The Modem is designed with
3V3 and 5V DC TTL interfacing circuitry, which allows User to directly interface with
5V Microcontrollers (PIC, AVR, Arduino, 8051, etc.) as well as 3V3 Microcontrollers
(ARM, ARM Cortex XX, etc.). The baud rate can be configurable from 9600- 115200 bps
through AT (Attention) commands. This GSM/GPRS TTL Modem has internal TCP/IP
stack to enable User to connect with internet through GPRS feature. It is suitable for SMS
as well as DATA transfer application in mobile phone to mobile phone interface. The
modem can be interfaced with a Microcontroller using USART (Universal Synchronous
Asynchronous Receiver and Transmitter) feature (serial communication).
Features:
Quad Band GSM: 850 / 900 / 1800 / 1900 MHz
Built in RS232 to TTL or vice versa Logic Converter (MAX232)
Configurable Baud Rate
SMA (Sub Miniature version A) connector with GSM L Type Antenna
Built in SIM (Subscriber Identity Module) Card holder
Built in Network Status LED
Inbuilt Powerful TCP / IP (Transfer Control Protocol / Internet Protocol) stac for
internet data transfer through GPRS (General Packet Radio Service)
Audio Interface Connectors (Audio in and Audio out)
Most Status and Controlling pins are available
Normal Operation Temperature : -20 C to +55 C

19

 Input Voltage : 5V to 12V DC

LDB9 connector (Serial Port) provided for easy interfacing
Hardware Description:

Figure 3.2: GSM module

SIMCom SIM900A GSM Module:
This is actual SIM900 GSM module which is manufactured by SIMCom.
Designed for global market, SIM900 is a quad-band GSM/GPRS engine that works on
frequencies GSM 850MHz, EGSM 900MHz, DCS 1800MHz and PCS 1900MHz.
SIM900 features GPRS multislot class 10/ class 8 (optional) and supports the GPRS
coding schemes CS-1, CS-2, CS-3 and CS-4. With a tiny configuration of 24mm x 24mm
x 3mm, SIM900 can meet almost all the space requirements in Users applications, such
as M2M, smart phone, PDA and other mobile devices.

20

Figure 3.2.1: GSM SIM900 chip

MAX232 IC:
The MAX232 is an integrated circuit that converts signals from an RS-232 serial
port to signals suitable for use in TTL compatible digital logic circuits, so that devices
works on TTL logic can share the data with devices connected through Serial port (DB9
Connector).
Serial port / DB9 connector:
User just needs to attach RS232 cable here so that it can be connected to devices
which has Serial port / DB9 Connector.

Figure 3.2.2: Serial port

21

3.3 MAX232:
The MAX232 device is a dual driver/receiver that includes a capacitive voltage
generator to supply TIA/EIA-232-232-F voltage levels from a single 5-V supply. Each
receiver converts TIA/EIA-232-F inputs to 5-V TTL/CMOS levels. These receivers have
a typical threshold of 1.3 V, a typical hysteresis of 0.5 V, and can accept 30-V inputs.
Each driver converts TTL/CMOS input levels into TIA/EIA-232-F levels. The driver,
receiver, and voltage
The drivers provide RS-232 voltage level outputs (approx. 7.5 V) from a single
+ 5 V supply via on-chip charge pumps and external capacitors. This makes it useful for
implementing RS-232 in devices that otherwise do not need any voltages outside the 0 V
to + 5 V range, as power supply design does not need to be made more complicated just
for driving the RS-232 in this case. The receivers reduce RS-232 inputs (which may be as
high as 25 V), to standard 5 V TTL levels. These receivers have a typical threshold of
1.3 V, and a typical hysteresis of 0.5 V.
Pin diagram of MAX232:

Figure 3.3: Pin diagram of MAX232

The MAX232 (A) has two receivers (converts from RS-232 to TTL voltage
levels), and two drivers (converts from TTL logic to RS-232 voltage levels). This means
only two of the RS-232 signals can be converted in each direction. Typically, a pair of a
driver/receiver of the MAX232 is used for TX and RX signals, and the second one for
CTS and RTS signals.
22

There are not enough drivers/receivers in the MAX232 to also connect the DTR,
DSR, and DCD signals. Usually these signals can be omitted when e.g. communicating
with a PC's serial interface. If the DTE really requires these signals, either a second
MAX232 is needed, or some other IC from the MAX232 family can be used. Also, it is
possible to directly wire DTR (DB9 pin #4) to DSR (DB9 pin #6) without going through
any circuitry. This gives automatic (brain dead) DSR acknowledgment of an incoming
DTR signal.
Features of MAX232:

Meet or Exceed

Operates From a Single 5-V Power Supply With 1.0-F Charge-Pump Capacitors

Operate Up To 120 kilobytes

Two Drivers and Two Receivers

Recommended V.28

Battery powered systems

Terminals

Modems

Computers

Package options include plastic

Small-outline(D,DW)Packages

Standard Plastic(N) DIPs

ESD Protection Exceeds 2000 V per

MIL-STD-883, Method 3015

Maxim MAX232

23

3.4 DB9 CONNECTORS:

Figure 3.4.1: DB9-RS232-USB

Figure 3.4.2: Male DB9-RS232

Figure 3.4.3: Female DB9-RS232

DISCRIPTION:

The DB9-USB-RS232 connectors can be used to upgrade an RS232 port to an active

USB port without the need to redesign the PCB

These active connectors contain all the USB to RS232 (and vice-versa) conversion
electronics and are designed to fit directly into the same PCB footprint as a PC
compatible RS232DB9 connector.

This DB9 consist of 9 pins in it.

24

 DB9 consist of RS232 male and female connectors

In this MAX232 is connected to DB9 for receiving and transmitting the data
This is accomplished by incorporating the industry standard FTDIFT232R USBSerial Bridge IC plus the required level shifters inside the module.
Power Supply Socket:
This power supply socket which actually named as AC/DC Socket provides the
functionality to user to connect external power supply from Transformer, Battery or
Adapter through DC jack. User can provide maximum of 12V AC/DC power supply
through AC/DC socket. This is power supply designed into maximum protection
consideration so that it can even prevent reverse polarity DC power supply as well as DC
conversion from AC power Supply. It also includes LM317 Voltage Regulator which
provides an output voltage adjustable over a1.2Vto 37V.

Figure 3.4.4: GSM power supply

Power On/Off and GSM On Switch:
Power On/Off switch is type of push-on push-off DPDT switch which is used for
only make power supply on/off provided through AC/DC Socket indicated by Power
LED. GSM On Switch is type of Push on DPST tactile switch which is used for only to
make GSM module On indicated by Module On/Off LED while initiating with
Network indicated by Network.

25

26

SIM (Subscriber Identity Module) Card Slot:

This onboard SIM card slot provide User functionality of insert a SIM (GSM only) card
of any service provider. Process of inserting and locking SIM card into SIM card slot is
given in this manual. While inserting in and removing out SIM card from SIM card slot,
User needs to take precaution that power supply should be OFF so that after making
Power supply ON it will be easy to reinitialize with SIM for this module.

Figure 3.4.5: SIM card slot

Indicator LEDs:
Indicator LEDs just used to indicate status accordingly. These are three LEDs
represents Power On/Off Status, Network Status and Module On/Off Status respectively.
Power LED will keep on until the power supply is enable to this board by using push-on
push off switch. Network Status LED will show whether inserted SIM card successfully
connected to service providers Network or not, in short signal strength. Module On/Off
indicator LED will show status of GSM modules power on/off.

Figure 3.4.6: GSM Signal Indicator LEDs

27

Inserting SIM card into SIM card Slot/Holder:

Here is the process how to insert SIM card into SIM card slot. User just need to
unlock SIM card cover by sliding back. Then user need to open this cover and insert SIM
card according to slot. Put down cover on SIM card and then lock by sliding forward.

Figure 3.4.7: Inserting SIM card into SIM card Slot

Connecting GSM module with RS232 (SB9-DB9) Serial Cable:

User can connect GSM interfacing board either through Serial port or through
Serial to USB converter. Here is process to connect RS232 cable to GSM interfacing
board.

Figure 3.4.8: Connecting GSM module with RS232 (SB9-DB9) Serial Cable
28

AT Commands for GSM:

Commands
AT
ATE0
AT+CPMS
AT+CMGF
AT+CMGR
AT+CMGS
AT+CMGD
AT+CNMI

Description
Check if serial interface and GSM is working.
Turn echo off, less traffic on serial line.
Selection of SMS memory.
SMS string format, how they are compressed.
Read new message from a given memory location.
Send message to a given recipient.
Delete message.
Display of new incoming SMS.

29

3.5. OBSTACLE DETECTING SENSOR

Obstacle Detecting Sensor is used to detect objects and obstacles in front of
sensor in a narrow angle useful in robotics applications. Sensor keeps transmitting
modulated infrared light and when any object comes near, it is detected by the sensor by
monitoring the reflected light from the object. It can be used in robots for obstacle
avoidance, for automatic doors, for parking aid devices or for security alarm systems, or
contact less tachometer by measuring RPM of rotation objects like fan blades.

Figure 3.5: Obstacle sensor

Features
1 Khz Modulated IR transmitter LEDs
Ambient light protected IR receiver
3 pin easy interface connector Indicator LED
Up to 20cm range for white object
Can differentiate between dark and light colors
Active Low on object detection

30

Applications
Proximity Sensor
Object Near detection
Tachometer (Measure Fan Speed)
Obstacle Detector Sensor
Line/Wall Follower Sensor

31

3.6. DC MOTOR
A DC motor is any of a class of electrical machines that converts direct current
electrical power into mechanical power. The most common types rely on the forces
produced by magnetic fields. Nearly all types of DC motors have some internal
mechanism, either electromechanical or electronic, to periodically change the direction of
current flow in part of the motor. Most types produce rotary motion; a linear motor
directly produces force and motion in a straight line.
DC motors were the first type widely used, since they could be powered from
existing direct-current lighting power distribution systems. A DC motor's speed can be
controlled over a wide range, using either a variable supply voltage or by changing the
strength of current in its field windings. Small DC motors are used in tools, toys, and
appliances. The universal motor can operate on direct current but is a lightweight motor
used for portable power tools and appliances. Larger DC motors are used in propulsion of
electric vehicles, elevator and hoists, or in drives for steel rolling mills. The advent of
power electronics has made replacement of DC motors with AC motors possible in many
applications.

Figure 3.6: DC motor

32

Figure 3.6.1: Working of DC motor

Workings of a brushed electric motor with a two-pole rotor (armature) and
permanent magnet stator. "N" and "S" designate polarities on the inside face of the
magnets the outside faces have opposite polarities. The + and -signs show where the DC
current is applied to the commutator which supplies current to the armature coils
A simple DC motor has a stationary set of magnets in the stator and
an armature with one more windings of insulated wire wrapped around a soft iron core
that concentrates the magnetic field. The windings usually have multiple turns around the
core, and in large motors there can be several parallel current paths. The ends of the wire
winding are connected to a commutator. The commutator allows each armature coil to be
energized in turn and connects the rotating coils with the external power supply through
brushes. (Brushless DC motors have electronics that switch the DC current to each coil
on and off and have no brushes.)
The total amount of current sent to the coil, the coil's size and what it's wrapped
around dictate the strength of the electromagnetic field created.
The sequence of turning a particular coil on or off dictates what direction the effective
electromagnetic fields are pointed. By turning on and off coils in sequence a rotating
magnetic field can be created. These rotating magnetic fields interact with the magnetic
fields of the magnets (permanent or electromagnets) in the stationary part of the motor
(stator) to create a force on the armature which causes it to rotate. In some DC motor

33

designs the stator fields use electromagnets to create their magnetic fields which allow
greater control over the motor.

Controlling DC Motors
Motor gives power to your MCU. Ya power to do physical works, for example to
move your robot. So it is essential to know how to control a DC motor effectively with a
MCU. We can control a DC motor easily with microcontrollers. We can start it, stop it or
make it go either in clockwise or anti clock wise direction. We can also control its speed
but it will be covered in latter tutorials.

Figure 3.6.2: MCUs

Control with MCUs

As the MCUs PORT are not powerful enough to drive DC motors directly so we
need some kind of drivers. A very easy and safe is to use popular L293D chips. It is a 16
PIN chip. The pin configuration is as follows.

34

Figure 3.6.3: L293D Dual DC Motor Controller

PIN DISCRIPTION:

Pin No

Function

Name

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16

Enable pin for Motor 1; active high

Input 1 for Motor 1
Output 1 for Motor 1
Ground (0V)
Ground (0V)
Output 2 for Motor 1
Input 2 for Motor 1
Supply voltage for Motors; 9-12V (up to 36V)
Enable pin for Motor 2; active high
Input 1 for Motor 1
Output 1 for Motor 1
Ground (0V)
Ground (0V)
Output 2 for Motor 1
Input2 for Motor 1
Supply voltage; 5V (up to 36V)

Enable 1,2
Input 1
Output 1
Ground
Ground
Output 2
Input 2
Vcc 2
Enable 3,4
Input 3
Output 3
Ground
Ground
Output 4
Input 4
Vcc 1

35

MOTOR CONTROLLER:
This chip is designed to control 2 DC motors. There are 2 INPUT and 2 OUTPUT
PINs for each motors. The connections are as follows.

Figure 3.6.4: Motor Controller Using L293d chip

DC Motors cannot be interfaced directly to microcontrollers since these do not
support logic states. Since if sudden high state is applied to motor gets struck so the
motor is interfaced to controller for smooth direction changing the name of that IC is
L293D (line driver). To this single IC two DC motor can be connected. Totally four pins
of processor is used to connect to this IC. By giving different logic values to these the
motor directions can be change as shown above. Hence the direction of robot is changes
by using mobile through messages.

36

3.7. IP CAMERA
An Internet protocol camera, or IP camera, is a type of digital video camera
commonly employed for surveillance, and which, unlike analog closed circuit
television (CCTV) cameras, can send and receive data via a computer network and the
Internet. Although most cameras that do this are webcams, the term "IP camera" or
"netcam" is usually applied only to those used for surveillance. The first centralized IP
camera was Axis Neteye 200, released in 1996 by Axis Communications.
There are two kinds of IP cameras:

Centralized IP cameras, which require a central Network Video Recorder (NVR)

to handle the recording, video and alarm management.

Decentralized IP cameras, which do not require a central Network Video

Recorder (NVR), as the cameras have recording function built-in and can thus record
directly to any standard storage media, such as SD cards, NAS (network attached
storage) or a PC/Server.

Using the Android smartphone camera to capture images

In our technological world, almost any Smartphone is equipped with powerful
cameras able to capture vivid images. In this case, for real-life applications you need two
smart phones with the Android OS and a live streaming application installed on both
devices. One Smartphone should be attached to the robot, and the other will stay in your
hands to see therobot in action. Both Android devices require Internet connectivity.

37

Figure 3.7: IP cam video recorder

Applications:
Below are available two Android applications designed for live streaming between
Android devices.

Camera Wi-Fi Live Stream a simple and powerful application for Android
devices that allow users to view real-time video images captured with an Android
device camera. The application is designed to work in a web browser or on other
Android device;

IP Webcam an application that allows you to view Android camera in a web

browser or VLC player. This application can be used without internet access, it
could be used in your Wi-Fi network. Also, the IP Webcam is used for real-time
video streaming from Smartphone to Smartphone

38

CHAPTER-4
POWER SUPPLY
4.1 Block diagram of Power supply:
LPC2148 works on 3.3 V power supply. LM 117 can be used for generating 3.3 V
supply. However, basic peripherals like LCD, ULN 2003 (Motor Driver IC) etc.
works on 5V. So AC mains supply is converted into 5V using below mentioned circuit
and after that LM 117 is used to convert 5V into 3.3V.

I/O 230V/50HZ
Step down T/F
Filter Circuit
Bridge Rectifier

Power supply to all sections

Regulator

Fig.4.1 Block Diagram of Power Supply

The power supply from socket is connected to the step down transformer in order
to step down the voltage from 230v to 12v and the output of step down transformer is 12v
ac is connected to rectifier to convert it to pulsating dc from rectifier we will get 12v
pulsating dc. Here this circuit diagram is for +12V regulated DC power supply.
These power supply circuit diagram is ideal for an average current requirement of 1Amp.
It is a 3-terminal voltage regulator IC. It has short circuit protection, thermal overload
protection.

4.2 Transformer
A transformer is a device that transfers electrical energy from one circuit to another
through inductively coupled conductors the transformer's coils. A varying current in the
39

first or primary winding creates a varying magnetic flux in the transformer's core, and
thus a varying magnetic field through the secondary winding. This varying magnetic field
induces a varying electromotive force (EMF) or "voltage" in the secondary winding. This
effect is called mutual induction.
If a load is connected to the secondary, current will flow in the secondary winding,
and electrical energy will be transferred from the primary circuit through the transformer
to the load. In an ideal transformer, the induced voltage in the secondary winding (Vs) is
in proportion to the primary voltage (VP) and is given by the ratio of the number of turns
in the secondary (Ns) to the number of turns in the primary (Np) as follows.
By appropriate selection of the ratio of turns, a transformer thus enables an
alternating current (AC) voltage to be "stepped up" by making Ns greater than Np, or
"stepped down" by making Ns less than Np.
While new technologies have eliminated the need for transformers in some
electronic circuits, transformers are still found in nearly all electronic devices designed
for household ("mains") voltage. Transformers are essential for high-voltage electric
power transmission, which makes long-distance transmission economically practical.

Fig.4.2 Transformer

4.3 Bridge Rectifier

The purpose of a rectifier is to convert an AC waveform into a DC waveform (OR)
Rectifier converts AC current or voltages into DC current or voltage. There are two
different rectification circuits, known as 'half-wave' and 'full-wave' rectifiers. Both use
components called diodes to convert AC into DC.
40

Figure 4.3: Bridge rectifier

Fig4.3 Bridge rectifier
For the positive half cycle of the input ac voltage, diodes D1 and D3 conduct,
whereas diodes D2 and D4 remain in the OFF state. The conducting diodes will be in
series with the load resistance RL and hence the load current flows through RL.
For the negative half cycle of the input ac voltage, diodes D2 and D4 conduct
whereas, D1 and D3 remain OFF. The conducting diodes D2 and D4 will be in series
with the load resistance RL and hence the current flows through RL in the same direction
as in the previous half cycle. Thus a bi-directional wave is converted into a unidirectional
wave.
When four diodes are connected as shown in figure, the circuit is called as bridge
rectifier. The input to the circuit is applied to the diagonally opposite corners of the
network, and the output is taken from the remaining two corners.
Let us assume that the transformer is working properly and there is a positive
potential, at point A and a negative potential at point B. the positive potential at point A
will forward bias D3 and reverse bias D4.
The negative potential at point B will forward bias D1 and reverse D2. At this
time D3 and D1 are forward biased and will allow current flow to pass through them; D4
and D2 are reverse biased and will block current flow.

41

The path for current flow is from point B through D1, up through RL, through
D3, through the secondary of the transformer back to point B. this path is indicated by the
solid arrows. Waveforms (1) and (2) can be observed across D1 and D3.
One-half cycle later the polarity across the secondary of the transformer reverse,
forward biasing D2 and D4 and reverse biasing D1 and D3. Current flow will now be
from point A through D4, up through RL, through D2, through the secondary of T1, and
back to point A. This path is indicated by the broken arrows. Waveforms (3) and (4) can
be observed across D2 and D4. The current flow through RL is always in the same
direction. In flowing through RL this current develops a voltage corresponding to that.
Since current flows through the load (RL) during both half cycles of the applied voltage,
this bridge rectifier is a full-wave rectifier.
One advantage of a bridge rectifier over a conventional full-wave rectifier is that
with a given transformer the bridge rectifier produces a voltage output that is nearly twice
that of the conventional full-wave circuit.
This may be shown by assigning values to some of the components shown in
views A and B. assume that the same transformer is used in both circuits. The peak
voltage developed between points X and y is 1000 volts in both circuits. In the
conventional full-wave circuit shown in view A, the peak voltage from the center tap to
either X or Y is 500 volts. Since only one diode can conduct at any instant, the maximum
voltage that can be rectified at any instant is 500 volts.
The maximum voltage that appears across the load resistor is nearly-but never
exceeds-500 v0lts, as result of the small voltage drop across the diode. In the bridge
rectifier shown in view B, the maximum voltage that can be rectified is the full secondary
voltage, which is 1000 volts. Therefore, the peak output voltage across the load resistor is
nearly 1000 volts. With both circuits using the same transformer, the bridge rectifier
circuit produces a higher output voltage than the conventional full-wave rectifier circuit.
4.4 filter
After rectification we obtain dc supply from ac but it is not pure dc it may have
some ac ripples .To reduce these ripples we use filters. It comprises of two filters low
frequency ripple filter and high frequency ripple filter.

42

To reduce low frequency ripples we use electrolytic capacitor. The voltage rating
of capacitor must be double from incoming dc supply. It blocks dc and passes ripples to
ground.

4.5 Resistor
Resistors "Resist" the flow of electrical current. The higher the value of resistance
(measured in ohms) the lower the current will be. Resistance is the property of a
component which restricts the flow of electric current. Energy is used up as the voltage
across the component drives the current through it and this energy appears as heat in the
component.

Figure 4.5: Resistor

4.6 Capacitor:
Capacitors

store

electric

charge.

They

are

used

with

resistors

in timing circuits because it takes time for a capacitor to fill with charge. They are used
to smooth varying DC supplies by acting as a reservoir of charge. They are also used in
filter circuits because capacitors easily pass AC (changing) signals but they block DC
(constant) signals.

Fig: 4.6 circuit symbol

43

Electrolytic capacitors are polarized and they must be connected the correct way
round, at least one of their leads will be marked + or -.

4.7 IC Voltage regulator

Electronic voltage regulators are found in devices such as computer power
supplies where they stabilize the DC voltages used by the processor and other elements.
In automobile alternators and central power station generator plants, voltage regulators
control the output of the plant. In an electric power distribution system, voltage regulators
may be installed at a substation or along distribution lines so that all customers receive
steady voltage independent of how much power is drawn from the line.

Fig: 4.7 7805 regulator

There are two types of regulator are they.

1. Positive Voltage Series (78xx) and
2. Negative Voltage Series (79xx)
78xx:
78 indicate the positive series and xx indicates the voltage rating. Suppose
7805 produces the maximum 5V.05indicates the regulator output is 5V.
79xx:

44

78 indicate the negative series and xx indicates the voltage rating. Suppose
7905 produces the maximum -5V.05indicates the regulator output is -5V.
These regulators consists the three pins there are
Pin1: It is used for input pin.
Pin2: This is ground pin for regulator
Pin3: It is used for output pin. Through this pin we get the output.
4.7.1 Three-Terminal Voltage Regulators:
Fig shows the basic connection of a three-terminal voltage regulator IC to a load.
The fixed voltage regulator has an unregulated dc input voltage, Vi, applied to one input
terminal, a regulated output dc voltage, Vo, from a second terminal, with the third
terminal connected to ground. For a selected regulator, IC device specifications list a
voltage range over which the input voltage can vary to maintain a regulated output
voltage over a range of load current. The specifications also list the amount of output
voltage change resulting from a change in load current (load regulation) or in input
voltage (line regulation).

Fig. 4.7.1 Fixed Positive Voltage Regulators

The series 78 regulators provide fixed regulated voltages from 5 to 24 V, 7812 is

connected to provide voltage regulation with output from this unit of +12V dc. An
unregulated input voltage is filtered by capacitor C1 and connected to the ICs IN
terminal. The ICs OUT terminal provides a regulated + 12V which is filtered by
45

capacitor C2 (mostly for any high-frequency noise). The third IC terminal is connected to
ground.

46

CHAPTER 5
SOFTWARE KEIL VISION
Keil compiler is software used where the machine language code is written and
compiled. After compilation, the machine source code is converted into hex code which
is to be dumped into the microcontroller for further processing. Keil compiler also
supports C language code.
STEPS TO WRITE AN ASSEMBLY LANGUAGE PROGRAM IN KEIL AND
HOW TO COMPILE IT:
Install the Keil Software in the PC in any of the drives.
After installation, an icon will be created with the name Keil uVision3. Just
drag this icon onto the desktop so that it becomes easy whenever you try to write
programs in keil.
Double click on this icon to start the keil compiler.
A page opens with different options in it showing the project workspace at the
leftmost corner side, output window in the bottom and an ash coloured space for
the program to be written.
Now to start using the keil, click on the option project.
A small window opens showing the options like new project, import project, open
project etc. Click on New project.
A small window with the title bar Create new project opens. The window asks
the user to give the project name with which it should be created and the
destination location. The project can be created in any of the drives available. You
can create a new folder and then a new file or can create directly a new file.
After the file is saved in the given destination location, a window opens where a
list of vendors will be displayed and you have to select the device for the target
you have created.
47

 A small window opens asking whether to copy the startup code into the file you
have created just now. Just click on No to proceed further.
Now you can see the TARGET and SOURCE GROUP created in the project
workspace.
Now click on File and in that New. A new page opens and you can start
writing program in it.
After the program is completed, save it with any name but with the .asm
extension. Save the program in the file you have created earlier.
You can notice that after you save the program, the pre defined keywords will be
highlighted in bold letters.
Now add this file to the target by giving a right click on the source group. A list of
options open and in that select Add files to the source group. Check for this file
where you have saved and add it.
Right click on the target and select the first option Options for target. A window
opens with different options like device, target, output etc. First click on target.
Now click the option Output and give any name to the hex file to be created in
the Name of executable text area and put a tick to the Create HEX file option
present in the same window. The hex file can be created in any of the drives. You
can change the folder by clicking on Select folder for Objects.
To check for the output, there are several windows like serial window, memory
window, project window etc. Depending on the program you have written, select
the appropriate window to see the output by entering into debug mode.
The icon with the letter d indicates the debug mode.
Click on this icon and now click on the option View and select the appropriate
window to check for the output.
After this is done, click the icon debug again to come out of the debug mode.

48

PROTEUS 8 PROFESSIONAL
Proteus 8 is a single application with many service modules offering different
functionality (schematic capture, PCB layout, etc.). The wrapper that enables all of the
various tools to communicate with each other consists of three main parts. Proteus

PCB

design combines the ISIS schematic capture and ARES PCB layout programs to provide
a powerful, integrated and easy to use suite of tools for professional PCB Design. All
Proteus PCB design products include an integrated shape based auto router and a basic
SPICE simulation capability as standard. More advanced routing modes are included in
Proteus PCB Design Level 2 and higher whilst simulation capabilities can be enhanced
by purchasing the Advanced Simulation option and/or micro-controller simulation
capabilities.

Application Framework
Proteus 8 consists of a single application (PDS.EXE). This is the framework or
container which hosts all of the functionality of Proteus. ISIS, ARES, 3DV all open as
tabbed windows within this framework and therefore all have access to the common
database.

Common Database
The common database contains information about parts used in the project. A part
can contain both a schematic component and a PCB footprint as well both user and
system properties. Shared access to this database by all application modules makes
possible a huge number of new features, many of which will evolve over the course of
the Version 8 lifecycle.

Live Net list

Together with the common database the maintenance of a live net list allows all
open modules to automatically reflect changes. The most obvious example of this is
49

wiring in ISIS producing rats nest connections in ARES but it goes much further than
that. The new Bill of Materials module contains a live viewer and the 3D Viewer and
Design Explorer are also linked into the live net list.
This document covers the Proteus 8 application frame work and other
functionality related to the software suite as a whole. The various application modules
(e.g. ISIS, ARES) each have their own reference manuals and tutorial documentation.

50

CHAPTER 6
SCHEMATIC DIAGRAM
The following figure shows the schematic diagram of our project

51

Working:
In this project we are going to control the ROBOT by using GSM SMS from the
remote location. Commands send by from the users mobile. These commands are
receives by the GSM system present on the robot. The commands the fed to the
microcontroller which process on the commands the according to that robot will work.
The system uses a compact circuitry built around LPC2148 (ARM7) microcontroller.
Programs are developed in Embedded C. Flash magic is used for loading programs into
Microcontroller.
The power supply from socket is connected to the step down transformer in order
to step down the voltage from 230v to 12v and the output of step down transformer is 12v
ac is connected to rectifier to convert it to pulsating dc from rectifier we will get 12v
pulsating dc. Here this circuit diagram is for +12V regulated DC power supply.
These power supply circuit diagram is ideal for an average current requirement of 1Amp.
It is a 3-terminal voltage regulator IC. It has short circuit protection, thermal overload
protection.
LPC2148 is the widely used IC from ARM-7 family. It has 8 to 40 KB of on-chip
static RAM and 32 to 512 KB of on-chip flash program memory.128 bit wide
interface/accelerator enables high speed 60 MHz operation. Low power real-time clock
with independent power and dedicated 32 kHz clock input.
System designers wishing to upgrade from ARM7 benefit from a robust ARM
processor roadmap providing multiple upgrade options, including the latest Cortex
processors. Due to its tiny size and low power consumption, LPC2148 is ideal for
applications where miniaturization is a key requirement. Serial communications
interfaces ranging from a USB 2.0 Full-speed device, multiple UARTs, SPI, SSP to I2Cbus and on-chip
Obstacle Detecting Sensor is used to detect objects and obstacles in front of
sensor in a narrow angle useful in robotics applications. Sensor keeps transmitting
modulated infrared light and when any object comes near, it is detected by the sensor by
monitoring the reflected light from the object. It can be used in robots for obstacle

52

avoidance, for automatic doors, for parking aid devices or for security alarm systems, or
contact less tachometer by measuring RPM of rotation objects like fan blades.
The proposed robot can be operated by send some SMS to the GSM modem
which is placed at the robot side. Depending upon the message received through GSM
modem, the motors which are connected to the robot drives the robot in forward, reverse,
right or left direction. The IP CAM which is fixed at the robot captures the surrounding
images and sends to the owner mobile phone. A user can monitor the surroundings at the
remote area. All these operations can be controlled by the host microcontroller placed at
the robot.

53

CHAPTER-7
ADVANTAGES & APPLIATIONS
ADVANTAGES
Spying on people in ways people can't move and from views humans can't reach
Giving us information that humans can't get
Working at places 24/7 without any salary and food. Plus they don't get bored
They can perform tasks faster than humans and much more consistently and
accurately
APPLIATIONS
Scientific use
Military and law enforcement use
Search and rescue
Forest conservation

54

SNAP SHOT
The following figure shows the kit of our project GSM BASED REMOTE SENSING
AND TELE-OPERATION OF A MOBILE ROBOT

Figure 8.1: SNAP SHOT OF GSM ROBOT

55

CONCLUSION
The project GSM based remote sensing and Tele operation of mobile
robot has been successfully designed and tested. It has been developed by integrating
features of all the hardware components used. By developing this robotic vehicle with its
multi-tasking feature, we have overcome the drawbacks of RF communication which
have a limited range whereas this robot can be controlled from anywhere just using this
GSM technology. The main advantage of this robot is by using obstacle sensor, it is
detected by the sensor by monitoring the reflected light from the object. It also have IP
CAM which is fixed at the robot captures the surrounding images and sends to the owner
mobile phone. A user can monitor the surroundings at the

remote area. All these

operations can be controlled by the host microcontroller placed at the robot.

Today we find most robots working for people in industries, factories,
warehouses, and laboratories. Robots are useful in many ways. For instance, it boosts
economy because businesses need to be efficient to keep up with the industry
competition. Therefore, having robots helps business owners to be competitive, because
robots can do jobs better and faster than humans can, e.g. robot can built, assemble a car.
Yet robots cannot perform every job; today robots roles include assisting research and
industry. Finally, as the technology improves, there will be new ways to use robots which
will bring new hopes and new potentials.

56

FUTURE SCOPE
Robot can be controlled through voice recognition mechanism
We can make this robot to move automatically
We can add different sensors
We can add camera also to record

Military use: Military usage of remotely controlled military vehicles dates back
the first half of 20th century. This can be a great asset to save lives of both people
along with soldiers in case of terrorist attacks like the one happened in 26 Nov,
2008 in Mumbai, India.
Search and Rescue: It will likely play an increased role in search and rescue in
the United States. Slowly other European countries (even some developing
nations) are thinking about making use of these vehicles in case of natural
calamities &emergencies.
Scientific Use: Remote control vehicles have various scientific uses including
hazardous environments. Majority of the probes to the other planets in our solar
system have been remote control vehicles, although some of the more recent ones
were partially autonomous. The sophistication of these devices has fueled greater
debate on the need for manned spaceflight and exploration. The Voyager I
spacecraft is the first craft of any kind to leave the solar system. The Martian
explorers Spirit and
Forest Conservation: In the recent times, there has been a serious endangerment
to the wildlife population. A lot of animals are on the verge of becoming extinct,
including the tiger. The spy robotic car can aid us in this purpose. Since it is a live
streaming device and also mobile, it can keep the forest guards constantly updated
about the status of different areas which are prone to attack. As a result, it can
help to prevent further destruction of the forest resources by enabling correct
prohibitory action at the appropriate time.

57

REFERENCES
1. David Tenenbaum,University of WisconsinMadison News, December 26, 2012
2. Papailiou, D.D. Frontiers in Propulsion Research, JPL Tech. Memo 33-722. Jet
Propulsion Laboratory. 1975
3. Forward, R.L. J. Brit. Interplanet. Soc. 35, 391 (1982).
4. Vaughan, R. N. Sumpter, A. Frost, and S. Cameron. "Experiments in Automatic
Flock Control." Edinburgh, UK, 1998.
5. Wilson, J. S. (2005).Sensor technology handbook Amsterdam: IEEE Elsevier.
6. Yacoub, M. D. (2002). Wireless technology: protocols, standards, and techniques
Boca Raton: CRC Press.
7. Control engineering control system power and grounding better practice
Amsterdam: Newnes. Petruzzellis, T. (1994).
8. The alarm, sensor & security circuit cookbook .IEEE Blue Ridge Summit, PA:
TAB Books. www.pirsensor.com
9. Barrett, S. F. (2012). Arduino microcontroller processing for everyone! (2nd ed.).
San Rafael, Calif. (1537 Fourth Street, IEEE San Rafael, CA 94901 USA):
Morgan & Claypool. www.microcontroller.com.
10. The 8051 MicrocontrollerPage61Kenneth J. Ayala - 2004

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