A

Project Seminar
On

Spacee-man Robot
By

Ankush M.Tayade
Department
Of
Electronics & Telecommunication
Dhamangaon Education Society's
Collage Of Engineering And Technology, Dhamangaon Rly .

System Design/ Methodology

The PIC16F873A and PIC16F874A have one-half of the total on-chip
memory of the PIC16F876A and PIC16F877A
The 28-pin devices have three I/O ports, while the 40/44-pin devices
have five
The 28-pin devices have fourteen interrupts, while the 40/44-pin
devices have fifteen
The 28-pin devices have five A/D input channels, while the 40/44-pin
devices have eight
The Parallel Slave Port is implemented only on the 40/44-pin devices.

PIC16F877A Pin Dig.

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
Universal Synchronous Asynchronous Receiver
Transmitter (USART/SCI) with 9-bit address
detection

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
Brown-out detection circuitry for Brown-out
Reset (BOR)

Block Diagram

Motor

Motor

Motor

Motor
Driver

RF
Module
Rx

LM35
Temp.

RF
Module
Tx
Rx

PIC
Controller
MIC/
Transducer

Signal
conditioning
Circuit

Amplifire

PIC
Controller
RF
Module
Tx

Monostable
Malty-Vibrator

CRYSTAL
OSC.

Tx

RF
Module
Rx

CRYSTAL
OSC.

Rx
Voltage
Shifter
Tx

PC
Com
Port

LM35 IC
Calibrated directly in Celsius
Linear +10.0mV/c scale factor.
0.5Cel accuracy guarantee
able (at +25 c).
Suitable for remote
application.
Low cost due to water level
trimming.
Operated from 4 to 30 volt.
Less than 60 micro A current
drain.

LA3161
On-chip 2 preamplifiers.
Good ripple rejection owing to onchip voltage regulator.
Minimum number of external parts
required.
Low noise.
8-pin SIP package facilitating easy
mounting.
Pin-compatible with LA3160.

CD40012BC
Low power TTL: Fan out of 2
driving 74L compatibility: or 1
driving 74LS
5V10V15V parametric ratings
Symmetrical output characteristics
Maximum input leakage 1 A at
15V over full temperature range

Stethoscope
Chest piece
Stem
Headset
Ear tips
Ear tubes
Tunable Diaphragm

MCT 2E

UL recognized (File # E90700)

VDE recognized (File # 94766)
Add option V for white package (e.g., MCT2V-M)
Add option 300 for black package (e.g., MCT2.300)
MCT2 and MCT2E are also available in white package by specifying -M
suffix, e.g. MCT2-M

Model Structure

Receiver Module:
Operating Voltage: 5 VDC
Operating Current: 5 mA
Receiving Sensitivity: -103 dbm
Operating Frequency: 315 MHz/433MHz selectable
Transfer Rate: 4.8K
Modulating: AM
Output: TTL
Control Mode: Momentary or Latch(Selectable)
Transmitter:
Transmitting Range: 500m
Supply Power: DC12V Battery
Operating Current: 15-40mA
Frequency: 315MHz

Circuit Diagram

Software Description
START

Initialize Ports
A
check The receiving
PULSE

IF
It IS "0001"

ON motor 1st

IF
It IS "0010"

OFF MOTOR 1st

IF
It IS "0011"

ON motor 2nd

IF
It IS "0100"

OFF motor 2nd

IF
It IS "0101"

ON motor 3rd

IF
It IS "0111"

OFF motor 3rd

A
A

Application
Earthquake
Military Services
Chemical Factories

Advantages
It is a small unmanned fully autonomous and a light weight vehicle
and therefore it can be fielded in narrow passage very easily. As it is
fully autonomous no controlling is required.
Due to its light weight power requirements are less and easy to
carry.
Its microcontroller based circuitry makes it simple and compact and
provides more flexibility as in future if any change is required then only
by changing the program its functionalities can be changed.
Although low cost standard processing hardware was chosen, it
performs well and is capable of doing its work efficiently.
It has caterpillar type wheel arrangement. It helps in the movement
of the vehicle in rough terrain. Also its turning radius is very small.

Future Scope

First, it would be useful to add a function in

sound detection to detect regular banging.
Indeed, in disaster area, sometimes victims are
banging on wall or on ground because they cant
shout. Moreover sound propagates itself better in
structure than in the air. So if the robot could be
able to detect regular banging it will have one
more useful function for human detection

References
A. Rogalski, K. Chrzanowski, Infrared devices and techniques,
Warsaw, 2002.
J. Casper Human-Robot Interactions during the Robot-Assisted Urban
Search And Rescue Response at The World Trade Center, MS Thesis,
Computer Science and Engineering, USF, South Florida, 2002.
J. Casper and R. Murphy, "Workflow Study on Human-Robot
Interaction in USAR", ICRA 2002, pp 1997-2003.
Murphy R, Casper J, Hyams J, Micire M, and Minten B "Mobility and
Sensing Demands in USAR", (invited), IECON 2000, Nagoya, Japan,
2000.
L. Matthies, Y. Xiong, R. Hogg, A Portable, Autonomous, Urban
Reconnaissance Robot", The 6th International Conference on Intelligent
Autonomous Systems, Venice, Italy, 2000.