cell phone controlled robot

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    INTRODUCTION

    As we know, wireless-controlled robots use RF circuits, which have the drawbacks of

    limited working range, limited frequency range and limited control. Use of a mobile phone for

    robotic control can overcome these limitations. It provides the advantages of robust control,working range as large as the coverage area of the service provider, no interference with other

    controllers and up to twelve controls. Although the appearance and capabilities of robots vary

    vastly, all robots share the features of a mechanical, movable structure under some form of con-

    trol. The control of robot involves three distinct phases: perception, processing and action. Gen-

    erally, the preceptors are sensors mounted on the robot, processing is done by the on -board mi-

    crocontroller or processor, and the task (action)is performed using motors or with some other

    actuators.

    Fig: 1.1 Mobile phone controlled land rover

    In this project, the robot is controlled by a mobile phone that makes a call to the mobile

    phone attached to the robot. In the course of a call, if any button is pressed, a tone corresponding

    to the button pressed is heard at the other end of the call. This tone is called dual -tone multiple-

    frequency (DTMF) tone. The robot perceives this DTMF tone with the help of the phonestacked in the robot. The received tone is processed by the microcontroller with the help of

    DTMF decoder MT8870. The decoder decodes the DTMF tone into its equivalent binary digit

    and this binary number is sent to the microcontroller. The microcontroller is pre programmed to

    take a decision for any given input and outputs its decision to motor drivers in order to drive the

    motors for forward or backward motion or a turn. The mobile that makes a call to the mobile

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    phone stacked in the robot acts as a remote. So this simple robotic project does not require the

    construction of receiver and transmitter units. The received tone is processed by the ATmega16

    microcontroller with the help of DTMF decoder MT8870 the decoder decodes the DTMF tone in

    to its equivalent binary digit and this binary number is send to the microcontroller, the microcon-

    troller is preprogrammed to take a decision for any give input and outputs its decision to motor

    drivers in order to drive the motors for forward or backward motion or a turn. The mobile that

    makes a call to the mobile phone stacked in the robot acts as a remote. So this simple robotic

    project does not require the construction of receiver and transmitter units. DTMF signaling is

    used for telephone signaling over the line in the voice-frequency band to the call switching cen-

    ter. The version of DTMF used for telephone dialing is known as touch-tone. DTMF assigns a

    specific frequency (consisting of two separate tones) to each key so that it can easily be identi-

    fied by the electronic circuit. The signal generated by the DTMF encoder is the direct algebraic

    submission, in real time, of the amplitudes of two sine (cosine) waves of different frequencies,

    i.e., pressing 5 will send a tone made by adding 1336 Hz and 770 Hz to the other end of the

    mobile.

    Usually, wireless-controlled robots use RF circuits, which have the drawbacks of limited

    working range, limited frequency range and limited control. Use of a mobile phone for robotic

    control can overcome these limitations. It provides the advantages of robust control, working

    range as large as the coverage area of the service provider, no interference with other controllers

    and up to twelve controls. Although the appearance and capabilities of robots vary vastly, all ro-

    bots share the features of a mechanical, movable structure under some form of control. The con-

    trol of robot involves three distinct phases: perception, processing and action. Generally, the

    preceptors are sensors mounted on the robot, processing is done by the on-board microcontroller

    or processor, and the task (action) is performed using motors or with some other actuators.

    The main purpose for this project is to improve the industry and medical facilities to be-

    come modern and easy to operate in line with our era. By using this cell phone as a remote to

    control the land rover, it overcomes the limitation of the existing remote which is having limita-

    tions in range, frequency range and controls.The aim of this project is to improve the machine

    operation in Industry and also in medical facilities. In this project, the technology that we used is

    Dual-Tone Multi-Frequency (DTMF) Technology. DTMF signaling is used for telecommunica-

    tion signaling over analog telephone lines in the voice frequency band between telephone hand-

    sets and other communications device and the switching centre.

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    The underlying principle mainly relies up on the ability of DTMF (Dual-Tone Multi-

    Frequency) Technology to acts as a remote for controlling the land-rover to move. It will gener-

    ate DTMF corresponding to a number or code in the number pad and then detect the same num-

    ber or code from its corresponding DTMF (Table 2.0). In detail, a DTMF generator will gener-

    ates two frequencies corresponding to a number or code in the number pad which will be trans-

    mitted through the communication networks, constituting the transmitter section which is simply

    equivalent to a mobile set.For this project, the microcontroller is pre-programmed to take a deci-

    sion for any given input and outputs its decision to motor drivers in order to drive the motors for-

    ward, backward motion or a turn.The Microcontroller acts as a brain of this project because the

    code will give the action to the motor to move it.

    Robotics is a fascinating subject more so, if you have to fabricate a robot yourself. The

    field of robotics encompasses a number of engineering disciplines such as electronics (including

    electrical), structural, pneumatics and mechanical. The structural part involves use of frames,

    beams, linkages, axles, etc. The mechanical parts/accessories comprise various types of gears

    (spurs, crowns, bevels, worms and differential gear systems), pulleys and belts, drive systems

    (differentials, castors, wheels and steering), etc. Pneumatics plays a vital role in generating spe-

    cific pushing and pulling movements such as those simulating arms or leg movements. Pneumat-

    ic grippers are also used with advantage in robotics because of their simplicity and cost -

    effectiveness. The electrical items include DC and stepper motors, actuators, electrical grips,

    clutches and their control. The electronics part involves remote control, sensors (touch sensor,

    light sensor, collision sensor, etc), their interface circuitry and a microcontroller for over all con-

    trol function.

    The main components used for this circuit is a DTMF Decoder,ATmega16 microcontrol-

    ler, motor driver, two mobile phones etc.For the working of the rover, we must have to make a

    call to the mobile phone attached to the rover through the head phone from any phone which is

    along with the controller. This phone in the user sends DTMF tunes on pressing the numeric but-

    ton. Remember that the cell phone placed in the land rover is kept in auto answer mode. If the

    mobile phone is not having the auto answering facility, receive the call by OK key on the mobile

    connected on the rover and make it in hand free mode. So we had made the land rover in such

    a way that, after a ring the cell phone accepts the call. The decoder decodes the received tones

    and sends the equivalent binary number to the microcontroller. According to the program in the

    microcontroller which had been already programmed, the rover starts moving. The rover can

    move in forward direction, backward direction, towards front and towards back. Each directions

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    are directed by the numeric keys in the mobile phone. For example press the key 2 in the key-

    pad of the mobile phone for forward movement.

    In this project we are using only four directional movements and a stop button. That is why we

    are using only five numeric keys here. This mobile phone controlled land rover can be modified

    by giving more applications to the keys other than the mentioned keys. Rest of the keys are used

    for the advanced purpose of the product.

    1.1 OVERVIEW OF THE PROJECT

    This section gives a brief description about the contents of the project work. The chapter

    2 discuss about the history of the project. The proposed block diagram description and working

    are explained in chapter 3. The chapter 4 deals with the circuit diagram, PCB layout and compo-

    nent specification of the project. Finally the result, conclusion and the advantages and disad-

    vantages are dawn in chapter 5.

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    CHAPTER 2

    LITERATURE SURVEY

    Looking back at the history of the project, we can see that our project is the modified ver-

    sion of the projects listed below. For this project we are using a mobile phone controlled land

    rover. This is the latest method for using RF signals for transmitting the signals .This project can

    be done in two ways. We can use two method with or without using microcontroller software.

    The second method which is without using the Microcontroller Interfacing software, the micro-

    controller is replace with the equivalent logic circuit that act as a decoder to convert the binary to

    perform the action of the land rover.

    Fig: 2.1 Circuit diagram without using Microcontroller Interfacing Software.

    When using this second method, it will be a problem in excessive current division due to the

    overloaded logic. So the chosen of using the microcontroller is the best solution to avoid this en-

    tire problem from happening in constructing this project

    These both methods operate in same way which is drawback the limited working range,

    limited range and limited control. As the preliminary stage of technology, there came the wired

    land rover followed by the rover etc. As the technology has advanced, to overcome the limita-

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    tions of each of these, there came the modified version. The wired land rover is the primary

    product which had used this technology. It had more complex circuitry and bulkiness in produc-

    tion. The product would be more expensive. And the main drawback of this land rover is that it is

    controlled by wires. That is for the working of the land rover, it must be controlled by a compo-

    nent which is interconnected to the rover by wires.ie the link between the rover and the compo-

    nent is the wires. The advanced version of the wired land rover is the wireless land rovers. Thishas more modified techniques. To overcome the limitations of the wired rover, wireless rovers

    are adopted. Even though the wireless land rovers were having limitations, it is more advanta-

    geous than the wired land rovers. It has a working area which is more wider than the previous

    one.

    A remote control vehicle is defined as any mobile device that is controlled by means

    that does not restrict its motion with an origin external device. A remote controlled vehicle

    (RCV) differs from robot as the RCV is always controlled by a human and takes no positive ac-

    tion autonomously. It is vital that a RCV should be capable of proceeding accurately to a target

    area; maneuvering within that area to fulfill its mission and returning equally accurately and

    safely to base. Conventionally, wireless-controlled robots use RF circuits, which have the draw-

    backs of limited working range, limited frequency range and limited control. Use of a mobile

    phone for robotic control can overcome these limitations. It provides the advantages of robust

    control, working range as large as the coverage area of the service provider, no interference with

    other controllers and up to twelve controls. Although the appearance and capabilities of robots

    vary vastly, all robots share the features of a mechanical, movable structure under some form of

    control. The control of robot involves three distinct phases: perception, processing and action.

    Generally, the preceptors are sensors mounted on the robot, processing is done by the on-board

    microcontroller or processor, and the task (action) is performed using motors or with some other

    actuators.

    This propeller-driven radio controlled boat, built by Nikola Tesla in 1898, is the original

    prototype of all modern-day uninhabited aerial vehicles and precision guided weapons. In fact,

    all remotely operated vehicles in air, land or sea.Powered

    by

    lead acid

    batteries

    and

    an

    elec-

    tricdrive motor, the vessel was designed to be maneuvered alongside a target using instructions

    received from a wireless remote-control transmitter. Onceinposition, acommandwouldbe sent

    to detonate an explosive charge contained within the

    boat'sforwardcompartment.Theweapon'sguidancesystem incorporated a secure communica-

    tions link between the pilot's controller and the surface-running torpedo in an effortto assure that

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    control could be maintained even in the presenceof electroniccountermeasures.To learnmore

    about Tesla's system for secure wireless communications and his pioneering implementation of

    the electronic logic-gate circuitread Nikola Tesla Guided Weapons & Computer Technolo-

    gy, Tesla Presents Series Part 3, with commentary by Leland Anderson.

    Use of Remote Controlled Vehicles During World War II :

    During World War II in the European Theater the U.S. Air Force experimented with three basic

    forms radio-control guided weapons. In each case, the weapon would be directed to its target by

    a crew member on a control plane.The first weapon was essentially a standard bomb fitted with

    steering controls.The next

    evolution involved

    the fitting

    of a bomb to a glider airframe, one ver-

    sion, the GB-4 having a TV camera to assist thecontroller withtargeting.The thirdclass of guid-

    ed weapon was the remote controlled B-17.It's known that Germany deployed a number ofmore

    advanced guided strike weapons that saw combat beforeeither the V-1 or V-

    2. They were the radio-controlledHenschel's Hs 293A and Ruhrstahl's SD1400X, known as

    "FritzX," both air-launched, primarily against shipsat sea.

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    CHAPTER 3

    PROPOSED SYSTEM

    In this project we are discussing about Mobile Phone Controlled Land Rover. The pro-

    posed system is discussed in the section below. Here we discuss about the components in the

    block and its working.

    3.1 BLOCK DIAGRAM AND DESCRIPSION

    The block diagram of the cell phone based land rover consists of the following blocks.

    The DTMF decoder, microcontroller, motor driver, left motor and right motor, two mobile

    phones. In this project, the robot is controlled by a mobile phone that makes a call to the mobilephone attached to the robot. In the course of a call, if any button is pressed, a tone corresponding

    to the button pressed is heard at the other end of the call. This tone is called dual -tone multiple-

    frequency (DTMF) tone

    .

    Fig: 3.1 Block Diagram of Mobile Phone Controlled Land Rover

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    CHAPTER 4

    CIRCUIT DIAGRAM AND DESCRIPTION

    The main attraction of this project is that it is controlled by a mobile phone that makes

    call to the mobile phone attached to the robot in the course of the call, if any button is pressed

    control corresponding to the button pressed is heard at the other end of the call. This tone is

    called dual tone multi frequency (DTMF). The robot receives this DTMF tone with the help of

    phone stacked in the robot. The received tone is processed by the ATmega16 microcontroller

    with the help of DTMF decoder MT8870 the decoder decodes the DTMF tone in to its equivalent

    binary digit and this binary number is send to the microcontroller, the microcontroller is prepro-grammed to take a decision for any give input and outputs its decision to motor drivers in order

    to drive the motors for forward or backward motion or a turn. The mobile that makes a call to the

    mobile phone stacked in the robot acts as a remote.

    So this simple robotic project does not require the construction of receiver and transmit-

    ter units. DTMF signaling is used for telephone signaling over the line in the voice -frequency

    band to the call switching center. The version of DTMF used for telephone dialing is known as

    touch-tone. DTMF assigns a specific frequency (consisting of two separate tones) to each key so

    that it can easily be identified by the electronic circuit. The signal generated by the DTMF en-

    coder is the direct algebraic submission, in real time, of the amplitudes of two sine (cosine)

    waves of different frequencies, i.e., pressing 5 will send a tone made by adding 1336 Hz and770 Hz to the other end of the mobile. In order to control the robot, you need to make a call to

    the cell phone attached to the robot (through head phone) from any phone, which sends DTMF

    tunes on pressing the numeric buttons. The cell phone in the robot is kept in auto answer mode.

    (If the mobile does not have the auto answering facility, receive the call by OK

    The key on the rover-connected mobile and then made it in hands-free mode.) So after a ring, the

    cell phone accepts the call. The DTMF tones thus produced are received by the cell phone in the

    robot. These tones are fed to the circuit by the head The MT8870 decodes the received tone and

    sends the equivalent binary number to the microcontroller.

    According to the program in the microcontroller, the robot starts moving. When set of the cell

    phone. you press key 2 (binary equivalent 00000010) on your mobile phone, the microcontrol-

    ler outputs 10001001 binary equivalent.

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    When the input signal given at pin 2 (IN-) in single-ended input configuration is recog-

    nized to be effective, the correct 4-bit decode signal of the DTMF tone is transferred to Q1 (pin

    11) through Q4 (pin14) outputs. Q1 through Q4 outputs of the DTMF decoder (IC1) are connect-

    ed to port pins PA0 through PA3 of microcontroller (IC2) after inversion by N1 through N4, re-

    spectively. Outputs from port pins PD0 through PD3 and PD7 of the microcontroller are fed to

    inputs IN1 through IN4 and enable pins (EN1 and EN2) of motor driver L293D, respectively, to

    drive two geared DC motors. Switch S1 is used for manual reset.The microcontroller output is

    not sufficient to drive the DC motors, so current drivers are required for motor rotation. The

    L293D is a quad, high-current, half-H driver designed to provide bidirectional drive currents of

    up to 600 mA at voltages from 4.5V to 36V. It makes it easier to drive the DC motors. The

    L293D consists of four drivers. Pins IN1 through IN4 and OUT1 through OUT4 are input and

    output pins, respectively, of driver 1 through driver 4. Drivers 1 and 2, and drivers 3 and 4 are

    enabled by enable pin 1 (EN1) and pin 9 (EN2), respectively. When enable input EN1 (pin 1) is

    high, drivers 1 and 2 are enabled and the outputs corresponding to their inputs are active. Simi-

    larly, enable input EN2 (pin 9) enables drivers 3 and 4.

    Table: 4.2 Tones and assignments in DTMF decoder system

    TONES AND ASSIGNMENTS IN DTMF DE-

    CODER SYSTEM

    FREQUENCIES 1209Hz 1336Hz 1477Hz 1633Hz

    697Hz 1 2 3 A

    770Hz 4 5 6 B

    852Hz 7 8 9 C

    941Hz * 0 # D

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    4.1 L293D MOTOR DRIVER

    L293D is a dual H bridgemotor driver integrated circuit (IC). Motor drivers act as cur-

    rent amplifiers since they take a low-current control signal and provide a higher-current signal.

    This higher current signal is used to drive the motors. In its common mode of operation, two DC

    motors can be driven simultaneously, both in forward and reverse direction.

    Fig : 3.3 L293D Motor driver

    When the input signal given at pin 2 (IN-) in single-ended input configuration is recog-

    nized to be effective, the correct 4-bit decode signal of the DTMF tone is transferred to Q1 (pin

    11) through Q4 (pin 14) outputs. Q1 through Q4 outputs of the DTMF decoder (IC1) are con-

    nected to port pins PA0 through PA3 of microcontroller (IC2) after inversion by N1 through N4,

    respectively Outputs from port pins PD0 through PD3 and PD7 of the microcontroller are fed to

    inputs IN1 through IN4 and enable pins (EN1 and EN2) of motor driver L293D, respectively, to

    drive two geared DC motors. Switch S1 used for manual reset. The microcontroller output is not

    sufficient to drive the DC motors, so current drivers are required for motor rotation. The L293D

    is a quad, high-current, half-H driver designed to provide bidirectional drive currents of up to

    600 mA at voltages from 4.5V to 36V. It makes it easier to drive the DC motors. The L293D

    consists of four drivers. Pins IN1 through IN4 and OUT1 through OUT4 are input and output

    pins, respectively, of driver 1 through driver4.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 volt-

    ages from 4.5 V to 36 V. The L293D is designed to provide bidirectional currents of up to 600-

    mA at voltages from 4.5 V to 36 V.

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    .Fig: 4.2 Pin diagram of L293D Motor driver

    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.

    Fig: 4.3 Four drivers in L293D

    All inputs are TTL compatible. Each output is a complete totem-pole drive circuit, with a

    Darlington transistor sink and a pseudo-Darlington source. Drivers are enabled in pairs, with drivers

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    1 and 2 enabled by 1,2EN and drivers3 and 4 enabled 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.

    Table: 4.3 Pin description of L293D Motor driver

    The motor operations of two motors can be controlled by input logic at pins 2 & 7 and

    10 & 15. Input logic 00 or 11 will stop the corresponding motor. Logic 01 and 10 will rotate it in

    clockwise and anticlockwise directions, respectively. Enable pins 1 and 9 (corresponding to the

    two motors) must be high for motors to start operating. When an enable input is high, the associ-

    ated driver gets enabled. As a result, the outputs become active and work in phase with their in-

    puts. Similarly, when the enable input is low, that driver is disabled, and their outputs are off and

    in the high-impedance state.

    Pin No Function Name

    1 Enable pin for Motor 1; active high Enable 1,2

    2 Input 1 for Motor 1 Input 1

    3 Output 1 for Motor 1 Output 1

    4 Ground (0V) Ground

    5 Ground (0V) Ground

    6 Output 2 for Motor 1 Output 2

    7 Input 2 for Motor 1 Input 2

    8 Supply voltage for Motors; 9-12V (up to 36V) Vcc2

    9 Enable pin for Motor 2; active high Enable 3,4

    10 Input 1 for Motor 1 Input 3

    11 Output 1 for Motor 1 Output 3

    12 Ground (0V) Ground

    13 Ground (0V) Ground

    14 Output 2 for Motor 1 Output 4

    15

    Input2 for Motor 1

    Input 4

    16 Supply voltage; 5V (up to 36V) Vcc1

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    4.2 DTMF DECODER

    The MT8870 is a full DTMF Receiver that integrates both band split filter and decoder func-

    tions into a single 18-pin DIP or SOIC package. Manufactured using CMOS process technology,

    the M-8870 offers low power consumption (35 mW max) and precise data handling. Its filter section

    uses switched capacitor technology for both the high and low group filters and for dial tone rejec-

    tion.

    Fig: 3.2 MT8870 DTMF Decoder

    Its decoder uses digital counting techniques to detect and decode all 16 DTMF tone pairs into

    a 4-bit code. All types of the MT8870 series use digital counting techniques to detect and decode all

    the 16 DTMF tone pairs into a 4-bit code output. The built-in dial tone rejection circuit eliminates

    the need for pre-filtering. Dual-tone multi-frequency (DTMF) signaling is used for telecommunica-

    tion signaling over analog telephone lines in the voice-frequency band between telephone handsets

    and other communications devices and the switching centre. The version of DTMF used for tele-

    phone tone signaling is known by the trademarked term Touch-Tone (cancelled March 13, 1984),

    and is standardized by ITU-T Recommendation Q.23. It is also known in the UK as MF4. Other

    multi-frequency systems are used for signaling internal to the telephone network. As a method of in -

    band signaling, DTMF tones were also used by cable television broadcasters to indicate the start and

    stop times of local commercial insertion

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    Fig : 4.4 Pin diagram of MT8870 DTMF Decoder

    points during station breaks for the benefit of cable companies. Until better out-of-band

    signaling equipment was developed in the 1990s, fast, unacknowledged, and loud DTMF tone

    sequences could be heard during the commercial breaks of cable channels in the United States

    and elsewhere. The MT8870D/MT8870D-1 is a complete DTMF receiver integrating both the

    band split filter and digital decoder functions. The filter section uses switched capacitor tech-

    niques for high and low group filters; the decoder uses digital counting techniques to detect and

    decode all 16 DTMF tone-

    pairs into a 4-

    bit code

    4.3 DIODE

    In electronics, a diode is a two-terminal electronic component that conducts electric cur-

    rent in only one direction. The term usually refers to a semiconductor diode, the most common

    type today, which is a crystal of semiconductor connected to two electrical terminals, a P-N junc-

    tion. A vacuum tube diode, now little used, is a vacuum tube with two electrodes; a plate and a

    cathode.

    The most common function of a diode is to allow an electric current in one direction

    (called the diode's forward direction) while blocking current in the opposite direction (the reverse

    direction). Thus, the diode can be thought of as an electronic version of a check valve.

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    Fig: 4.5 Diode

    This unidirectional behavior is called rectification, and is used to convert alternating cur-

    rent to direct current, and remove modulation from radio signals in radio receivers.

    However, diodes can have more complicated behavior than this simple on-off action, due

    to their complex non-

    linear electrical characteristics, which can be tailored by varying the con-struction of their P-N junction. These are exploited in special purpose diodes that perform many

    different functions. Diodes are used to regulate voltage (Zener diodes), electronically tune radio

    and TV receivers (varactor diodes), generate radio frequency oscillations (tunnel diodes), and

    produce light (light emitting diodes).

    Diodes were the first semiconductor electronic devices. The discovery of crystals' rectify-

    ing abilities was made by German physicist Ferdinand Braun in 1874. The first semiconductor

    diodes, called cat's whisker diodes were made of crystals of minerals such as galena. Today most

    diodes are made of silicon, but other semiconductors such as germanium are sometimes used.

    4.4ATmega16 MICROCONTROLLER

    The microcontroller used here is the ATmega16. It is a 40 pined IC. Due to high perfor-

    mance and low power consumption, the ATmega16 microcontroller is more popular. It is an 8 bit

    microcontroller which follows RISC architecture. It has 32*8 general purpose working registers

    which shows the fastness of the controller. The microcontroller special features are: It has the

    capability of Power-on Reset and Programmable Brown

    -out Detection. It has internal calibrated

    RC oscillators. It consist of external and internal interrupt sources. The ATmega16 consist of six

    sleep modes; Idle, ADC, Noise Reduction, Power Save, Power Down, standby and extended

    standby.

    It provides the following features: 16 kB of in-system programmable Flash program

    memory with read-while write capabilities, 512 bytes of EEPROM, 1kB SRAM, 32 general-

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    purpose input/output (I/O) lines and 32 general-purpose working registers. All the 32 registers

    are directly connected to the arithmetic logic unit, allowing two independent registers to be ac-

    cessed in one single instruction executed in one clock cycle. The resulting architecture is more

    code-efficient.

    FEATURES

    High-performance, Low-power Atmel AVR 8-bit Microcontroller

    Advanced RISC Architecture

    131 Powerful Instructions Most Single-clock Cycle Execution

    32 x 8 General Purpose Working Registers

    Fully Static Operation

    Up to 16 MIPS Throughput at 16 MHz

    On-chip 2

    -cycle Multiplier

    High Endurance Non-volatile Memory segments

    16 Kbytes of In-System Self-programmable Flash program memory

    512 Bytes EEPROM

    1 Kbyte Internal SRAM

    Write/Erase Cycles: 10,000 Flash/100,000 EEPROM

    Data retention: 20 years at 85C/100 years at 25C(1)

    Programming Lock for Software Security JTAG (IEEE std. 1149.1 Compliant) Interface

    Boundary-scan Capabilities According to the JTAG Standard

    Programming of Flash, EEPROM, Fuses, and Lock Bits through the JTAG Interface

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    Fig: 4.5 Pin diagram of ATmega16

    Peripheral Features

    Two 8-bit Timer/Counters with Separate Pre scalers and Compare Modes

    One 16-bit Timer/Counter with Separate Pre scaler, Compare Mode, and Capture

    Mode

    Real Time Counter with Separate Oscillator

    Four PWM Channels

    8-channel, 10

    -bit ADC

    8 Single-ended Channels

    7 Differential Channels in TQFP Package Only

    2 Differential Channels with Programmable Gain at 1x, 10x, or 200x

    Byte-oriented Two-wire Serial Interface

    4.5 MOBILE PHONE

    Here in this project we are using two Nokia mobile phones for controlling the land rover.

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    For the working of the rover, we must have to make a call to the mobile phone attached

    to the rover through the head phone from any phone which is along with the controller. The rover

    can be moved according to the keys pressed in the mobile phone by the user.

    4.6 TELEPHONE KEYPAD

    The contemporary keypad is laid out in a 3x4 grid, although the original DTMF keypad

    had an additional column for four now-defunct menu selector keys. When used to dial a tele-

    phone number, pressing a single key will produce a pitch consisting of two simultaneous pure

    tone sinusoidal frequencies. The row in which the key appears determines the low frequency, and

    the column determines the high frequency. For example, pressing the !1! key will result in a

    sound composed of both a 697 and a 1209 hertz (Hz) tone.

    The original keypads had levers inside, so each button activated two contacts. The multi-

    ple tones are the reason for calling the system multi frequency. These tones are then decoded by

    the switching center to determine which key was pressed.

    Fig: 4.7 Keypad of the mobile phone

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    DTMF signaling is used for telephone signaling over the line in the voice -frequency band

    to the call switching centre. The version of DTMF used for telephone tone dialing is known as

    Touch-Tone. DTMF assigns a specific frequency (consisting of two separate tones) to each key

    so that it can easily be identified by the electronic circuit.

    4.7 DC MOTORS

    Fig: 4.8 Motors for movements

    These are the DC motors capable of running the land rover. It moves the rover in forward

    and backward direction. Its maximum rpm is 50.

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    4.7 PCB LAYOUT OF THE CIRCUIT

    Fig : 4.9 PCB Layout of the circuit

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    CHAPTER 5

    CONCLUSION

    Conventionally, wireless-controlled robots use RF circuits, which have the drawbacks of

    limited working range, limited frequency range and limited control. In our project with the use of

    a mobile phone for robotic control can overcome these limitations. It provides the advantages of

    robust control, working range as large as the coverage area of the service provider, no interfer-

    ence with other controllers and up to twelve controls. Although the appearance and capabilities

    of robots vary vastly, all robots share the features of a mechanical, movable structure under some

    form of control. The control of robot involves three distinct phases: reception, processing and

    action. Generally, the preceptors are sensors mounted on the robot, processing is done by the on -

    board microcontroller or processor, and the task (action) is performed using motors or with some

    other actuators. So the motive is that to increase the range of remote controlled products. For this

    mobile phone operated control is best because we can globalize our project & no limitation of

    range.

    5.1 ADVANTAGES:

    The advantages are:

    Wireless control

    Surveillance System.

    Vehicle Navigation with use of 3G technology.

    Takes in use of the mobile technology which is almost available everywhere.

    This wireless device has no boundation of range and can be controlled as far as network of

    cell phone

    5.2 DISADVANATGES:

    The disadvantages are:

    Cell phone bill.

    Cost of project if Cell phone cost included.

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    Not flexible with all cell phones as only a particular ,cell phone whose earpiece is attached

    can only be used.

    Not flexible with all cell phones as only a particular ,cell phone whose earpiece is attached

    can only be used.

    Mobile batteries drawn out early for charging problems

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    REFERENCE

    [1] Schenker, L, "Pushbutton Calling with a Two-Group Voice-Frequency Code The Bell sys-

    tem technical journal, vol 14,no. 2, Jan 2006.

    [2] M. Ali Yousuf, R. Montfar Chaveznava, and V. de la Cueva Cueva Hernndez, "Robotic

    projects to enhance student participation,motivation and learning", Hernndez Current Devel-

    opments in Technology-Assisted Education ,pp 922-952, July 2008.

    [3] Robert Siwy, "Generation and Recognition of DTMF Signals with the Microcontroller

    MT8870", Texas Instruments Deutschland,October 2005.

    [4] Cell phone based land rover Liu, Simon & Silverman, Mark. November 2009 [online]

    Available: http://www.instructables.com/id/Cellphone-operated-Robot/ [accessed:Jan 2013].

    [5]http://www.datasheetcatalog.com/datasheets_pdf/M/T/8/8/MT8870.shtml

    [6]http://www.alldatasheet.com/datasheetpdf/pdf/STMICROELECTRONICS/L298.html

    [7]http://robosapiensindia.com/robomart/index.php?product_id=218&page=shop