reference report final

7/31/2019 Reference Report Final

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Robotic Arm Based On Hap-tic Technology/2012

Department of Instrumentation Technology 1

CHAPTER 1

INTRODUCTION

In recent years the technology of automation has been widely spread in order to get

the work done with maximum efficiency and accuracy. This project is one such idea which

uses automation technique.

The robot is made up of tyre wheels to move in different directions. The robot

consists of the sensing circuits to sense the parameter abnormality and for navigation a

camera is used which rotates at angle of around 1800

for military applications.

The robot is sent to the industrial premises, as soon as some parameters like fire and

smoke goes abnormal, the robot circuit receives this data and sends it to the transmitter

circuit. The digital data is transmitted to the display unit. This condition of abnormality is

indicated by the LEDs in the display unit.

This robot is useful and effective in military applications. The camera mounted on the

robot is used to take the pictures of the field continuously and is sent to the control unit .By

referring to the images the operator can locate the existence of enemies.


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CHAPTER 2

BLOCK DIAGRAM

2.1 AT CONTROL UNIT SIDE

Fig 2.1 (a): Binary data encoding Fig 2.1(b): Display Unit for sensors

Fig 2.1(c) Audio video receiver unit

At monitoring side it mainly consists of 2 units:

Binary data encoding. Display unit for sensors. Audio video receiver unit

Encoder Key Pad

Tx 1

433MHz

Rx 2

LEDindicator

Audio

Video Rx 3

Personal computer

PC

Tuner card


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To control the action of robot the data has to be sent through wireless communication

technique. The data that has to be sent in the form of binary is encoded with encoder HT12E

with the help of key pad as in Fig 2.1(a). The keys may be assigned separately for every

function like movement of the robot vehicle in different directions, for gun and camera

movement. The data for every action will be encoded as 0001, 0010, 0011 and 0100. Finally

the encoded data is sent by using transmitter Tx1 which operates at 433MHZ. This

transmitter uses ASK (amplitude shift keying) method.

In an ASK system binary symbol 1 is represented by transmitting a sinusoidal carrier

wave of fixed amplitude Ac and fixed frequency fc for bit duration Tb seconds, where as

binary symbol 0 is represented by switching of the carrier for Tb seconds. The encoded data is

sent to the Rx1 located on the robot vehicle in the form of RF signals.

The display unit consists of a receiver and a LED indicator. The receiver consists of a

RX-2B IC. RX-2B is a pair of CMOS LSIs designed for remote controlled applications. The

RX-2B receives the data sent by the Tx2 located on the robot vehicle. The data from the

receiver is sent to the LED indicator circuit on the display unit.

In the audio video receiver unit Rx3 receives the signals transmitted from the Tx3

located at the robot side. The transmitter operates in the range of 400-500 MHz. The videoand audio data separately processed in the audio video process block. The output of the audio

video process block can be connected to television or personnel computer for monitoring

purpose. The personnel computer can be used with TV tuner card. By monitoring the images

sent by the CCD camera the robot can be controlled for its movement.


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2.2 ARRANGEMENT AT ROBOT SIDE

Fig2.2 (a): Motor Driving block for Robot Fig 2.2(c): CCD camera arrangement

Fig2.2 (b): Sensor unit

The receiver Rx1 receives the transmitted RF signals from the transmitter Tx1 located

on the control unit. The receiver Rx1 operates at 433MHz. The data from the receiver is sent

to the decoder HT12D serially. The decoder converts the serial data into parallel form. The

data available is indicated by the LEDs connected at the data pins of the decoder. This data

is sent to the port1 of the microcontroller 89C51 via buffer HCT245. The source code is

loaded in the microcontroller. When the port1 receives the data, it executes the program. The

output is available at port2. Port2 is connected to the two motor driving circuits via buffer

HCT245. The motor driving circuit uses relay driving unit which decides the direction of the

motor with proper polarities. The motors used here is DC type bidirectional 12v type.

Rx 1 Decoder Microcontroller

Motor

driving

circuit with

un

Motor

driving

circuit

Motor with

gun

arrangement

Wheel

Motors

Fire, smoke

sensor

Tx 2

CCD camera

with motor

Arrangement

Tx3


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For industrial applications the different sensors like smoke, fire and temperature are

located on the robot vehicle. The sensors used are LDR, bi-metallic sensor and thermistor

respectively. Each sensor is connected to the comparator circuit. Whenever a parameter goes

abnormal potential difference occurs and the comparator output is generated. This data is sent

to the display unit by using the transmitter Tx2 which uses a TX-2B IC. TX-2B is a pair of

CMOS LSIs designed for remote controlled applications.

To navigate the direction of the robot the CCD camera with motor arrangement is

used as shown in fig 2.2(c). The CCD camera captures both audio and video signals. These

signals are sent through wireless technique by Tx3. The transmitter Tx3 uses amplitude

modulation technique to transmit images and frequency modulation technique to transmit

audio signals. The transmitting of these signals to the control unit is at bandwidth of 5.5MHZ

though the antenna at final RF frequency of 400- 500MHZ.


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CHAPTER 3

REGULATED POWER SUPPLY

3.1 CIRCUIT DIAGRAM

3.2 CIRCUIT SPECIFICATION AND EXPLANATION:

Sl No. COMPONENT TYPE RANGE

1 Transformer Step down center tappedtransformer 9-0-92 Diode IN4007 VR=1000V

3 Capacitor Electrolytic capacitor 1000F

4 IC 7805 5V,1Amp

A DC power supply system, which maintains constant voltage irrespective of

fluctuations in the main supply or variation in the load, is known as Regulated Power supply.A transformer is a device that transfers electrical energy from one circuit to another through

inductively coupled conductorsthe transformer's coils. A varying current in the 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.


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If a load is connected to the secondary, an electric 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 allows an alternating

current (AC) voltage to be "stepped up" by making Ns greater than Np, or "stepped down" by

making Ns less than Np.

The rectifying circuit converts AC to a pulsating DC. A capacitor is used at the input

of 7805 IC to remove the ripple content. The 7805 IC referred to fixed positive voltage

regulator, which provides fixed voltage 5 volts. Fixed Voltage regulator design has been

greatly simplified by the introduction of 3-terminal regulator ICs such as the 78xx series of

positive regulators and the 79xx series of negative regulators, which incorporate features such

as built-in fold back current limiting and thermal protection.

Fig 3.1 IC 7805 pin diagram

These ICs are available with a variety of current and output voltages ratings. The

7805 device gives a 5V positive output at a 1Amp rating, and a 79L15 device gives a 15V

negative output at a 100mA rating. The regulators ICs typically give about 60dB of ripple

rejection, so 1V of input ripple appears as a mere 1mV of ripple on the regulated output.


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CHAPTER 4

CIRCUIT DESCRIPTION

4.1 TRANSMITTER

4.1.1 TRANSMITTER MODULE

Fig 4.1: Transmitter Module

The ST-TX01-ASK is an ASK Hybrid transmitter module as shown in the Fig 4.1.

ST-TX01-ASK are designed by the Saw Resonator. Its operating frequency is 315/ 433 MHz

It uses the digital modulation scheme; ASK modulation scheme. In this scheme during the

transmission of a binary 0, the carrier wave is fully suppressed i.e. completely OFF, and

during the transmission of 1 the carrier wave is ON. Since it operates in the radio frequency

range (above 300 MHz), it is known as RF-Transmitter.

The module ST-TX01-ASK has four pins. They are

1. GND2. DATA IN3. VCC4. ANTENNA


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The pins GND and VCC are connected to the ground and +VCC of power supply

respectively for its proper biasing. The binary data that is to be transmitted is feed to the

DATA IN pin of the module. The module transmits the data bit by bit serially as and when it

receives. Through the pin ANTENNA the data is dumped in the free space for transmission.

Features:

Miniature Module FM Narrow Band Modulation Optimal Range 400m Operates Within 433 License Free Band 34 Channels Available Single Supply Voltage

To have reliability and flexibility, most of the times the transmitter is associated with

an encoder HT12E.


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4.1.2 BINARY DATA ENCODING WITH RF TRANSMITTER

CIRCUIT DIAGRAM:

CIRCUIT SPECIFICATION AND EXPLANATION:

SL NO. COMPONENT TYPE RANGE

1. Transmitter ASK transmitter 433MHz

2. Encoder HT12E 12V, 1A

3. Resistor - 1M,330

4. LED Bead type -


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This wireless RF transmitter/encoder has a 4 bit data input that will be transmitted and

encoded, then decoded by the receiver, RXD433. The transmitter/encoder unit has a transmit

enable input. When the address pins are set up properly and transmitter ready to transmit,

and the transmit enable pin has to be grounded to send the data to the receiver.

A wireless remote control system requires a clean input signal to ensure that correct

data is received. At all RF frequencies, but especially at the frequencies where unlicensed

transmitter operation is allowed, the RF spectrum is cluttered with signals and noise that must

be filtered for proper data reception. Rather than use microprocessors to detect and correct

errors, an encoder IC can be used on the transmitter. A code is generated at the transmitter

that must be matched at the receiver before the data is recognized as being valid. This type of

system is widely used in wireless control applications since it is a reliable way of ensuring

security and eliminating interference.

Because of the versatility of the HT-12E encoder/decoder chips it is possible to

program hundreds of possible addresses and transmit to several different receivers using the

same transmitter. The HT12E encoders begin a 4-word transmission cycle when transmit

enable is pulled low. This cycle will repeat itself as long as the transmit enable is held low.

Once the TE pin is pulled high, the encoder output completes its final cycle then stops.

There are 8 address lines & 4 data lines in HT12E. . The input to the encoder is given

from the keyboard. The 433MHz transmitter uses ASK (Amplitude Shift Keying) modulation

technique to transmit the data. Transmitter gets the data from the data out pin of the encoder

HT12E. The data on D0-D3 pin is transmitted serially through the DOUT pin to the

transmitter. The data available on the data lines is indicated by the LEDs. A data from the

encoder is received at the DATA IN or DIN pin of RF transmitter. The respective VCC &

ground pins of transmitter and encoder are connected. For example if the input data for

HT12E is 0001 (Binary) the D0-D3 bits transmitted serially & 433MHz transmitter transmit

these bits in the form of RF waves through a transmitting antenna. The antenna consists of a

piece of wire approximately 6 to 7 inches long.


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4.2 RECEIVER

4.2.1 RECEIVER MODULE

The receiver used is the RX-ASK module, which is analogous to the transmitter TX-

ASK along with decoder HT-12D.

Fig 4.2 Receiver module

The RX-ASK is an ASK Super heterodyne receiver module with PLL synthesizer and

crystal oscillator, which is used as a low-cost ASK receiver module. The RX-ASK is a low

power RF Receiver module that was developed for wireless data communication devices. Its

operating frequency is 433MHz, with an intermediate frequency of 10.7 KHz. The pin diagram

of RX-ASK module is as shown in the above module diagram.

The module RX-ASK has eight pins. They are

1. GND2. Data out(Digital)3. Data out(Linear)4. VCC5. VCC6. GND7. GND8. Antenna


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The module has three GND pins which correspond to the different sectors within in

the module. In some cases the pin no 6 is treated as power down pin instead of GND pin. By

this the module can be operated in the power down mode.

It has two types of outputs Digital and Linear. The outputs can be used depending on

the type of the application that is used (weather digital or analog).The output of the antenna is

feed to the antenna pin of the module through which the data that is sent by the transmitter is

received for demodulation. The process of recovering the original modulating signal from a

modulated wave is known as demodulation.

Features:

Low power consumption. Easy for application. On-Chip VCO with integrated PLL using crystal oscillator reference. Power Down CapabilityTo have reliability and flexibility, most of the times the transmitter is associated with an

encoder HT12D.


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4.2.2 BINARY DATA DECODING WITH RF RECEIVER

CIRCUIT DIAGRAM:


SL NO. COMPONENT TYPE RANGE

1. Receiver ASK Receiver 433MHz

2. Decoder HT12D 12V. 1A

3. Resistor - 1M,330.1k

4. LED Bead type -

6. Transistor BC548 30V, 500mA


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The Receiver Circuit is arranged as shown above figure. The decoder chip has eight

address lines that can be connected to either +5 volts or ground, making it a simple matter of

matching the address select pins on the receiver/decoder module to match the address pins on

the transmitter/ encoder. The 433MHz RF receiver (ASK type) receives the transmitted

digital data through the antenna & the data is available at its data output pin. The

corresponding +VCC & GND pins are connected to +5V source.

HT 12D decoder decodes the serial data to parallel. When the decoder chip receives

serial data from the receiver Rx433, it compares the address pulses to its address settings and

ifthey are the same, it sends a high to the data valid, pin 18. This condition is indicated by

the transistor and led assembly connected to pin no 18. At that point the data is considered

valid and sent to the data output pins. There are four lines in the decoder capable of

sending/receiving four bits of binary information. This allows a decimal count of 0 to 15. The

decoder each have 8 address lines that can be pulled high or pulled low. To enable the

address lines on the receiver unit they must match the transmitter unit. This gives 256

possible variations in address.


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4.3 MOTOR DRIVING CIRCUIT FOR WHEEL ROTATION

CIRCUIT DIAGRAM:


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This circuit uses four relay circuits to drive the motors in different directions. Relays

are switching devices operated by currents and employed to control large power or to perform

switching operations. In short, a relay is a switch worked by an electromagnet.

Fig 4.3(a): Electromagnetic relay

Operation of relay:

Fig 4.3(a) shows the construction features of a simple electromagnetic relay. It

consists of a coil. When a DC current passed through the coils it produces a magnetic field.

This magnetic field attracts an armature which in turn operates the contact. Normally open

contacts close and normally closed contacts open. As long as current flows, the two contacts

remains closed. When the current is switched off, the attractive force on armature is no longer

present and the contact is opened.

Working of dc motor:

The circuit uses two bi directional DC motors. DC motor is a machine that converts

D.C. electrical energy into mechanical energy. A direct current (DC) motor is a simple

electric motor that uses electricity and a magnetic field to produce torque, which turns the

motor. At its most simple, a DC motor requires two magnets of opposite polarity and an

electric coil, which acts as an electromagnet. The repellent and attractive electromagnetic

forces of the magnets provide the torque that causes the DC motor to turn. Magnets, you

know that they are polarized, with a positive and a negative side. The attraction between

opposite poles and the repulsion of similar poles can easily be felt, even with relatively weak

magnets.


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Fig 4.3(b): DC motor

A DC motor uses these properties to convert electricity into motion. It is based on the

principle that when a current-carrying conductor is placed in a magnetic field, it experiences

a mechanical force whose direction is given by Fleming's Left-hand rule.

Flemings left hand rule states that If the fore finger, middle finger and thumb of left

hand are extended at right angles to each other, as shown in fig 4.3(c), then if the fore-fingerpoints towards the direction of magnetic field, the middle finger points towards the direction

of current in the conductor, then the thumb will point towards the direction of motion of the

conductor.

Fig 4.3(c) Flemings left hand rule


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The magnitude of force experienced on a current carrying conductor placed in a

magnetic field is given by

F= B.I.L. Newton

where B is the magnetic field in Weber/m2.

I is the current in amperes.

L is the length of coil in meter.

.

The four output ports of the microcontroller are given to the relay through transistor. If

any bit of microcontroller is high then the transistor base gets the voltage and through thecollector, the relay gets voltage.

As per the program execution the relay gets the voltage and according to the number

of relay turn on that basis the direction of the motor is controlled. The freewheeling diode is

connected to the coil terminals of the relay to prevent the back EMF. The relay terminals, all

the normally open (NO) are connected to the 5V battery positive terminal and the entire

normally closed (NC) are shorted and connected to the battery negative terminal. The 1st

relay common and the second relay common are given to the motor1. 3rd relay common and

4th

relay common are given to the motor2.

According to the bits received from microcontroller in combination is used to drive

motor through the relay. If bits received 1010(p2.0 andp2.2 are high), then the first relay will

be on and both motors are driven in forward direction, so the robot moves in forward

direction. If bits received 0101 then both motors are driven in reverse direction, so the robot

moves in reverse direction. If bits are 1000 the vehicle is made to move in left direction, If

bits 0001, then in a right direction. (To move the vehicle in left direction the vehicles right

wheel must rotate in forward direction and to move the vehicle in right direction the left

wheel has to be driven in forward direction).

The LEDs connected across the relay coils indicate the state of relay energizing and

de-energizing condition. The power supply required for the relay operation is 5V and motors

are 12V.


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4.4. MOTOR DRIVING CIRCUIT FOR CAM MOVEMENT

CIRCUIT DIAGRAM:


Sl No COMPONENT TYPE RANGE

1 RS flip flop 7474 125MHz,11.5ma

2 Motor Driver IC L293 7V,2A

3 MOTOR DC 12V

The circuit diagram of auto gate control system using 2 channel RS flip-flop IC

7474 & L293 (Direction controller IC) is as shown in above figure. Here pin no4 & 10

of IC 7474 (RS flip-flop) is S1& S2, pin no 1&13 is R1 and R2. Leaf switches are used

for maximum &minimum limit of motor shaft. The output of IC 7474 i.e. Q1&Q2( Pin

no 9&6) is taken as an input for the IC L293 i.e. pin 2&7. The motor is connected to

the pin 3&6 of IC L293. Thus this IC is used as motor direction controller.


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Truth Table:

Q1( Pin 9) Q2(Pin 6) Rotation

1 0 Clockwise

0 0 Stops

0 1 Anticlockwise

1 1 Stop

Working:

IC L293 is useful for rotating the motor as per the input logic .When the signal from

the Microcontroller is applied to the S1 of RS flip-flop 7474. According to the truth table

shown above i.e. when S1& R2 is high and S2&R1 is low the output of IC 7474 i.e. pin Q1 is

high and Q2 goes to low, the motor rotation is clockwise direction & when the S1&R2 is low

and S2&R1 is high the motor will rotates in the anticlockwise direction. The overall

operation is as follows, the motor rotates in clockwise direction only when the inputs for

L293 are Q1=1 & Q2=0.

As the motor is rotating in clockwise direction it touches to the limit switch i.e.

R1 (reset pin) of 7474IC, the motor stops rotating. The input for L293 is 0. Now when the

signal from the Microcontroller is applied to the S2 i.e. 0&1 as input for L293 the motor

starts rotating in anticlockwise direction & when it touches the limit switch of 7474IC, it sets

the R2 pin. Thus the flip flop goes to the forbidden state the motor stops rotating.


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4.5 SENSOR CIRCUITS

4.5.1 SMOKE SENSING CIRCUIT:-

CIRCUIT DIAGRAM:

CIRCUIT SPECIFICATIONS AND EXPLANATION:

Sl No. COMPONENT TYPE RANGE

1 Operational amplifier A741 12V

2 Transistor BC548 30V,500mA

3 LED Bead type -

4 LDR - 100V,5mA

5 Resistors - 10k,100k,1k

6 Diode IN4007 VR=1000V

7 Relay Electrostatic relay 6V,5A

A Smoke Sensing circuit is designed with IR LED, operational amplifier(IC 741), Light

dependent resistor (LDR) and Transistor. A photo resistor or light dependent resistor (LDR)

is a resistor whose resistance decreases with increasing incident light intensity. It can also be

referred to as a photoconductor.


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A photo resistor is made of a high resistance semiconductor. If light falling on the

device is of high enough frequency, photons absorbed by the semiconductor give bound

electrons enough energy to jump into the conduction band. The resulting free electron

conducts electricity, thereby lowering resistance.

A photoelectric device can be either intrinsic or extrinsic. An intrinsic semiconductor

has its own charge carriers and is not an efficient semiconductor, e.g. silicon. In intrinsic

devices the only available electrons are in the valence band, and hence the photon must have

enough energy to excite the electron across the entire band gap. Extrinsic devices have

impurities, also called dopants added whose ground state energy is closer to the conduction

band; since the electrons do not have as far to jump, lower energy photons are sufficient to

trigger the device. If a sample of silicon has some of its atoms replaced by phosphorus atoms

(impurities), there will be extra electrons available for conduction.

The IR LED and LDR are arranged in such way that the light beams of IR LED falls

on the LDR. Here the operational amplifier is used as a voltage comparator. The LDR and

variable resistor (100 K) are connected to the non-inverting terminal Pin No 3 of the

operational amplifier to provide the potential difference.

Fig 4.5.1 Light dependent resistor

The inverting terminal Pin No 2 of the operational amplifier get the potential

difference from resistor 10K and variable resistor (100 K), to adjust the Reference

Voltage. Depending upon the density of the smoke the Comparator output goes to change.


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At normal condition in absence of smoke the light beams emitted by the IR LED falls

on the LDR and LDR goes to saturate. Now at this instant the potential difference between

two inputs at comparator also changes and the output of the comparator is at its low state.

Hence the PNP transistor (BC 548) is in cutoff state.

As soon as the density of the smoke increases, the light beam does not fall on the

LDR. Because of this condition the voltage at Pin No 3 i.e. non-inverting terminal of the

operational amplifier changes and its output goes high which in turn activate the transistor.

This signal is given to the relay interface circuit which turns on the relay.


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4.5.2 FIRE SENSING CIRCUIT:-

CIRCUIT DIAGRAM:


Sl No COMPONENT TYPE RANGE1 Operational amplifier A741 12V


3 Bimetallic Sensor - -

5 Resistor - 10k,100k,1k



A fire sensing circuit is designed with Bi metallic sensor, OP_AMP, Transistor and

relay. A bimetallic strip is used to convert a temperature change into mechanical

displacement. The strip consists of two strips of different metals which expand at different

rates as they are heated, usually steel and copper, or in some cases brass instead of copper.

The strips are joined together throughout their length by riveting, brazing or welding. The

different expansions force the flat strip to bend one way if heated, and in the opposite

direction if cooled below its initial temperature.


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Fig4.5 Diagram of a bimetallic strip showing how the difference in thermal expansion in the two metals leads to a

much larger sideways displacement of the strip

The metal with the higher coefficient of thermal expansion is on the outer side of the

curve when the strip is heated and on the inner side when cooled. The sideways displacementof the strip is much larger than the small lengthways expansion in either of the two metals.

This effect is used in a range of mechanical and electrical devices.

The bi-metallic strip and variable resistor VR1 are connected to the non-inverting

terminal Pin No 3 of the operational amplifier to provide the potential difference. The

inverting terminal Pin No 2 of the operational amplifier gets the potential difference from

resistor R1 and variable resistor VR2, to adjust the Reference Voltage.

When the sensor senses the fire the two bimetallic strips comes in contact. This

increases the voltage at Pin No 3 i.e. non-inverting terminal of the operational amplifier.

Because of this condition the potential difference between two inputs at comparator also

changes and the output of the comparator goes from its low to high state to activate the

transistor. The collector of the transistor further drives relay. As long as the contacts are on

the output of the operational amplifier is high.


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4.5.3 TEMPERATURE SENSING CIRCUIT:-

CIRCUIT DIAGRAM


Sl No COMPONENT TYPE RANGE

1 Operational amplifier A741 12V


3 Thermistor NTC -500

to 1500

5 Resistor - 10k,100k,1k



A temperature sensing circuit is designed with thermistor, op-amp, transistor and

relay. The thermistor is used as a thermal sensitive resistor. The thermistor resistance is

very high at normal temperature. Here the operational amplifier is used as a voltage

comparator.


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A thermistor is a type of resistor whose resistance varies significantly with

temperature, more so than in standard resistors. The word is a portmanteau of thermal and

resistor. Thermistors are widely used as inrush current limiters, temperature sensors, self-

resetting over current protectors, and self-regulating heating elements.

Thermistors differ from resistance temperature detectors (RTD) in that the material

used in a thermistor is generally a ceramic or polymer, while RTDs use pure metals. The

temperature response is also different; RTDs are useful over larger temperature ranges, while

thermistors typically achieve a higher precision within a limited temperature range [usually

90 C to 130 C].

Fig 4.4.1 Thermistor symbol Fig 4.4.2 NTC Thermistor

The change in resistance is given by

where

R = change in resistance

T= change in temperature

k= first-order temperature coefficient of resistance

Thermistors can be classified into two types, depending on the sign of k. If k is

positive, the resistance increases with increasing temperature, and the device is called a

positive temperature coefficient (PTC) thermistor, or posistor. Ifk is negative, the resistance

decreases with increasing temperature, and the device is called a negative temperature

coefficient (NTC) thermistor. Resistors that are not thermistors are designed to have a k as

close to zero as possible (smallest possible k), so that their resistance remains nearly constant

over a wide temperature range.
http://en.wikipedia.org/wiki/File:Thermistor.svghttp://en.wikipedia.org/wiki/File:Thermistor.svghttp://en.wikipedia.org/wiki/File:Thermistor.svg


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The Thermistor T and variable resistor VR1 are connected to the non-inverting

terminal Pin No 3 of the operational amplifier to provide the potential difference. The

inverting terminal Pin No 2 of the operational amplifier gets the potential difference from

resistor R1 and variable resistor VR2. Under normal temperature Thermistor resistance is

very high. So the voltage at Pin No3 is less than the reference Voltage.

As soon as temperature increases its resistance decreases which increases the voltage

at Pin No 3 i.e. non-inverting terminal of the operational amplifier. Now because of this

condition the potential difference between two inputs at comparator also changes and the

output of the comparator goes from its low to high state. The collector of the transistor drives

relay.

As long as the temperature is maintained high the operational amplifier output

remains in the same state. When the temperature decreases, the resistance of the thermistor

increases. This increase in resistance causes decrease in voltage at Pin No 3. Because of this

condition the operational amplifier i.e. comparator output changes from its high to low state.

At this instant the transistors goes to cutoff and deactivate the relay.


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CHAPTER 5

MICROCONTOLLER 89C51

5.1 INTRODUCTION

What is a microcontroller?

The general definition of a microcontroller is a single chip computer, which refers to

the fact that they contain all of the functional sections (CPU, RAM, ROM, I/O PORTS and

timers) of a traditionally defined computer on a single integrated circuit .Some expert even

describe them as a special purpose computers with several qualifying distinctions that

separate them from other computers.

Microcontrollers are embedded inside some other device (often a consumer product)

so that they can control the features or actions of the product. Another name for a

microcontroller therefore is embedded controller.

Microcontrollers are dedicated to one task and run one specific program. The program

is stored in ROM and generally does not change. Microcontroller is often low power devices.

The desktop computer is almost always plugged into a wall socket and might consume

50watts of electricity. A battery operated microcontroller might consume 50mW.

A Microcontroller has a dedicated input device and often (but not always) has a small

LED or LCD display for output. A Microcontroller also takes input from the device it is

controlling and controls the device by sending signals to different components in the device.

A Microcontroller is often small and low cost. The components are chosen to minimize size

and to be as inexpensive as possible.


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5.2 FEATURES

Compatible with MCS-51TM Products. 8K byte of in system re-programmable flash memory. Endurance: 1000 write / Erase cycle. Fully static operation. 3 Level program memorial clocks. 256 X 8 bit internal RAM. 32 programmable I/O Line. 3-16 bit timer/Counter. 8-Interupt Source. Programmable serial channel. Low power, Ideal and Power down modes. Four register Banks each containing 8 registers


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5.3 BLOCK DIAGRAM

Porto Driver Porto2 Driver

RAMPortoLatch

QuickFlash

Bregister ACC StackPointer

Programaddressregister

TMP2 TMP1Buffer

ALUPC

Incre-mentINT, Serial Port,

& Timer BlocksPSW

Timing&

Control

Port1Latch

Port3Latch

Prog

Counter

DPTR

Port3 DriverPort1 DriverOSC

Porto DriverPorto Driver

INSTReg

RAM ADDRRegister

P to P0.0 0.7 P to P2.0 2.7

P to P1.0 1.7 P to P3.0 3.7

PSEN

ALE / PROG

EA / VPP

RST


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5.4 PIN CONFIGURATION

(T) P1.0.2 1

T (Ex) P1.12

P1.2

P1.3

P1.4

P1.5

P1.6

P1.7

RST

(R) P3.0XD

(T) P3.1XD

(INTO) P3.2

(INT1) P3.3.

(T) P3.40

(T) P3.51

(WR) P3.6

(RD) P3.7

XTAL2

XTAL1

GND

2

3

4

5

6

7

8

9

11

12

13

14

15

16

17

18

19

20

40

39

38

37

36

35

34

33

32

31

29

28

27

26

25

24

23

22

21

VCC

P0.0 (AD)0

P0.1 (AD)1

P0.2 (AD)2

P0.3 (AD)3

P0.4 (AD)4

P0.5 (AD)5

P0.6 (AD)6

P0.7 (AD)7

EA / VPP

ALE / PROG

PSEN

P2.1 (A)15

P2.6 (A)14

P2.5 (A)13

P2.4 (A)12

P2.3 (A)11

P2.2 (A)10

P2.1 (A)9

P2.0 (A)8

A

T

M

E

L

8

9

C

5

1


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5.5 PIN DESCRIPTION

PORT 0: Port 0 is an 8 bit open drain bi-directional I/O port. Each pin can sink 8 TTL

I/Ps. It can be configured to be multiplexed low order Address / Data bus during access to

external program and data memory. When a pin is to be used as an I/P, a 1 must be

written to a corresponding port 0 latch by the program, thus turning both of the transistor

OFF, which in turn causes the pin to float in high impedance state, and the pin is

connected to I/P buffer. When used as an O/P the pin latches that are programmed to a 0

will turn ON the lower FET grounding the pin. All latches that are programmed to a 1 still

float; thus, external pull-up resistors will be needed to supply a logic high when using port

0 as an o/p.

Port 0 also receives the code bytes during flash programming and outputs the code byte

during program verification.

PORT 1: Port 1 is an 8-bit bi-directional I/O port with internal pull-ups. The port 1 O/P

buffers can sink/source four TTL I/Ps. When 1s are written to port 1 pin, they are pulled

high by internal pull-ups and can be used as I/Ps. Port 1 pins that are externally being

pulled low will source current in because of the internal pull-ups. In addition port 1.0 and

port 1.1 can be configured to be the timer/counter 2 external count I/Ps (P1.0/t2) and the

timer counter 2 trigger I/P (P1.1/T2(Ex)) respectively.

PORT 2: Port 2 may be used as an input/output similar in operation to port 1. Port 2 emits

the high order address byte during fetches from external program memory and during

accesses to external data memory that use 16 bit addresses. In this application, Port 2 uses

strong internal pull-ups. When emitting 1s. During excesses to external data memory that

8 bit address, Port 2 emits the contents of the P2 Special function Register. Port 2 also

receives the high order address bits and some control signals during flash programmingand verification.


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PORT 3: Port 3 is an input/output port similar to port 1. The input and output functions

can be programmed under the control of the P3 latches or under the control of various

other special function registers. The port 3 alternate uses are shown in the following table.

Port Pin Alternate Function

P3.0 - RXD - Serial data input

P3.1 - TXD - Serial data output

P3.2 - INTO - External Inter Pt O

P3.3 - INT1 - External Inter Pt 1

P3.4 - TO - External Timer O I/P

P3.5 - T1 - External Timer 1 I/P

P3.6 - WR - External Data Memory write pulse

P3.7 - RD - External data Memory Read pulse

Unlike port O and 2, which can have external addressing functions and change all

eight port bit when in alternate use, each pin of Port 3 may be individually programmed to

be used either as I/O or as one of the alternate functions.

RESET: A Reset can be considered to be the ultimate interrupt because the program may

not block the action of the voltage on the RST pin. This type of interrupt is often called

non-maskable because no combination of bits in any register can stop or mask, the reset

action. A reset is an absolute command to jump to program address 0000h and commence

running from there. Whenever a high level is applied to the RST pin the 89C52 enters a

reset condition.

ALE /PROG: Address latch enable is an O/p pulse for latching the low byte of the

addressing during accesses to external memory. This pin is also the program pulse I/p

(PROG) during flash programming.

In normal operation, ALE is emitted at a constant rate of 1/6 the oscillator

frequency and may be used for external timing or clocking purposes. However that one

ALE pulse is skipped during each access to external data memory.


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PSEN : Program store enable is the read strobe to external program memory. When the

89C51 is executing code from external program memory, PSEN is activated twice for each

machine cycle, except that two PSEN activations are skipped during each access to

external data memory.

EA/VPP : External access enables. EA must be strapped to ground in order to enable the

device to fetch code from external program memory location starting at 0000H up to

FFFFH. However that if lock bit 1 is programmed. EA will be internally latched on Reset.

EA should be strapped to VCC for internal program executions. Bit EA is a master or

global bit that can enable or disable all of the interrupts. This pin also receives the 12volt

programming enable voltage VPP during flash programming when 12 volt programming is

selected.

T0 and T1 : Counters and Timers : Timers 0 and 1 :

Many Microcontroller applications require the counting of external event, such as

the frequency of pulse train, or the generation of precise internal time delays between

computer actions. Both of these task on be accomplished using software techniques, but

software loops for counting or timing keep the processor occupied so that other, perhaps

more important, functions are not done. To relive the processor of this burden, two 16 bitup counters, named T0 and T1 are provided for general use of the programmer. Each

counter may be programmed to count internal clock pulses, acting as timer or programmed

to count external pulse as a counter.

The counters are divided into two 8 bit registers called the timer low TL0 , TL1

and high TH0, TH1 bytes. All counter action is controlled by bit states in the timer mod

control register TMOD, the timer/counter control register TCON and certain program

instructions.

TIMER 2: Timer 2 is a 16 bit timer/counter that can operate as either a timer or an event

counter. The type of operation is selected by bit CT12 in the SFRs T2CON.


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TIMER 2 HAS 3 OPERATING MODES:

1) Capture mode 2) Auto reload mode 3) Baud rate generator mode.

The modes are selected by bits in T2CON Timer 2 Consists of two 8 bit registers TH 2

and TL2. In the timer function, the TL2 register is incremented every machine cycle. Since

a machine cycle consists of 12 oscillators period, the count rate is 1/12 of the oscillator

frequency.

XTALI and XTAL2:

The heart of the 89C52 is the circuitry that generates the clock pulses by which all

internal operations are synchronized. Pins XTALI and XTAL2 are provided for connecting

a resonant network to form an Oscillator. The Crystal frequency is the basic internal clock

frequency of the microcontroller. The manufacturers make available 89C52 designs that

can run at specified maximum and minimum frequencies, typically 1MHz to16 MHz

Minimum frequency imply that some internal memories are dynamic must always operate

above a minimum frequency or data will be lost.

Typically, a Quartz Crystal of frequency 11.059MHz and capacitors are employed

as shown in figure. Here 1 machine cycle consists of 6 T-states and each T-state is of 2

pulses.

C = 82PF

11.0592

18 XTAL2

19 X TAL1C = 82PF

Crystal


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To calculate the time for any particular instruction is given by:

Tints=C*12D/crystal frequency

where C-Machine cycle of the instruction.

Consider a 1 byte instruction. If the crystal frequency is 11.0592 MHz then the time to

execute one byte instruction is 1.0850 sec2.


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5.6 SOURCE CODE

org 0000h

mov p1,#0ffh

mov p2,#00h

start: mov a,p1

cjne a,#0f1h,loop ; TURN LEFT

mov p2,#02h

sjmp start

loop: cjne a,#0f2h,loop1 ; MOVE FORWARD

mov p2,#05h

sjmp start

loop1: cjne a,#0f4h,loop2 ; MOVE REVERSE

mov p2,#0ah

sjmp start

loop2: cjne a,#0f8h,loop3 ; TURN RIGHT

mov p2,#08h

sjmp start

loop3: cjne a,#0f3h,loop4 ; cam movementmov p2,#10h

sjmp start

loop4: cjne a,#0ffh,loop5 ; no action

mov p2,#00h

sjmp start

loop5: cjne a,#0fch,start ; STOP

mov p2,#00h

sjmp start

end


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CHAPTER 6

ADVANTAGES AND DISADVANTAGES

6.1 ADVANTAGES

Possible to capture both video and audio info. Less risky for the soldiers. Reduction of man power. Industrial safety. Control of various parameters wirelessly.

6.2 DISADVANTAGES

Wireless communication may be affected by environmental factorsDistance increases transmission of data becomes difficult


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CHAPTER 7

APPLICATIONS

With modification can be used to detect mines and bombs. Can be used as spy robot. Used in military applications to shoot at the enemies. Various industrial sensors like methane and other poisonous gas sensors can be placed

on the robot.


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CHAPTER 8

CONCLUSION

By this an attempt can be made for reduction of man power and human safety. Here

we are using robot which is automated. A person at the remote place can control the actions

of the robot. This results in reduction of man power.

The presence of human beings in industrial premises on military area may proved to

be dangerous. This project is an attempt to solve this problem. Here the robot with different

sensors is sent to the industrial area which senses the parameter abnormality and sends the

information to the display unit.

In military application this robot can be used for continuous monitoring of enemy

activities.


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BIBLIOGRAPHY

[1] Kenneth .J.Ayala The microcontroller architecture, programming application Penram

International publishing (India) 2nd

edition 1996.

[2] Myke Predko Programming and customizing the microcontroller, data McGraw-

Hill,1999.

[3] Analog and Digital communication-Simon Haykin

Websites Referred

www.google.com

www.wikipedia.com

www.atmel.com
http://www.google.com/http://www.google.com/http://www.wikipedia.com/http://www.wikipedia.com/http://www.atmel.com/http://www.atmel.com/http://www.atmel.com/http://www.wikipedia.com/http://www.google.com/


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APPENDIX-A


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MC78XX/LM78XX/MC78XXA

3-TERMINAL 1A POSITIVE VOLTAGE REGULATOR

FEATURES

1. Output Current up to 1A2. Output Voltages of 5, 6, 8, 9, 10, 12, 15, 18, 24V3. Thermal Overload Protection4. Short Circuit Protection5. Output Transistor Safe Operating Area Protection.

DESCRIPTION

The MC78XX/LM78XX/MC78XXA series of three terminal positive regulators are

available in the TO-220/D-PAK package and with several fixed output voltages, making

them useful in a wide range of applications. Each type employs internal current limiting,

thermal shut down and safe operating area protection, making it essentially indestructible. If

adequate heat sinking is provided, they can deliver over 1A output current. Although

designed primarily as fixed voltage regulators, these devices can be used with external

components to obtain adjustable voltages and currents.

ABSOLUTE MAXIMUM RATINGS

PARAMETER SYMBOL VALUE UNIT

Input Voltage (for VO = 5V to 18V)

(for VO = 24V)

VI

VI

35

40

V

VThermal Resistance Junction-Cases (TO-

220)

RJC 50C/W

Thermal Resistance Junction-Air (TO-220) RJA 650C/W

Operating Temperature Range TOPR 0-1250C

Storage Temperature Range TSTG -65 - 1500C


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ELECTRICAL CHARACTERISTICS (MC7805/LM7805)

Parameter Symbol ConditionsMin

TypeMax Unit

Output Voltage VO

TJ =+25 C

4.8 5.0 5.2 V

Output Voltage VO5.0mA Io 1.0A,PO 15W

VI = 7V to 20V

4.75 5.0 5.25V

Line Regulation

(Note1)

ReglineVO = 7V to 25V -

4.0 100mV

Line Regulation

(Note1)

Regline VI = 8V to 12V-

1.6 50mV

Load Regulation

(Note1)

RegloadIO = 5.0mA to1.5A -

9 100 mV

Load Regulation

(Note1)

RegloadIO =250mA to

750mA- 4 50

mV

Quiescent Current IQ TJ =+25 0C - 5.0 8.0 mA

Quiescent Current

Change

IQ IO = 5mA to 1.0A - 0.030.5

mA

Quiescent Current

Change

IQ VI= 7V to 25V - 0.3 1.3 mA

Output Voltage Drift VO/T Io= 5mA - -0.8 - mv c

Output Noise Voltage VN - 42 - V/Vo

Ripple Rejection RR

f = 120Hz

Vo= 8V to 18V 62 73 - dBDropout Voltage VDrop Io = 1A, TJ =+25

0C - 2 - V

Output Resistance Ro f=1kHz - 15 - MShort Circuit Current ISC VI = 35V,

TA =+250C

- 230 - mA

Peak Current IPK TJ =+250C - 2.2 - A


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HT12E ENCODER

FEATURES

1. Operating voltage: 2.4V~12V2. Low power and high noise immunity CMOS3. technology4. Low standby current5. Minimum transmission word6. Four words for TE trigger7. One word for Data trigger8. Built-in oscillator needs only 5% resistor9. Easy interface with an RF or an infrared10.transmission medium11.Minimal external components

DESCRIPTION

The 312 encoders are a series of CMOS LSIs for remote control system applications.

They are capable of encoding 12 bits of information which consists of N address bits and

Each address/data input is externally trinary programmable if bonded out.

They are otherwise set floating internally. Various packages of the 312 encoders offer

flexible combinations of programmable address/data which meet various applications. The

programmable address/data is transmitted together with the header bits via an RF or an

infrared transmission medium upon receipt of a trigger signal. A TE (HT6010) or a DATA

(HT6012/HT6014) trigger can be selected for application flexibility


1. Supply Voltage...............................-0.3V to 13V2. Input Voltage....................VSS-0.3 to VDD+0.3V3. Storage Temperature.................-500C to 1250C4. Operating Temperature ..............-200C to 750C


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Symbo

ParameterTest Conditions

Min. Typ. Max. UnitVD

Conditions

VDD Operating Voltage - - 2.4 5 12 V

ISTB Standby Current3V

Oscillator stops- 0.1 1 A

12V - 2 4 A

IDD Operating Current3V No load

fOSC=3kHz

- 250 500 A

12V - 600 1200 A

ILED LED Sink Current 5V VLED=0.5V 1.5 3 - mA

IDOU

Output Drive Current5V VOH=0.9VDD -0.6 -1.2 - mA

5V VOL=0.1VDD 0.6 1.2 - mA

VIH H Input Voltage - - 0.8V

- VD

V

VIL L Input Voltage - - 0 - 0.2V

V

fOSC Oscillator Frequency 5V ROSC=1M - 3 - kHz

RTE TE Pull-high 5V VTE=0V - 1.5 3 MRDAT

D8~D11 Pull-highResistance

5V VDATA=0V - 1.5 3 M

SELECTION TABLE

ELECTRICAL CHARACTERISTICS

Function

Part No.Address

No.Address

/DataNo.

DataNo.

Oscillator Trigger LEDIndicator

Package

HT6010 8 4 0 RC oscillator TE No 18/20 DIP20 SOP

HT6012 10 0 2 RC oscillator D10~D1

Yes 18 DIP/20 SOP

HT6014 8 0 4 RC oscillator D8~D11 Yes 18 DIP/20 SOP


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HT12D DECODER

FEATURES

1. Operating voltage: 2.4V~12V2. Low power and high noise immunity CMOS3. technology4. Low standby current5. Capable of decoding 12 bits of information6. Pair with Holteks 312 series of encoders7. 8~12 address pins8. 0~4 data pins9. Trinary address setting10.Received data are checked two times11.Built-in oscillator needs only 5% resistor12.VT goes high during a valid transmission13.Easy interface with an RF or an infrared14.Minimal external components.

DESCRIPTION

The 312 decoders are a series of CMOS LSIs for remote control system applications.

They are paired with 312 series of encoders. For proper operation a pair of encoder/decoder

with the same number of address and data format should be selected (refer to the

encoder/decoder cross reference tables). The 312 series of decoders receive serial address and

data from its corresponding series of encoders that are transmitted by a carrier using an RF or

an IR transmission medium. Then it compares the serial input information twice continuously

with its local address. If no errors or unmatched codes are encountered, the input data codes

are decoded and transferred to the output pins. The VT pin also goes high to indicate a valid

transmission. The 312 series of decoders are capable of decoding 12 bits of information that

consists of N bits N bits of data. To meet various applications they are

arranged to provide a number of data pins ranging from 0 to 4 and an address pin ranging

from 8 to 12. Thus, various combinations of address/data number are available in different

packages.


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Function

Part No.

AddresNo.

DataVT Oscillator Trigger Package

No. Type

HT6030 12 0 -

RC DIN 18 DIP/20

HT6032 10 2 L RC DIN 18 DIP/20HT6034 8 4 L RC DIN 18 DIP/20

Symbol ParameterTest Conditions

Min. Typ. Max. UnitVD

Conditions

VDD Operating Voltage - - 2.4 5 12 V

ISTB Standby Current5V

Oscillator stops- 0.1 1 A

12V - 2 4 A

IDD Operating Current 5V No loadfOSC=100kHz

- 250 500 A

IO

Data Output SourceCurrent (D8~D11)

5V VOH=4.5V -0.5 -1 - mA

Data Output SinkCurrent (D8~D11)

5V VOL=0.5V 0.5 1 - mA

IVT

VT Output Source

5V

VOH=4.5V-2 -4 -

mAVT Output Source

Current-0.35 -0.6 -

VT Output SinkVOL=0.5V

1 2 -

VT Output Sink

Current0.35 0.6 -

VIH H Input Voltage 5V - 3.5 - 5 V

VIL L Input Voltage 5V - 0 - 1 V

fOSC Oscillator Frequency 5V ROSC=91k - 100 - kHz

SELECTION TABLE



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TRANSISTOR BC548


1. Collector-Emitter Voltage30v2. Collector-Base Voltage30V3. Emitter-Base Voltage-5V4. Collector CurrentContinuous500mA5. Operating and Storage Junction Temperature Range (-550 TO +1500)

THERMAL CHARACTERISTICS

1. Total Device Dissipation625Mw2. Thermal Resistance, Junction to Case83.3 0C/W3. Thermal Resistance, Junction to Ambient200 0C/W


OFF CHARACTERISTICS

Symbol Parameter Test Conditions Min Max Units

V(BR)CEO Collector Emitter

Breakdown

Voltage

IC = 10 mA, IB = 0

30 - V

V(BR)CBO Collector-Base

Breakdown

Voltage

IC = 10A, IE = 0

30 - V

V(BR)CES Collector-Base

Breakdown

Voltage

IC = 10A, IE = 0

30 - V

V(BR)EBO Emitter-BaseBreakdown

Voltage

IE = 10A, IC = 0

5 - V

ICBO Collector CutoffCurrent

VCB = 30 V, IE = 0

VCB = 30 V, IE = 0,

TA = +1500

C

15

5

-

-

nA

A


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ON CHARACTERISTICS

SymbolParameter Test Conditions Min Max Units

hfe DC current gain VCE = 5.0 V,

IC = 2.0 mA

110 800

-

VCE(SAT) Collector emitter

saturation currentIC = 10 mA, IB = 0.5 mA

IC = 100 mA, IB = 5.0 m0.25

0.60

V

V

VBEON

Base emitter ON

voltage

VCE = 5.0 V, IC = 2.0mA

VCE = 5.0 V, IC = 10 mA0.58

0.7

0.77

V

V


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PUSH-PULL FOUR CHANNEL DRIVER L293

FEATURES

1. Output Current 1A Per Channel (600mA for L293D)2. Peak Output Current 2A Per Channel3. (1.2A for L293D)4. Inhibit Facility5. High Noise Immunity6. Separate Logic Supply7. Over-Temperature Protection.

DESCRIPTION

The L293 and L293D are quad push-pull drivers capable of delivering output currents

to 1A or 600mA per channel respectively. Each channel is controlled by a TTL-compatible

logic input and each pair of drivers (a full bridge) is equipped with an inhibit input which

turns off all four transistors. A separate supply input is provided for the logic so that it may

be run off a lower voltage to reduce dissipation. Additionally the L293D includes the output

clamping diodes within the IC for complete interfacing with inductive loads. Both devices are

available in 16-pin Batwing DIP packages. They are also available in Power S0IC and

Hermetic DIL packages.

TRUTH TABLE

VI VINH* VO

HLHL

HHLL

HL

X**X**


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1. Collector Supply Voltage, VC - 36V2. Logic Supply Voltage, VSS - 36V3. Input Voltage, VI - 7V4. Inhibit Voltage, VINH - 7V5. Peak Output Current (Non-Repetitive), Lout (L293) - 2A6. Lout (L293D) - 1.2A7. Total Power Dissipation8. at Tground-pins = 80C, N Batwing pkg, (Note) - 5W9. Storage and Junction Temperature, Tstg, TJ - -40 to +150C.


Parameter Symbol Test Condition Min Type Max Unit

Collector Supply

Voltage

Vc 36 V

Logic SupplyVoltage

Vss 4.5 36 V

Source Output

Saturation Voltage

VCEsatH Io= -1A(-0.6Afor L293D) 1.4 1.8 V

Sink Output

Saturation Voltage

VCEsatL Io= 1A (0.6A for L293D) 1.2 1.8 V

Clamp Diode

Forward Voltage

(L293D only)

VF IF=0.6A 1.3 V

Rise Time TR 0.1 to 0.9 VO 100 ns

Fall Time TF 0.9 to 0.1 VO 350 ns

Turn On delay TON 0. 5 VI to 0.5 VO 750 ns

Turn OFF delay TOFF 0. 5 VI to 0.5 VO 400 ns


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OPERATIONAL AMPLIFIER A741

FEATURES1. Large input voltage2. No latch-up3. High gain4. Short circuit protection5. No frequency compensation required.

DESCRIPTION:

The UA741 is a high performance monolithic operational amplifier constructed on a

single silicon chip. It is intended for a wide range of analog applications.

1. Summing amplifier2. Voltage follower3. Integrator4. Active filter5. Function generator.6. The high gain and wide range of operating voltages provide superior performances in

integrator, summing amplifier and general feedback applications. The internal

compensation network (6dB/octave) insures stability in closed loop circuits.


Symbol Parameter UA741I

Vss Supply voltage 22

Vdin Differential Input Voltage 30

Vin Input Voltage 15

Output Short-circuit Duration Infinite

Toft Operating Free-air Temperature Range -40 to 105

Tstq Storage Temperature Range -65 to +150


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Symbol Parameter Min. Type Max. Unit

Vio Input Offset Voltage (Rs 10k)

T = +25C

1 5

6

mV

Iio Input Offset Current

T = +25C

2 30

70

nA

Iib Input Bias Current

T = +25C

10 100

200

nA

Avd Large Signal Voltage Gain Vo = 10V, RL = 2k

T = +25C

50

25

200 V/mV

SVR Supply Voltage Rejection Ratio (Rs 10k)

T = +25C

77

77

90 dB

Icc Supply Current, no load

T = +25C

1.7 2.8

3.3

mA

Vicm Input Common Mode Voltage RangeT = +25C

1212

V

CMR Common Mode Rejection Ratio (RS 10k)

T = +25C

70

70

90 dB

I Output short Circuit Current 10 25 40 mA

SR Slew Rate

Vi = 10V, RL = 2k, CL = 100pF, unity

0.25 0.5

Tr Rise Time

Vi = 20mV, RL = 2k, CL = 100pF, unity

0.3

K

ov

Overshoot

Vi = 20mV, RL = 2k, CL = 100pF, unity

5 %

R Input Resistance 0.3 2 M

GBP Gain Bandwidth Product 0.7 1 MHz

reference report final

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